ECE 471 – Embedded Systems

Lecture 11
Vince Weaver
http://web.eece.maine.edu/~vweaver
[email protected]

25 September 2020
 Announcements

• HW#4 will be posted

• Will require an LED, a breadboard, some resistors and

some jumper wires.
I handed out some GPIO wires in class.

• Remember to comment your code!

• Also be sure your code doesn’t crash!

1
 Brief Overview of the Raspberry Pi Board
Model
Power
1B 1B+/2B/3B/3B+ Model 4B Pin1 Pin2
Pin1 Pin2 Pin1 Pin2
Power
Power
Camera

HDMI

HDMI

HDMI

HDMI Pin25 Pin26

Audio/Video
Composite Audio/Video

Audio
Ethernet
Ethernet USB USB Ethernet
USB USB USB

2
 Rasp-pi Header

• Model B has 17 GPIOs (out of 26 pins), B+/2B/3B has

26 (out of 40)

• 3.3V signaling logic. Need level shifter if want 5V or

1.8V

• Linux by default configures some for other purposes

(serial, i2c, SPI)

3
 Rasp-pi Header
3.3V 1 2 5V
GPIO2 (SDA) 3 4 5V
GPIO3 (SCL) 5 6 GND
GPIO4 (1-wire) 7 8 GPIO14 (UART TXD)
GND 9 10 GPIO15 (UART RXD)
GPIO17 11 12 GPIO18 (PCM CLK)
GPIO27 13 14 GND
GPIO22 15 16 GPIO23
3.3V 17 18 GPIO24
GPIO10 (MOSI) 19 20 GND
GPIO9 (MISO) 21 22 GPIO25
GPIO11 (SCLK) 23 24 GPIO8 (CE0)
GND 25 26 GPIO7 (CE1)
ID SD (EEPROM) 27 28 ID SC (EEPROM)
GPIO5 29 30 GND
GPIO6 31 32 GPIO12
GPIO13 33 34 GND
GPIO19 35 36 GPIO16
GPIO26 37 38 GPIO20
GND 39 40 GPIO21

4
 How you enable GPIO on STM32L
A lot of read/modify/write instructions to read current
register values and then to shift/mask to write out updated
bitfields.

• Enable GPIO Clock

• Set output mode for GPIO.
• Set GPIO type.
• Set pin clock speed.
• Set pin pull-up/pull-down
• Set or clear GPIO pin.
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 “Bare Metal” on BCM2835 (Rasp-pi)

• Documented in BCM2835 ARM Peripherals Manual

• 53 GPIOs (not all available on board)

• Can use Wiring-Pi or libbcm2835 if you need speed

• Similar to how done on STM32L... but we have an

operating system

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Letting the OS handle it for you

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 “Old” Linux sysfs GPIO interface

• See the Appendix to these notes for details

• Deprecated with Linux 4.8 in October 2016
• Still there; supposedly to be removed in 2020
• Benefits
◦ Could call from shell script
• Downsides
◦ String based, had to remember to convert from ASCII
◦ If crash/forget to close, GPIO left active
◦ Multiple processes at same time, conflict
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◦ Some things (like open-drain) couldn’t be set
◦ Slow, especially if writing multiple (lots of syscalls)

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 “New” Linux GPIO interface

• Introduced with Linux 4.8 (October 2016)

• New way uses ioctls and structs
◦ Faster
◦ Automatically releases GPIO when program ends
◦ Can set parameters (i.e. pull-up/down) couldn’t before

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 GPIOD utils

• If you have gpiod utilities installed you can get info

• If not installed, if on network you can sudo apt-get
install gpiod
• gpiodetect
gpiochip0 [pinctrl-bcm2835] (54 lines)
gpiochip1 [raspberrypi-exp-gpio] (8 lines)
• gpioinfo
gpiochip0 - 54 lines:
line 0: unnamed unused input active-high
line 1: unnamed unused input active-high
...

11
 There is a library

• Some Linux interfaces (perf, ALSA, ) assume library

• libgpiod library
• We will avoid it
◦ embedded systems: may not be room for a library
◦ sometimes good to code directly to operating system

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 A few low-level Linux Coding Instructions

• Linux, “everything is a file”

• File descriptors
• open(), close() what happens if forget to close?
• read(), write()
• llseek()
• ioctl()

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 gpio – getting interface info
# include " linux / gpio . h "

// struct gpiochip_info {
// char name [32];
// char label [32];
// __u32 lines ; }

int fd , rv ;
struct gpiochip_info chip_info ;

/* open first gpio device read / write , check for error */

fd = open ( " / dev / gpiochip0 " , O_RDWR );
if ( fd <0) printf ( " Error opening % s \ n " , strerror ( errno ));

/* ask for chipinfo from open file descriptor , put in chip_info struct */
rv = ioctl ( fd , GPIO_GET_CHIPINFO_IOCTL ,& chip_info );
if ( rv <0 ) printf ( " Error ioctl % s \ n " , strerror ( errno ));

/* print summary of what was returned */

printf ( " Found %s , %s , % d lines \ n " ,
chip_info . name , chip_info . label , chip_info . lines );

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 gpio – get info about line gpio17
// struct gpioline_info {
// __u32 line_offset ;
// __u32 flags ;
// char name [32];
// char consumer [32]; }

struct gpioline_info line_info ;

/* clear struct to 0 before using it */

/* kernel might not like uninitialized values */
memset (& line_info ,0 , sizeof ( line_info ));

/* get line info for gpio17 */

line_info . line_offset =17; // set GPIO17
rv = ioctl ( fd , GPIO_GET_LINEINFO_IOCTL ,& line_info );
if ( rv <0) printf ( " Error ioctl % s \ n " , strerror ( errno ));

/* print summary of what we learned */

printf ( " Offset %d , flags %x , name %s , consumer % s \ n " , line_info . line_offset ,
line_info . flags , line_info . name , line_info . consumer );

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 gpio – configure request structure
// struct gpiohandle_request {
// __u32 lineoffsets [ GPIOHANDLES_MAX ];
// __u32 flags ;
// __u8 default_values [ GPIOHANDLES_MAX ];
// char consumer_label [32];
// __u32 lines ; int fd ;}

// configuration values we can or together

// BIAS values added later

// # define G PI O H A ND L E _ RE Q U E ST _ I N PU T (1 UL << 0)
// # define G P I O H A N D L E _ R E QU E S T _ O U T P U T (1 UL << 1)
// # define G P I O H A N D L E _ R E Q U E S T _ A C T I V E _ L O W (1 UL << 2)
// # define G P I O H A N D L E _ R E Q U E S T _ O P E N _ D R A I N (1 UL << 3)
// # define G P I O H A N D L E _ R E Q U E S T _ O P E N _ S O U R C E (1 UL << 4)
// # define G P I O H A N D L E _ R E Q U E S T _ B I A S _ P U L L _ U P (1 UL << 5)
// # define GPIOHANDLE_REQUEST_BIAS_PULL_DOWN (1 UL << 6)
// # define G P I O H A N D L E _ R E Q U E S T _ B I A S _ D I S A B L E (1 UL << 7)

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 gpio – actually do request
struct gpiohandle_request req ;

/* clear out struct */

memset (& req ,0 , sizeof ( struct gpiohandle_request ));

req . flags = G P I O H A N D L E _ R E Q U E S T _ O UT P U T ; // want it to be output

req . lines =1; // can group multiple lines together
req . lineoffsets [0] =17; // gpio number we want
req . default_values [0]=0; // default value
strcpy ( req . consumer_label , " ECE471 " ); // helpful label

/* get a handle for our requested config */

rv = ioctl ( fd , GPIO_GET_LINEHANDLE_IOCTL , & req );
if ( rv <0 ) printf ( " Error ioctl % s \ n " , strerror ( errno ));

// req . fd is now a handle for this gpio setup

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 gpio – change value of gpio17
// struct gpiohandle_data {
// __u8 values [ GPIOHANDLES_MAX ]; }

struct gpiohandle_data data ;

/* set output to 0 */
data . values [0]=0;

/* send this data struct to the handle for gpio17 we created */

rv = ioctl ( req . fd , GPIOHANDLE_SET_LINE_VALUES_IOCTL ,& data );
if ( rv <0) printf ( " Error setting value % s \ n " , strerror ( errno ));

/* set output to 1 */
data . values [0]=1;

/* send this data struct to the handle for gpio17 we created */

rv = ioctl ( req . fd , GPIOHANDLE_SET_LINE_VALUES_IOCTL ,& data );
if ( rv <0) printf ( " Error setting value % s \ n " , strerror ( errno ));

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 gpio – read from gpio17
struct gpiohandle_data data ;

/* clear out our data */

memset (& data , 0 , sizeof ( data ));

/* read current value into data struct */

rv = ioctl ( req . fd , GPIOHANDLE_GET_LINE_VALUES_IOCTL , & data );
if ( rv <0) printf ( " Error ! % s \ n " , strerror ( errno ));

/* print the result */

printf ( " % d \ n " , data [0]);

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 Delay

• Busy delay (like in ECE271).

for(i=0;i<1000000;i++);
Harder to do in C. Why?
Compiler optimizes away.

• usleep() puts process to sleep for a number of

microseconds. But can have issues if want exact delay.
Why? OS potentially context switches every 100ms.

• Other ways to implement: Set up PWM? Timers?

20
 Waiting for Input

• Busy loop. Bad, burns CPU / power

• usleep() in loop. Can delay response time.

• Interrupt when ready! poll()

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 gpio – using poll()
// struct gpioevent_request {
// __u32 lineoffset ;
// __u32 handleflags ;
// __u32 eventflags ;
// char consumer_label [32];
// int fd ; }

// struct gpioevent_data {
// __u64 timestamp ;
// __u32 id ; }

struct gpioevent_request ereq ;

struct gpioevent_data edata ;
struct pollfd pfd ;
ssize_t rd ;

/* do this instead of request_line */

memset (& ereq ,0 , sizeof ( struct gpioevent_request ));
req . lineoffset =17;
req . handleflags = G P I OH A N D LE _ R E QU E S T _I N P U T ;
req . eventflags = G P I O E V E N T _ R E Q U E S T _ B O T H _ E D G E S ;

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rv = ioctl ( fd , GPIO_GET_LINEEVENT_IOCTL , & req );

pfd . fd = ereq . fd ;
pfd . events = POLLIN | POLLPRI ;
rv = poll (& pfd , 1 , 1000); // 1000 = timeout 1 s
if ( rv >0) {
rd = read ( req . fd , & event , sizeof ( event ));
printf ( " Timestamp : % lld id % d \ n " ,
edata . timestamp , edata . id );
}

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 Circuit
GPIO18 3.3V

470 Ohm

GPIO17

1K

10K

24
 Circuit Discussion

• Pull-up / Pull-down resistor. Why?

• Why the extra 1k resistor? (avoid short if set to output

by accident)

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 Debouncing! Noisy Switches

• Noisy switches, have to debounce

Ideal Switch Press
0 0 0 0 1 1 1 1 1 1
volts

time
0 0 0 0 0 1 0 1 1 1
volts

time
Actual Switch Press

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 Debouncing!

• Can you fix in hardware? Capacitors?

• Can you fix in software? No built-in debounce like on
STM32L
• Algorithms
◦ Wait until you get X consecutive values before
changing
◦ Get new value, wait short time and check again

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 Permissions!

• Unless your user is configured to have gpio permissions

you’ll have to run as root or use sudo.
• raspbian there’s a “gpio” group which has permissions
sudo addgroup vince gpio
• What should your code do if permission is denied?
Not crash, ideally.

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 Bypassing Linux for speed
http://codeandlife.com/2012/07/03/benchmarking-raspberry-pi-gpio-speed/

Trying to generate fastest GPIO square wave.

shell gpio util 40Hz
shell sysfs 2.8kHz
Python WiringPi 28kHz
Python RPi.GPIO 70kHz
C sysfs (vmw) 400kHz
C WiringPi 4.6MHz
C libbcm2835 5.4MHz
C Rpi Foundation “Native” 22MHz

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Appendix: Linux userspace sysfs interface
THIS IS INCLUDED FOR HISTORICAL PURPOSES

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 Linux GPIO interface

• Documentation/gpio/sysfs.txt

• sysfs and string based

31
A few low-level Linux Coding Instructions

32
 Enable a GPIO for use
To enable GPIO 17:
write “17” to /sys/class/gpio/export
To disable GPIO 17:
write “17” to /sys/class/gpio/unexport

char buffer [10];

fd = open ( " / sys / class / gpio / export " , O_WRONLY );
if ( fd <0) fprintf ( stderr , " \ tError enabling \ n " );
strcpy ( buffer , " 17 " );
write ( fd , buffer ,2);
close ( fd );

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 Set GPIO Direction
To make GPIO 17 an input:
write “in” to /sys/class/gpio/gpio17/direction
To make GPIO 17 an output:
write “out” to /sys/class/gpio/gpio17/direction

fd = open ( " / sys / class / gpio / gpio17 / direction " , O_WRONLY );

if ( fd <0) fprintf ( stderr , " Error !\ n " );
write ( fd , " in " ,2);
close ( fd );

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 Write GPIO Value
To write value of GPIO 17:
write /sys/class/gpio/gpio17/value

fd = open ( " / sys / class / gpio / gpio17 / value " , O_WRONLY );

if ( fd <0) fprintf ( stderr , " Error opening !\ n " );
write ( fd , " 1 " ,1);
close ( fd );

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 Read GPIO Value
To read value of GPIO 17:
read /sys/class/gpio/gpio17/value
char buffer [16];
fd = open ( " / sys / class / gpio / gpio17 / value " , O_RDONLY );
if ( fd <0) fprintf ( stderr , " Error opening !\ n " );
read ( fd , buffer ,16);
printf ( " Read % c from GPIO17 \ n " , buffer [0]);
close ( fd );

Note: the value you read is ASCII, not an integer.

Also Note, if reading and you do not close after read you will have to rewind using
lseek(fd,0,SEEK SET); after your read.

36
 Delay

• Busy delay (like in ECE271).

for(i=0;i<1000000;i++);
Harder to do in C. Why?
Compiler optimizes away.

• usleep() puts process to sleep for a number of

microseconds. But can have issues if want exact delay.
Why? OS potentially context switches every 100ms.

• Other ways to implement: Set up PWM? Timers?

37
 Using fopen instead?

• Need to fflush() after writes (linefeed not enough?)

• Need to frewind() after reads?

38
 C Pitfalls

• Be careful cut and pasting! Especially the size of strings

you are sending with write()

• Know the difference between ’C’ and "C"

• Remember the strings we are reading/writing are ASCII

’0’ and ’1’ not integers

39
 Waiting for Input

• Busy loop. Bad, burns CPU / power

• usleep() in loop. Can delay response time.

• Interrupt when ready! poll()

40
 GPIO Interrupts on Linux
May need a recent version of Raspbian.
First write ”rising”, ”falling”, or ”both” to
/sys/class/gpio/gpio17/edge.
Then open
struct and
pollfd fds ; poll /sys/class/gpio/gpio17/value.
int result ;

fd = open ( " / sys / class / gpio / gpio18 / value " , O_RDONLY );

fds . fd = fd ;
fds . events = POLLPRI | POLLERR ;
while (1) {
result = poll (& fds ,1 , -1);
if ( result <0) printf ( " Error !\ n " );
lseek ( fd ,0 , SEEK_SET );
read ( fd , buffer ,1); }

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 Buffered “Stream” I/O

• Slightly higher-level I/O routines in C library

• Buffered I/O
• Still use open/close/read/write underneath
Can find file descriptor with fileno()
• FILE * f ;
f = fopen ( " filename " ," r " );
if ( f == NULL ) fprintf ( stderr , " Error !\ n " );
fwrite ( buffer , size , members , f );
fclose ( f );

• Buffered I/O (saves overhead, fewer syscalls, maybe

makes I/O faster, but also adds potential delay)
• Use fflush() to force buffer flush
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• Use rewind() to rewind to beginning of file

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