diff --git a/modules/catkin_ws/src/wiringPi/COPYING.LESSER b/modules/catkin_ws/src/wiringPi/COPYING.LESSER
new file mode 100644
index 0000000000000000000000000000000000000000..65c5ca88a67c30becee01c5a8816d964b03862f9
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/COPYING.LESSER
@@ -0,0 +1,165 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+ This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+ 0. Additional Definitions.
+
+ As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+ "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+ An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+ A "Combined Work" is a work produced by combining or linking an
+Application with the Library. The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+ The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+ The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+ 1. Exception to Section 3 of the GNU GPL.
+
+ You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+ 2. Conveying Modified Versions.
+
+ If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+ a) under this License, provided that you make a good faith effort to
+ ensure that, in the event an Application does not supply the
+ function or data, the facility still operates, and performs
+ whatever part of its purpose remains meaningful, or
+
+ b) under the GNU GPL, with none of the additional permissions of
+ this License applicable to that copy.
+
+ 3. Object Code Incorporating Material from Library Header Files.
+
+ The object code form of an Application may incorporate material from
+a header file that is part of the Library. You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+ a) Give prominent notice with each copy of the object code that the
+ Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the object code with a copy of the GNU GPL and this license
+ document.
+
+ 4. Combined Works.
+
+ You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+ a) Give prominent notice with each copy of the Combined Work that
+ the Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the Combined Work with a copy of the GNU GPL and this license
+ document.
+
+ c) For a Combined Work that displays copyright notices during
+ execution, include the copyright notice for the Library among
+ these notices, as well as a reference directing the user to the
+ copies of the GNU GPL and this license document.
+
+ d) Do one of the following:
+
+ 0) Convey the Minimal Corresponding Source under the terms of this
+ License, and the Corresponding Application Code in a form
+ suitable for, and under terms that permit, the user to
+ recombine or relink the Application with a modified version of
+ the Linked Version to produce a modified Combined Work, in the
+ manner specified by section 6 of the GNU GPL for conveying
+ Corresponding Source.
+
+ 1) Use a suitable shared library mechanism for linking with the
+ Library. A suitable mechanism is one that (a) uses at run time
+ a copy of the Library already present on the user's computer
+ system, and (b) will operate properly with a modified version
+ of the Library that is interface-compatible with the Linked
+ Version.
+
+ e) Provide Installation Information, but only if you would otherwise
+ be required to provide such information under section 6 of the
+ GNU GPL, and only to the extent that such information is
+ necessary to install and execute a modified version of the
+ Combined Work produced by recombining or relinking the
+ Application with a modified version of the Linked Version. (If
+ you use option 4d0, the Installation Information must accompany
+ the Minimal Corresponding Source and Corresponding Application
+ Code. If you use option 4d1, you must provide the Installation
+ Information in the manner specified by section 6 of the GNU GPL
+ for conveying Corresponding Source.)
+
+ 5. Combined Libraries.
+
+ You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+ a) Accompany the combined library with a copy of the same work based
+ on the Library, uncombined with any other library facilities,
+ conveyed under the terms of this License.
+
+ b) Give prominent notice with the combined library that part of it
+ is a work based on the Library, and explaining where to find the
+ accompanying uncombined form of the same work.
+
+ 6. Revised Versions of the GNU Lesser General Public License.
+
+ The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+ If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.
diff --git a/modules/catkin_ws/src/wiringPi/INSTALL b/modules/catkin_ws/src/wiringPi/INSTALL
new file mode 100644
index 0000000000000000000000000000000000000000..8e0c43cf3994eab0b51fe83854ca624058331215
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/INSTALL
@@ -0,0 +1,36 @@
+
+How to install wiringPi
+=======================
+
+The easiest way is to use the supplied 'build' script:
+
+ ./build
+
+that should do a complete install or upgrade of wiringPi for you.
+
+That will install a dynamic library.
+
+Some distributions do not have /usr/local/lib in the default LD_LIBRARY_PATH. To
+fix this, you need to edit /etc/ld.so.conf and add in a single line:
+
+ /usr/local/lib
+
+then run the ldconfig command.
+
+ sudo ldconfig
+
+If you want to install a static library, you may need to do this manually:
+
+ cd wiringPi
+ make static
+ sudo make install-static
+
+
+To un-install wiringPi:
+
+ ./build uninstall
+
+Gordon Henderson
+
+projects@drogon.net
+https://projects.drogon.net/
diff --git a/modules/catkin_ws/src/wiringPi/Makefile b/modules/catkin_ws/src/wiringPi/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a02d1a3b6c5f7472e39a4ee3dce031afbee4bbf7
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/Makefile
@@ -0,0 +1,22 @@
+clean:
+ make -C wiringPi clean
+ make -C devLib clean
+ make -C gpio clean
+ make -C examples clean
+ make -C examples/Gertboard clean
+ make -C examples/PiFace clean
+ make -C examples/q2w clean
+ make -C examples/PiGlow clean
+
+install:
+ make -C wiringPi
+ make -C wiringPi install
+ make -C devLib
+ make -C devLib install
+ make -C gpio
+ make -C gpio install
+ mkdir -p /usr/share/wiringPi/examples/Gertboard
+ mkdir -p /usr/share/wiringPi/examples/PiFace
+ mkdir -p /usr/share/wiringPi/examples/PiGlow
+ mkdir -p /usr/share/wiringPi/examples/q2w
+ find examples -exec install -m 0644 -D -t /usr/share/wiringPi/examples {} \;
diff --git a/modules/catkin_ws/src/wiringPi/People b/modules/catkin_ws/src/wiringPi/People
new file mode 100644
index 0000000000000000000000000000000000000000..b339494e17b7f1e7bf03d63c415be4004b9aba11
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/People
@@ -0,0 +1,33 @@
+
+Just a quick note to some people who've provided help, suggestions,
+bug-fixes, etc. along the way...
+
+Nick Lott: (And others)
+ Hints about making it work with C++
+
+Philipp Stefan Neininger:
+ Minor bug in the Makefile to do with cross compiling
+
+Chris McSweeny
+ Hints and tips about the use of arithmetic in gettimeofday()
+ inside the dealyMicrosecondsHard() function.
+ And spotting a couple of schoolboy errors in the (experimental)
+ softServo code, prompting me to completely re-write it.
+
+Armin (Via projects website)
+ Some pointers about the i2c-dev.h files.
+
+Arno Wagner
+ Suggestions for the mmap calls in wiringPiSetup()
+
+CHARLES Thibaut:
+ A small issue in softTone
+
+Xian Stannard
+ Fixing some typos in the man page!
+
+Andre Crone
+ Suggested the __WIRING_PI.H__ round wiringPi.h
+
+Rik Teerling
+ Pointing out some silly mistooks in the I2C code...
diff --git a/modules/catkin_ws/src/wiringPi/README.TXT b/modules/catkin_ws/src/wiringPi/README.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..7789b2eba205801581acb565686f402ff62a0479
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/README.TXT
@@ -0,0 +1,26 @@
+
+wiringPi README
+===============
+
+Please note that the official way to get wiringPi is via git from
+git.drogon.net and not GitHub.
+
+ie.
+
+ git clone git://git.drogon.net/wiringPi
+
+The version of wiringPi held on GitHub by "Gadgetoid" is used to build the
+wiringPython, Ruby, Perl, etc. wrappers for these other languages. This
+version may lag the official Drogon release. Pull requests may not be
+accepted to Github....
+
+Please see
+
+ http://wiringpi.com/
+
+for the official documentation, etc. and the best way to submit bug reports, etc.
+is by sending an email to projects@drogon.net
+
+Thanks!
+
+ -Gordon
diff --git a/modules/catkin_ws/src/wiringPi/build b/modules/catkin_ws/src/wiringPi/build
new file mode 100755
index 0000000000000000000000000000000000000000..bac483a475e7072b85df09d7df5737e694b7811a
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/build
@@ -0,0 +1,103 @@
+#!/bin/sh
+
+check_make_ok() {
+ if [ $? != 0 ]; then
+ echo ""
+ echo "Make Failed..."
+ echo "Please check the messages and fix any problems. If you're still stuck,"
+ echo "then please email all the output and as many details as you can to"
+ echo " projects@drogon.net"
+ echo ""
+ exit 1
+ fi
+}
+
+if [ x$1 = "xclean" ]; then
+ cd wiringPi
+ echo -n "wiringPi: " ; make clean
+ cd ../devLib
+ echo -n "DevLib: " ; make clean
+ cd ../gpio
+ echo -n "gpio: " ; make clean
+ cd ../examples
+ echo -n "Examples: " ; make clean
+ cd Gertboard
+ echo -n "Gertboard: " ; make clean
+ cd ../PiFace
+ echo -n "PiFace: " ; make clean
+ cd ../q2w
+ echo -n "Quick2Wire: " ; make clean
+ cd ../PiGlow
+ echo -n "PiGlow: " ; make clean
+ exit
+fi
+
+if [ x$1 = "xuninstall" ]; then
+ cd wiringPi
+ echo -n "wiringPi: " ; sudo make uninstall
+ cd ../devLib
+ echo -n "DevLib: " ; sudo make uninstall
+ cd ../gpio
+ echo -n "gpio: " ; sudo make uninstall
+ exit
+fi
+
+
+ echo "wiringPi Build script"
+ echo "====================="
+ echo
+
+ echo
+ echo "WiringPi Library"
+ cd wiringPi
+ sudo make uninstall
+ if [ x$1 = "xstatic" ]; then
+ make static
+ check_make_ok
+ sudo make install-static
+ else
+ make
+ check_make_ok
+ sudo make install
+ fi
+ check_make_ok
+
+ echo
+ echo "WiringPi Devices Library"
+ cd ../devLib
+ sudo make uninstall
+ if [ x$1 = "xstatic" ]; then
+ make static
+ check_make_ok
+ sudo make install-static
+ else
+ make
+ check_make_ok
+ sudo make install
+ fi
+ check_make_ok
+
+ echo
+ echo "GPIO Utility"
+ cd ../gpio
+ make
+ check_make_ok
+ sudo make install
+ check_make_ok
+
+# echo
+# echo "Examples"
+# cd ../examples
+# make
+# cd ..
+
+echo
+echo All Done.
+echo ""
+echo "NOTE: To compile programs with wiringPi, you need to add:"
+echo " -lwiringPi"
+echo " to your compile line(s) To use the Gertboard, MaxDetect, etc."
+echo " code (the devLib), you need to also add:"
+echo " -lwiringPiDev"
+echo " to your compile line(s)."
+echo ""
diff --git a/modules/catkin_ws/src/wiringPi/devLib/Makefile b/modules/catkin_ws/src/wiringPi/devLib/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..4ba17746d7c58d8e2af36041c3c6f84994e515d8
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/Makefile
@@ -0,0 +1,134 @@
+# Makefile:
+# wiringPi device - Wiring Compatable library for the Raspberry Pi
+#
+# Copyright (c) 2012-2013 Gordon Henderson
+#################################################################################
+# This file is part of wiringPi:
+# https://projects.drogon.net/raspberry-pi/wiringpi/
+#
+# wiringPi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# wiringPi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+#################################################################################
+
+DYN_VERS_MAJ=2
+DYN_VERS_MIN=0
+
+VERSION=$(DYN_VERS_MAJ).$(DYN_VERS_MIN)
+DESTDIR=/usr
+PREFIX=/local
+
+STATIC=libwiringPiDev.a
+DYNAMIC=libwiringPiDev.so.$(VERSION)
+
+#DEBUG = -g -O0
+DEBUG = -O2
+CC = gcc
+INCLUDE = -I.
+CFLAGS = $(DEBUG) -Wformat=2 -Wall $(INCLUDE) -Winline -pipe -fPIC
+
+LIBS =
+
+###############################################################################
+
+SRC = ds1302.c maxdetect.c piNes.c \
+ gertboard.c piFace.c \
+ lcd128x64.c lcd.c \
+ piGlow.c
+
+OBJ = $(SRC:.c=.o)
+
+all: $(DYNAMIC)
+
+static: $(STATIC)
+
+$(STATIC): $(OBJ)
+ @echo "[Link (Static)]"
+ @ar rcs $(STATIC) $(OBJ)
+ @ranlib $(STATIC)
+# @size $(STATIC)
+
+$(DYNAMIC): $(OBJ)
+ @echo "[Link (Dynamic)]"
+ @$(CC) -shared -Wl,-soname,libwiringPiDev.so -o libwiringPiDev.so.$(VERSION) -lpthread $(OBJ)
+
+.c.o:
+ @echo [Compile] $<
+ @$(CC) -c $(CFLAGS) $< -o $@
+
+.PHONY: clean
+clean:
+ @echo "[Clean]"
+ @rm -f $(OBJ) $(OBJ_I2C) *~ core tags Makefile.bak libwiringPiDev.*
+
+.PHONY: tags
+tags: $(SRC)
+ @echo [ctags]
+ @ctags $(SRC)
+
+
+.PHONY: install-headers
+install-headers:
+ @echo "[Install Headers]"
+ @install -m 0755 -d $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 ds1302.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 maxdetect.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 piNes.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 gertboard.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 piFace.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 lcd128x64.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 lcd.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 piGlow.h $(DESTDIR)$(PREFIX)/include
+
+.PHONY: install
+install: $(DYNAMIC) install-headers
+ @echo "[Install Dynamic Lib]"
+ @install -m 0755 -d $(DESTDIR)$(PREFIX)/lib
+ @install -m 0755 libwiringPiDev.so.$(VERSION) $(DESTDIR)$(PREFIX)/lib/libwiringPiDev.so.$(VERSION)
+ @ln -sf $(DESTDIR)$(PREFIX)/lib/libwiringPiDev.so.$(VERSION) $(DESTDIR)/lib/libwiringPiDev.so
+ @ldconfig
+
+.PHONY: install-static
+install-static: $(STATIC) install-headers
+ @echo "[Install Static Lib]"
+ @install -m 0755 -d $(DESTDIR)$(PREFIX)/lib
+ @install -m 0755 libwiringPiDev.a $(DESTDIR)$(PREFIX)/lib
+
+.PHONY: uninstall
+uninstall:
+ @echo "[UnInstall]"
+ @rm -f $(DESTDIR)$(PREFIX)/include/ds1302.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/maxdetect.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/piNes.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/gertboard.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/piFace.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/lcd128x64.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/lcd.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/piGlow.h
+ @rm -f $(DESTDIR)$(PREFIX)/lib/libwiringPiDev.*
+ @ldconfig
+
+
+.PHONY: depend
+depend:
+ makedepend -Y $(SRC)
+
+# DO NOT DELETE
+
+ds1302.o: ds1302.h
+maxdetect.o: maxdetect.h
+piNes.o: piNes.h
+gertboard.o: gertboard.h
+piFace.o: piFace.h
+lcd128x64.o: font.h lcd128x64.h
+lcd.o: lcd.h
+piGlow.o: piGlow.h
diff --git a/modules/catkin_ws/src/wiringPi/devLib/ds1302.c b/modules/catkin_ws/src/wiringPi/devLib/ds1302.c
new file mode 100644
index 0000000000000000000000000000000000000000..cf64de77d7a7607bf271df680253291976af6ec0
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/ds1302.c
@@ -0,0 +1,240 @@
+/*
+ * ds1302.c:
+ * Real Time clock
+ *
+ * Copyright (c) 2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <stdarg.h>
+
+#include <wiringPi.h>
+
+#include "ds1302.h"
+
+// Register defines
+
+#define RTC_SECS 0
+#define RTC_MINS 1
+#define RTC_HOURS 2
+#define RTC_DATE 3
+#define RTC_MONTH 4
+#define RTC_DAY 5
+#define RTC_YEAR 6
+#define RTC_WP 7
+#define RTC_TC 8
+#define RTC_BM 31
+
+
+// Locals
+
+static int dPin, cPin, sPin ;
+
+/*
+ * dsShiftIn:
+ * Shift a number in from the chip, LSB first. Note that the data is
+ * sampled on the trailing edge of the last clock, so it's valid immediately.
+ *********************************************************************************
+ */
+
+static unsigned int dsShiftIn (void)
+{
+ uint8_t value = 0 ;
+ int i ;
+
+ pinMode (dPin, INPUT) ; delayMicroseconds (1) ;
+
+ for (i = 0 ; i < 8 ; ++i)
+ {
+ value |= (digitalRead (dPin) << i) ;
+ digitalWrite (cPin, HIGH) ; delayMicroseconds (1) ;
+ digitalWrite (cPin, LOW) ; delayMicroseconds (1) ;
+ }
+
+ return value;
+}
+
+
+/*
+ * dsShiftOut:
+ * A normal LSB-first shift-out, just slowed down a bit - the Pi is
+ * a bit faster than the chip can handle.
+ *********************************************************************************
+ */
+
+static void dsShiftOut (unsigned int data)
+{
+ int i ;
+
+ pinMode (dPin, OUTPUT) ;
+
+ for (i = 0 ; i < 8 ; ++i)
+ {
+ digitalWrite (dPin, data & (1 << i)) ; delayMicroseconds (1) ;
+ digitalWrite (cPin, HIGH) ; delayMicroseconds (1) ;
+ digitalWrite (cPin, LOW) ; delayMicroseconds (1) ;
+ }
+}
+
+
+/*
+ * ds1302regRead: ds1302regWrite:
+ * Read/Write a value to an RTC Register or RAM location on the chip
+ *********************************************************************************
+ */
+
+static unsigned int ds1302regRead (const int reg)
+{
+ unsigned int data ;
+
+ digitalWrite (sPin, HIGH) ; delayMicroseconds (1) ;
+ dsShiftOut (reg) ;
+ data = dsShiftIn () ;
+ digitalWrite (sPin, LOW) ; delayMicroseconds (1) ;
+
+ return data ;
+}
+
+static void ds1302regWrite (const int reg, const unsigned int data)
+{
+ digitalWrite (sPin, HIGH) ; delayMicroseconds (1) ;
+ dsShiftOut (reg) ;
+ dsShiftOut (data) ;
+ digitalWrite (sPin, LOW) ; delayMicroseconds (1) ;
+}
+
+
+/*
+ * ds1302rtcWrite: ds1302rtcRead:
+ * Writes/Reads the data to/from the RTC register
+ *********************************************************************************
+ */
+
+unsigned int ds1302rtcRead (const int reg)
+{
+ return ds1302regRead (0x81 | ((reg & 0x1F) << 1)) ;
+}
+
+void ds1302rtcWrite (int reg, unsigned int data)
+{
+ ds1302regWrite (0x80 | ((reg & 0x1F) << 1), data) ;
+}
+
+
+/*
+ * ds1302ramWrite: ds1302ramRead:
+ * Writes/Reads the data to/from the RTC register
+ *********************************************************************************
+ */
+
+unsigned int ds1302ramRead (const int addr)
+{
+ return ds1302regRead (0xC1 | ((addr & 0x1F) << 1)) ;
+}
+
+void ds1302ramWrite (const int addr, const unsigned int data)
+{
+ ds1302regWrite ( 0xC0 | ((addr & 0x1F) << 1), data) ;
+}
+
+/*
+ * ds1302clockRead:
+ * Read all 8 bytes of the clock in a single operation
+ *********************************************************************************
+ */
+
+void ds1302clockRead (int clockData [8])
+{
+ int i ;
+ unsigned int regVal = 0x81 | ((RTC_BM & 0x1F) << 1) ;
+
+ digitalWrite (sPin, HIGH) ; delayMicroseconds (1) ;
+
+ dsShiftOut (regVal) ;
+ for (i = 0 ; i < 8 ; ++i)
+ clockData [i] = dsShiftIn () ;
+
+ digitalWrite (sPin, LOW) ; delayMicroseconds (1) ;
+}
+
+
+/*
+ * ds1302clockWrite:
+ * Write all 8 bytes of the clock in a single operation
+ *********************************************************************************
+ */
+
+void ds1302clockWrite (const int clockData [8])
+{
+ int i ;
+ unsigned int regVal = 0x80 | ((RTC_BM & 0x1F) << 1) ;
+
+ digitalWrite (sPin, HIGH) ; delayMicroseconds (1) ;
+
+ dsShiftOut (regVal) ;
+ for (i = 0 ; i < 8 ; ++i)
+ dsShiftOut (clockData [i]) ;
+
+ digitalWrite (sPin, LOW) ; delayMicroseconds (1) ;
+}
+
+
+/*
+ * ds1302trickleCharge:
+ * Set the bits on the trickle charger.
+ * Probably best left alone...
+ *********************************************************************************
+ */
+
+void ds1302trickleCharge (const int diodes, const int resistors)
+{
+ if (diodes + resistors == 0)
+ ds1302rtcWrite (RTC_TC, 0x5C) ; // Disabled
+ else
+ ds1302rtcWrite (RTC_TC, 0xA0 | ((diodes & 3) << 2) | (resistors & 3)) ;
+}
+
+
+
+
+/*
+ * ds1302setup:
+ * Initialise the chip & remember the pins we're using
+ *********************************************************************************
+ */
+
+void ds1302setup (const int clockPin, const int dataPin, const int csPin)
+{
+ dPin = dataPin ;
+ cPin = clockPin ;
+ sPin = csPin ;
+
+ digitalWrite (dPin, LOW) ;
+ digitalWrite (cPin, LOW) ;
+ digitalWrite (sPin, LOW) ;
+
+ pinMode (dPin, OUTPUT) ;
+ pinMode (cPin, OUTPUT) ;
+ pinMode (sPin, OUTPUT) ;
+
+ ds1302rtcWrite (RTC_WP, 0) ; // Remove write-protect
+}
diff --git a/modules/catkin_ws/src/wiringPi/devLib/ds1302.h b/modules/catkin_ws/src/wiringPi/devLib/ds1302.h
new file mode 100644
index 0000000000000000000000000000000000000000..e82b3ed092b2dca77841cc7d03c0e01ecf2d35c5
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/ds1302.h
@@ -0,0 +1,44 @@
+/*
+ * ds1302.h:
+ * Real Time clock
+ *
+ * Copyright (c) 2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern unsigned int ds1302rtcRead (const int reg) ;
+extern void ds1302rtcWrite (const int reg, const unsigned int data) ;
+
+extern unsigned int ds1302ramRead (const int addr) ;
+extern void ds1302ramWrite (const int addr, const unsigned int data) ;
+
+extern void ds1302clockRead (int clockData [8]) ;
+extern void ds1302clockWrite (const int clockData [8]) ;
+
+extern void ds1302trickleCharge (const int diodes, const int resistors) ;
+
+extern void ds1302setup (const int clockPin, const int dataPin, const int csPin) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/devLib/ds1302.o b/modules/catkin_ws/src/wiringPi/devLib/ds1302.o
new file mode 100644
index 0000000000000000000000000000000000000000..ef4586fb29150252ddae1d0741bfe0de56053272
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/devLib/ds1302.o differ
diff --git a/modules/catkin_ws/src/wiringPi/devLib/font.h b/modules/catkin_ws/src/wiringPi/devLib/font.h
new file mode 100644
index 0000000000000000000000000000000000000000..ce99e1687f80d16090b52248f64530d7c04c535a
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/font.h
@@ -0,0 +1,2577 @@
+/**********************************************/
+/* */
+/* Font file generated by cpi2fnt */
+/* ------------------------------ */
+/* Combined with the alpha-numeric */
+/* portion of Greg Harp's old PEARL */
+/* font (from earlier versions of */
+/* linux-m86k) by John Shifflett */
+/* */
+/**********************************************/
+
+static const int fontHeight = 8 ;
+static const int fontWidth = 8 ;
+
+static unsigned char font [] =
+{
+ /* 0 0x00 '^@' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 1 0x01 '^A' */
+ 0x7e, /* 01111110 */
+ 0x81, /* 10000001 */
+ 0xa5, /* 10100101 */
+ 0x81, /* 10000001 */
+ 0xbd, /* 10111101 */
+ 0x99, /* 10011001 */
+ 0x81, /* 10000001 */
+ 0x7e, /* 01111110 */
+
+ /* 2 0x02 '^B' */
+ 0x7e, /* 01111110 */
+ 0xff, /* 11111111 */
+ 0xdb, /* 11011011 */
+ 0xff, /* 11111111 */
+ 0xc3, /* 11000011 */
+ 0xe7, /* 11100111 */
+ 0xff, /* 11111111 */
+ 0x7e, /* 01111110 */
+
+ /* 3 0x03 '^C' */
+ 0x6c, /* 01101100 */
+ 0xfe, /* 11111110 */
+ 0xfe, /* 11111110 */
+ 0xfe, /* 11111110 */
+ 0x7c, /* 01111100 */
+ 0x38, /* 00111000 */
+ 0x10, /* 00010000 */
+ 0x00, /* 00000000 */
+
+ /* 4 0x04 '^D' */
+ 0x10, /* 00010000 */
+ 0x38, /* 00111000 */
+ 0x7c, /* 01111100 */
+ 0xfe, /* 11111110 */
+ 0x7c, /* 01111100 */
+ 0x38, /* 00111000 */
+ 0x10, /* 00010000 */
+ 0x00, /* 00000000 */
+
+ /* 5 0x05 '^E' */
+ 0x38, /* 00111000 */
+ 0x7c, /* 01111100 */
+ 0x38, /* 00111000 */
+ 0xfe, /* 11111110 */
+ 0xfe, /* 11111110 */
+ 0xd6, /* 11010110 */
+ 0x10, /* 00010000 */
+ 0x38, /* 00111000 */
+
+ /* 6 0x06 '^F' */
+ 0x10, /* 00010000 */
+ 0x38, /* 00111000 */
+ 0x7c, /* 01111100 */
+ 0xfe, /* 11111110 */
+ 0xfe, /* 11111110 */
+ 0x7c, /* 01111100 */
+ 0x10, /* 00010000 */
+ 0x38, /* 00111000 */
+
+ /* 7 0x07 '^G' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x3c, /* 00111100 */
+ 0x3c, /* 00111100 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 8 0x08 '^H' */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+ 0xe7, /* 11100111 */
+ 0xc3, /* 11000011 */
+ 0xc3, /* 11000011 */
+ 0xe7, /* 11100111 */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+
+ /* 9 0x09 '^I' */
+ 0x00, /* 00000000 */
+ 0x3c, /* 00111100 */
+ 0x66, /* 01100110 */
+ 0x42, /* 01000010 */
+ 0x42, /* 01000010 */
+ 0x66, /* 01100110 */
+ 0x3c, /* 00111100 */
+ 0x00, /* 00000000 */
+
+ /* 10 0x0a '^J' */
+ 0xff, /* 11111111 */
+ 0xc3, /* 11000011 */
+ 0x99, /* 10011001 */
+ 0xbd, /* 10111101 */
+ 0xbd, /* 10111101 */
+ 0x99, /* 10011001 */
+ 0xc3, /* 11000011 */
+ 0xff, /* 11111111 */
+
+ /* 11 0x0b '^K' */
+ 0x0f, /* 00001111 */
+ 0x07, /* 00000111 */
+ 0x0f, /* 00001111 */
+ 0x7d, /* 01111101 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0x78, /* 01111000 */
+
+ /* 12 0x0c '^L' */
+ 0x3c, /* 00111100 */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x3c, /* 00111100 */
+ 0x18, /* 00011000 */
+ 0x7e, /* 01111110 */
+ 0x18, /* 00011000 */
+
+ /* 13 0x0d '^M' */
+ 0x3f, /* 00111111 */
+ 0x33, /* 00110011 */
+ 0x3f, /* 00111111 */
+ 0x30, /* 00110000 */
+ 0x30, /* 00110000 */
+ 0x70, /* 01110000 */
+ 0xf0, /* 11110000 */
+ 0xe0, /* 11100000 */
+
+ /* 14 0x0e '^N' */
+ 0x7f, /* 01111111 */
+ 0x63, /* 01100011 */
+ 0x7f, /* 01111111 */
+ 0x63, /* 01100011 */
+ 0x63, /* 01100011 */
+ 0x67, /* 01100111 */
+ 0xe6, /* 11100110 */
+ 0xc0, /* 11000000 */
+
+ /* 15 0x0f '^O' */
+ 0x18, /* 00011000 */
+ 0xdb, /* 11011011 */
+ 0x3c, /* 00111100 */
+ 0xe7, /* 11100111 */
+ 0xe7, /* 11100111 */
+ 0x3c, /* 00111100 */
+ 0xdb, /* 11011011 */
+ 0x18, /* 00011000 */
+
+ /* 16 0x10 '^P' */
+ 0x80, /* 10000000 */
+ 0xe0, /* 11100000 */
+ 0xf8, /* 11111000 */
+ 0xfe, /* 11111110 */
+ 0xf8, /* 11111000 */
+ 0xe0, /* 11100000 */
+ 0x80, /* 10000000 */
+ 0x00, /* 00000000 */
+
+ /* 17 0x11 '^Q' */
+ 0x02, /* 00000010 */
+ 0x0e, /* 00001110 */
+ 0x3e, /* 00111110 */
+ 0xfe, /* 11111110 */
+ 0x3e, /* 00111110 */
+ 0x0e, /* 00001110 */
+ 0x02, /* 00000010 */
+ 0x00, /* 00000000 */
+
+ /* 18 0x12 '^R' */
+ 0x18, /* 00011000 */
+ 0x3c, /* 00111100 */
+ 0x7e, /* 01111110 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x7e, /* 01111110 */
+ 0x3c, /* 00111100 */
+ 0x18, /* 00011000 */
+
+ /* 19 0x13 '^S' */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x00, /* 00000000 */
+ 0x66, /* 01100110 */
+ 0x00, /* 00000000 */
+
+ /* 20 0x14 '^T' */
+ 0x7f, /* 01111111 */
+ 0xdb, /* 11011011 */
+ 0xdb, /* 11011011 */
+ 0x7b, /* 01111011 */
+ 0x1b, /* 00011011 */
+ 0x1b, /* 00011011 */
+ 0x1b, /* 00011011 */
+ 0x00, /* 00000000 */
+
+ /* 21 0x15 '^U' */
+ 0x3e, /* 00111110 */
+ 0x61, /* 01100001 */
+ 0x3c, /* 00111100 */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x3c, /* 00111100 */
+ 0x86, /* 10000110 */
+ 0x7c, /* 01111100 */
+
+ /* 22 0x16 '^V' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0x7e, /* 01111110 */
+ 0x7e, /* 01111110 */
+ 0x00, /* 00000000 */
+
+ /* 23 0x17 '^W' */
+ 0x18, /* 00011000 */
+ 0x3c, /* 00111100 */
+ 0x7e, /* 01111110 */
+ 0x18, /* 00011000 */
+ 0x7e, /* 01111110 */
+ 0x3c, /* 00111100 */
+ 0x18, /* 00011000 */
+ 0xff, /* 11111111 */
+
+ /* 24 0x18 '^X' */
+ 0x18, /* 00011000 */
+ 0x3c, /* 00111100 */
+ 0x7e, /* 01111110 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 25 0x19 '^Y' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x7e, /* 01111110 */
+ 0x3c, /* 00111100 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 26 0x1a '^Z' */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x0c, /* 00001100 */
+ 0xfe, /* 11111110 */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 27 0x1b '^[' */
+ 0x00, /* 00000000 */
+ 0x30, /* 00110000 */
+ 0x60, /* 01100000 */
+ 0xfe, /* 11111110 */
+ 0x60, /* 01100000 */
+ 0x30, /* 00110000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 28 0x1c '^\' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xfe, /* 11111110 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 29 0x1d '^]' */
+ 0x00, /* 00000000 */
+ 0x24, /* 00100100 */
+ 0x66, /* 01100110 */
+ 0xff, /* 11111111 */
+ 0x66, /* 01100110 */
+ 0x24, /* 00100100 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 30 0x1e '^^' */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x3c, /* 00111100 */
+ 0x7e, /* 01111110 */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 31 0x1f '^_' */
+ 0x00, /* 00000000 */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+ 0x7e, /* 01111110 */
+ 0x3c, /* 00111100 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 32 0x20 ' ' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 33 0x21 '!' */
+ 0x18, /* 00011000 */
+ 0x3c, /* 00111100 */
+ 0x3c, /* 00111100 */
+ 0x3c, /* 00111100 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 34 0x22 '"' */
+ 0x6c, /* 01101100 */
+ 0x6c, /* 01101100 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 35 0x23 '#' */
+ 0x6c, /* 01101100 */
+ 0x6c, /* 01101100 */
+ 0xfe, /* 11111110 */
+ 0x6c, /* 01101100 */
+ 0xfe, /* 11111110 */
+ 0x6c, /* 01101100 */
+ 0x6c, /* 01101100 */
+ 0x00, /* 00000000 */
+
+ /* 36 0x24 '$' */
+ 0x18, /* 00011000 */
+ 0x3e, /* 00111110 */
+ 0x60, /* 01100000 */
+ 0x3c, /* 00111100 */
+ 0x06, /* 00000110 */
+ 0x7c, /* 01111100 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 37 0x25 '%' */
+ 0x00, /* 00000000 */
+ 0xc6, /* 11000110 */
+ 0xcc, /* 11001100 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x66, /* 01100110 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 38 0x26 '&' */
+ 0x38, /* 00111000 */
+ 0x6c, /* 01101100 */
+ 0x68, /* 01101000 */
+ 0x76, /* 01110110 */
+ 0xdc, /* 11011100 */
+ 0xcc, /* 11001100 */
+ 0x76, /* 01110110 */
+ 0x00, /* 00000000 */
+
+ /* 39 0x27 ''' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 40 0x28 '(' */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x30, /* 00110000 */
+ 0x30, /* 00110000 */
+ 0x18, /* 00011000 */
+ 0x0c, /* 00001100 */
+ 0x00, /* 00000000 */
+
+ /* 41 0x29 ')' */
+ 0x30, /* 00110000 */
+ 0x18, /* 00011000 */
+ 0x0c, /* 00001100 */
+ 0x0c, /* 00001100 */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x00, /* 00000000 */
+
+ /* 42 0x2a '*' */
+ 0x00, /* 00000000 */
+ 0x66, /* 01100110 */
+ 0x3c, /* 00111100 */
+ 0xff, /* 11111111 */
+ 0x3c, /* 00111100 */
+ 0x66, /* 01100110 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 43 0x2b '+' */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x7e, /* 01111110 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 44 0x2c ',' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+
+ /* 45 0x2d '-' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 46 0x2e '.' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 47 0x2f '/' */
+ 0x03, /* 00000011 */
+ 0x06, /* 00000110 */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x60, /* 01100000 */
+ 0xc0, /* 11000000 */
+ 0x00, /* 00000000 */
+
+ /* 48 0x30 '0' */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xde, /* 11011110 */
+ 0xfe, /* 11111110 */
+ 0xf6, /* 11110110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 49 0x31 '1' */
+ 0x18, /* 00011000 */
+ 0x78, /* 01111000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 50 0x32 '2' */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x60, /* 01100000 */
+ 0xfe, /* 11111110 */
+ 0x00, /* 00000000 */
+
+ /* 51 0x33 '3' */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0x06, /* 00000110 */
+ 0x1c, /* 00011100 */
+ 0x06, /* 00000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 52 0x34 '4' */
+ 0x1c, /* 00011100 */
+ 0x3c, /* 00111100 */
+ 0x6c, /* 01101100 */
+ 0xcc, /* 11001100 */
+ 0xfe, /* 11111110 */
+ 0x0c, /* 00001100 */
+ 0x0c, /* 00001100 */
+ 0x00, /* 00000000 */
+
+ /* 53 0x35 '5' */
+ 0xfe, /* 11111110 */
+ 0xc0, /* 11000000 */
+ 0xfc, /* 11111100 */
+ 0x06, /* 00000110 */
+ 0x06, /* 00000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 54 0x36 '6' */
+ 0x38, /* 00111000 */
+ 0x60, /* 01100000 */
+ 0xc0, /* 11000000 */
+ 0xfc, /* 11111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 55 0x37 '7' */
+ 0xfe, /* 11111110 */
+ 0x06, /* 00000110 */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x60, /* 01100000 */
+ 0x60, /* 01100000 */
+ 0x00, /* 00000000 */
+
+ /* 56 0x38 '8' */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 57 0x39 '9' */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7e, /* 01111110 */
+ 0x06, /* 00000110 */
+ 0x0c, /* 00001100 */
+ 0x38, /* 00111000 */
+ 0x00, /* 00000000 */
+
+ /* 58 0x3a ':' */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 59 0x3b ';' */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+
+ /* 60 0x3c '<' */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x60, /* 01100000 */
+ 0x30, /* 00110000 */
+ 0x18, /* 00011000 */
+ 0x0c, /* 00001100 */
+ 0x00, /* 00000000 */
+
+ /* 61 0x3d '=' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 62 0x3e '>' */
+ 0x30, /* 00110000 */
+ 0x18, /* 00011000 */
+ 0x0c, /* 00001100 */
+ 0x06, /* 00000110 */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x00, /* 00000000 */
+
+ /* 63 0x3f '?' */
+ 0x3c, /* 00111100 */
+ 0x66, /* 01100110 */
+ 0x06, /* 00000110 */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 64 0x40 '@' */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xde, /* 11011110 */
+ 0xde, /* 11011110 */
+ 0xde, /* 11011110 */
+ 0xc0, /* 11000000 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 65 0x41 'A' */
+ 0x10, /* 00010000 */
+ 0x38, /* 00111000 */
+ 0x6c, /* 01101100 */
+ 0xc6, /* 11000110 */
+ 0xfe, /* 11111110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 66 0x42 'B' */
+ 0xfc, /* 11111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xfc, /* 11111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xfc, /* 11111100 */
+ 0x00, /* 00000000 */
+
+ /* 67 0x43 'C' */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 68 0x44 'D' */
+ 0xfc, /* 11111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xfc, /* 11111100 */
+ 0x00, /* 00000000 */
+
+ /* 69 0x45 'E' */
+ 0xfe, /* 11111110 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xf8, /* 11111000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xfe, /* 11111110 */
+ 0x00, /* 00000000 */
+
+ /* 70 0x46 'F' */
+ 0xfe, /* 11111110 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xf8, /* 11111000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0x00, /* 00000000 */
+
+ /* 71 0x47 'G' */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc0, /* 11000000 */
+ 0xce, /* 11001110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 72 0x48 'H' */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xfe, /* 11111110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 73 0x49 'I' */
+ 0x7e, /* 01111110 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x7e, /* 01111110 */
+ 0x00, /* 00000000 */
+
+ /* 74 0x4a 'J' */
+ 0x06, /* 00000110 */
+ 0x06, /* 00000110 */
+ 0x06, /* 00000110 */
+ 0x06, /* 00000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 75 0x4b 'K' */
+ 0xc6, /* 11000110 */
+ 0xcc, /* 11001100 */
+ 0xd8, /* 11011000 */
+ 0xf0, /* 11110000 */
+ 0xd8, /* 11011000 */
+ 0xcc, /* 11001100 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 76 0x4c 'L' */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xfe, /* 11111110 */
+ 0x00, /* 00000000 */
+
+ /* 77 0x4d 'M' */
+ 0x82, /* 10000010 */
+ 0xc6, /* 11000110 */
+ 0xee, /* 11101110 */
+ 0xfe, /* 11111110 */
+ 0xd6, /* 11010110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 78 0x4e 'N' */
+ 0xc6, /* 11000110 */
+ 0xe6, /* 11100110 */
+ 0xf6, /* 11110110 */
+ 0xde, /* 11011110 */
+ 0xce, /* 11001110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 79 0x4f 'O' */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 80 0x50 'P' */
+ 0xfc, /* 11111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xfc, /* 11111100 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0x00, /* 00000000 */
+
+ /* 81 0x51 'Q' */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xf6, /* 11110110 */
+ 0xde, /* 11011110 */
+ 0x7c, /* 01111100 */
+ 0x06, /* 00000110 */
+
+ /* 82 0x52 'R' */
+ 0xfc, /* 11111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xfc, /* 11111100 */
+ 0xd8, /* 11011000 */
+ 0xcc, /* 11001100 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 83 0x53 'S' */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0x60, /* 01100000 */
+ 0x38, /* 00111000 */
+ 0x0c, /* 00001100 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 84 0x54 'T' */
+ 0x7e, /* 01111110 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 85 0x55 'U' */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 86 0x56 'V' */
+ 0xc3, /* 11000011 */
+ 0xc3, /* 11000011 */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x3c, /* 00111100 */
+ 0x3c, /* 00111100 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 87 0x57 'W' */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xd6, /* 11010110 */
+ 0xfe, /* 11111110 */
+ 0xee, /* 11101110 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 88 0x58 'X' */
+ 0xc3, /* 11000011 */
+ 0x66, /* 01100110 */
+ 0x3c, /* 00111100 */
+ 0x18, /* 00011000 */
+ 0x3c, /* 00111100 */
+ 0x66, /* 01100110 */
+ 0xc3, /* 11000011 */
+ 0x00, /* 00000000 */
+
+ /* 89 0x59 'Y' */
+ 0xc3, /* 11000011 */
+ 0xc3, /* 11000011 */
+ 0x66, /* 01100110 */
+ 0x3c, /* 00111100 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 90 0x5a 'Z' */
+ 0xfe, /* 11111110 */
+ 0x06, /* 00000110 */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x60, /* 01100000 */
+ 0xfe, /* 11111110 */
+ 0x00, /* 00000000 */
+
+ /* 91 0x5b '[' */
+ 0x3c, /* 00111100 */
+ 0x30, /* 00110000 */
+ 0x30, /* 00110000 */
+ 0x30, /* 00110000 */
+ 0x30, /* 00110000 */
+ 0x30, /* 00110000 */
+ 0x3c, /* 00111100 */
+ 0x00, /* 00000000 */
+
+ /* 92 0x5c '\' */
+ 0xc0, /* 11000000 */
+ 0x60, /* 01100000 */
+ 0x30, /* 00110000 */
+ 0x18, /* 00011000 */
+ 0x0c, /* 00001100 */
+ 0x06, /* 00000110 */
+ 0x03, /* 00000011 */
+ 0x00, /* 00000000 */
+
+ /* 93 0x5d ']' */
+ 0x3c, /* 00111100 */
+ 0x0c, /* 00001100 */
+ 0x0c, /* 00001100 */
+ 0x0c, /* 00001100 */
+ 0x0c, /* 00001100 */
+ 0x0c, /* 00001100 */
+ 0x3c, /* 00111100 */
+ 0x00, /* 00000000 */
+
+ /* 94 0x5e '^' */
+ 0x10, /* 00010000 */
+ 0x38, /* 00111000 */
+ 0x6c, /* 01101100 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 95 0x5f '_' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xfe, /* 11111110 */
+
+ /* 96 0x60 '`' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x0c, /* 00001100 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 97 0x61 'a' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7c, /* 01111100 */
+ 0x06, /* 00000110 */
+ 0x7e, /* 01111110 */
+ 0xc6, /* 11000110 */
+ 0x7e, /* 01111110 */
+ 0x00, /* 00000000 */
+
+ /* 98 0x62 'b' */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xfc, /* 11111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xfc, /* 11111100 */
+ 0x00, /* 00000000 */
+
+ /* 99 0x63 'c' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc0, /* 11000000 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 100 0x64 'd' */
+ 0x06, /* 00000110 */
+ 0x06, /* 00000110 */
+ 0x7e, /* 01111110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7e, /* 01111110 */
+ 0x00, /* 00000000 */
+
+ /* 101 0x65 'e' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xfe, /* 11111110 */
+ 0xc0, /* 11000000 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 102 0x66 'f' */
+ 0x3c, /* 00111100 */
+ 0x66, /* 01100110 */
+ 0x60, /* 01100000 */
+ 0xf0, /* 11110000 */
+ 0x60, /* 01100000 */
+ 0x60, /* 01100000 */
+ 0x60, /* 01100000 */
+ 0x00, /* 00000000 */
+
+ /* 103 0x67 'g' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7e, /* 01111110 */
+ 0x06, /* 00000110 */
+ 0x7c, /* 01111100 */
+
+ /* 104 0x68 'h' */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xfc, /* 11111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 105 0x69 'i' */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x38, /* 00111000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 106 0x6a 'j' */
+ 0x06, /* 00000110 */
+ 0x00, /* 00000000 */
+ 0x06, /* 00000110 */
+ 0x06, /* 00000110 */
+ 0x06, /* 00000110 */
+ 0x06, /* 00000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+
+ /* 107 0x6b 'k' */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xcc, /* 11001100 */
+ 0xd8, /* 11011000 */
+ 0xf0, /* 11110000 */
+ 0xd8, /* 11011000 */
+ 0xcc, /* 11001100 */
+ 0x00, /* 00000000 */
+
+ /* 108 0x6c 'l' */
+ 0x38, /* 00111000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 109 0x6d 'm' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xec, /* 11101100 */
+ 0xfe, /* 11111110 */
+ 0xd6, /* 11010110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 110 0x6e 'n' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xfc, /* 11111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 111 0x6f 'o' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 112 0x70 'p' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xfc, /* 11111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xfc, /* 11111100 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+
+ /* 113 0x71 'q' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7e, /* 01111110 */
+ 0x06, /* 00000110 */
+ 0x06, /* 00000110 */
+
+ /* 114 0x72 'r' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xdc, /* 11011100 */
+ 0xe6, /* 11100110 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0x00, /* 00000000 */
+
+ /* 115 0x73 's' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0xc0, /* 11000000 */
+ 0x7c, /* 01111100 */
+ 0x06, /* 00000110 */
+ 0xfc, /* 11111100 */
+ 0x00, /* 00000000 */
+
+ /* 116 0x74 't' */
+ 0x30, /* 00110000 */
+ 0x30, /* 00110000 */
+ 0x7c, /* 01111100 */
+ 0x30, /* 00110000 */
+ 0x30, /* 00110000 */
+ 0x36, /* 00110110 */
+ 0x1c, /* 00011100 */
+ 0x00, /* 00000000 */
+
+ /* 117 0x75 'u' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 118 0x76 'v' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x6c, /* 01101100 */
+ 0x38, /* 00111000 */
+ 0x00, /* 00000000 */
+
+ /* 119 0x77 'w' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xd6, /* 11010110 */
+ 0xfe, /* 11111110 */
+ 0x6c, /* 01101100 */
+ 0x00, /* 00000000 */
+
+ /* 120 0x78 'x' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xc6, /* 11000110 */
+ 0x6c, /* 01101100 */
+ 0x38, /* 00111000 */
+ 0x6c, /* 01101100 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 121 0x79 'y' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xc3, /* 11000011 */
+ 0x66, /* 01100110 */
+ 0x3c, /* 00111100 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x60, /* 01100000 */
+
+ /* 122 0x7a 'z' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xfe, /* 11111110 */
+ 0x0c, /* 00001100 */
+ 0x38, /* 00111000 */
+ 0x60, /* 01100000 */
+ 0xfe, /* 11111110 */
+ 0x00, /* 00000000 */
+
+ /* 123 0x7b '{' */
+ 0x0e, /* 00001110 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x70, /* 01110000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x0e, /* 00001110 */
+ 0x00, /* 00000000 */
+
+ /* 124 0x7c '|' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 125 0x7d '}' */
+ 0x70, /* 01110000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x0e, /* 00001110 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x70, /* 01110000 */
+ 0x00, /* 00000000 */
+
+ /* 126 0x7e '~' */
+ 0x72, /* 01110010 */
+ 0x9c, /* 10011100 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 127 0x7f '' */
+ 0x00, /* 00000000 */
+ 0x10, /* 00010000 */
+ 0x38, /* 00111000 */
+ 0x6c, /* 01101100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xfe, /* 11111110 */
+ 0x00, /* 00000000 */
+
+ /* 128 0x80 'Ä' */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x0c, /* 00001100 */
+ 0x78, /* 01111000 */
+
+ /* 129 0x81 'Å' */
+ 0xcc, /* 11001100 */
+ 0x00, /* 00000000 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0x76, /* 01110110 */
+ 0x00, /* 00000000 */
+
+ /* 130 0x82 'Ç' */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xfe, /* 11111110 */
+ 0xc0, /* 11000000 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 131 0x83 'É' */
+ 0x7c, /* 01111100 */
+ 0x82, /* 10000010 */
+ 0x78, /* 01111000 */
+ 0x0c, /* 00001100 */
+ 0x7c, /* 01111100 */
+ 0xcc, /* 11001100 */
+ 0x76, /* 01110110 */
+ 0x00, /* 00000000 */
+
+ /* 132 0x84 'Ñ' */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+ 0x78, /* 01111000 */
+ 0x0c, /* 00001100 */
+ 0x7c, /* 01111100 */
+ 0xcc, /* 11001100 */
+ 0x76, /* 01110110 */
+ 0x00, /* 00000000 */
+
+ /* 133 0x85 'Ö' */
+ 0x30, /* 00110000 */
+ 0x18, /* 00011000 */
+ 0x78, /* 01111000 */
+ 0x0c, /* 00001100 */
+ 0x7c, /* 01111100 */
+ 0xcc, /* 11001100 */
+ 0x76, /* 01110110 */
+ 0x00, /* 00000000 */
+
+ /* 134 0x86 'Ü' */
+ 0x30, /* 00110000 */
+ 0x30, /* 00110000 */
+ 0x78, /* 01111000 */
+ 0x0c, /* 00001100 */
+ 0x7c, /* 01111100 */
+ 0xcc, /* 11001100 */
+ 0x76, /* 01110110 */
+ 0x00, /* 00000000 */
+
+ /* 135 0x87 'á' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0x7e, /* 01111110 */
+ 0x0c, /* 00001100 */
+ 0x38, /* 00111000 */
+
+ /* 136 0x88 'à' */
+ 0x7c, /* 01111100 */
+ 0x82, /* 10000010 */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xfe, /* 11111110 */
+ 0xc0, /* 11000000 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 137 0x89 'â' */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xfe, /* 11111110 */
+ 0xc0, /* 11000000 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 138 0x8a 'ä' */
+ 0x30, /* 00110000 */
+ 0x18, /* 00011000 */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xfe, /* 11111110 */
+ 0xc0, /* 11000000 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 139 0x8b 'ã' */
+ 0x66, /* 01100110 */
+ 0x00, /* 00000000 */
+ 0x38, /* 00111000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x3c, /* 00111100 */
+ 0x00, /* 00000000 */
+
+ /* 140 0x8c 'å' */
+ 0x7c, /* 01111100 */
+ 0x82, /* 10000010 */
+ 0x38, /* 00111000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x3c, /* 00111100 */
+ 0x00, /* 00000000 */
+
+ /* 141 0x8d 'ç' */
+ 0x30, /* 00110000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x38, /* 00111000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x3c, /* 00111100 */
+ 0x00, /* 00000000 */
+
+ /* 142 0x8e 'é' */
+ 0xc6, /* 11000110 */
+ 0x38, /* 00111000 */
+ 0x6c, /* 01101100 */
+ 0xc6, /* 11000110 */
+ 0xfe, /* 11111110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 143 0x8f 'è' */
+ 0x38, /* 00111000 */
+ 0x6c, /* 01101100 */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xfe, /* 11111110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 144 0x90 'ê' */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0xfe, /* 11111110 */
+ 0xc0, /* 11000000 */
+ 0xf8, /* 11111000 */
+ 0xc0, /* 11000000 */
+ 0xfe, /* 11111110 */
+ 0x00, /* 00000000 */
+
+ /* 145 0x91 'ë' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0x18, /* 00011000 */
+ 0x7e, /* 01111110 */
+ 0xd8, /* 11011000 */
+ 0x7e, /* 01111110 */
+ 0x00, /* 00000000 */
+
+ /* 146 0x92 'í' */
+ 0x3e, /* 00111110 */
+ 0x6c, /* 01101100 */
+ 0xcc, /* 11001100 */
+ 0xfe, /* 11111110 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0xce, /* 11001110 */
+ 0x00, /* 00000000 */
+
+ /* 147 0x93 'ì' */
+ 0x7c, /* 01111100 */
+ 0x82, /* 10000010 */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 148 0x94 'î' */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 149 0x95 'ï' */
+ 0x30, /* 00110000 */
+ 0x18, /* 00011000 */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 150 0x96 'ñ' */
+ 0x78, /* 01111000 */
+ 0x84, /* 10000100 */
+ 0x00, /* 00000000 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0x76, /* 01110110 */
+ 0x00, /* 00000000 */
+
+ /* 151 0x97 'ó' */
+ 0x60, /* 01100000 */
+ 0x30, /* 00110000 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0x76, /* 01110110 */
+ 0x00, /* 00000000 */
+
+ /* 152 0x98 'ò' */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7e, /* 01111110 */
+ 0x06, /* 00000110 */
+ 0xfc, /* 11111100 */
+
+ /* 153 0x99 'ô' */
+ 0xc6, /* 11000110 */
+ 0x38, /* 00111000 */
+ 0x6c, /* 01101100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x6c, /* 01101100 */
+ 0x38, /* 00111000 */
+ 0x00, /* 00000000 */
+
+ /* 154 0x9a 'ö' */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 155 0x9b 'õ' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x7e, /* 01111110 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0x7e, /* 01111110 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 156 0x9c 'ú' */
+ 0x38, /* 00111000 */
+ 0x6c, /* 01101100 */
+ 0x64, /* 01100100 */
+ 0xf0, /* 11110000 */
+ 0x60, /* 01100000 */
+ 0x66, /* 01100110 */
+ 0xfc, /* 11111100 */
+ 0x00, /* 00000000 */
+
+ /* 157 0x9d 'ù' */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x3c, /* 00111100 */
+ 0x7e, /* 01111110 */
+ 0x18, /* 00011000 */
+ 0x7e, /* 01111110 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 158 0x9e 'û' */
+ 0xf8, /* 11111000 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0xfa, /* 11111010 */
+ 0xc6, /* 11000110 */
+ 0xcf, /* 11001111 */
+ 0xc6, /* 11000110 */
+ 0xc7, /* 11000111 */
+
+ /* 159 0x9f 'ü' */
+ 0x0e, /* 00001110 */
+ 0x1b, /* 00011011 */
+ 0x18, /* 00011000 */
+ 0x3c, /* 00111100 */
+ 0x18, /* 00011000 */
+ 0xd8, /* 11011000 */
+ 0x70, /* 01110000 */
+ 0x00, /* 00000000 */
+
+ /* 160 0xa0 '†' */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x78, /* 01111000 */
+ 0x0c, /* 00001100 */
+ 0x7c, /* 01111100 */
+ 0xcc, /* 11001100 */
+ 0x76, /* 01110110 */
+ 0x00, /* 00000000 */
+
+ /* 161 0xa1 '°' */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x38, /* 00111000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x3c, /* 00111100 */
+ 0x00, /* 00000000 */
+
+ /* 162 0xa2 '¢' */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+
+ /* 163 0xa3 '£' */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0x76, /* 01110110 */
+ 0x00, /* 00000000 */
+
+ /* 164 0xa4 '§' */
+ 0x76, /* 01110110 */
+ 0xdc, /* 11011100 */
+ 0x00, /* 00000000 */
+ 0xdc, /* 11011100 */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x00, /* 00000000 */
+
+ /* 165 0xa5 '•' */
+ 0x76, /* 01110110 */
+ 0xdc, /* 11011100 */
+ 0x00, /* 00000000 */
+ 0xe6, /* 11100110 */
+ 0xf6, /* 11110110 */
+ 0xde, /* 11011110 */
+ 0xce, /* 11001110 */
+ 0x00, /* 00000000 */
+
+ /* 166 0xa6 '¶' */
+ 0x3c, /* 00111100 */
+ 0x6c, /* 01101100 */
+ 0x6c, /* 01101100 */
+ 0x3e, /* 00111110 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 167 0xa7 'ß' */
+ 0x38, /* 00111000 */
+ 0x6c, /* 01101100 */
+ 0x6c, /* 01101100 */
+ 0x38, /* 00111000 */
+ 0x00, /* 00000000 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 168 0xa8 '®' */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x63, /* 01100011 */
+ 0x3e, /* 00111110 */
+ 0x00, /* 00000000 */
+
+ /* 169 0xa9 '©' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xfe, /* 11111110 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 170 0xaa '™' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xfe, /* 11111110 */
+ 0x06, /* 00000110 */
+ 0x06, /* 00000110 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 171 0xab '´' */
+ 0x63, /* 01100011 */
+ 0xe6, /* 11100110 */
+ 0x6c, /* 01101100 */
+ 0x7e, /* 01111110 */
+ 0x33, /* 00110011 */
+ 0x66, /* 01100110 */
+ 0xcc, /* 11001100 */
+ 0x0f, /* 00001111 */
+
+ /* 172 0xac '¨' */
+ 0x63, /* 01100011 */
+ 0xe6, /* 11100110 */
+ 0x6c, /* 01101100 */
+ 0x7a, /* 01111010 */
+ 0x36, /* 00110110 */
+ 0x6a, /* 01101010 */
+ 0xdf, /* 11011111 */
+ 0x06, /* 00000110 */
+
+ /* 173 0xad '≠' */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x3c, /* 00111100 */
+ 0x3c, /* 00111100 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 174 0xae 'Æ' */
+ 0x00, /* 00000000 */
+ 0x33, /* 00110011 */
+ 0x66, /* 01100110 */
+ 0xcc, /* 11001100 */
+ 0x66, /* 01100110 */
+ 0x33, /* 00110011 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 175 0xaf 'Ø' */
+ 0x00, /* 00000000 */
+ 0xcc, /* 11001100 */
+ 0x66, /* 01100110 */
+ 0x33, /* 00110011 */
+ 0x66, /* 01100110 */
+ 0xcc, /* 11001100 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 176 0xb0 '∞' */
+ 0x22, /* 00100010 */
+ 0x88, /* 10001000 */
+ 0x22, /* 00100010 */
+ 0x88, /* 10001000 */
+ 0x22, /* 00100010 */
+ 0x88, /* 10001000 */
+ 0x22, /* 00100010 */
+ 0x88, /* 10001000 */
+
+ /* 177 0xb1 '±' */
+ 0x55, /* 01010101 */
+ 0xaa, /* 10101010 */
+ 0x55, /* 01010101 */
+ 0xaa, /* 10101010 */
+ 0x55, /* 01010101 */
+ 0xaa, /* 10101010 */
+ 0x55, /* 01010101 */
+ 0xaa, /* 10101010 */
+
+ /* 178 0xb2 '≤' */
+ 0x77, /* 01110111 */
+ 0xdd, /* 11011101 */
+ 0x77, /* 01110111 */
+ 0xdd, /* 11011101 */
+ 0x77, /* 01110111 */
+ 0xdd, /* 11011101 */
+ 0x77, /* 01110111 */
+ 0xdd, /* 11011101 */
+
+ /* 179 0xb3 '≥' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 180 0xb4 '¥' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0xf8, /* 11111000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 181 0xb5 'µ' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0xf8, /* 11111000 */
+ 0x18, /* 00011000 */
+ 0xf8, /* 11111000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 182 0xb6 '∂' */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0xf6, /* 11110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+
+ /* 183 0xb7 '∑' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xfe, /* 11111110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+
+ /* 184 0xb8 '∏' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xf8, /* 11111000 */
+ 0x18, /* 00011000 */
+ 0xf8, /* 11111000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 185 0xb9 'π' */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0xf6, /* 11110110 */
+ 0x06, /* 00000110 */
+ 0xf6, /* 11110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+
+ /* 186 0xba '∫' */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+
+ /* 187 0xbb 'ª' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xfe, /* 11111110 */
+ 0x06, /* 00000110 */
+ 0xf6, /* 11110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+
+ /* 188 0xbc 'º' */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0xf6, /* 11110110 */
+ 0x06, /* 00000110 */
+ 0xfe, /* 11111110 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 189 0xbd 'Ω' */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0xfe, /* 11111110 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 190 0xbe 'æ' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0xf8, /* 11111000 */
+ 0x18, /* 00011000 */
+ 0xf8, /* 11111000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 191 0xbf 'ø' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xf8, /* 11111000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 192 0xc0 '¿' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x1f, /* 00011111 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 193 0xc1 '¡' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0xff, /* 11111111 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 194 0xc2 '¬' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xff, /* 11111111 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 195 0xc3 '√' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x1f, /* 00011111 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 196 0xc4 'ƒ' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xff, /* 11111111 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 197 0xc5 '≈' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0xff, /* 11111111 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 198 0xc6 '∆' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x1f, /* 00011111 */
+ 0x18, /* 00011000 */
+ 0x1f, /* 00011111 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 199 0xc7 '«' */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x37, /* 00110111 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+
+ /* 200 0xc8 '»' */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x37, /* 00110111 */
+ 0x30, /* 00110000 */
+ 0x3f, /* 00111111 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 201 0xc9 '…' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x3f, /* 00111111 */
+ 0x30, /* 00110000 */
+ 0x37, /* 00110111 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+
+ /* 202 0xca ' ' */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0xf7, /* 11110111 */
+ 0x00, /* 00000000 */
+ 0xff, /* 11111111 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 203 0xcb 'À' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xff, /* 11111111 */
+ 0x00, /* 00000000 */
+ 0xf7, /* 11110111 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+
+ /* 204 0xcc 'Ã' */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x37, /* 00110111 */
+ 0x30, /* 00110000 */
+ 0x37, /* 00110111 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+
+ /* 205 0xcd 'Õ' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xff, /* 11111111 */
+ 0x00, /* 00000000 */
+ 0xff, /* 11111111 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 206 0xce 'Œ' */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0xf7, /* 11110111 */
+ 0x00, /* 00000000 */
+ 0xf7, /* 11110111 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+
+ /* 207 0xcf 'œ' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0xff, /* 11111111 */
+ 0x00, /* 00000000 */
+ 0xff, /* 11111111 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 208 0xd0 '–' */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0xff, /* 11111111 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 209 0xd1 '—' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xff, /* 11111111 */
+ 0x00, /* 00000000 */
+ 0xff, /* 11111111 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 210 0xd2 '“' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xff, /* 11111111 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+
+ /* 211 0xd3 '”' */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x3f, /* 00111111 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 212 0xd4 '‘' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x1f, /* 00011111 */
+ 0x18, /* 00011000 */
+ 0x1f, /* 00011111 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 213 0xd5 '’' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x1f, /* 00011111 */
+ 0x18, /* 00011000 */
+ 0x1f, /* 00011111 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 214 0xd6 '÷' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x3f, /* 00111111 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+
+ /* 215 0xd7 '◊' */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0xff, /* 11111111 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+
+ /* 216 0xd8 'ÿ' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0xff, /* 11111111 */
+ 0x18, /* 00011000 */
+ 0xff, /* 11111111 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 217 0xd9 'Ÿ' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0xf8, /* 11111000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 218 0xda '⁄' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x1f, /* 00011111 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 219 0xdb '€' */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+
+ /* 220 0xdc '‹' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+
+ /* 221 0xdd '›' */
+ 0xf0, /* 11110000 */
+ 0xf0, /* 11110000 */
+ 0xf0, /* 11110000 */
+ 0xf0, /* 11110000 */
+ 0xf0, /* 11110000 */
+ 0xf0, /* 11110000 */
+ 0xf0, /* 11110000 */
+ 0xf0, /* 11110000 */
+
+ /* 222 0xde 'fi' */
+ 0x0f, /* 00001111 */
+ 0x0f, /* 00001111 */
+ 0x0f, /* 00001111 */
+ 0x0f, /* 00001111 */
+ 0x0f, /* 00001111 */
+ 0x0f, /* 00001111 */
+ 0x0f, /* 00001111 */
+ 0x0f, /* 00001111 */
+
+ /* 223 0xdf 'fl' */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+ 0xff, /* 11111111 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 224 0xe0 '‡' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x76, /* 01110110 */
+ 0xdc, /* 11011100 */
+ 0xc8, /* 11001000 */
+ 0xdc, /* 11011100 */
+ 0x76, /* 01110110 */
+ 0x00, /* 00000000 */
+
+ /* 225 0xe1 '·' */
+ 0x78, /* 01111000 */
+ 0xcc, /* 11001100 */
+ 0xcc, /* 11001100 */
+ 0xd8, /* 11011000 */
+ 0xcc, /* 11001100 */
+ 0xc6, /* 11000110 */
+ 0xcc, /* 11001100 */
+ 0x00, /* 00000000 */
+
+ /* 226 0xe2 '‚' */
+ 0xfe, /* 11111110 */
+ 0xc6, /* 11000110 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0xc0, /* 11000000 */
+ 0x00, /* 00000000 */
+
+ /* 227 0xe3 '„' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0xfe, /* 11111110 */
+ 0x6c, /* 01101100 */
+ 0x6c, /* 01101100 */
+ 0x6c, /* 01101100 */
+ 0x6c, /* 01101100 */
+ 0x00, /* 00000000 */
+
+ /* 228 0xe4 '‰' */
+ 0xfe, /* 11111110 */
+ 0xc6, /* 11000110 */
+ 0x60, /* 01100000 */
+ 0x30, /* 00110000 */
+ 0x60, /* 01100000 */
+ 0xc6, /* 11000110 */
+ 0xfe, /* 11111110 */
+ 0x00, /* 00000000 */
+
+ /* 229 0xe5 'Â' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0xd8, /* 11011000 */
+ 0xd8, /* 11011000 */
+ 0xd8, /* 11011000 */
+ 0x70, /* 01110000 */
+ 0x00, /* 00000000 */
+
+ /* 230 0xe6 'Ê' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x7c, /* 01111100 */
+ 0xc0, /* 11000000 */
+
+ /* 231 0xe7 'Á' */
+ 0x00, /* 00000000 */
+ 0x76, /* 01110110 */
+ 0xdc, /* 11011100 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+
+ /* 232 0xe8 'Ë' */
+ 0x7e, /* 01111110 */
+ 0x18, /* 00011000 */
+ 0x3c, /* 00111100 */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x3c, /* 00111100 */
+ 0x18, /* 00011000 */
+ 0x7e, /* 01111110 */
+
+ /* 233 0xe9 'È' */
+ 0x38, /* 00111000 */
+ 0x6c, /* 01101100 */
+ 0xc6, /* 11000110 */
+ 0xfe, /* 11111110 */
+ 0xc6, /* 11000110 */
+ 0x6c, /* 01101100 */
+ 0x38, /* 00111000 */
+ 0x00, /* 00000000 */
+
+ /* 234 0xea 'Í' */
+ 0x38, /* 00111000 */
+ 0x6c, /* 01101100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x6c, /* 01101100 */
+ 0x6c, /* 01101100 */
+ 0xee, /* 11101110 */
+ 0x00, /* 00000000 */
+
+ /* 235 0xeb 'Î' */
+ 0x0e, /* 00001110 */
+ 0x18, /* 00011000 */
+ 0x0c, /* 00001100 */
+ 0x3e, /* 00111110 */
+ 0x66, /* 01100110 */
+ 0x66, /* 01100110 */
+ 0x3c, /* 00111100 */
+ 0x00, /* 00000000 */
+
+ /* 236 0xec 'Ï' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0xdb, /* 11011011 */
+ 0xdb, /* 11011011 */
+ 0x7e, /* 01111110 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 237 0xed 'Ì' */
+ 0x06, /* 00000110 */
+ 0x0c, /* 00001100 */
+ 0x7e, /* 01111110 */
+ 0xdb, /* 11011011 */
+ 0xdb, /* 11011011 */
+ 0x7e, /* 01111110 */
+ 0x60, /* 01100000 */
+ 0xc0, /* 11000000 */
+
+ /* 238 0xee 'Ó' */
+ 0x1e, /* 00011110 */
+ 0x30, /* 00110000 */
+ 0x60, /* 01100000 */
+ 0x7e, /* 01111110 */
+ 0x60, /* 01100000 */
+ 0x30, /* 00110000 */
+ 0x1e, /* 00011110 */
+ 0x00, /* 00000000 */
+
+ /* 239 0xef 'Ô' */
+ 0x00, /* 00000000 */
+ 0x7c, /* 01111100 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0xc6, /* 11000110 */
+ 0x00, /* 00000000 */
+
+ /* 240 0xf0 '' */
+ 0x00, /* 00000000 */
+ 0xfe, /* 11111110 */
+ 0x00, /* 00000000 */
+ 0xfe, /* 11111110 */
+ 0x00, /* 00000000 */
+ 0xfe, /* 11111110 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 241 0xf1 'Ò' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x7e, /* 01111110 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0x00, /* 00000000 */
+
+ /* 242 0xf2 'Ú' */
+ 0x30, /* 00110000 */
+ 0x18, /* 00011000 */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0x00, /* 00000000 */
+
+ /* 243 0xf3 'Û' */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x18, /* 00011000 */
+ 0x0c, /* 00001100 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0x00, /* 00000000 */
+
+ /* 244 0xf4 'Ù' */
+ 0x0e, /* 00001110 */
+ 0x1b, /* 00011011 */
+ 0x1b, /* 00011011 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+
+ /* 245 0xf5 'ı' */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0xd8, /* 11011000 */
+ 0xd8, /* 11011000 */
+ 0x70, /* 01110000 */
+
+ /* 246 0xf6 'ˆ' */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x7e, /* 01111110 */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 247 0xf7 '˜' */
+ 0x00, /* 00000000 */
+ 0x76, /* 01110110 */
+ 0xdc, /* 11011100 */
+ 0x00, /* 00000000 */
+ 0x76, /* 01110110 */
+ 0xdc, /* 11011100 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 248 0xf8 '¯' */
+ 0x38, /* 00111000 */
+ 0x6c, /* 01101100 */
+ 0x6c, /* 01101100 */
+ 0x38, /* 00111000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 249 0xf9 '˘' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 250 0xfa '˙' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x18, /* 00011000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 251 0xfb '˚' */
+ 0x0f, /* 00001111 */
+ 0x0c, /* 00001100 */
+ 0x0c, /* 00001100 */
+ 0x0c, /* 00001100 */
+ 0xec, /* 11101100 */
+ 0x6c, /* 01101100 */
+ 0x3c, /* 00111100 */
+ 0x1c, /* 00011100 */
+
+ /* 252 0xfc '¸' */
+ 0x6c, /* 01101100 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x36, /* 00110110 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 253 0xfd '˝' */
+ 0x78, /* 01111000 */
+ 0x0c, /* 00001100 */
+ 0x18, /* 00011000 */
+ 0x30, /* 00110000 */
+ 0x7c, /* 01111100 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 254 0xfe '˛' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x3c, /* 00111100 */
+ 0x3c, /* 00111100 */
+ 0x3c, /* 00111100 */
+ 0x3c, /* 00111100 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+ /* 255 0xff 'ˇ' */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+ 0x00, /* 00000000 */
+
+};
diff --git a/modules/catkin_ws/src/wiringPi/devLib/gertboard.c b/modules/catkin_ws/src/wiringPi/devLib/gertboard.c
new file mode 100644
index 0000000000000000000000000000000000000000..5aeaef7c637ceb95a148a4e4e368a7883d7c814a
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/gertboard.c
@@ -0,0 +1,164 @@
+/*
+ * gertboard.c:
+ * Access routines for the SPI devices on the Gertboard
+ * Copyright (c) 2012 Gordon Henderson
+ *
+ * The Gertboard has:
+ *
+ * An MCP3002 dual-channel A to D convertor connected
+ * to the SPI bus, selected by chip-select A, and:
+ *
+ * An MCP4802 dual-channel D to A convertor connected
+ * to the SPI bus, selected via chip-select B.
+ *
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+
+#include <stdio.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <linux/spi/spidev.h>
+
+#include <wiringPi.h>
+#include <wiringPiSPI.h>
+
+#include "gertboard.h"
+
+// The A-D convertor won't run at more than 1MHz @ 3.3v
+
+#define SPI_ADC_SPEED 1000000
+#define SPI_DAC_SPEED 1000000
+#define SPI_A2D 0
+#define SPI_D2A 1
+
+
+/*
+ * gertboardAnalogWrite:
+ * Write an 8-bit data value to the MCP4802 Analog to digital
+ * convertor on the Gertboard.
+ *********************************************************************************
+ */
+
+void gertboardAnalogWrite (const int chan, const int value)
+{
+ uint8_t spiData [2] ;
+ uint8_t chanBits, dataBits ;
+
+ if (chan == 0)
+ chanBits = 0x30 ;
+ else
+ chanBits = 0xB0 ;
+
+ chanBits |= ((value >> 4) & 0x0F) ;
+ dataBits = ((value << 4) & 0xF0) ;
+
+ spiData [0] = chanBits ;
+ spiData [1] = dataBits ;
+
+ wiringPiSPIDataRW (SPI_D2A, spiData, 2) ;
+}
+
+
+/*
+ * gertboardAnalogRead:
+ * Return the analog value of the given channel (0/1).
+ * The A/D is a 10-bit device
+ *********************************************************************************
+ */
+
+int gertboardAnalogRead (const int chan)
+{
+ uint8_t spiData [2] ;
+
+ uint8_t chanBits ;
+
+ if (chan == 0)
+ chanBits = 0b11010000 ;
+ else
+ chanBits = 0b11110000 ;
+
+ spiData [0] = chanBits ;
+ spiData [1] = 0 ;
+
+ wiringPiSPIDataRW (SPI_A2D, spiData, 2) ;
+
+ return ((spiData [0] << 7) | (spiData [1] >> 1)) & 0x3FF ;
+}
+
+
+/*
+ * gertboardSPISetup:
+ * Initialise the SPI bus, etc.
+ *********************************************************************************
+ */
+
+int gertboardSPISetup (void)
+{
+ if (wiringPiSPISetup (SPI_A2D, SPI_ADC_SPEED) < 0)
+ return -1 ;
+
+ if (wiringPiSPISetup (SPI_D2A, SPI_DAC_SPEED) < 0)
+ return -1 ;
+
+ return 0 ;
+}
+
+
+/*
+ * New wiringPi node extension methods.
+ *********************************************************************************
+ */
+
+static int myAnalogRead (struct wiringPiNodeStruct *node, const int chan)
+{
+ return gertboardAnalogRead (chan - node->pinBase) ;
+}
+
+static void myAnalogWrite (struct wiringPiNodeStruct *node, const int chan, const int value)
+{
+ gertboardAnalogWrite (chan - node->pinBase, value) ;
+}
+
+
+/*
+ * gertboardAnalogSetup:
+ * Create a new wiringPi device node for the analog devices on the
+ * Gertboard. We create one node with 2 pins - each pin being read
+ * and write - although the operations actually go to different
+ * hardware devices.
+ *********************************************************************************
+ */
+
+int gertboardAnalogSetup (const int pinBase)
+{
+ struct wiringPiNodeStruct *node ;
+ int x ;
+
+ if (( x = gertboardSPISetup ()) != 0)
+ return x;
+
+ node = wiringPiNewNode (pinBase, 2) ;
+ node->analogRead = myAnalogRead ;
+ node->analogWrite = myAnalogWrite ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/devLib/gertboard.h b/modules/catkin_ws/src/wiringPi/devLib/gertboard.h
new file mode 100644
index 0000000000000000000000000000000000000000..3fa19197426db87df3c4dfe062b86ee2d08dcdf8
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/gertboard.h
@@ -0,0 +1,45 @@
+/*
+ * gertboard.h:
+ * Access routines for the SPI devices on the Gertboard
+ * Copyright (c) 2012 Gordon Henderson
+ *
+ * The Gertboard has an MCP4802 dual-channel D to A convertor
+ * connected to the SPI bus, selected via chip-select B.
+ *
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// Old routines
+
+extern void gertboardAnalogWrite (const int chan, const int value) ;
+extern int gertboardAnalogRead (const int chan) ;
+extern int gertboardSPISetup (void) ;
+
+// New
+
+extern int gertboardAnalogSetup (const int pinBase) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/devLib/gertboard.o b/modules/catkin_ws/src/wiringPi/devLib/gertboard.o
new file mode 100644
index 0000000000000000000000000000000000000000..5057c20bcb8ca8093383fc0076a19dbe9b5631ee
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/devLib/gertboard.o differ
diff --git a/modules/catkin_ws/src/wiringPi/devLib/lcd.c b/modules/catkin_ws/src/wiringPi/devLib/lcd.c
new file mode 100644
index 0000000000000000000000000000000000000000..6c0e474948fded0be758e0cb8cb227afdf120189
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/lcd.c
@@ -0,0 +1,495 @@
+/*
+ * lcd.c:
+ * Text-based LCD driver.
+ * This is designed to drive the parallel interface LCD drivers
+ * based in the Hitachi HD44780U controller and compatables.
+ *
+ * Copyright (c) 2012 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+
+#include <wiringPi.h>
+
+#include "lcd.h"
+
+#ifndef TRUE
+# define TRUE (1==1)
+# define FALSE (1==2)
+#endif
+
+// HD44780U Commands
+
+#define LCD_CLEAR 0x01
+#define LCD_HOME 0x02
+#define LCD_ENTRY 0x04
+#define LCD_CTRL 0x08
+#define LCD_CDSHIFT 0x10
+#define LCD_FUNC 0x20
+#define LCD_CGRAM 0x40
+#define LCD_DGRAM 0x80
+
+// Bits in the entry register
+
+#define LCD_ENTRY_SH 0x01
+#define LCD_ENTRY_ID 0x02
+
+// Bits in the control register
+
+#define LCD_BLINK_CTRL 0x01
+#define LCD_CURSOR_CTRL 0x02
+#define LCD_DISPLAY_CTRL 0x04
+
+// Bits in the function register
+
+#define LCD_FUNC_F 0x04
+#define LCD_FUNC_N 0x08
+#define LCD_FUNC_DL 0x10
+
+#define LCD_CDSHIFT_RL 0x04
+
+struct lcdDataStruct
+{
+ int bits, rows, cols ;
+ int rsPin, strbPin ;
+ int dataPins [8] ;
+ int cx, cy ;
+} ;
+
+struct lcdDataStruct *lcds [MAX_LCDS] ;
+
+static int lcdControl ;
+
+// Row offsets
+
+static const int rowOff [4] = { 0x00, 0x40, 0x14, 0x54 } ;
+
+
+/*
+ * strobe:
+ * Toggle the strobe (Really the "E") pin to the device.
+ * According to the docs, data is latched on the falling edge.
+ *********************************************************************************
+ */
+
+static void strobe (const struct lcdDataStruct *lcd)
+{
+
+// Note timing changes for new version of delayMicroseconds ()
+
+ digitalWrite (lcd->strbPin, 1) ; delayMicroseconds (50) ;
+ digitalWrite (lcd->strbPin, 0) ; delayMicroseconds (50) ;
+}
+
+
+/*
+ * sentDataCmd:
+ * Send an data or command byte to the display.
+ *********************************************************************************
+ */
+
+static void sendDataCmd (const struct lcdDataStruct *lcd, unsigned char data)
+{
+ register unsigned char myData = data ;
+ unsigned char i, d4 ;
+
+ if (lcd->bits == 4)
+ {
+ d4 = (myData >> 4) & 0x0F;
+ for (i = 0 ; i < 4 ; ++i)
+ {
+ digitalWrite (lcd->dataPins [i], (d4 & 1)) ;
+ d4 >>= 1 ;
+ }
+ strobe (lcd) ;
+
+ d4 = myData & 0x0F ;
+ for (i = 0 ; i < 4 ; ++i)
+ {
+ digitalWrite (lcd->dataPins [i], (d4 & 1)) ;
+ d4 >>= 1 ;
+ }
+ }
+ else
+ {
+ for (i = 0 ; i < 8 ; ++i)
+ {
+ digitalWrite (lcd->dataPins [i], (myData & 1)) ;
+ myData >>= 1 ;
+ }
+ }
+ strobe (lcd) ;
+}
+
+
+/*
+ * putCommand:
+ * Send a command byte to the display
+ *********************************************************************************
+ */
+
+static void putCommand (const struct lcdDataStruct *lcd, unsigned char command)
+{
+ digitalWrite (lcd->rsPin, 0) ;
+ sendDataCmd (lcd, command) ;
+ delay (2) ;
+}
+
+static void put4Command (const struct lcdDataStruct *lcd, unsigned char command)
+{
+ register unsigned char myCommand = command ;
+ register unsigned char i ;
+
+ digitalWrite (lcd->rsPin, 0) ;
+
+ for (i = 0 ; i < 4 ; ++i)
+ {
+ digitalWrite (lcd->dataPins [i], (myCommand & 1)) ;
+ myCommand >>= 1 ;
+ }
+ strobe (lcd) ;
+}
+
+
+/*
+ *********************************************************************************
+ * User Callable code below here
+ *********************************************************************************
+ */
+
+/*
+ * lcdHome: lcdClear:
+ * Home the cursor or clear the screen.
+ *********************************************************************************
+ */
+
+void lcdHome (const int fd)
+{
+ struct lcdDataStruct *lcd = lcds [fd] ;
+
+ putCommand (lcd, LCD_HOME) ;
+ lcd->cx = lcd->cy = 0 ;
+ delay (5) ;
+}
+
+void lcdClear (const int fd)
+{
+ struct lcdDataStruct *lcd = lcds [fd] ;
+
+ putCommand (lcd, LCD_CLEAR) ;
+ putCommand (lcd, LCD_HOME) ;
+ lcd->cx = lcd->cy = 0 ;
+ delay (5) ;
+}
+
+
+/*
+ * lcdDisplay: lcdCursor: lcdCursorBlink:
+ * Turn the display, cursor, cursor blinking on/off
+ *********************************************************************************
+ */
+
+void lcdDisplay (const int fd, int state)
+{
+ struct lcdDataStruct *lcd = lcds [fd] ;
+
+ if (state)
+ lcdControl |= LCD_DISPLAY_CTRL ;
+ else
+ lcdControl &= ~LCD_DISPLAY_CTRL ;
+
+ putCommand (lcd, LCD_CTRL | lcdControl) ;
+}
+
+void lcdCursor (const int fd, int state)
+{
+ struct lcdDataStruct *lcd = lcds [fd] ;
+
+ if (state)
+ lcdControl |= LCD_CURSOR_CTRL ;
+ else
+ lcdControl &= ~LCD_CURSOR_CTRL ;
+
+ putCommand (lcd, LCD_CTRL | lcdControl) ;
+}
+
+void lcdCursorBlink (const int fd, int state)
+{
+ struct lcdDataStruct *lcd = lcds [fd] ;
+
+ if (state)
+ lcdControl |= LCD_BLINK_CTRL ;
+ else
+ lcdControl &= ~LCD_BLINK_CTRL ;
+
+ putCommand (lcd, LCD_CTRL | lcdControl) ;
+}
+
+
+/*
+ * lcdSendCommand:
+ * Send any arbitary command to the display
+ *********************************************************************************
+ */
+
+void lcdSendCommand (const int fd, unsigned char command)
+{
+ struct lcdDataStruct *lcd = lcds [fd] ;
+ putCommand (lcd, command) ;
+}
+
+
+/*
+ * lcdPosition:
+ * Update the position of the cursor on the display.
+ * Ignore invalid locations.
+ *********************************************************************************
+ */
+
+void lcdPosition (const int fd, int x, int y)
+{
+ struct lcdDataStruct *lcd = lcds [fd] ;
+
+ if ((x > lcd->cols) || (x < 0))
+ return ;
+ if ((y > lcd->rows) || (y < 0))
+ return ;
+
+ putCommand (lcd, x + (LCD_DGRAM | rowOff [y])) ;
+
+ lcd->cx = x ;
+ lcd->cy = y ;
+}
+
+
+/*
+ * lcdCharDef:
+ * Defines a new character in the CGRAM
+ *********************************************************************************
+ */
+
+void lcdCharDef (const int fd, int index, unsigned char data [8])
+{
+ struct lcdDataStruct *lcd = lcds [fd] ;
+ int i ;
+
+ putCommand (lcd, LCD_CGRAM | ((index & 7) << 3)) ;
+
+ digitalWrite (lcd->rsPin, 1) ;
+ for (i = 0 ; i < 8 ; ++i)
+ sendDataCmd (lcd, data [i]) ;
+}
+
+
+/*
+ * lcdPutchar:
+ * Send a data byte to be displayed on the display. We implement a very
+ * simple terminal here - with line wrapping, but no scrolling. Yet.
+ *********************************************************************************
+ */
+
+void lcdPutchar (const int fd, unsigned char data)
+{
+ struct lcdDataStruct *lcd = lcds [fd] ;
+
+ digitalWrite (lcd->rsPin, 1) ;
+ sendDataCmd (lcd, data) ;
+
+ if (++lcd->cx == lcd->cols)
+ {
+ lcd->cx = 0 ;
+ if (++lcd->cy == lcd->rows)
+ lcd->cy = 0 ;
+
+ putCommand (lcd, lcd->cx + (LCD_DGRAM | rowOff [lcd->cy])) ;
+ }
+}
+
+
+/*
+ * lcdPuts:
+ * Send a string to be displayed on the display
+ *********************************************************************************
+ */
+
+void lcdPuts (const int fd, const char *string)
+{
+ while (*string)
+ lcdPutchar (fd, *string++) ;
+}
+
+
+/*
+ * lcdPrintf:
+ * Printf to an LCD display
+ *********************************************************************************
+ */
+
+void lcdPrintf (const int fd, const char *message, ...)
+{
+ va_list argp ;
+ char buffer [1024] ;
+
+ va_start (argp, message) ;
+ vsnprintf (buffer, 1023, message, argp) ;
+ va_end (argp) ;
+
+ lcdPuts (fd, buffer) ;
+}
+
+
+/*
+ * lcdInit:
+ * Take a lot of parameters and initialise the LCD, and return a handle to
+ * that LCD, or -1 if any error.
+ *********************************************************************************
+ */
+
+int lcdInit (const int rows, const int cols, const int bits,
+ const int rs, const int strb,
+ const int d0, const int d1, const int d2, const int d3, const int d4,
+ const int d5, const int d6, const int d7)
+{
+ static int initialised = 0 ;
+
+ unsigned char func ;
+ int i ;
+ int lcdFd = -1 ;
+ struct lcdDataStruct *lcd ;
+
+ if (initialised == 0)
+ {
+ initialised = 1 ;
+ for (i = 0 ; i < MAX_LCDS ; ++i)
+ lcds [i] = NULL ;
+ }
+
+// Simple sanity checks
+
+ if (! ((bits == 4) || (bits == 8)))
+ return -1 ;
+
+ if ((rows < 0) || (rows > 20))
+ return -1 ;
+
+ if ((cols < 0) || (cols > 20))
+ return -1 ;
+
+// Create a new LCD:
+
+ for (i = 0 ; i < MAX_LCDS ; ++i)
+ {
+ if (lcds [i] == NULL)
+ {
+ lcdFd = i ;
+ break ;
+ }
+ }
+
+ if (lcdFd == -1)
+ return -1 ;
+
+ lcd = (struct lcdDataStruct *)malloc (sizeof (struct lcdDataStruct)) ;
+ if (lcd == NULL)
+ return -1 ;
+
+ lcd->rsPin = rs ;
+ lcd->strbPin = strb ;
+ lcd->bits = 8 ; // For now - we'll set it properly later.
+ lcd->rows = rows ;
+ lcd->cols = cols ;
+ lcd->cx = 0 ;
+ lcd->cy = 0 ;
+
+ lcd->dataPins [0] = d0 ;
+ lcd->dataPins [1] = d1 ;
+ lcd->dataPins [2] = d2 ;
+ lcd->dataPins [3] = d3 ;
+ lcd->dataPins [4] = d4 ;
+ lcd->dataPins [5] = d5 ;
+ lcd->dataPins [6] = d6 ;
+ lcd->dataPins [7] = d7 ;
+
+ lcds [lcdFd] = lcd ;
+
+ digitalWrite (lcd->rsPin, 0) ; pinMode (lcd->rsPin, OUTPUT) ;
+ digitalWrite (lcd->strbPin, 0) ; pinMode (lcd->strbPin, OUTPUT) ;
+
+ for (i = 0 ; i < bits ; ++i)
+ {
+ digitalWrite (lcd->dataPins [i], 0) ;
+ pinMode (lcd->dataPins [i], OUTPUT) ;
+ }
+ delay (35) ; // mS
+
+
+// 4-bit mode?
+// OK. This is a PIG and it's not at all obvious from the documentation I had,
+// so I guess some others have worked through either with better documentation
+// or more trial and error... Anyway here goes:
+//
+// It seems that the controller needs to see the FUNC command at least 3 times
+// consecutively - in 8-bit mode. If you're only using 8-bit mode, then it appears
+// that you can get away with one func-set, however I'd not rely on it...
+//
+// So to set 4-bit mode, you need to send the commands one nibble at a time,
+// the same three times, but send the command to set it into 8-bit mode those
+// three times, then send a final 4th command to set it into 4-bit mode, and only
+// then can you flip the switch for the rest of the library to work in 4-bit
+// mode which sends the commands as 2 x 4-bit values.
+
+ if (bits == 4)
+ {
+ func = LCD_FUNC | LCD_FUNC_DL ; // Set 8-bit mode 3 times
+ put4Command (lcd, func >> 4) ; delay (35) ;
+ put4Command (lcd, func >> 4) ; delay (35) ;
+ put4Command (lcd, func >> 4) ; delay (35) ;
+ func = LCD_FUNC ; // 4th set: 4-bit mode
+ put4Command (lcd, func >> 4) ; delay (35) ;
+ lcd->bits = 4 ;
+ }
+ else
+ {
+ func = LCD_FUNC | LCD_FUNC_DL ;
+ putCommand (lcd, func ) ; delay (35) ;
+ putCommand (lcd, func ) ; delay (35) ;
+ putCommand (lcd, func ) ; delay (35) ;
+ }
+
+ if (lcd->rows > 1)
+ {
+ func |= LCD_FUNC_N ;
+ putCommand (lcd, func) ; delay (35) ;
+ }
+
+// Rest of the initialisation sequence
+
+ lcdDisplay (lcdFd, TRUE) ;
+ lcdCursor (lcdFd, FALSE) ;
+ lcdCursorBlink (lcdFd, FALSE) ;
+ lcdClear (lcdFd) ;
+
+ putCommand (lcd, LCD_ENTRY | LCD_ENTRY_ID) ;
+ putCommand (lcd, LCD_CDSHIFT | LCD_CDSHIFT_RL) ;
+
+ return lcdFd ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/devLib/lcd.h b/modules/catkin_ws/src/wiringPi/devLib/lcd.h
new file mode 100644
index 0000000000000000000000000000000000000000..0a0e5988c32fa078453c5eb2cbbe934135e2ac63
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/lcd.h
@@ -0,0 +1,52 @@
+/*
+ * lcd.h:
+ * Text-based LCD driver.
+ * This is designed to drive the parallel interface LCD drivers
+ * based in the Hitachi HD44780U controller and compatables.
+ *
+ * Copyright (c) 2012 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#define MAX_LCDS 8
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern void lcdHome (const int fd) ;
+extern void lcdClear (const int fd) ;
+extern void lcdDisplay (const int fd, int state) ;
+extern void lcdCursor (const int fd, int state) ;
+extern void lcdCursorBlink (const int fd, int state) ;
+extern void lcdSendCommand (const int fd, unsigned char command) ;
+extern void lcdPosition (const int fd, int x, int y) ;
+extern void lcdCharDef (const int fd, int index, unsigned char data [8]) ;
+extern void lcdPutchar (const int fd, unsigned char data) ;
+extern void lcdPuts (const int fd, const char *string) ;
+extern void lcdPrintf (const int fd, const char *message, ...) ;
+
+extern int lcdInit (const int rows, const int cols, const int bits,
+ const int rs, const int strb,
+ const int d0, const int d1, const int d2, const int d3, const int d4,
+ const int d5, const int d6, const int d7) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/devLib/lcd.o b/modules/catkin_ws/src/wiringPi/devLib/lcd.o
new file mode 100644
index 0000000000000000000000000000000000000000..97f9fee758a23c83c7ab88544f7baa85bcd8128f
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/devLib/lcd.o differ
diff --git a/modules/catkin_ws/src/wiringPi/devLib/lcd128x64.c b/modules/catkin_ws/src/wiringPi/devLib/lcd128x64.c
new file mode 100644
index 0000000000000000000000000000000000000000..accd5c3a75fe3d3d0ceb54a40bbad41a0ca07210
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/lcd128x64.c
@@ -0,0 +1,673 @@
+/*
+ * lcd128x64.c:
+ * Graphics-based LCD driver.
+ * This is designed to drive the parallel interface LCD drivers
+ * based on the generic 12864H chips
+ *
+ * There are many variations on these chips, however they all mostly
+ * seem to be similar.
+ * This implementation has the Pins from the Pi hard-wired into it,
+ * in particular wiringPi pins 0-7 so that we can use
+ * digitalWriteByete() to speed things up somewhat.
+ *
+ * Copyright (c) 2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <wiringPi.h>
+
+#include "font.h"
+#include "lcd128x64.h"
+
+// Size
+
+#define LCD_WIDTH 128
+#define LCD_HEIGHT 64
+
+// Hardware Pins
+// Note pins 0-7 are the 8-bit data port
+
+#define CS1 10
+#define CS2 11
+#define STROBE 12
+#define RS 13
+
+// Software copy of the framebuffer
+// it's 8-bit deep although the display itself is only 1-bit deep.
+
+static unsigned char frameBuffer [LCD_WIDTH * LCD_HEIGHT] ;
+
+static int maxX, maxY ;
+static int lastX, lastY ;
+static int xOrigin, yOrigin ;
+static int lcdOrientation = 0 ;
+
+/*
+ * strobe:
+ * Toggle the strobe (Really the "E") pin to the device.
+ * According to the docs, data is latched on the falling edge.
+ *********************************************************************************
+ */
+
+static void strobe (void)
+{
+ digitalWrite (STROBE, 1) ; delayMicroseconds (1) ;
+ digitalWrite (STROBE, 0) ; delayMicroseconds (5) ;
+}
+
+
+/*
+ * sentData:
+ * Send an data or command byte to the display.
+ *********************************************************************************
+ */
+
+static void sendData (const int data, const int chip)
+{
+ digitalWrite (chip, 0) ;
+ digitalWriteByte (data) ;
+ strobe () ;
+ digitalWrite (chip, 1) ;
+}
+
+
+/*
+ * sendCommand:
+ * Send a command byte to the display
+ *********************************************************************************
+ */
+
+static void sendCommand (const int command, const int chip)
+{
+ digitalWrite (RS, 0) ;
+ sendData (command, chip) ;
+ digitalWrite (RS, 1) ;
+}
+
+
+/*
+ * setCol: SetLine:
+ * Set the column and line addresses
+ *********************************************************************************
+ */
+
+static void setCol (int col, const int chip)
+ { sendCommand (0x40 | (col & 0x3F), chip) ; }
+
+static void setLine (int line, const int chip)
+ { sendCommand (0xB8 | (line & 0x07), chip) ; }
+
+
+/*
+ * lcd128x64update:
+ * Copy our software version to the real display
+ *********************************************************************************
+ */
+
+void lcd128x64update (void)
+{
+ int line, x, y, fbLoc ;
+ unsigned char byte ;
+
+// Left side
+
+ for (line = 0 ; line < 8 ; ++line)
+ {
+ setCol (0, CS1) ;
+ setLine (line, CS1) ;
+
+ for (x = 63 ; x >= 0 ; --x)
+ {
+ byte = 0 ;
+ for (y = 0 ; y < 8 ; ++y)
+ {
+ fbLoc = x + (((7 - line) * 8) + (7 - y)) * LCD_WIDTH ;
+ if (frameBuffer [fbLoc] != 0)
+ byte |= (1 << y) ;
+ }
+ sendData (byte, CS1) ;
+ }
+ }
+
+// Right side
+
+ for (line = 0 ; line < 8 ; ++line)
+ {
+ setCol (0, CS2) ;
+ setLine (line, CS2) ;
+
+ for (x = 127 ; x >= 64 ; --x)
+ {
+ byte = 0 ;
+ for (y = 0 ; y < 8 ; ++y)
+ {
+ fbLoc = x + (((7 - line) * 8) + (7 - y)) * LCD_WIDTH ;
+ if (frameBuffer [fbLoc] != 0)
+ byte |= (1 << y) ;
+ }
+ sendData (byte, CS2) ;
+ }
+ }
+}
+
+
+/*
+ * lcd128x64setOrigin:
+ * Set the display offset origin
+ *********************************************************************************
+ */
+
+void lcd128x64setOrigin (int x, int y)
+{
+ xOrigin = x ;
+ yOrigin = y ;
+}
+
+
+/*
+ * lcd128x64setOrientation:
+ * Set the display orientation:
+ * 0: Normal, the display is portrait mode, 0,0 is top left
+ * 1: Landscape
+ * 2: Portrait, flipped
+ * 3: Landscape, flipped
+ *********************************************************************************
+ */
+
+void lcd128x64setOrientation (int orientation)
+{
+ lcdOrientation = orientation & 3 ;
+
+ lcd128x64setOrigin (0,0) ;
+
+ switch (lcdOrientation)
+ {
+ case 0:
+ maxX = LCD_WIDTH ;
+ maxY = LCD_HEIGHT ;
+ break ;
+
+ case 1:
+ maxX = LCD_HEIGHT ;
+ maxY = LCD_WIDTH ;
+ break ;
+
+ case 2:
+ maxX = LCD_WIDTH ;
+ maxY = LCD_HEIGHT ;
+ break ;
+
+ case 3:
+ maxX = LCD_HEIGHT ;
+ maxY = LCD_WIDTH ;
+ break ;
+ }
+}
+
+
+/*
+ * lcd128x64orientCoordinates:
+ * Adjust the coordinates given to the display orientation
+ *********************************************************************************
+ */
+
+void lcd128x64orientCoordinates (int *x, int *y)
+{
+ register int tmp ;
+
+ *x += xOrigin ;
+ *y += yOrigin ;
+ *y = maxY - *y - 1 ;
+
+ switch (lcdOrientation)
+ {
+ case 0:
+ break;
+
+ case 1:
+ tmp = maxY - *y - 1 ;
+ *y = *x ;
+ *x = tmp ;
+ break;
+
+ case 2:
+ *x = maxX - *x - 1 ;
+ *y = maxY - *y - 1 ;
+ break;
+
+ case 3:
+ *x = maxX - *x - 1 ;
+ tmp = *y ;
+ *y = *x ;
+ *x = tmp ;
+ break ;
+ }
+}
+
+
+/*
+ * lcd128x64getScreenSize:
+ * Return the max X & Y screen sizes. Needs to be called again, if you
+ * change screen orientation.
+ *********************************************************************************
+ */
+
+void lcd128x64getScreenSize (int *x, int *y)
+{
+ *x = maxX ;
+ *y = maxY ;
+}
+
+
+/*
+ *********************************************************************************
+ * Standard Graphical Functions
+ *********************************************************************************
+ */
+
+
+/*
+ * lcd128x64point:
+ * Plot a pixel.
+ *********************************************************************************
+ */
+
+void lcd128x64point (int x, int y, int colour)
+{
+ lastX = x ;
+ lastY = y ;
+
+ lcd128x64orientCoordinates (&x, &y) ;
+
+ if ((x < 0) || (x >= LCD_WIDTH) || (y < 0) || (y >= LCD_HEIGHT))
+ return ;
+
+ frameBuffer [x + y * LCD_WIDTH] = colour ;
+}
+
+
+/*
+ * lcd128x64line: lcd128x64lineTo:
+ * Classic Bressenham Line code
+ *********************************************************************************
+ */
+
+void lcd128x64line (int x0, int y0, int x1, int y1, int colour)
+{
+ int dx, dy ;
+ int sx, sy ;
+ int err, e2 ;
+
+ lastX = x1 ;
+ lastY = y1 ;
+
+ dx = abs (x1 - x0) ;
+ dy = abs (y1 - y0) ;
+
+ sx = (x0 < x1) ? 1 : -1 ;
+ sy = (y0 < y1) ? 1 : -1 ;
+
+ err = dx - dy ;
+
+ for (;;)
+ {
+ lcd128x64point (x0, y0, colour) ;
+
+ if ((x0 == x1) && (y0 == y1))
+ break ;
+
+ e2 = 2 * err ;
+
+ if (e2 > -dy)
+ {
+ err -= dy ;
+ x0 += sx ;
+ }
+
+ if (e2 < dx)
+ {
+ err += dx ;
+ y0 += sy ;
+ }
+ }
+
+}
+
+void lcd128x64lineTo (int x, int y, int colour)
+{
+ lcd128x64line (lastX, lastY, x, y, colour) ;
+}
+
+
+/*
+ * lcd128x64rectangle:
+ * A rectangle is a spoilt days fishing
+ *********************************************************************************
+ */
+
+void lcd128x64rectangle (int x1, int y1, int x2, int y2, int colour, int filled)
+{
+ register int x ;
+
+ if (filled)
+ {
+ /**/ if (x1 == x2)
+ lcd128x64line (x1, y1, x2, y2, colour) ;
+ else if (x1 < x2)
+ for (x = x1 ; x <= x2 ; ++x)
+ lcd128x64line (x, y1, x, y2, colour) ;
+ else
+ for (x = x2 ; x <= x1 ; ++x)
+ lcd128x64line (x, y1, x, y2, colour) ;
+ }
+ else
+ {
+ lcd128x64line (x1, y1, x2, y1, colour) ;
+ lcd128x64lineTo (x2, y2, colour) ;
+ lcd128x64lineTo (x1, y2, colour) ;
+ lcd128x64lineTo (x1, y1, colour) ;
+ }
+}
+
+
+/*
+ * lcd128x64circle:
+ * This is the midpoint circle algorithm.
+ *********************************************************************************
+ */
+
+void lcd128x64circle (int x, int y, int r, int colour, int filled)
+{
+ int ddF_x = 1 ;
+ int ddF_y = -2 * r ;
+
+ int f = 1 - r ;
+ int x1 = 0 ;
+ int y1 = r ;
+
+ if (filled)
+ {
+ lcd128x64line (x, y + r, x, y - r, colour) ;
+ lcd128x64line (x + r, y, x - r, y, colour) ;
+ }
+ else
+ {
+ lcd128x64point (x, y + r, colour) ;
+ lcd128x64point (x, y - r, colour) ;
+ lcd128x64point (x + r, y, colour) ;
+ lcd128x64point (x - r, y, colour) ;
+ }
+
+ while (x1 < y1)
+ {
+ if (f >= 0)
+ {
+ y1-- ;
+ ddF_y += 2 ;
+ f += ddF_y ;
+ }
+ x1++ ;
+ ddF_x += 2 ;
+ f += ddF_x ;
+ if (filled)
+ {
+ lcd128x64line (x + x1, y + y1, x - x1, y + y1, colour) ;
+ lcd128x64line (x + x1, y - y1, x - x1, y - y1, colour) ;
+ lcd128x64line (x + y1, y + x1, x - y1, y + x1, colour) ;
+ lcd128x64line (x + y1, y - x1, x - y1, y - x1, colour) ;
+ }
+ else
+ {
+ lcd128x64point (x + x1, y + y1, colour) ; lcd128x64point (x - x1, y + y1, colour) ;
+ lcd128x64point (x + x1, y - y1, colour) ; lcd128x64point (x - x1, y - y1, colour) ;
+ lcd128x64point (x + y1, y + x1, colour) ; lcd128x64point (x - y1, y + x1, colour) ;
+ lcd128x64point (x + y1, y - x1, colour) ; lcd128x64point (x - y1, y - x1, colour) ;
+ }
+ }
+}
+
+
+/*
+ * lcd128x64ellipse:
+ * Fast ellipse drawing algorithm by
+ * John Kennedy
+ * Mathematics Department
+ * Santa Monica College
+ * 1900 Pico Blvd.
+ * Santa Monica, CA 90405
+ * jrkennedy6@gmail.com
+ * -Confirned in email this algorithm is in the public domain -GH-
+ *********************************************************************************
+ */
+
+static void plot4ellipsePoints (int cx, int cy, int x, int y, int colour, int filled)
+{
+ if (filled)
+ {
+ lcd128x64line (cx + x, cy + y, cx - x, cy + y, colour) ;
+ lcd128x64line (cx - x, cy - y, cx + x, cy - y, colour) ;
+ }
+ else
+ {
+ lcd128x64point (cx + x, cy + y, colour) ;
+ lcd128x64point (cx - x, cy + y, colour) ;
+ lcd128x64point (cx - x, cy - y, colour) ;
+ lcd128x64point (cx + x, cy - y, colour) ;
+ }
+}
+
+void lcd128x64ellipse (int cx, int cy, int xRadius, int yRadius, int colour, int filled)
+{
+ int x, y ;
+ int xChange, yChange, ellipseError ;
+ int twoAsquare, twoBsquare ;
+ int stoppingX, stoppingY ;
+
+ twoAsquare = 2 * xRadius * xRadius ;
+ twoBsquare = 2 * yRadius * yRadius ;
+
+ x = xRadius ;
+ y = 0 ;
+
+ xChange = yRadius * yRadius * (1 - 2 * xRadius) ;
+ yChange = xRadius * xRadius ;
+
+ ellipseError = 0 ;
+ stoppingX = twoBsquare * xRadius ;
+ stoppingY = 0 ;
+
+ while (stoppingX >= stoppingY) // 1st set of points
+ {
+ plot4ellipsePoints (cx, cy, x, y, colour, filled) ;
+ ++y ;
+ stoppingY += twoAsquare ;
+ ellipseError += yChange ;
+ yChange += twoAsquare ;
+
+ if ((2 * ellipseError + xChange) > 0 )
+ {
+ --x ;
+ stoppingX -= twoBsquare ;
+ ellipseError += xChange ;
+ xChange += twoBsquare ;
+ }
+ }
+
+ x = 0 ;
+ y = yRadius ;
+
+ xChange = yRadius * yRadius ;
+ yChange = xRadius * xRadius * (1 - 2 * yRadius) ;
+
+ ellipseError = 0 ;
+ stoppingX = 0 ;
+ stoppingY = twoAsquare * yRadius ;
+
+ while (stoppingX <= stoppingY) //2nd set of points
+ {
+ plot4ellipsePoints (cx, cy, x, y, colour, filled) ;
+ ++x ;
+ stoppingX += twoBsquare ;
+ ellipseError += xChange ;
+ xChange += twoBsquare ;
+
+ if ((2 * ellipseError + yChange) > 0 )
+ {
+ --y ;
+ stoppingY -= twoAsquare ;
+ ellipseError += yChange ;
+ yChange += twoAsquare ;
+ }
+ }
+}
+
+
+/*
+ * lcd128x64putchar:
+ * Print a single character to the screen
+ *********************************************************************************
+ */
+
+void lcd128x64putchar (int x, int y, int c, int bgCol, int fgCol)
+{
+ int y1, y2 ;
+
+ unsigned char line ;
+ unsigned char *fontPtr ;
+
+// Can't print if we're offscreen
+
+//if ((x < 0) || (x >= (maxX - fontWidth)) || (y < 0) || (y >= (maxY - fontHeight)))
+// return ;
+
+ fontPtr = font + c * fontHeight ;
+
+ for (y1 = fontHeight - 1 ; y1 >= 0 ; --y1)
+ {
+ y2 = y + y1 ;
+ line = *fontPtr++ ;
+ lcd128x64point (x + 0, y2, (line & 0x80) == 0 ? bgCol : fgCol) ;
+ lcd128x64point (x + 1, y2, (line & 0x40) == 0 ? bgCol : fgCol) ;
+ lcd128x64point (x + 2, y2, (line & 0x20) == 0 ? bgCol : fgCol) ;
+ lcd128x64point (x + 3, y2, (line & 0x10) == 0 ? bgCol : fgCol) ;
+ lcd128x64point (x + 4, y2, (line & 0x08) == 0 ? bgCol : fgCol) ;
+ lcd128x64point (x + 5, y2, (line & 0x04) == 0 ? bgCol : fgCol) ;
+ lcd128x64point (x + 6, y2, (line & 0x02) == 0 ? bgCol : fgCol) ;
+ lcd128x64point (x + 7, y2, (line & 0x01) == 0 ? bgCol : fgCol) ;
+ }
+}
+
+
+/*
+ * lcd128x64puts:
+ * Send a string to the display. Obeys \n and \r formatting
+ *********************************************************************************
+ */
+
+void lcd128x64puts (int x, int y, const char *str, int bgCol, int fgCol)
+{
+ int c, mx, my ;
+
+ mx = x ; my = y ;
+
+ while (*str)
+ {
+ c = *str++ ;
+
+ if (c == '\r')
+ {
+ mx = x ;
+ continue ;
+ }
+
+ if (c == '\n')
+ {
+ mx = x ;
+ my -= fontHeight ;
+ continue ;
+ }
+
+ lcd128x64putchar (mx, my, c, bgCol, fgCol) ;
+
+ mx += fontWidth ;
+ if (mx >= (maxX - fontWidth))
+ {
+ mx = 0 ;
+ my -= fontHeight ;
+ }
+ }
+}
+
+
+/*
+ * lcd128x64clear:
+ * Clear the display to the given colour.
+ *********************************************************************************
+ */
+
+void lcd128x64clear (int colour)
+{
+ register int i ;
+ register unsigned char *ptr = frameBuffer ;
+
+ for (i = 0 ; i < (maxX * maxY) ; ++i)
+ *ptr++ = colour ;
+}
+
+
+
+
+/*
+ * lcd128x64setup:
+ * Initialise the display and GPIO.
+ *********************************************************************************
+ */
+
+int lcd128x64setup (void)
+{
+ int i ;
+
+ for (i = 0 ; i < 8 ; ++i)
+ pinMode (i, OUTPUT) ;
+
+ digitalWrite (CS1, 1) ;
+ digitalWrite (CS2, 1) ;
+ digitalWrite (STROBE, 0) ;
+ digitalWrite (RS, 1) ;
+
+ pinMode (CS1, OUTPUT) ;
+ pinMode (CS2, OUTPUT) ;
+ pinMode (STROBE, OUTPUT) ;
+ pinMode (RS, OUTPUT) ;
+
+ sendCommand (0x3F, CS1) ; // Display ON
+ sendCommand (0xC0, CS1) ; // Set display start line to 0
+
+ sendCommand (0x3F, CS2) ; // Display ON
+ sendCommand (0xC0, CS2) ; // Set display start line to 0
+
+ lcd128x64clear (0) ;
+ lcd128x64setOrientation (0) ;
+ lcd128x64update () ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/devLib/lcd128x64.h b/modules/catkin_ws/src/wiringPi/devLib/lcd128x64.h
new file mode 100644
index 0000000000000000000000000000000000000000..b448bbc83f1f0b5b5d3ed82ae1e4fdc3b143b703
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/lcd128x64.h
@@ -0,0 +1,39 @@
+/*
+ * lcd128x64.h:
+ *
+ * Copyright (c) 2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+extern void lcd128x64setOrigin (int x, int y) ;
+extern void lcd128x64setOrientation (int orientation) ;
+extern void lcd128x64orientCoordinates (int *x, int *y) ;
+extern void lcd128x64getScreenSize (int *x, int *y) ;
+extern void lcd128x64point (int x, int y, int colour) ;
+extern void lcd128x64line (int x0, int y0, int x1, int y1, int colour) ;
+extern void lcd128x64lineTo (int x, int y, int colour) ;
+extern void lcd128x64rectangle (int x1, int y1, int x2, int y2, int colour, int filled) ;
+extern void lcd128x64circle (int x, int y, int r, int colour, int filled) ;
+extern void lcd128x64ellipse (int cx, int cy, int xRadius, int yRadius, int colour, int filled) ;
+extern void lcd128x64putchar (int x, int y, int c, int bgCol, int fgCol) ;
+extern void lcd128x64puts (int x, int y, const char *str, int bgCol, int fgCol) ;
+extern void lcd128x64update (void) ;
+extern void lcd128x64clear (int colour) ;
+
+extern int lcd128x64setup (void) ;
diff --git a/modules/catkin_ws/src/wiringPi/devLib/lcd128x64.o b/modules/catkin_ws/src/wiringPi/devLib/lcd128x64.o
new file mode 100644
index 0000000000000000000000000000000000000000..3efe19e452fa56c4822a502af4403b6d75fed381
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/devLib/lcd128x64.o differ
diff --git a/modules/catkin_ws/src/wiringPi/devLib/libwiringPiDev.so.2.0 b/modules/catkin_ws/src/wiringPi/devLib/libwiringPiDev.so.2.0
new file mode 100755
index 0000000000000000000000000000000000000000..445f4b488f0dbc0bb236fc36f1c0ba6d1476e284
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/devLib/libwiringPiDev.so.2.0 differ
diff --git a/modules/catkin_ws/src/wiringPi/devLib/maxdetect.c b/modules/catkin_ws/src/wiringPi/devLib/maxdetect.c
new file mode 100755
index 0000000000000000000000000000000000000000..23eabf80a2f35836736fcec3949485c5de34f9c6
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/maxdetect.c
@@ -0,0 +1,165 @@
+/*
+ * maxdetect.c:
+ * Driver for the MaxDetect series sensors
+ *
+ * Copyright (c) 2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+//#include <stdio.h>
+//#include <stdlib.h>
+//#include <unistd.h>
+
+#include <wiringPi.h>
+
+#include "maxdetect.h"
+
+#ifndef TRUE
+# define TRUE (1==1)
+# define FALSE (1==2)
+#endif
+
+
+/*
+ * maxDetectLowHighWait:
+ * Wait for a transition from high to low on the bus
+ *********************************************************************************
+ */
+
+static void maxDetectLowHighWait (const int pin)
+{
+ unsigned int timeOut = millis () + 2000 ;
+
+ while (digitalRead (pin) == HIGH)
+ if (millis () > timeOut)
+ return ;
+
+ while (digitalRead (pin) == LOW)
+ if (millis () > timeOut)
+ return ;
+}
+
+
+/*
+ * maxDetectClockByte:
+ * Read in a single byte from the MaxDetect bus
+ *********************************************************************************
+ */
+
+static unsigned int maxDetectClockByte (const int pin)
+{
+ unsigned int byte = 0 ;
+ int bit ;
+
+ for (bit = 0 ; bit < 8 ; ++bit)
+ {
+ maxDetectLowHighWait (pin) ;
+
+// bit starting now - we need to time it.
+
+ delayMicroseconds (30) ;
+ byte <<= 1 ;
+ if (digitalRead (pin) == HIGH) // It's a 1
+ byte |= 1 ;
+ }
+
+ return byte ;
+}
+
+
+/*
+ * maxDetectRead:
+ * Read in and return the 4 data bytes from the MaxDetect sensor.
+ * Return TRUE/FALSE depending on the checksum validity
+ *********************************************************************************
+ */
+
+int maxDetectRead (const int pin, unsigned char buffer [4])
+{
+ int i ;
+ unsigned int checksum ;
+ unsigned char localBuf [5] ;
+
+// Wake up the RHT03 by pulling the data line low, then high
+// Low for 10mS, high for 40uS.
+
+ pinMode (pin, OUTPUT) ;
+ digitalWrite (pin, 0) ; delay (10) ;
+ digitalWrite (pin, 1) ; delayMicroseconds (40) ;
+ pinMode (pin, INPUT) ;
+
+// Now wait for sensor to pull pin low
+
+ maxDetectLowHighWait (pin) ;
+
+// and read in 5 bytes (40 bits)
+
+ for (i = 0 ; i < 5 ; ++i)
+ localBuf [i] = maxDetectClockByte (pin) ;
+
+ checksum = 0 ;
+ for (i = 0 ; i < 4 ; ++i)
+ {
+ buffer [i] = localBuf [i] ;
+ checksum += localBuf [i] ;
+ }
+ checksum &= 0xFF ;
+
+ return checksum == localBuf [4] ;
+}
+
+
+/*
+ * readRHT03:
+ * Read the Temperature & Humidity from an RHT03 sensor
+ *********************************************************************************
+ */
+
+int readRHT03 (const int pin, int *temp, int *rh)
+{
+ static unsigned int nextTime = 0 ;
+ static int lastTemp = 0 ;
+ static int lastRh = 0 ;
+ static int lastResult = TRUE ;
+
+ unsigned char buffer [4] ;
+
+// Don't read more than once a second
+
+ if (millis () < nextTime)
+ {
+ *temp = lastTemp ;
+ *rh = lastRh ;
+ return lastResult ;
+ }
+
+ lastResult = maxDetectRead (pin, buffer) ;
+
+ if (lastResult)
+ {
+ *temp = lastTemp = (buffer [2] * 256 + buffer [3]) ;
+ *rh = lastRh = (buffer [0] * 256 + buffer [1]) ;
+ nextTime = millis () + 2000 ;
+ return TRUE ;
+ }
+ else
+ {
+ return FALSE ;
+ }
+}
diff --git a/modules/catkin_ws/src/wiringPi/devLib/maxdetect.h b/modules/catkin_ws/src/wiringPi/devLib/maxdetect.h
new file mode 100755
index 0000000000000000000000000000000000000000..a1fd742e42f40780c097fac02fa026c0827a148e
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/maxdetect.h
@@ -0,0 +1,40 @@
+/*
+ * maxdetect.h:
+ * Driver for the MaxDetect series sensors
+ *
+ * Copyright (c) 2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// Main generic function
+
+int maxDetectRead (const int pin, unsigned char buffer [4]) ;
+
+// Individual sensors
+
+int readRHT03 (const int pin, int *temp, int *rh) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/devLib/maxdetect.o b/modules/catkin_ws/src/wiringPi/devLib/maxdetect.o
new file mode 100644
index 0000000000000000000000000000000000000000..924f414a6ca9a33a4791cd54c4fd69830e8133b0
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/devLib/maxdetect.o differ
diff --git a/modules/catkin_ws/src/wiringPi/devLib/piFace.c b/modules/catkin_ws/src/wiringPi/devLib/piFace.c
new file mode 100644
index 0000000000000000000000000000000000000000..4475c7f5b28581e9c8a45f55ccce612758e9e14c
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/piFace.c
@@ -0,0 +1,112 @@
+/*
+ * piFace.:
+ * This file to interface with the PiFace peripheral device which
+ * has an MCP23S17 GPIO device connected via the SPI bus.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+
+#include <stdio.h>
+#include <stdint.h>
+
+#include <wiringPi.h>
+#include <mcp23s17.h>
+
+#include "piFace.h"
+
+
+/*
+ * myDigitalWrite:
+ * Perform the digitalWrite function on the PiFace board
+ *********************************************************************************
+ */
+
+void myDigitalWrite (struct wiringPiNodeStruct *node, int pin, int value)
+{
+ digitalWrite (pin + 16, value) ;
+}
+
+
+/*
+ * myDigitalRead:
+ * Perform the digitalRead function on the PiFace board
+ * With a slight twist - if we read from base + 8, then we
+ * read from the output latch...
+ *********************************************************************************
+ */
+
+int myDigitalRead (struct wiringPiNodeStruct *node, int pin)
+{
+ if ((pin - node->pinBase) >= 8)
+ return digitalRead (pin + 8) ;
+ else
+ return digitalRead (pin + 16 + 8) ;
+}
+
+
+/*
+ * myPullUpDnControl:
+ * Perform the pullUpDnControl function on the PiFace board
+ *********************************************************************************
+ */
+
+void myPullUpDnControl (struct wiringPiNodeStruct *node, int pin, int pud)
+{
+ pullUpDnControl (pin + 16 + 8, pud) ;
+}
+
+
+/*
+ * piFaceSetup
+ * We're going to create an instance of the mcp23s17 here, then
+ * provide our own read/write routines on-top of it...
+ * The supplied PiFace code (in Pithon) treats it as an 8-bit device
+ * where you write the output ports and read the input port using the
+ * same pin numbers, however I have had a request to be able to read
+ * the output port, so reading 8..15 will read the output latch.
+ *********************************************************************************
+ */
+
+int piFaceSetup (const int pinBase)
+{
+ int i ;
+ struct wiringPiNodeStruct *node ;
+
+// Create an mcp23s17 instance:
+
+ mcp23s17Setup (pinBase + 16, 0, 0) ;
+
+// Set the direction bits
+
+ for (i = 0 ; i < 8 ; ++i)
+ {
+ pinMode (pinBase + 16 + i, OUTPUT) ; // Port A is the outputs
+ pinMode (pinBase + 16 + 8 + i, INPUT) ; // Port B inputs.
+ }
+
+ node = wiringPiNewNode (pinBase, 16) ;
+ node->digitalRead = myDigitalRead ;
+ node->digitalWrite = myDigitalWrite ;
+ node->pullUpDnControl = myPullUpDnControl ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/devLib/piFace.h b/modules/catkin_ws/src/wiringPi/devLib/piFace.h
new file mode 100644
index 0000000000000000000000000000000000000000..49653144ec2892b8b19c0d6f69eec2c168f076b4
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/piFace.h
@@ -0,0 +1,32 @@
+/*
+ * piFace.h:
+ * Control the PiFace Interface board for the Raspberry Pi
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int piFaceSetup (const int pinBase) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/devLib/piFace.o b/modules/catkin_ws/src/wiringPi/devLib/piFace.o
new file mode 100644
index 0000000000000000000000000000000000000000..cb2516fe77c25f4adee5e4806ec33ed7a42cd119
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/devLib/piFace.o differ
diff --git a/modules/catkin_ws/src/wiringPi/devLib/piGlow.c b/modules/catkin_ws/src/wiringPi/devLib/piGlow.c
new file mode 100644
index 0000000000000000000000000000000000000000..44e3db8e5638e3d3edb3a7e2b292b8bf4e8d3425
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/piGlow.c
@@ -0,0 +1,118 @@
+/*
+ * piGlow.c:
+ * Easy access to the Pimoroni PiGlow board.
+ *
+ * Copyright (c) 2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <wiringPi.h>
+#include <sn3218.h>
+
+#include "piGlow.h"
+
+#define PIGLOW_BASE 577
+
+static int leg0 [6] = { 6, 7, 8, 5, 4, 9 } ;
+static int leg1 [6] = { 17, 16, 15, 13, 11, 10 } ;
+static int leg2 [6] = { 0, 1, 2, 3, 14, 12 } ;
+
+
+/*
+ * piGlow1:
+ * Light up an individual LED
+ *********************************************************************************
+ */
+
+void piGlow1 (const int leg, const int ring, const int intensity)
+{
+ int *legLeds ;
+
+ if ((leg < 0) || (leg > 2)) return ;
+ if ((ring < 0) || (ring > 5)) return ;
+
+ /**/ if (leg == 0)
+ legLeds = leg0 ;
+ else if (leg == 1)
+ legLeds = leg1 ;
+ else
+ legLeds = leg2 ;
+
+ analogWrite (PIGLOW_BASE + legLeds [ring], intensity) ;
+}
+
+/*
+ * piGlowLeg:
+ * Light up all 6 LEDs on a leg
+ *********************************************************************************
+ */
+
+void piGlowLeg (const int leg, const int intensity)
+{
+ int i ;
+ int *legLeds ;
+
+ if ((leg < 0) || (leg > 2))
+ return ;
+
+ /**/ if (leg == 0)
+ legLeds = leg0 ;
+ else if (leg == 1)
+ legLeds = leg1 ;
+ else
+ legLeds = leg2 ;
+
+ for (i = 0 ; i < 6 ; ++i)
+ analogWrite (PIGLOW_BASE + legLeds [i], intensity) ;
+}
+
+
+/*
+ * piGlowRing:
+ * Light up 3 LEDs in a ring. Ring 0 is the outermost, 5 the innermost
+ *********************************************************************************
+ */
+
+void piGlowRing (const int ring, const int intensity)
+{
+ if ((ring < 0) || (ring > 5))
+ return ;
+
+ analogWrite (PIGLOW_BASE + leg0 [ring], intensity) ;
+ analogWrite (PIGLOW_BASE + leg1 [ring], intensity) ;
+ analogWrite (PIGLOW_BASE + leg2 [ring], intensity) ;
+}
+
+/*
+ * piGlowSetup:
+ * Initialise the board & remember the pins we're using
+ *********************************************************************************
+ */
+
+void piGlowSetup (int clear)
+{
+ sn3218Setup (PIGLOW_BASE) ;
+
+ if (clear)
+ {
+ piGlowLeg (0, 0) ;
+ piGlowLeg (1, 0) ;
+ piGlowLeg (2, 0) ;
+ }
+}
diff --git a/modules/catkin_ws/src/wiringPi/devLib/piGlow.h b/modules/catkin_ws/src/wiringPi/devLib/piGlow.h
new file mode 100644
index 0000000000000000000000000000000000000000..a4d89d01baf3a1102374d361a22accd9574d664b
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/piGlow.h
@@ -0,0 +1,45 @@
+/*
+ * piglow.h:
+ * Easy access to the Pimoroni PiGlow board.
+ *
+ * Copyright (c) 2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+
+#define PIGLOW_RED 0
+#define PIGLOW_ORANGE 1
+#define PIGLOW_YELLOW 2
+#define PIGLOW_GREEN 3
+#define PIGLOW_BLUE 4
+#define PIGLOW_WHITE 5
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern void piGlow1 (const int leg, const int ring, const int intensity) ;
+extern void piGlowLeg (const int leg, const int intensity) ;
+extern void piGlowRing (const int ring, const int intensity) ;
+extern void piGlowSetup (int clear) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/devLib/piGlow.o b/modules/catkin_ws/src/wiringPi/devLib/piGlow.o
new file mode 100644
index 0000000000000000000000000000000000000000..d5f04a6a48200162f01b3ebc5925a524290a17be
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/devLib/piGlow.o differ
diff --git a/modules/catkin_ws/src/wiringPi/devLib/piNes.c b/modules/catkin_ws/src/wiringPi/devLib/piNes.c
new file mode 100644
index 0000000000000000000000000000000000000000..a115050e8a96102801aff480b0a0a2b27e7fcf20
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/piNes.c
@@ -0,0 +1,113 @@
+/*
+ * piNes.c:
+ * Driver for the NES Joystick controller on the Raspberry Pi
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <wiringPi.h>
+
+#include "piNes.h"
+
+#define MAX_NES_JOYSTICKS 8
+
+#define NES_RIGHT 0x01
+#define NES_LEFT 0x02
+#define NES_DOWN 0x04
+#define NES_UP 0x08
+#define NES_START 0x10
+#define NES_SELECT 0x20
+#define NES_B 0x40
+#define NES_A 0x80
+
+
+#define PULSE_TIME 25
+
+// Data to store the pins for each controller
+
+struct nesPinsStruct
+{
+ unsigned int cPin, dPin, lPin ;
+} ;
+
+static struct nesPinsStruct nesPins [MAX_NES_JOYSTICKS] ;
+
+static int joysticks = 0 ;
+
+
+/*
+ * setupNesJoystick:
+ * Create a new NES joystick interface, program the pins, etc.
+ *********************************************************************************
+ */
+
+int setupNesJoystick (int dPin, int cPin, int lPin)
+{
+ if (joysticks == MAX_NES_JOYSTICKS)
+ return -1 ;
+
+ nesPins [joysticks].dPin = dPin ;
+ nesPins [joysticks].cPin = cPin ;
+ nesPins [joysticks].lPin = lPin ;
+
+ digitalWrite (lPin, LOW) ;
+ digitalWrite (cPin, LOW) ;
+
+ pinMode (lPin, OUTPUT) ;
+ pinMode (cPin, OUTPUT) ;
+ pinMode (dPin, INPUT) ;
+
+ return joysticks++ ;
+}
+
+
+/*
+ * readNesJoystick:
+ * Do a single scan of the NES Joystick.
+ *********************************************************************************
+ */
+
+unsigned int readNesJoystick (int joystick)
+{
+ unsigned int value = 0 ;
+ int i ;
+
+ struct nesPinsStruct *pins = &nesPins [joystick] ;
+
+// Toggle Latch - which presents the first bit
+
+ digitalWrite (pins->lPin, HIGH) ; delayMicroseconds (PULSE_TIME) ;
+ digitalWrite (pins->lPin, LOW) ; delayMicroseconds (PULSE_TIME) ;
+
+// Read first bit
+
+ value = digitalRead (pins->dPin) ;
+
+// Now get the next 7 bits with the clock
+
+ for (i = 0 ; i < 7 ; ++i)
+ {
+ digitalWrite (pins->cPin, HIGH) ; delayMicroseconds (PULSE_TIME) ;
+ digitalWrite (pins->cPin, LOW) ; delayMicroseconds (PULSE_TIME) ;
+ value = (value << 1) | digitalRead (pins->dPin) ;
+ }
+
+ return value ^ 0xFF ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/devLib/piNes.h b/modules/catkin_ws/src/wiringPi/devLib/piNes.h
new file mode 100644
index 0000000000000000000000000000000000000000..897f1815915e83b7572a0ae61f29b1cad51bf76b
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/devLib/piNes.h
@@ -0,0 +1,45 @@
+/*
+ * piNes.h:
+ * Driver for the NES Joystick controller on the Raspberry Pi
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#define MAX_NES_JOYSTICKS 8
+
+#define NES_RIGHT 0x01
+#define NES_LEFT 0x02
+#define NES_DOWN 0x04
+#define NES_UP 0x08
+#define NES_START 0x10
+#define NES_SELECT 0x20
+#define NES_B 0x40
+#define NES_A 0x80
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int setupNesJoystick (int dPin, int cPin, int lPin) ;
+extern unsigned int readNesJoystick (int joystick) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/devLib/piNes.o b/modules/catkin_ws/src/wiringPi/devLib/piNes.o
new file mode 100644
index 0000000000000000000000000000000000000000..a080524846d668b735113e77e539d0ccc1096f7e
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/devLib/piNes.o differ
diff --git a/modules/catkin_ws/src/wiringPi/examples/COPYING.LESSER b/modules/catkin_ws/src/wiringPi/examples/COPYING.LESSER
new file mode 100644
index 0000000000000000000000000000000000000000..65c5ca88a67c30becee01c5a8816d964b03862f9
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/COPYING.LESSER
@@ -0,0 +1,165 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+ This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+ 0. Additional Definitions.
+
+ As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+ "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+ An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+ A "Combined Work" is a work produced by combining or linking an
+Application with the Library. The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+ The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+ The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+ 1. Exception to Section 3 of the GNU GPL.
+
+ You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+ 2. Conveying Modified Versions.
+
+ If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+ a) under this License, provided that you make a good faith effort to
+ ensure that, in the event an Application does not supply the
+ function or data, the facility still operates, and performs
+ whatever part of its purpose remains meaningful, or
+
+ b) under the GNU GPL, with none of the additional permissions of
+ this License applicable to that copy.
+
+ 3. Object Code Incorporating Material from Library Header Files.
+
+ The object code form of an Application may incorporate material from
+a header file that is part of the Library. You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+ a) Give prominent notice with each copy of the object code that the
+ Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the object code with a copy of the GNU GPL and this license
+ document.
+
+ 4. Combined Works.
+
+ You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+ a) Give prominent notice with each copy of the Combined Work that
+ the Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the Combined Work with a copy of the GNU GPL and this license
+ document.
+
+ c) For a Combined Work that displays copyright notices during
+ execution, include the copyright notice for the Library among
+ these notices, as well as a reference directing the user to the
+ copies of the GNU GPL and this license document.
+
+ d) Do one of the following:
+
+ 0) Convey the Minimal Corresponding Source under the terms of this
+ License, and the Corresponding Application Code in a form
+ suitable for, and under terms that permit, the user to
+ recombine or relink the Application with a modified version of
+ the Linked Version to produce a modified Combined Work, in the
+ manner specified by section 6 of the GNU GPL for conveying
+ Corresponding Source.
+
+ 1) Use a suitable shared library mechanism for linking with the
+ Library. A suitable mechanism is one that (a) uses at run time
+ a copy of the Library already present on the user's computer
+ system, and (b) will operate properly with a modified version
+ of the Library that is interface-compatible with the Linked
+ Version.
+
+ e) Provide Installation Information, but only if you would otherwise
+ be required to provide such information under section 6 of the
+ GNU GPL, and only to the extent that such information is
+ necessary to install and execute a modified version of the
+ Combined Work produced by recombining or relinking the
+ Application with a modified version of the Linked Version. (If
+ you use option 4d0, the Installation Information must accompany
+ the Minimal Corresponding Source and Corresponding Application
+ Code. If you use option 4d1, you must provide the Installation
+ Information in the manner specified by section 6 of the GNU GPL
+ for conveying Corresponding Source.)
+
+ 5. Combined Libraries.
+
+ You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+ a) Accompany the combined library with a copy of the same work based
+ on the Library, uncombined with any other library facilities,
+ conveyed under the terms of this License.
+
+ b) Give prominent notice with the combined library that part of it
+ is a work based on the Library, and explaining where to find the
+ accompanying uncombined form of the same work.
+
+ 6. Revised Versions of the GNU Lesser General Public License.
+
+ The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+ If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.
diff --git a/modules/catkin_ws/src/wiringPi/examples/Gertboard/7segments.c b/modules/catkin_ws/src/wiringPi/examples/Gertboard/7segments.c
new file mode 100644
index 0000000000000000000000000000000000000000..8797e492fc578357f66b0393bc2cf5769b44cbdb
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/Gertboard/7segments.c
@@ -0,0 +1,221 @@
+/*
+ * 7segments.c:
+ * Simple test program to see if we can drive a 7-segment LED
+ * display using the GPIO and little else on the Raspberry Pi
+ *
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ */
+
+#undef PHOTO_HACK
+
+#include <wiringPi.h>
+
+#include <stdio.h>
+#include <time.h>
+#include <ctype.h>
+#include <string.h>
+
+/*
+ * Segment mapping
+ *
+ * --a--
+ * | |
+ * f b
+ * | |
+ * --g--
+ * | |
+ * e c
+ * | |
+ * --d-- p
+ */
+
+// GPIO Pin Mapping
+
+static int digits [6] = { 7, 11, 10, 13, 12, 14 } ;
+static int segments [7] = { 6, 5, 4, 3, 2, 1, 0 } ;
+
+
+static const int segmentDigits [] =
+{
+// a b c d e f g Segments
+// 6 5 4 3 2 1 0, // wiringPi pin No.
+
+ 1, 1, 1, 1, 1, 1, 0, // 0
+ 0, 1, 1, 0, 0, 0, 0, // 1
+ 1, 1, 0, 1, 1, 0, 1, // 2
+ 1, 1, 1, 1, 0, 0, 1, // 3
+ 0, 1, 1, 0, 0, 1, 1, // 4
+ 1, 0, 1, 1, 0, 1, 1, // 5
+ 1, 0, 1, 1, 1, 1, 1, // 6
+ 1, 1, 1, 0, 0, 0, 0, // 7
+ 1, 1, 1, 1, 1, 1, 1, // 8
+ 1, 1, 1, 1, 0, 1, 1, // 9
+ 1, 1, 1, 0, 1, 1, 1, // A
+ 0, 0, 1, 1, 1, 1, 1, // b
+ 1, 0, 0, 1, 1, 1, 0, // C
+ 0, 1, 1, 1, 1, 0, 1, // d
+ 1, 0, 0, 1, 1, 1, 1, // E
+ 1, 0, 0, 0, 1, 1, 1, // F
+ 0, 0, 0, 0, 0, 0, 0, // blank
+} ;
+
+
+// display:
+// A global variable which is written to by the main program and
+// read from by the thread that updates the display. Only the first
+// 6 characters are used.
+
+char display [8] ;
+
+
+/*
+ * displayDigits:
+ * This is our thread that's run concurrently with the main program.
+ * Essentially sit in a loop, parsing and displaying the data held in
+ * the "display" global.
+ *********************************************************************************
+ */
+
+PI_THREAD (displayDigits)
+{
+ int digit, segment ;
+ int index, d, segVal ;
+
+ piHiPri (50) ;
+
+ for (;;)
+ {
+ for (digit = 0 ; digit < 6 ; ++digit)
+ {
+ for (segment = 0 ; segment < 7 ; ++segment)
+ {
+ d = toupper (display [digit]) ;
+ /**/ if ((d >= '0') && (d <= '9')) // Digit
+ index = d - '0' ;
+ else if ((d >= 'A') && (d <= 'F')) // Hex
+ index = d - 'A' + 10 ;
+ else
+ index = 16 ; // Blank
+
+ segVal = segmentDigits [index * 7 + segment] ;
+
+ digitalWrite (segments [segment], segVal) ;
+ }
+ digitalWrite (digits [digit], 1) ;
+ delay (2) ;
+ digitalWrite (digits [digit], 0) ;
+ }
+ }
+}
+
+
+/*
+ * setup:
+ * Initialise the hardware and start the thread
+ *********************************************************************************
+ */
+
+void setup (void)
+{
+ int i, c ;
+
+ wiringPiSetup () ;
+
+// 7 segments
+
+ for (i = 0 ; i < 7 ; ++i)
+ { digitalWrite (segments [i], 0) ; pinMode (segments [i], OUTPUT) ; }
+
+// 6 digits
+
+ for (i = 0 ; i < 6 ; ++i)
+ { digitalWrite (digits [i], 0) ; pinMode (digits [i], OUTPUT) ; }
+
+ strcpy (display, " ") ;
+ piThreadCreate (displayDigits) ;
+ delay (10) ; // Just to make sure it's started
+
+// Quick countdown LED test sort of thing
+
+ c = 999999 ;
+ for (i = 0 ; i < 10 ; ++i)
+ {
+ sprintf (display, "%06d", c) ;
+ delay (400) ;
+ c -= 111111 ;
+ }
+
+ strcpy (display, " ") ;
+ delay (400) ;
+
+#ifdef PHOTO_HACK
+ sprintf (display, "%s", "123456") ;
+ for (;;)
+ delay (1000) ;
+#endif
+
+}
+
+
+/*
+ * teenager:
+ * No explanation needed. (Nor one given!)
+ *********************************************************************************
+ */
+
+void teenager (void)
+{
+ char *message = " feedbeef babe cafe b00b " ;
+ int i ;
+
+ for (i = 0 ; i < strlen (message) - 4 ; ++i)
+ {
+ strncpy (display, &message [i], 6) ;
+ delay (200) ;
+ }
+ delay (1000) ;
+ for (i = 0 ; i < 3 ; ++i)
+ {
+ strcpy (display, " ") ;
+ delay (150) ;
+ strcpy (display, " b00b ") ;
+ delay (250) ;
+ }
+ delay (1000) ;
+ strcpy (display, " ") ;
+ delay (1000) ;
+}
+
+
+/*
+ *********************************************************************************
+ * main:
+ * Let the fun begin
+ *********************************************************************************
+ */
+
+int main (void)
+{
+ struct tm *t ;
+ time_t tim ;
+
+ setup () ;
+ teenager () ;
+
+ tim = time (NULL) ;
+ for (;;)
+ {
+ while (time (NULL) == tim)
+ delay (5) ;
+
+ tim = time (NULL) ;
+ t = localtime (&tim) ;
+
+ sprintf (display, "%02d%02d%02d", t->tm_hour, t->tm_min, t->tm_sec) ;
+
+ delay (500) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/Gertboard/Makefile b/modules/catkin_ws/src/wiringPi/examples/Gertboard/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..75692611550d4ab154e17478eca0a67206ad3507
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/Gertboard/Makefile
@@ -0,0 +1,74 @@
+#
+# Makefile:
+# Gertboard - Examples using wiringPi
+#
+# Copyright (c) 2013 Gordon Henderson
+#################################################################################
+
+#DEBUG = -g -O0
+DEBUG = -O3
+CC = gcc
+INCLUDE = -I/usr/local/include
+CFLAGS = $(DEBUG) -Wall $(INCLUDE) -Winline -pipe
+
+LDFLAGS = -L/usr/local/lib
+LDLIBS = -lwiringPi -lwiringPiDev -lpthread -lm
+
+# Should not alter anything below this line
+###############################################################################
+
+SRC = gertboard.c \
+ buttons.c 7segments.c \
+ voltmeter.c temperature.c vumeter.c \
+ record.c
+
+OBJ = $(SRC:.c=.o)
+
+BINS = $(SRC:.c=)
+
+all: $(BINS)
+
+gertboard: gertboard.o
+ @echo [link]
+ @$(CC) -o $@ gertboard.o $(LDFLAGS) $(LDLIBS)
+
+buttons: buttons.o
+ @echo [link]
+ @$(CC) -o $@ buttons.o $(LDFLAGS) $(LDLIBS)
+
+7segments: 7segments.o
+ @echo [link]
+ @$(CC) -o $@ 7segments.o $(LDFLAGS) $(LDLIBS)
+
+voltmeter: voltmeter.o
+ @echo [link]
+ @$(CC) -o $@ voltmeter.o $(LDFLAGS) $(LDLIBS)
+
+temperature: temperature.o
+ @echo [link]
+ @$(CC) -o $@ temperature.o $(LDFLAGS) $(LDLIBS)
+
+vumeter: vumeter.o
+ @echo [link]
+ @$(CC) -o $@ vumeter.o $(LDFLAGS) $(LDLIBS)
+
+record: record.o
+ @echo [link]
+ @$(CC) -o $@ record.o $(LDFLAGS) $(LDLIBS)
+
+.c.o:
+ @echo [CC] $<
+ @$(CC) -c $(CFLAGS) $< -o $@
+
+clean:
+ @echo [Clean]
+ @rm -f $(OBJ) *~ core tags $(BINS)
+
+tags: $(SRC)
+ @echo [ctags]
+ @ctags $(SRC)
+
+depend:
+ makedepend -Y $(SRC)
+
+# DO NOT DELETE
diff --git a/modules/catkin_ws/src/wiringPi/examples/Gertboard/buttons.c b/modules/catkin_ws/src/wiringPi/examples/Gertboard/buttons.c
new file mode 100644
index 0000000000000000000000000000000000000000..5f76764121c1d0918874e0b06293e544bc985ab7
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/Gertboard/buttons.c
@@ -0,0 +1,83 @@
+/*
+ * buttons.c:
+ * Read the Gertboard buttons. Each one will act as an on/off
+ * tiggle switch for 3 different LEDs
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <wiringPi.h>
+
+// Array to keep track of our LEDs
+
+int leds [] = { 0, 0, 0 } ;
+
+// scanButton:
+// See if a button is pushed, if so, then flip that LED and
+// wait for the button to be let-go
+
+void scanButton (int button)
+{
+ if (digitalRead (button) == HIGH) // Low is pushed
+ return ;
+
+ leds [button] ^= 1 ; // Invert state
+ digitalWrite (4 + button, leds [button]) ;
+
+ while (digitalRead (button) == LOW) // Wait for release
+ delay (10) ;
+}
+
+int main (void)
+{
+ int i ;
+
+ printf ("Raspberry Pi Gertboard Button Test\n") ;
+
+ wiringPiSetup () ;
+
+// Setup the outputs:
+// Pins 3, 4, 5, 6 and 7 output:
+// We're not using 3 or 4, but make sure they're off anyway
+// (Using same hardware config as blink12.c)
+
+ for (i = 3 ; i < 8 ; ++i)
+ {
+ pinMode (i, OUTPUT) ;
+ digitalWrite (i, 0) ;
+ }
+
+// Setup the inputs
+
+ for (i = 0 ; i < 3 ; ++i)
+ {
+ pinMode (i, INPUT) ;
+ pullUpDnControl (i, PUD_UP) ;
+ leds [i] = 0 ;
+ }
+
+ for (;;)
+ {
+ for (i = 0 ; i < 3 ; ++i)
+ scanButton (i) ;
+ delay (1) ;
+ }
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/Gertboard/gertboard.c b/modules/catkin_ws/src/wiringPi/examples/Gertboard/gertboard.c
new file mode 100644
index 0000000000000000000000000000000000000000..aefcb1244fef781f056a9e28bde353bd31b4719d
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/Gertboard/gertboard.c
@@ -0,0 +1,96 @@
+/*
+ * gertboard.c:
+ * Simple test for the SPI bus on the Gertboard
+ *
+ * Hardware setup:
+ * D/A port 0 jumpered to A/D port 0.
+ *
+ * We output a sine wave on D/A port 0 and sample A/D port 0. We then
+ * plot the input value on the terminal as a sort of vertical scrolling
+ * oscilloscipe.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <sys/ioctl.h>
+#include <stdlib.h>
+#include <math.h>
+
+// Gertboard D to A is an 8-bit unit.
+
+#define B_SIZE 256
+
+#include <wiringPi.h>
+#include <gertboard.h>
+
+int main (void)
+{
+ double angle ;
+ int i, inputValue ;
+ int buffer [B_SIZE] ;
+ int cols ;
+ struct winsize w ;
+
+
+ printf ("Raspberry Pi Gertboard SPI test program\n") ;
+ printf ("=======================================\n") ;
+
+ ioctl (fileno (stdin), TIOCGWINSZ, &w);
+ cols = w.ws_col - 2 ;
+
+// Always initialise wiringPi. Use wiringPiSys() if you don't need
+// (or want) to run as root
+
+ wiringPiSetupSys () ;
+
+// Initialise the Gertboard analog hardware at pin 100
+
+ gertboardAnalogSetup (100) ;
+
+// Generate a Sine Wave and store in our buffer
+
+ for (i = 0 ; i < B_SIZE ; ++i)
+ {
+ angle = ((double)i / (double)B_SIZE) * M_PI * 2.0 ;
+ buffer [i] = (int)rint ((sin (angle)) * 127.0 + 128.0) ;
+ }
+
+// Loop, output the sine wave on analog out port 0, read it into A-D port 0
+// and display it on the screen
+
+ for (;;)
+ {
+ for (i = 0 ; i < B_SIZE ; ++i)
+ {
+ analogWrite (100, buffer [i]) ;
+
+ inputValue = analogRead (100) ;
+
+// We don't need to wory about the scale or sign - the analog hardware is
+// a 10-bit value, so 0-1023. Just scale this to our terminal
+
+ printf ("%*s\n", (inputValue * cols) / 1023, "*") ;
+ delay (2) ;
+ }
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/Gertboard/record.c b/modules/catkin_ws/src/wiringPi/examples/Gertboard/record.c
new file mode 100644
index 0000000000000000000000000000000000000000..71d87184e6abaf4ce5bd86540d9dd5ad7f250e89
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/Gertboard/record.c
@@ -0,0 +1,60 @@
+/*
+ * record.c:
+ * Record some audio via the Gertboard
+ *
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <sys/time.h>
+
+#include <wiringPi.h>
+#include <gertboard.h>
+
+#define B_SIZE 40000
+
+int main ()
+{
+ int i ;
+ struct timeval tStart, tEnd, tTaken ;
+ unsigned char buffer [B_SIZE] ;
+
+ printf ("\n") ;
+ printf ("Gertboard demo: Recorder\n") ;
+ printf ("========================\n") ;
+
+// Always initialise wiringPi. Use wiringPiSys() if you don't need
+// (or want) to run as root
+
+ wiringPiSetupSys () ;
+
+// Initialise the Gertboard analog hardware at pin 100
+
+ gertboardAnalogSetup (100) ;
+
+ gettimeofday (&tStart, NULL) ;
+
+ for (i = 0 ; i < B_SIZE ; ++i)
+ buffer [i] = analogRead (100) >> 2 ;
+
+ gettimeofday (&tEnd, NULL) ;
+
+ timersub (&tEnd, &tStart, &tTaken) ;
+
+ printf ("Time taken for %d reads: %ld.%ld\n", B_SIZE, tTaken.tv_sec, tTaken.tv_usec) ;
+
+ gettimeofday (&tStart, NULL) ;
+
+ for (i = 0 ; i < B_SIZE ; ++i)
+ analogWrite (100, buffer [i]) ;
+
+ gettimeofday (&tEnd, NULL) ;
+
+ timersub (&tEnd, &tStart, &tTaken) ;
+
+ printf ("Time taken for %d writes: %ld.%ld\n", B_SIZE, tTaken.tv_sec, tTaken.tv_usec) ;
+
+ return 0 ;
+}
+
diff --git a/modules/catkin_ws/src/wiringPi/examples/Gertboard/temperature.c b/modules/catkin_ws/src/wiringPi/examples/Gertboard/temperature.c
new file mode 100644
index 0000000000000000000000000000000000000000..5985a122cf3a4067a98f12bc9dd61490ecc7800c
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/Gertboard/temperature.c
@@ -0,0 +1,78 @@
+/*
+ * temperature.c:
+ * Demonstrate use of the Gertboard A to D converter to make
+ * a simple thermometer using the LM35.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+
+#include <wiringPi.h>
+#include <gertboard.h>
+
+int main ()
+{
+ int x1, x2 ;
+ double v1, v2 ;
+
+ printf ("\n") ;
+ printf ("Gertboard demo: Simple Thermemeter\n") ;
+ printf ("==================================\n") ;
+
+// Always initialise wiringPi. Use wiringPiSys() if you don't need
+// (or want) to run as root
+
+ wiringPiSetupSys () ;
+
+// Initialise the Gertboard analog hardware at pin 100
+
+ gertboardAnalogSetup (100) ;
+
+ printf ("\n") ;
+ printf ("| Channel 0 | Channel 1 | Temperature 1 | Temperature 2 |\n") ;
+
+ for (;;)
+ {
+
+// Read the 2 channels:
+
+ x1 = analogRead (100) ;
+ x2 = analogRead (101) ;
+
+// Convert to a voltage:
+
+ v1 = (double)x1 / 1023.0 * 3.3 ;
+ v2 = (double)x2 / 1023.0 * 3.3 ;
+
+// Print
+
+ printf ("| %6.3f | %6.3f |", v1, v2) ;
+
+// Print Temperature of both channels by converting the LM35 reading
+// to a temperature. Fortunately these are easy: 0.01 volts per C.
+
+ printf (" %4.1f | %4.1f |\r", v1 * 100.0, v2 * 100.0) ;
+ fflush (stdout) ;
+ }
+
+ return 0 ;
+}
+
diff --git a/modules/catkin_ws/src/wiringPi/examples/Gertboard/voltmeter.c b/modules/catkin_ws/src/wiringPi/examples/Gertboard/voltmeter.c
new file mode 100644
index 0000000000000000000000000000000000000000..c4d2113f16a7cc6dbdea50328712a6a2fbf358fc
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/Gertboard/voltmeter.c
@@ -0,0 +1,73 @@
+/*
+ * voltmeter.c:
+ * Demonstrate use of the Gertboard A to D converter to make
+ * a simple voltmeter.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+
+#include <wiringPi.h>
+#include <gertboard.h>
+
+int main ()
+{
+ int x1, x2 ;
+ double v1, v2 ;
+
+ printf ("\n") ;
+ printf ("Gertboard demo: Simple Voltmeters\n") ;
+ printf ("=================================\n") ;
+
+// Always initialise wiringPi. Use wiringPiSys() if you don't need
+// (or want) to run as root
+
+ wiringPiSetupSys () ;
+
+// Initialise the Gertboard analog hardware at pin 100
+
+ gertboardAnalogSetup (100) ;
+
+ printf ("\n") ;
+ printf ("| Channel 0 | Channel 1 |\n") ;
+
+ for (;;)
+ {
+
+// Read the 2 channels:
+
+ x1 = analogRead (100) ;
+ x2 = analogRead (101) ;
+
+// Convert to a voltage:
+
+ v1 = (double)x1 / 1023.0 * 3.3 ;
+ v2 = (double)x2 / 1023.0 * 3.3 ;
+
+// Print
+
+ printf ("| %6.3f | %6.3f |\r", v1, v2) ;
+ fflush (stdout) ;
+ }
+
+ return 0 ;
+}
+
diff --git a/modules/catkin_ws/src/wiringPi/examples/Gertboard/vumeter.c b/modules/catkin_ws/src/wiringPi/examples/Gertboard/vumeter.c
new file mode 100644
index 0000000000000000000000000000000000000000..9643ace970e2765cf6a090f571bf4328231aedf5
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/Gertboard/vumeter.c
@@ -0,0 +1,152 @@
+/*
+ * vumeter.c:
+ * Simple VU meter
+ *
+ * Heres the theory:
+ * We will sample at 4000 samples/sec and put the data into a
+ * low-pass filter with a depth of 1000 samples. This will give
+ * us 1/4 a second of lag on the signal, but I think it might
+ * produce a more pleasing output.
+ *
+ * The input of the microphone should be at mid-pont with no
+ * sound input, but we might have to sample that too, to get
+ * our reference zero...
+ *
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/time.h>
+
+#include <wiringPi.h>
+#include <gertboard.h>
+
+#ifndef TRUE
+#define TRUE (1==1)
+#define FALSE (!TRUE)
+#endif
+
+#define B_SIZE 1000
+#define S_SIZE 128
+
+static int buffer [B_SIZE] ;
+static int bPtr = 0 ;
+
+/*
+ * ledPercent:
+ * Output the given value as a percentage on the LEDs
+ *********************************************************************************
+ */
+
+static void ledPercent (int percent)
+{
+ unsigned int output = 0 ;
+
+ if (percent > 11) output |= 0x01 ;
+ if (percent > 22) output |= 0x02 ;
+ if (percent > 33) output |= 0x04 ;
+ if (percent > 44) output |= 0x08 ;
+ if (percent > 55) output |= 0x10 ;
+ if (percent > 66) output |= 0x20 ;
+ if (percent > 77) output |= 0x40 ;
+ if (percent > 88) output |= 0x80 ;
+
+ digitalWriteByte (output) ;
+}
+
+static unsigned int tPeriod, tNextSampleTime ;
+
+/*
+ * sample:
+ * Get a sample from the Gertboard. If not enough time has elapsed
+ * since the last sample, then wait...
+ *********************************************************************************
+ */
+
+static void sample (void)
+{
+ unsigned int tFuture ;
+
+// Calculate the future sample time
+
+ tFuture = tPeriod + tNextSampleTime ;
+
+// Wait until the next sample time
+
+ while (micros () < tNextSampleTime)
+ ;
+
+ buffer [bPtr] = gertboardAnalogRead (0) ;
+
+ tNextSampleTime = tFuture ;
+}
+
+
+int main ()
+{
+ int quietLevel, min, max ;
+ int i, sum ;
+ unsigned int tStart, tEnd ;
+
+ printf ("\n") ;
+ printf ("Gertboard demo: VU Meter\n") ;
+ printf ("========================\n") ;
+
+ wiringPiSetup () ;
+ gertboardSPISetup () ;
+
+ ledPercent (0) ;
+ for (i = 0 ; i < 8 ; ++i)
+ pinMode (i, OUTPUT) ;
+
+ for (bPtr = 0 ; bPtr < B_SIZE ; ++bPtr)
+ buffer [bPtr] = 99 ;
+
+ tPeriod = 1000000 / 1000 ;
+
+ printf ("Shhhh.... ") ; fflush (stdout) ;
+ delay (1000) ;
+ printf ("Sampling quiet... ") ; fflush (stdout) ;
+
+ tStart = micros () ;
+
+ tNextSampleTime = micros () ;
+ for (bPtr = 0 ; bPtr < B_SIZE ; ++bPtr)
+ sample () ;
+
+ tEnd = micros () ;
+
+ quietLevel = 0 ;
+ max = 0 ;
+ min = 1024 ;
+ for (i = 0 ; i < B_SIZE ; ++i)
+ {
+ quietLevel += buffer [i] ;
+ if (buffer [i] > max) max = buffer [i] ;
+ if (buffer [i] < min) min = buffer [i] ;
+ }
+ quietLevel /= B_SIZE ;
+
+ printf ("Done. Quiet level is: %d [%d:%d] [%d:%d]\n", quietLevel, min, max, quietLevel - min, max - quietLevel) ;
+
+ printf ("Time taken for %d reads: %duS\n", B_SIZE, tEnd - tStart) ;
+
+ for (bPtr = 0 ;;)
+ {
+ sample () ;
+ sum = 0 ;
+ for (i = 0 ; i < S_SIZE ; ++i)
+ sum += buffer [i] ;
+ sum /= S_SIZE ;
+ sum = abs (quietLevel - sum) ;
+ sum = (sum * 1000) / quietLevel ;
+ ledPercent (sum) ;
+ if (++bPtr > S_SIZE)
+ bPtr = 0 ;
+ }
+
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/Makefile b/modules/catkin_ws/src/wiringPi/examples/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..c9967dc4bf0c5be1c488888b34b7ba1803fd7914
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/Makefile
@@ -0,0 +1,168 @@
+#
+# Makefile:
+# wiringPi - Wiring Compatable library for the Raspberry Pi
+# https://projects.drogon.net/wiring-pi
+#
+# Copyright (c) 2012 Gordon Henderson
+#################################################################################
+# This file is part of wiringPi:
+# Wiring Compatable library for the Raspberry Pi
+#
+# wiringPi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# wiringPi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+#################################################################################
+
+
+#DEBUG = -g -O0
+DEBUG = -O3
+CC = gcc
+INCLUDE = -I/usr/local/include
+CFLAGS = $(DEBUG) -Wall $(INCLUDE) -Winline -pipe
+
+LDFLAGS = -L/usr/local/lib
+LDLIBS = -lwiringPi -lwiringPiDev -lpthread -lm
+
+# Should not alter anything below this line
+###############################################################################
+
+SRC = blink.c blink8.c blink12.c \
+ blink12drcs.c \
+ pwm.c \
+ speed.c wfi.c isr.c isr-osc.c \
+ lcd.c lcd-adafruit.c clock.c \
+ nes.c \
+ softPwm.c softTone.c \
+ delayTest.c serialRead.c serialTest.c okLed.c ds1302.c \
+ lowPower.c \
+ rht03.c piglow.c
+
+OBJ = $(SRC:.c=.o)
+
+BINS = $(SRC:.c=)
+
+all:
+ @cat README.TXT
+ @echo " $(BINS)" | fmt
+ @echo ""
+
+really-all: $(BINS)
+
+blink: blink.o
+ @echo [link]
+ @$(CC) -o $@ blink.o $(LDFLAGS) $(LDLIBS)
+
+blink8: blink8.o
+ @echo [link]
+ @$(CC) -o $@ blink8.o $(LDFLAGS) $(LDLIBS)
+
+blink12drcs: blink12drcs.o
+ @echo [link]
+ @$(CC) -o $@ blink12drcs.o $(LDFLAGS) $(LDLIBS)
+
+blink12: blink12.o
+ @echo [link]
+ @$(CC) -o $@ blink12.o $(LDFLAGS) $(LDLIBS)
+
+speed: speed.o
+ @echo [link]
+ @$(CC) -o $@ speed.o $(LDFLAGS) $(LDLIBS)
+
+lcd: lcd.o
+ @echo [link]
+ @$(CC) -o $@ lcd.o $(LDFLAGS) $(LDLIBS)
+
+lcd-adafruit: lcd-adafruit.o
+ @echo [link]
+ @$(CC) -o $@ lcd-adafruit.o $(LDFLAGS) $(LDLIBS)
+
+clock: clock.o
+ @echo [link]
+ @$(CC) -o $@ clock.o $(LDFLAGS) $(LDLIBS)
+
+wfi: wfi.o
+ @echo [link]
+ @$(CC) -o $@ wfi.o $(LDFLAGS) $(LDLIBS)
+
+isr: isr.o
+ @echo [link]
+ @$(CC) -o $@ isr.o $(LDFLAGS) $(LDLIBS)
+
+isr-osc: isr-osc.o
+ @echo [link]
+ @$(CC) -o $@ isr-osc.o $(LDFLAGS) $(LDLIBS)
+
+nes: nes.o
+ @echo [link]
+ @$(CC) -o $@ nes.o $(LDFLAGS) $(LDLIBS)
+
+rht03: rht03.o
+ @echo [link]
+ @$(CC) -o $@ rht03.o $(LDFLAGS) $(LDLIBS)
+
+pwm: pwm.o
+ @echo [link]
+ @$(CC) -o $@ pwm.o $(LDFLAGS) $(LDLIBS)
+
+softPwm: softPwm.o
+ @echo [link]
+ @$(CC) -o $@ softPwm.o $(LDFLAGS) $(LDLIBS)
+
+softTone: softTone.o
+ @echo [link]
+ @$(CC) -o $@ softTone.o $(LDFLAGS) $(LDLIBS)
+
+delayTest: delayTest.o
+ @echo [link]
+ @$(CC) -o $@ delayTest.o $(LDFLAGS) $(LDLIBS)
+
+serialRead: serialRead.o
+ @echo [link]
+ @$(CC) -o $@ serialRead.o $(LDFLAGS) $(LDLIBS)
+
+serialTest: serialTest.o
+ @echo [link]
+ @$(CC) -o $@ serialTest.o $(LDFLAGS) $(LDLIBS)
+
+okLed: okLed.o
+ @echo [link]
+ @$(CC) -o $@ okLed.o $(LDFLAGS) $(LDLIBS)
+
+tone: tone.o
+ @echo [link]
+ @$(CC) -o $@ tone.o $(LDFLAGS) $(LDLIBS)
+
+ds1302: ds1302.o
+ @echo [link]
+ @$(CC) -o $@ ds1302.o $(LDFLAGS) $(LDLIBS)
+
+piglow: piglow.o
+ @echo [link]
+ @$(CC) -o $@ piglow.o $(LDFLAGS) $(LDLIBS)
+
+
+.c.o:
+ @echo [CC] $<
+ @$(CC) -c $(CFLAGS) $< -o $@
+
+clean:
+ @echo "[Clean]"
+ @rm -f $(OBJ) *~ core tags $(BINS)
+
+tags: $(SRC)
+ @echo [ctags]
+ @ctags $(SRC)
+
+depend:
+ makedepend -Y $(SRC)
+
+# DO NOT DELETE
diff --git a/modules/catkin_ws/src/wiringPi/examples/PiFace/Makefile b/modules/catkin_ws/src/wiringPi/examples/PiFace/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..0bde334ffdb7974d0c23f54509d63836a69f15ec
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/PiFace/Makefile
@@ -0,0 +1,85 @@
+#
+# Makefile:
+# wiringPi - Wiring Compatable library for the Raspberry Pi
+# https://projects.drogon.net/wiring-pi
+#
+# Copyright (c) 2012 Gordon Henderson
+#################################################################################
+# This file is part of wiringPi:
+# Wiring Compatable library for the Raspberry Pi
+#
+# wiringPi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# wiringPi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+#################################################################################
+
+
+#DEBUG = -g -O0
+DEBUG = -O3
+CC = gcc
+INCLUDE = -I/usr/local/include
+CFLAGS = $(DEBUG) -Wall $(INCLUDE) -Winline -pipe
+
+LDFLAGS = -L/usr/local/lib
+LDLIBS = -lwiringPi -lwiringPiDev -lpthread -lm
+
+# Should not alter anything below this line
+###############################################################################
+
+SRC = blink.c buttons.c reaction.c ladder.c metro.c motor.c
+
+OBJ = $(SRC:.c=.o)
+
+BINS = $(SRC:.c=)
+
+all: $(BINS)
+
+blink: blink.o
+ @echo [link]
+ @$(CC) -o $@ blink.o $(LDFLAGS) $(LDLIBS)
+
+buttons: buttons.o
+ @echo [link]
+ @$(CC) -o $@ buttons.o $(LDFLAGS) $(LDLIBS)
+
+reaction: reaction.o
+ @echo [link]
+ @$(CC) -o $@ reaction.o $(LDFLAGS) $(LDLIBS)
+
+ladder: ladder.o
+ @echo [link]
+ @$(CC) -o $@ ladder.o $(LDFLAGS) $(LDLIBS)
+
+metro: metro.o
+ @echo [link]
+ @$(CC) -o $@ metro.o $(LDFLAGS) $(LDLIBS)
+
+motor: motor.o
+ @echo [link]
+ @$(CC) -o $@ motor.o $(LDFLAGS) $(LDLIBS)
+
+.c.o:
+ @echo [CC] $<
+ @$(CC) -c $(CFLAGS) $< -o $@
+
+clean:
+ @echo "[Clean]"
+ @rm -f $(OBJ) *~ core tags $(BINS)
+
+tags: $(SRC)
+ @echo [ctags]
+ @ctags $(SRC)
+
+depend:
+ makedepend -Y $(SRC)
+
+# DO NOT DELETE
diff --git a/modules/catkin_ws/src/wiringPi/examples/PiFace/blink.c b/modules/catkin_ws/src/wiringPi/examples/PiFace/blink.c
new file mode 100644
index 0000000000000000000000000000000000000000..ffb8a2e34535a2ae1ecdc45a5e3779b1490f71d8
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/PiFace/blink.c
@@ -0,0 +1,59 @@
+/*
+ * blink.c:
+ * Simple "blink" test for the PiFace interface board.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+
+#include <wiringPi.h>
+#include <piFace.h>
+
+// Use 200 as the pin-base for the PiFace board, and pick a pin
+// for the LED that's not connected to a relay
+
+#define PIFACE 200
+#define LED (PIFACE+2)
+
+int main (int argc, char *argv [])
+{
+ printf ("Raspberry Pi PiFace Blink\n") ;
+ printf ("=========================\n") ;
+
+// Always initialise wiringPi. Use wiringPiSys() if you don't need
+// (or want) to run as root
+
+ wiringPiSetupSys () ;
+
+// Setup the PiFace board
+
+ piFaceSetup (PIFACE) ;
+
+ for (;;)
+ {
+ digitalWrite (LED, HIGH) ; // On
+ delay (500) ; // mS
+ digitalWrite (LED, LOW) ; // Off
+ delay (500) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/PiFace/buttons.c b/modules/catkin_ws/src/wiringPi/examples/PiFace/buttons.c
new file mode 100644
index 0000000000000000000000000000000000000000..147a4bdbfcd01f86c77414897b0bb6ad71f59d14
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/PiFace/buttons.c
@@ -0,0 +1,103 @@
+/*
+ * buttons.c:
+ * Simple test for the PiFace interface board.
+ *
+ * Read the buttons and output the same to the LEDs
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+
+#include <wiringPi.h>
+#include <piFace.h>
+
+int outputs [4] = { 0,0,0,0 } ;
+
+// Use 200 as the pin-base for the PiFace board
+
+#define PIFACE_BASE 200
+
+
+/*
+ * scanButton:
+ * Read the guiven button - if it's pressed, then flip the state
+ * of the correspoinding output pin
+ *********************************************************************************
+ */
+
+void scanButton (int button)
+{
+ if (digitalRead (PIFACE_BASE + button) == LOW)
+ {
+ outputs [button] ^= 1 ;
+ digitalWrite (PIFACE_BASE + button, outputs [button]) ;
+ printf ("Button %d pushed - output now: %s\n",
+ button, (outputs [button] == 0) ? "Off" : "On") ;
+ }
+
+ while (digitalRead (PIFACE_BASE + button) == LOW)
+ delay (1) ;
+}
+
+
+/*
+ * start here
+ *********************************************************************************
+ */
+
+int main (void)
+{
+ int pin, button ;
+
+ printf ("Raspberry Pi wiringPi + PiFace test program\n") ;
+ printf ("===========================================\n") ;
+ printf ("\n") ;
+ printf (
+"This program reads the buttons and uses them to toggle the first 4\n"
+"outputs. Push a button once to turn an output on, and push it again to\n"
+"turn it off again.\n\n") ;
+
+// Always initialise wiringPi. Use wiringPiSys() if you don't need
+// (or want) to run as root
+
+ wiringPiSetupSys () ;
+
+ piFaceSetup (PIFACE_BASE) ;
+
+// Enable internal pull-ups & start with all off
+
+ for (pin = 0 ; pin < 8 ; ++pin)
+ {
+ pullUpDnControl (PIFACE_BASE + pin, PUD_UP) ;
+ digitalWrite (PIFACE_BASE + pin, 0) ;
+ }
+
+// Loop, scanning the buttons
+
+ for (;;)
+ {
+ for (button = 0 ; button < 4 ; ++button)
+ scanButton (button) ;
+ delay (5) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/PiFace/ladder.c b/modules/catkin_ws/src/wiringPi/examples/PiFace/ladder.c
new file mode 100755
index 0000000000000000000000000000000000000000..4f08a6f55a57025eaea7280d2a32117578ac5ab5
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/PiFace/ladder.c
@@ -0,0 +1,337 @@
+/*
+ * ladder.c:
+ *
+ * Gordon Henderson, June 2012
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <math.h>
+
+#include <wiringPi.h>
+#include <piFace.h>
+
+#ifndef TRUE
+# define TRUE (1==1)
+# define FALSE (1==2)
+#endif
+
+#undef DEBUG
+
+#define NUM_LEDS 8
+
+
+// Map the LEDs to the hardware pins
+// using PiFace pin numbers here
+
+#define PIFACE 200
+
+const int ledMap [NUM_LEDS] =
+{
+// 0, 1, 2, 3, 4, 5, 6, 7, 8
+ 200, 201, 202, 203, 204, 205, 206, 207
+} ;
+
+
+// Some constants for our circuit simulation
+
+const double vBatt = 9.0 ; // Volts (ie. a PP3)
+const double capacitor = 0.001 ; // 1000uF
+const double rCharge = 2200.0 ; // ohms
+const double rDischarge = 68000.0 ; // ohms
+const double timeInc = 0.01 ; // Seconds
+
+double vCharge, vCap, vCapLast ;
+
+
+
+/*
+ * setup:
+ * Program the GPIO correctly and initialise the lamps
+ ***********************************************************************
+ */
+
+void setup (void)
+{
+ int i ;
+
+ wiringPiSetupSys () ;
+
+ if (piFaceSetup (200) == -1)
+ exit (1) ;
+
+// Enable internal pull-ups
+
+ for (i = 0 ; i < 8 ; ++i)
+ pullUpDnControl (PIFACE + i, PUD_UP) ;
+
+// Calculate the actual charging voltage - standard calculation of
+// vCharge = r2 / (r1 + r2) * vBatt
+//
+//
+// -----+--- vBatt
+// |
+// R1
+// |
+// +---+---- vCharge
+// | |
+// R2 C
+// | |
+// -----+---+-----
+
+ vCharge = rDischarge / (rCharge + rDischarge) * vBatt ;
+
+// Start with no charge
+
+ vCap = vCapLast = 0.0 ;
+}
+
+
+/*
+ * introLeds
+ * Put a little pattern on the LEDs to start with
+ *********************************************************************************
+ */
+
+void introLeds (void)
+{
+ int i, j ;
+
+
+ printf ("Pi Ladder\n") ;
+ printf ("=========\n\n") ;
+ printf (" vBatt: %6.2f volts\n", vBatt) ;
+ printf (" rCharge: %6.0f ohms\n", rCharge) ;
+ printf (" rDischarge: %6.0f ohms\n", rDischarge) ;
+ printf (" vCharge: %6.2f volts\n", vCharge) ;
+ printf (" capacitor: %6.0f uF\n", capacitor * 1000.0) ;
+
+// Flash 3 times:
+
+ for (j = 0 ; j < 3 ; ++j)
+ {
+ for (i = 0 ; i < NUM_LEDS ; ++i)
+ digitalWrite (ledMap [i], 1) ;
+ delay (500) ;
+ for (i = 0 ; i < NUM_LEDS ; ++i)
+ digitalWrite (ledMap [i], 0) ;
+ delay (100) ;
+ }
+
+// All On
+
+ for (i = 0 ; i < NUM_LEDS ; ++i)
+ digitalWrite (ledMap [i], 1) ;
+ delay (500) ;
+
+// Countdown...
+
+ for (i = NUM_LEDS - 1 ; i >= 0 ; --i)
+ {
+ digitalWrite (ledMap [i], 0) ;
+ delay (100) ;
+ }
+ delay (500) ;
+}
+
+
+/*
+ * winningLeds
+ * Put a little pattern on the LEDs to start with
+ *********************************************************************************
+ */
+
+void winningLeds (void)
+{
+ int i, j ;
+
+// Flash 3 times:
+
+ for (j = 0 ; j < 3 ; ++j)
+ {
+ for (i = 0 ; i < NUM_LEDS ; ++i)
+ digitalWrite (ledMap [i], 1) ;
+ delay (500) ;
+ for (i = 0 ; i < NUM_LEDS ; ++i)
+ digitalWrite (ledMap [i], 0) ;
+ delay (100) ;
+ }
+
+// All On
+
+ for (i = 0 ; i < NUM_LEDS ; ++i)
+ digitalWrite (ledMap [i], 1) ;
+ delay (500) ;
+
+// Countup...
+
+ for (i = 0 ; i < NUM_LEDS ; ++i)
+ {
+ digitalWrite (ledMap [i], 0) ;
+ delay (100) ;
+ }
+ delay (500) ;
+}
+
+
+/*
+ * chargeCapacitor: dischargeCapacitor:
+ * Add or remove charge to the capacitor.
+ * Standard capacitor formulae.
+ *********************************************************************************
+ */
+
+void chargeCapacitor (void)
+{
+ vCap = (vCapLast - vCharge) *
+ exp (- timeInc / (rCharge * capacitor)) + vCharge ;
+
+#ifdef DEBUG
+ printf ("+vCap: %7.4f\n", vCap) ;
+#endif
+
+ vCapLast = vCap ;
+}
+
+void dischargeCapacitor (void)
+{
+ vCap = vCapLast *
+ exp (- timeInc / (rDischarge * capacitor)) ;
+
+#ifdef DEBUG
+ printf ("-vCap: %7.4f\n", vCap) ;
+#endif
+
+ vCapLast = vCap ;
+}
+
+
+/*
+ * ledBargraph:
+ * Output the supplied number as a bargraph on the LEDs
+ *********************************************************************************
+ */
+
+void ledBargraph (double value, int topLedOn)
+{
+ int topLed = (int)floor (value / vCharge * (double)NUM_LEDS) + 1 ;
+ int i ;
+
+ if (topLed > NUM_LEDS)
+ topLed = NUM_LEDS ;
+
+ if (!topLedOn)
+ --topLed ;
+
+ for (i = 0 ; i < topLed ; ++i)
+ digitalWrite (ledMap [i], 1) ;
+
+ for (i = topLed ; i < NUM_LEDS ; ++i)
+ digitalWrite (ledMap [i], 0) ;
+}
+
+
+/*
+ * ledOnAction:
+ * Make sure the leading LED is on and check the button
+ *********************************************************************************
+ */
+
+void ledOnAction (void)
+{
+ if (digitalRead (PIFACE) == LOW)
+ {
+ chargeCapacitor () ;
+ ledBargraph (vCap, TRUE) ;
+ }
+}
+
+
+/*
+ * ledOffAction:
+ * Make sure the leading LED is off and check the button
+ *********************************************************************************
+ */
+
+void ledOffAction (void)
+{
+ dischargeCapacitor () ;
+
+// Are we still pushing the button?
+
+ if (digitalRead (PIFACE) == LOW)
+ {
+ vCap = vCapLast = 0.0 ;
+ ledBargraph (vCap, FALSE) ;
+
+// Wait until we release the button
+
+ while (digitalRead (PIFACE) == LOW)
+ delay (10) ;
+ }
+}
+
+
+/*
+ ***********************************************************************
+ * The main program
+ ***********************************************************************
+ */
+
+int main (void)
+{
+ unsigned int then, ledOnTime, ledOffTime ;
+ unsigned int ourDelay = (int)(1000.0 * timeInc) ;
+
+ setup () ;
+ introLeds () ;
+
+// Setup the LED times - TODO reduce the ON time as the game progresses
+
+ ledOnTime = 1000 ;
+ ledOffTime = 1000 ;
+
+// This is our Gate/Squarewave loop
+
+ for (;;)
+ {
+
+// LED ON:
+
+ (void)ledBargraph (vCap, TRUE) ;
+ then = millis () + ledOnTime ;
+ while (millis () < then)
+ {
+ ledOnAction () ;
+ delay (ourDelay) ;
+ }
+
+// Have we won yet?
+// We need vCap to be in the top NUM_LEDS of the vCharge
+
+ if (vCap > ((double)(NUM_LEDS - 1) / (double)NUM_LEDS * vCharge)) // Woo hoo!
+ {
+ winningLeds () ;
+ while (digitalRead (PIFACE) == HIGH)
+ delay (10) ;
+ while (digitalRead (PIFACE) == LOW)
+ delay (10) ;
+ vCap = vCapLast = 0.0 ;
+ }
+
+// LED OFF:
+
+ (void)ledBargraph (vCap, FALSE) ;
+ then = millis () + ledOffTime ;
+ while (millis () < then)
+ {
+ ledOffAction () ;
+ delay (ourDelay) ;
+ }
+
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/PiFace/metro.c b/modules/catkin_ws/src/wiringPi/examples/PiFace/metro.c
new file mode 100644
index 0000000000000000000000000000000000000000..a4a8c1d011d7d378f079d2867d37e6ddb3da53dc
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/PiFace/metro.c
@@ -0,0 +1,111 @@
+/*
+ * metronome.c:
+ * Simple test for the PiFace interface board.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <wiringPi.h>
+#include <piFace.h>
+
+#define PIFACE 200
+
+/*
+ * middleA:
+ * Play middle A (on the relays - yea!)
+ *********************************************************************************
+ */
+
+static void middleA (void)
+{
+ unsigned int next ;
+
+ for (;;)
+ {
+ next = micros () + 1136 ;
+ digitalWrite (PIFACE + 0, 0) ;
+ digitalWrite (PIFACE + 1, 0) ;
+ while (micros () < next)
+ delayMicroseconds (1) ;
+
+ next = micros () + 1137 ;
+ digitalWrite (PIFACE + 0, 1) ;
+ digitalWrite (PIFACE + 1, 1) ;
+ while (micros () < next)
+ delayMicroseconds (1) ;
+
+ }
+}
+
+
+int main (int argc, char *argv [])
+{
+ int bpm, msPerBeat, state = 0 ;
+ unsigned int end ;
+
+ printf ("Raspberry Pi PiFace Metronome\n") ;
+ printf ("=============================\n") ;
+
+ piHiPri (50) ;
+
+ wiringPiSetupSys () ; // Needed for timing functions
+ piFaceSetup (PIFACE) ;
+
+ if (argc != 2)
+ {
+ printf ("Usage: %s <beates per minute>\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ if (strcmp (argv [1], "a") == 0)
+ middleA () ;
+
+ bpm = atoi (argv [1]) ;
+
+ if ((bpm < 40) || (bpm > 208))
+ {
+ printf ("%s range is 40 through 208 beats per minute\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ msPerBeat = 60000 / bpm ;
+
+// Main loop:
+// Put some random LED pairs up for a few seconds, then blank ...
+
+ for (;;)
+ {
+ end = millis () + msPerBeat ;
+
+ digitalWrite (PIFACE + 0, state) ;
+ digitalWrite (PIFACE + 1, state) ;
+
+ while (millis () < end)
+ delayMicroseconds (500) ;
+
+ state ^= 1 ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/PiFace/motor.c b/modules/catkin_ws/src/wiringPi/examples/PiFace/motor.c
new file mode 100644
index 0000000000000000000000000000000000000000..14f55397e992fbbd8b5d7d18cf694e10645702f3
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/PiFace/motor.c
@@ -0,0 +1,120 @@
+/*
+ * motor.c:
+ * Use the PiFace board to demonstrate an H bridge
+ * circuit via the 2 relays.
+ * Then add on an external transsitor to help with PWM.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <wiringPi.h>
+#include <piFace.h>
+#include <softPwm.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+
+int outputs [2] = { 0,0 } ;
+
+#define PIFACE_BASE 200
+#define PWM_OUT_PIN 204
+#define PWM_UP 202
+#define PWM_DOWN 203
+
+void scanButton (int button)
+{
+ if (digitalRead (PIFACE_BASE + button) == LOW)
+ {
+ outputs [button] ^= 1 ;
+ digitalWrite (PIFACE_BASE + button, outputs [button]) ;
+ printf ("Button %d pushed - output now: %s\n",
+ button, (outputs [button] == 0) ? "Off" : "On") ;
+ }
+
+ while (digitalRead (PIFACE_BASE + button) == LOW)
+ delay (1) ;
+}
+
+
+int main (void)
+{
+ int pin, button ;
+ int pwmValue = 0 ;
+
+ printf ("Raspberry Pi PiFace - Motor control\n") ;
+ printf ("==================================\n") ;
+ printf ("\n") ;
+ printf (
+"This program is designed to be used with a motor connected to the relays\n"
+"in an H-Bridge type configuration with optional speeed control via PWM.\n"
+"\n"
+"Use the leftmost buttons to turn each relay on and off, and the rigthmost\n"
+"buttons to increase ot decrease the PWM output on the control pin (pin\n"
+"4)\n\n") ;
+
+ wiringPiSetup () ;
+ piFaceSetup (PIFACE_BASE) ;
+ softPwmCreate (PWM_OUT_PIN, 100, 100) ;
+
+// Enable internal pull-ups & start with all off
+
+ for (pin = 0 ; pin < 8 ; ++pin)
+ {
+ pullUpDnControl (PIFACE_BASE + pin, PUD_UP) ;
+ digitalWrite (PIFACE_BASE + pin, 0) ;
+ }
+
+ for (;;)
+ {
+ for (button = 0 ; button < 2 ; ++button)
+ scanButton (button) ;
+
+ if (digitalRead (PWM_UP) == LOW)
+ {
+ pwmValue += 10 ;
+ if (pwmValue > 100)
+ pwmValue = 100 ;
+
+ softPwmWrite (PWM_OUT_PIN, pwmValue) ;
+ printf ("PWM -> %3d\n", pwmValue) ;
+
+ while (digitalRead (PWM_UP) == LOW)
+ delay (5) ;
+ }
+
+ if (digitalRead (PWM_DOWN) == LOW)
+ {
+ pwmValue -= 10 ;
+ if (pwmValue < 0)
+ pwmValue = 0 ;
+
+ softPwmWrite (PWM_OUT_PIN, pwmValue) ;
+ printf ("PWM -> %3d\n", pwmValue) ;
+
+ while (digitalRead (PWM_DOWN) == LOW)
+ delay (5) ;
+ }
+
+ delay (5) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/PiFace/reaction.c b/modules/catkin_ws/src/wiringPi/examples/PiFace/reaction.c
new file mode 100644
index 0000000000000000000000000000000000000000..508450801c0b8454ab0854b09e45ac52175f2f98
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/PiFace/reaction.c
@@ -0,0 +1,194 @@
+/*
+ * reaction.c:
+ * Simple test for the PiFace interface board.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+
+#include <wiringPi.h>
+#include <piFace.h>
+
+
+int outputs [4] = { 0,0,0,0 } ;
+
+#define PIFACE 200
+
+/*
+ * light:
+ * Light up the given LED - actually lights up a pair
+ *********************************************************************************
+ */
+
+void light (int led, int value)
+{
+ led *= 2 ;
+ digitalWrite (PIFACE + led + 0, value) ;
+ digitalWrite (PIFACE + led + 1, value) ;
+}
+
+/*
+ * lightAll:
+ * All On or Off
+ *********************************************************************************
+ */
+
+void lightAll (int onoff)
+{
+ light (0, onoff) ;
+ light (1, onoff) ;
+ light (2, onoff) ;
+ light (3, onoff) ;
+}
+
+
+/*
+ * waitForNoButtons:
+ * Wait for all buttons to be released
+ *********************************************************************************
+ */
+
+void waitForNoButtons (void)
+{
+ int i, button ;
+
+ for (;;)
+ {
+ button = 0 ;
+ for (i = 0 ; i < 4 ; ++i)
+ button += digitalRead (PIFACE + i) ;
+
+ if (button == 4)
+ break ;
+ }
+}
+
+
+void scanButton (int button)
+{
+ if (digitalRead (PIFACE + button) == LOW)
+ {
+ outputs [button] ^= 1 ;
+ digitalWrite (PIFACE + button, outputs [button]) ;
+ }
+
+ while (digitalRead (PIFACE + button) == LOW)
+ delay (1) ;
+}
+
+
+int main (void)
+{
+ int i, j ;
+ int led, button ;
+ unsigned int start, stop ;
+
+ printf ("Raspberry Pi PiFace Reaction Timer\n") ;
+ printf ("==================================\n") ;
+
+ if (piFaceSetup (PIFACE) == -1)
+ exit (1) ;
+
+// Enable internal pull-ups
+
+ for (i = 0 ; i < 8 ; ++i)
+ pullUpDnControl (PIFACE + i, PUD_UP) ;
+
+
+// Main game loop:
+// Put some random LED pairs up for a few seconds, then blank ...
+
+ for (;;)
+ {
+ printf ("Press any button to start ... \n") ; fflush (stdout) ;
+
+ for (;;)
+ {
+ led = rand () % 4 ;
+ light (led, 1) ;
+ delay (10) ;
+ light (led, 0) ;
+
+ button = 0 ;
+ for (j = 0 ; j < 4 ; ++j)
+ button += digitalRead (PIFACE + j) ;
+
+ if (button != 4)
+ break ;
+ }
+
+ waitForNoButtons () ;
+
+ printf ("Wait for it ... ") ; fflush (stdout) ;
+
+ led = rand () % 4 ;
+ delay (rand () % 500 + 1000) ;
+ light (led, 1) ;
+
+ start = millis () ;
+ for (button = -1 ; button == -1 ; )
+ {
+ for (j = 0 ; j < 4 ; ++j)
+ if (digitalRead (PIFACE + j) == 0) // Pushed
+ {
+ button = j ;
+ break ;
+ }
+ }
+ stop = millis () ;
+ button = 3 - button ; // Correct for the buttons/LEDs reversed
+
+ light (led, 0) ;
+
+ waitForNoButtons () ;
+
+ light (led, 1) ;
+
+ if (button == led)
+ {
+ printf ("You got it in %3d mS\n", stop - start) ;
+ }
+ else
+ {
+ printf ("Missed: You pushed %d - LED was %d\n", button, led) ;
+ for (;;)
+ {
+ light (button, 1) ;
+ delay (100) ;
+ light (button, 0) ;
+ delay (100) ;
+ i = 0 ;
+ for (j = 0 ; j < 4 ; ++j)
+ i += digitalRead (PIFACE + j) ;
+ if (i != 4)
+ break ;
+ }
+
+ waitForNoButtons () ;
+ }
+ light (led, 0) ;
+ delay (4000) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/PiGlow/Makefile b/modules/catkin_ws/src/wiringPi/examples/PiGlow/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..8d31141a08944cea35c14e1614e7c1edb416fd56
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/PiGlow/Makefile
@@ -0,0 +1,79 @@
+#
+# Makefile:
+# wiringPi - Wiring Compatable library for the Raspberry Pi
+# https://projects.drogon.net/wiring-pi
+#
+# Copyright (c) 2012-2013 Gordon Henderson
+#################################################################################
+# This file is part of wiringPi:
+# Wiring Compatable library for the Raspberry Pi
+#
+# wiringPi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# wiringPi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+#################################################################################
+
+
+#DEBUG = -g -O0
+DEBUG = -O3
+CC = gcc
+INCLUDE = -I/usr/local/include
+CFLAGS = $(DEBUG) -Wall $(INCLUDE) -Winline -pipe
+
+LDFLAGS = -L/usr/local/lib
+LDLIBS = -lwiringPi -lwiringPiDev -lpthread -lm
+
+# Should not alter anything below this line
+###############################################################################
+
+SRC = piGlow0.c piGlow1.c piglow.c
+
+OBJ = $(SRC:.c=.o)
+
+BINS = $(SRC:.c=)
+
+all: $(BINS)
+
+piGlow0: piGlow0.o
+ @echo [link]
+ @$(CC) -o $@ piGlow0.o $(LDFLAGS) $(LDLIBS)
+
+piGlow1: piGlow1.o
+ @echo [link]
+ @$(CC) -o $@ piGlow1.o $(LDFLAGS) $(LDLIBS)
+
+piglow: piglow.o
+ @echo [link]
+ @$(CC) -o $@ piglow.o $(LDFLAGS) $(LDLIBS)
+
+.c.o:
+ @echo [CC] $<
+ @$(CC) -c $(CFLAGS) $< -o $@
+
+clean:
+ @echo "[Clean]"
+ @rm -f $(OBJ) *~ core tags $(BINS)
+
+tags: $(SRC)
+ @echo [ctags]
+ @ctags $(SRC)
+
+install: piglow
+ @echo Installing piglow into /usr/local/bin
+ @cp -a piglow /usr/local/bin/piglow
+ @chmod 755 /usr/local/bin/piglow
+ @echo Done. Remember to load the I2C drivers!
+
+depend:
+ makedepend -Y $(SRC)
+
+# DO NOT DELETE
diff --git a/modules/catkin_ws/src/wiringPi/examples/PiGlow/piGlow0.c b/modules/catkin_ws/src/wiringPi/examples/PiGlow/piGlow0.c
new file mode 100644
index 0000000000000000000000000000000000000000..d3fe4b9697c6fb131b7c50de34d6f4b0ce2e915c
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/PiGlow/piGlow0.c
@@ -0,0 +1,51 @@
+/*
+ * piglow.c:
+ * Very simple demonstration of the PiGlow board.
+ * This uses the SN3218 directly - soon there will be a new PiGlow
+ * devLib device which will handle the PiGlow board on a more easy
+ * to use manner...
+ *
+ * Copyright (c) 2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <wiringPi.h>
+#include <sn3218.h>
+
+#define LED_BASE 533
+
+int main (void)
+{
+ int i, j ;
+
+ wiringPiSetupSys () ;
+
+ sn3218Setup (LED_BASE) ;
+
+ for (;;)
+ {
+ for (i = 0 ; i < 256 ; ++i)
+ for (j = 0 ; j < 18 ; ++j)
+ analogWrite (LED_BASE + j, i) ;
+
+ for (i = 255 ; i >= 0 ; --i)
+ for (j = 0 ; j < 18 ; ++j)
+ analogWrite (LED_BASE + j, i) ;
+ }
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/PiGlow/piGlow1.c b/modules/catkin_ws/src/wiringPi/examples/PiGlow/piGlow1.c
new file mode 100644
index 0000000000000000000000000000000000000000..a00b31e30f3fbb98bb1e55d5dee6d68674cef6b9
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/PiGlow/piGlow1.c
@@ -0,0 +1,258 @@
+/*
+ * piGlow1.c:
+ * Very simple demonstration of the PiGlow board.
+ * This uses the piGlow devLib.
+ *
+ * Copyright (c) 2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <poll.h>
+
+#include <wiringPi.h>
+#include <piGlow.h>
+
+#define PIGLOW_BASE 533
+
+#ifndef TRUE
+# define TRUE (1==1)
+# define FALSE (!TRUE)
+#endif
+
+
+/*
+ * keypressed: clearKeypressed:
+ * Simple but effective ways to tell if the enter key has been pressed
+ *********************************************************************************
+ */
+
+static int keypressed (void)
+{
+ struct pollfd polls ;
+
+ polls.fd = fileno (stdin) ;
+ polls.events = POLLIN ;
+
+ return poll (&polls, 1, 0) != 0 ;
+}
+
+static void clearKeypressed (void)
+{
+ while (keypressed ())
+ (void)getchar () ;
+}
+
+
+/*
+ * pulseLed:
+ * Pulses the LED at position leg, ring from off to a max. value,
+ * then off again
+ *********************************************************************************
+ */
+
+static void pulseLed (int leg, int ring)
+{
+ int i ;
+
+ for (i = 0 ; i < 140 ; ++i)
+ {
+ piGlow1 (leg, ring, i) ;
+ delay (1) ;
+ }
+ delay (10) ;
+ for (i = 140 ; i >= 0 ; --i)
+ {
+ piGlow1 (leg, ring, i) ;
+ delay (1) ;
+ }
+}
+
+/*
+ * pulseLeg:
+ * Same as above, but a whole leg at a time
+ *********************************************************************************
+ */
+
+static void pulseLeg (int leg)
+{
+ int i ;
+
+ for (i = 0 ; i < 140 ; ++i)
+ {
+ piGlowLeg (leg, i) ; delay (1) ;
+ }
+ delay (10) ;
+ for (i = 140 ; i >= 0 ; --i)
+ {
+ piGlowLeg (leg, i) ; delay (1) ;
+ }
+}
+
+
+/*
+ * pulse Ring:
+ * Same as above, but a whole ring at a time
+ *********************************************************************************
+ */
+
+static void pulseRing (int ring)
+{
+ int i ;
+
+ for (i = 0 ; i < 140 ; ++i)
+ {
+ piGlowRing (ring, i) ; delay (1) ;
+ }
+ delay (10) ;
+ for (i = 140 ; i >= 0 ; --i)
+ {
+ piGlowRing (ring, i) ; delay (1) ;
+ }
+}
+
+#define LEG_STEPS 3
+
+static int legSequence [] =
+{
+ 4, 12, 99,
+ 99, 4, 12,
+ 12, 99, 4,
+} ;
+
+
+#define RING_STEPS 16
+
+static int ringSequence [] =
+{
+ 0, 0, 0, 0, 0, 64,
+ 0, 0, 0, 0, 64, 64,
+ 0, 0, 0, 64, 64, 0,
+ 0, 0, 64, 64, 0, 0,
+ 0, 64, 64, 0, 0, 0,
+ 64, 64, 0, 0, 0, 0,
+ 64, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0,
+ 64, 0, 0, 0, 0, 0,
+ 64, 64, 0, 0, 0, 0,
+ 0, 64, 64, 0, 0, 0,
+ 0, 0, 64, 64, 0, 0,
+ 0, 0, 0, 64, 64, 0,
+ 0, 0, 0, 0, 64, 64,
+ 0, 0, 0, 0, 0, 64,
+ 0, 0, 0, 0, 0, 0,
+} ;
+
+/*
+ * main:
+ * Our little demo prgoram
+ *********************************************************************************
+ */
+
+int main (void)
+{
+ int i ;
+ int step, ring, leg ;
+
+// Always initialise wiringPi:
+// Use the Sys method if you don't need to run as root
+
+ wiringPiSetupSys () ;
+
+// Initialise the piGlow devLib with our chosen pin base
+
+ piGlowSetup (1) ;
+
+// LEDs, one at a time
+
+ printf ("LEDs, one at a time\n") ;
+ for (; !keypressed () ;)
+ for (leg = 0 ; leg < 3 ; ++leg)
+ {
+ for (ring = 0 ; ring < 6 ; ++ring)
+ {
+ pulseLed (leg, ring) ;
+ if (keypressed ())
+ break ;
+ }
+ if (keypressed ())
+ break ;
+ }
+ clearKeypressed () ;
+
+// Rings, one at a time
+
+ printf ("Rings, one at a time\n") ;
+ for (; !keypressed () ;)
+ for (ring = 0 ; ring < 6 ; ++ring)
+ {
+ pulseRing (ring) ;
+ if (keypressed ())
+ break ;
+ }
+ clearKeypressed () ;
+
+// Legs, one at a time
+
+ printf ("Legs, one at a time\n") ;
+ for (; !keypressed () ;)
+ for (leg = 0 ; leg < 3 ; ++leg)
+ {
+ pulseLeg (leg) ;
+ if (keypressed ())
+ break ;
+ }
+ clearKeypressed () ;
+
+ delay (1000) ;
+
+// Sequence - alternating rings, legs and random
+
+ printf ("Sequence now\n") ;
+ for (; !keypressed () ;)
+ {
+ for (i = 0 ; i < 20 ; ++i)
+ for (step = 0 ; step < LEG_STEPS ; ++step)
+ {
+ for (leg = 0 ; leg < 3 ; ++leg)
+ piGlowLeg (leg, legSequence [step * 3 + leg]) ;
+ delay (80) ;
+ }
+
+ for (i = 0 ; i < 10 ; ++i)
+ for (step = 0 ; step < RING_STEPS ; ++step)
+ {
+ for (ring = 0 ; ring < 6 ; ++ring)
+ piGlowRing (ring, ringSequence [step * 6 + ring]) ;
+ delay (80) ;
+ }
+
+ for (i = 0 ; i < 1000 ; ++i)
+ {
+ leg = random () % 3 ;
+ ring = random () % 6 ;
+ piGlow1 (leg, ring, random () % 256) ;
+ delay (5) ;
+ piGlow1 (leg, ring, 0) ;
+ }
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/PiGlow/piglow.c b/modules/catkin_ws/src/wiringPi/examples/PiGlow/piglow.c
new file mode 100644
index 0000000000000000000000000000000000000000..e6a2db3671677bfbaea22c1ef01ea51ac90c4a11
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/PiGlow/piglow.c
@@ -0,0 +1,176 @@
+/*
+ * piglow.c:
+ * Very simple demonstration of the PiGlow board.
+ * This uses the piGlow devLib.
+ *
+ * Copyright (c) 2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+
+#ifndef TRUE
+# define TRUE (1==1)
+# define FALSE (!TRUE)
+#endif
+
+#include <wiringPi.h>
+#include <piGlow.h>
+
+static void failUsage (void)
+{
+ fprintf (stderr, "Usage examples:\n") ;
+ fprintf (stderr, " piglow off # All off\n") ;
+ fprintf (stderr, " piglow red 50 # Light the 3 red LEDs to 50%%\n") ;
+ fprintf (stderr, " colours are: red, yellow, orange, green, blue and white\n") ;
+ fprintf (stderr, " piglow all 75 # Light all to 75%%\n") ;
+ fprintf (stderr, " piglow leg 0 25 # Light leg 0 to 25%%\n") ;
+ fprintf (stderr, " piglow ring 3 100 # Light ring 3 to 100%%\n") ;
+ fprintf (stderr, " piglow led 2 5 100 # Light the single LED on Leg 2, ring 5 to 100%%\n") ;
+
+ exit (EXIT_FAILURE) ;
+}
+
+static int getPercent (char *typed)
+{
+ int percent ;
+
+ percent = atoi (typed) ;
+ if ((percent < 0) || (percent > 100))
+ {
+ fprintf (stderr, "piglow: percent value out of range\n") ;
+ exit (EXIT_FAILURE) ;
+ }
+ return (percent * 255) / 100 ;
+}
+
+
+/*
+ * main:
+ * Our little demo prgoram
+ *********************************************************************************
+ */
+
+int main (int argc, char *argv [])
+{
+ int percent ;
+ int ring, leg ;
+
+// Always initialise wiringPi:
+// Use the Sys method if you don't need to run as root
+
+ wiringPiSetupSys () ;
+
+// Initialise the piGlow devLib
+
+ piGlowSetup (FALSE) ;
+
+ if (argc == 1)
+ failUsage () ;
+
+ if ((argc == 2) && (strcasecmp (argv [1], "off") == 0))
+ {
+ for (leg = 0 ; leg < 3 ; ++leg)
+ piGlowLeg (leg, 0) ;
+ return 0 ;
+ }
+
+ if (argc == 3)
+ {
+ percent = getPercent (argv [2]) ;
+
+ /**/ if (strcasecmp (argv [1], "red") == 0)
+ piGlowRing (PIGLOW_RED, percent) ;
+ else if (strcasecmp (argv [1], "yellow") == 0)
+ piGlowRing (PIGLOW_YELLOW, percent) ;
+ else if (strcasecmp (argv [1], "orange") == 0)
+ piGlowRing (PIGLOW_ORANGE, percent) ;
+ else if (strcasecmp (argv [1], "green") == 0)
+ piGlowRing (PIGLOW_GREEN, percent) ;
+ else if (strcasecmp (argv [1], "blue") == 0)
+ piGlowRing (PIGLOW_BLUE, percent) ;
+ else if (strcasecmp (argv [1], "white") == 0)
+ piGlowRing (PIGLOW_WHITE, percent) ;
+ else if (strcasecmp (argv [1], "all") == 0)
+ for (ring = 0 ; ring < 6 ; ++ring)
+ piGlowRing (ring, percent) ;
+ else
+ {
+ fprintf (stderr, "piglow: invalid colour\n") ;
+ exit (EXIT_FAILURE) ;
+ }
+ return 0 ;
+ }
+
+ if (argc == 4)
+ {
+ /**/ if (strcasecmp (argv [1], "leg") == 0)
+ {
+ leg = atoi (argv [2]) ;
+ if ((leg < 0) || (leg > 2))
+ {
+ fprintf (stderr, "piglow: leg value out of range\n") ;
+ exit (EXIT_FAILURE) ;
+ }
+ percent = getPercent (argv [3]) ;
+ piGlowLeg (leg, percent) ;
+ }
+ else if (strcasecmp (argv [1], "ring") == 0)
+ {
+ ring = atoi (argv [2]) ;
+ if ((ring < 0) || (ring > 5))
+ {
+ fprintf (stderr, "piglow: ring value out of range\n") ;
+ exit (EXIT_FAILURE) ;
+ }
+ percent = getPercent (argv [3]) ;
+ piGlowRing (ring, percent) ;
+ }
+ return 0 ;
+ }
+
+ if (argc == 5)
+ {
+ if (strcasecmp (argv [1], "led") != 0)
+ failUsage () ;
+
+ leg = atoi (argv [2]) ;
+ if ((leg < 0) || (leg > 2))
+ {
+ fprintf (stderr, "piglow: leg value out of range\n") ;
+ exit (EXIT_FAILURE) ;
+ }
+ ring = atoi (argv [3]) ;
+ if ((ring < 0) || (ring > 5))
+ {
+ fprintf (stderr, "piglow: ring value out of range\n") ;
+ exit (EXIT_FAILURE) ;
+ }
+ percent = getPercent (argv [4]) ;
+ piGlow1 (leg, ring, percent) ;
+ return 0 ;
+ }
+
+ failUsage () ;
+ return 0 ;
+}
+
+
diff --git a/modules/catkin_ws/src/wiringPi/examples/README.TXT b/modules/catkin_ws/src/wiringPi/examples/README.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..33263b1c57ff3667a55f4258b6654a1783f902d0
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/README.TXT
@@ -0,0 +1,18 @@
+
+wiringPi Examples
+=================
+
+There are now too many examples to compile them all in a sensible time,
+and you probably don't want to compile or run them all anyway, so they
+have been separated out.
+
+To compile an individual example, just type
+
+ make exampleName
+
+To really compile everything:
+
+ make really-all
+
+The individual tests are:
+
diff --git a/modules/catkin_ws/src/wiringPi/examples/blink.c b/modules/catkin_ws/src/wiringPi/examples/blink.c
new file mode 100644
index 0000000000000000000000000000000000000000..c27a20e3004f1d3082acbe6cb76dcc48af97acaa
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/blink.c
@@ -0,0 +1,48 @@
+/*
+ * blink.c:
+ * Standard "blink" program in wiringPi. Blinks an LED connected
+ * to the first GPIO pin.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <wiringPi.h>
+
+// LED Pin - wiringPi pin 0 is BCM_GPIO 17.
+
+#define LED 0
+
+int main (void)
+{
+ printf ("Raspberry Pi blink\n") ;
+
+ wiringPiSetup () ;
+ pinMode (LED, OUTPUT) ;
+
+ for (;;)
+ {
+ digitalWrite (LED, HIGH) ; // On
+ delay (500) ; // mS
+ digitalWrite (LED, LOW) ; // Off
+ delay (500) ;
+ }
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/blink.rtb b/modules/catkin_ws/src/wiringPi/examples/blink.rtb
new file mode 100644
index 0000000000000000000000000000000000000000..eb7d26c77711abc7436f256f854c6e83b5696c66
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/blink.rtb
@@ -0,0 +1,30 @@
+// blink.rtb:
+// Blink program in Return to Basic
+//
+// Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+//**********************************************************************
+// This file is part of wiringPi:
+// https://projects.drogon.net/raspberry-pi/wiringpi/
+//
+// wiringPi is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// wiringPi is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+//
+PinMode (0, 1) // Output
+CYCLE
+ DigitalWrite (0, 1) // Pin 0 ON
+ WAIT (0.5) // 0.5 seconds
+ DigitalWrite (0, 0)
+ WAIT (0.5)
+REPEAT
+END
diff --git a/modules/catkin_ws/src/wiringPi/examples/blink.sh b/modules/catkin_ws/src/wiringPi/examples/blink.sh
new file mode 100644
index 0000000000000000000000000000000000000000..77553836ec7aa7911fd165efe891f1f26573a4c0
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/blink.sh
@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# blink.sh:
+# Standard "blink" program in wiringPi. Blinks an LED connected
+# to the first GPIO pin.
+#
+# Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+#######################################################################
+# This file is part of wiringPi:
+# https://projects.drogon.net/raspberry-pi/wiringpi/
+#
+# wiringPi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# wiringPi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+#######################################################################
+
+# LED Pin - wiringPi pin 0 is BCM_GPIO 17.
+
+PIN=0
+
+gpio mode $PIN out
+
+while true; do
+ gpio write $PIN 1
+ sleep 0.5
+ gpio write $PIN 0
+ sleep 0.5
+done
diff --git a/modules/catkin_ws/src/wiringPi/examples/blink12.c b/modules/catkin_ws/src/wiringPi/examples/blink12.c
new file mode 100644
index 0000000000000000000000000000000000000000..c9b3d506ef285135de119a7ded768511dc1e42ab
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/blink12.c
@@ -0,0 +1,111 @@
+/*
+ * blink12.c:
+ * Simple sequence over the first 12 GPIO pins - LEDs
+ * Aimed at the Gertboard, but it's fairly generic.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <wiringPi.h>
+
+// Simple sequencer data
+// Triplets of LED, On/Off and delay
+
+int data [] =
+{
+ 0, 1, 1,
+ 1, 1, 1,
+ 0, 0, 0, 2, 1, 1,
+ 1, 0, 0, 3, 1, 1,
+ 2, 0, 0, 4, 1, 1,
+ 3, 0, 0, 5, 1, 1,
+ 4, 0, 0, 6, 1, 1,
+ 5, 0, 0, 7, 1, 1,
+ 6, 0, 0, 11, 1, 1,
+ 7, 0, 0, 10, 1, 1,
+ 11, 0, 0, 13, 1, 1,
+ 10, 0, 0, 12, 1, 1,
+ 13, 0, 1,
+ 12, 0, 1,
+
+ 0, 0, 1, // Extra delay
+
+// Back again
+
+ 12, 1, 1,
+ 13, 1, 1,
+ 12, 0, 0, 10, 1, 1,
+ 13, 0, 0, 11, 1, 1,
+ 10, 0, 0, 7, 1, 1,
+ 11, 0, 0, 6, 1, 1,
+ 7, 0, 0, 5, 1, 1,
+ 6, 0, 0, 4, 1, 1,
+ 5, 0, 0, 3, 1, 1,
+ 4, 0, 0, 2, 1, 1,
+ 3, 0, 0, 1, 1, 1,
+ 2, 0, 0, 0, 1, 1,
+ 1, 0, 1,
+ 0, 0, 1,
+
+ 0, 0, 1, // Extra delay
+
+ 0, 9, 0, // End marker
+
+} ;
+
+
+int main (void)
+{
+ int pin ;
+ int dataPtr ;
+ int l, s, d ;
+
+ printf ("Raspberry Pi - 12-LED Sequence\n") ;
+ printf ("==============================\n") ;
+ printf ("\n") ;
+ printf ("Connect LEDs up to the first 8 GPIO pins, then pins 11, 10, 13, 12 in\n") ;
+ printf (" that order, then sit back and watch the show!\n") ;
+
+ wiringPiSetup () ;
+
+ for (pin = 0 ; pin < 14 ; ++pin)
+ pinMode (pin, OUTPUT) ;
+
+ dataPtr = 0 ;
+
+ for (;;)
+ {
+ l = data [dataPtr++] ; // LED
+ s = data [dataPtr++] ; // State
+ d = data [dataPtr++] ; // Duration (10ths)
+
+ if (s == 9) // 9 -> End Marker
+ {
+ dataPtr = 0 ;
+ continue ;
+ }
+
+ digitalWrite (l, s) ;
+ delay (d * 100) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/blink12drcs.c b/modules/catkin_ws/src/wiringPi/examples/blink12drcs.c
new file mode 100644
index 0000000000000000000000000000000000000000..6ee11fd1b915e77b15eae26e076180b18e45e82c
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/blink12drcs.c
@@ -0,0 +1,125 @@
+/*
+ * blink12drcs.c:
+ * Simple sequence over the first 12 GPIO pins - LEDs
+ * Aimed at the Gertboard, but it's fairly generic.
+ * This version uses DRC totalk to the ATmega on the Gertboard
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <wiringPi.h>
+#include <drcSerial.h>
+
+#define GERT_BASE 100
+
+static int pinMap [] =
+{
+ 0, 1, 2, 3, // Pi Native
+ GERT_BASE + 2, GERT_BASE + 3, GERT_BASE + 4, GERT_BASE + 5,
+ GERT_BASE + 6, GERT_BASE + 7, GERT_BASE + 8, GERT_BASE + 9,
+} ;
+
+// Simple sequencer data
+// Triplets of LED, On/Off and delay
+
+
+int data [] =
+{
+ 0, 1, 1,
+ 1, 1, 1,
+ 0, 0, 0, 2, 1, 1,
+ 1, 0, 0, 3, 1, 1,
+ 2, 0, 0, 4, 1, 1,
+ 3, 0, 0, 5, 1, 1,
+ 4, 0, 0, 6, 1, 1,
+ 5, 0, 0, 7, 1, 1,
+ 6, 0, 0, 8, 1, 1,
+ 7, 0, 0, 9, 1, 1,
+ 8, 0, 0, 10, 1, 1,
+ 9, 0, 0, 11, 1, 1,
+ 10, 0, 1,
+ 11, 0, 1,
+
+ 0, 0, 1, // Extra delay
+
+// Back again
+
+ 11, 1, 1,
+ 10, 1, 1,
+ 11, 0, 0, 9, 1, 1,
+ 10, 0, 0, 8, 1, 1,
+ 9, 0, 0, 7, 1, 1,
+ 8, 0, 0, 6, 1, 1,
+ 7, 0, 0, 5, 1, 1,
+ 6, 0, 0, 4, 1, 1,
+ 5, 0, 0, 3, 1, 1,
+ 4, 0, 0, 2, 1, 1,
+ 3, 0, 0, 1, 1, 1,
+ 2, 0, 0, 0, 1, 1,
+ 1, 0, 1,
+ 0, 0, 1,
+
+ 0, 0, 1, // Extra delay
+
+ 0, 9, 0, // End marker
+
+} ;
+
+
+int main (void)
+{
+ int pin ;
+ int dataPtr ;
+ int l, s, d ;
+
+ printf ("Raspberry Pi - 12-LED Sequence\n") ;
+ printf ("==============================\n") ;
+ printf ("\n") ;
+ printf ("Connect LEDs up to the first 4 Pi pins and 8 pins on the ATmega\n") ;
+ printf (" from PD2 through PB1 in that order,\n") ;
+ printf (" then sit back and watch the show!\n") ;
+
+ wiringPiSetup () ;
+ drcSetupSerial (GERT_BASE, 20, "/dev/ttyAMA0", 115200) ;
+
+ for (pin = 0 ; pin < 12 ; ++pin)
+ pinMode (pinMap [pin], OUTPUT) ;
+
+ dataPtr = 0 ;
+
+ for (;;)
+ {
+ l = data [dataPtr++] ; // LED
+ s = data [dataPtr++] ; // State
+ d = data [dataPtr++] ; // Duration (10ths)
+
+ if (s == 9) // 9 -> End Marker
+ {
+ dataPtr = 0 ;
+ continue ;
+ }
+
+ digitalWrite (pinMap [l], s) ;
+ delay (d * analogRead (GERT_BASE) / 4) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/blink6drcs.c b/modules/catkin_ws/src/wiringPi/examples/blink6drcs.c
new file mode 100644
index 0000000000000000000000000000000000000000..32f4921e1c257b238270397a85f9ce5c6ff9fe8d
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/blink6drcs.c
@@ -0,0 +1,115 @@
+/*
+ * blink6drcs.c:
+ * Simple sequence over 6 pins on a remote DRC board.
+ * Aimed at the Gertduino, but it's fairly generic.
+ * This version uses DRC to talk to the ATmega on the Gertduino
+ *
+ * Copyright (c) 2012-2014 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <wiringPi.h>
+#include <drcSerial.h>
+
+#define GERT_BASE 100
+
+static int pinMap [] =
+{
+ GERT_BASE + 6, GERT_BASE + 5, GERT_BASE + 3, GERT_BASE + 10, GERT_BASE + 9, GERT_BASE + 13,
+} ;
+
+// Simple sequencer data
+// Triplets of LED, On/Off and delay
+
+
+int data [] =
+{
+ 0, 1, 1,
+ 1, 1, 1,
+ 0, 0, 0, 2, 1, 1,
+ 1, 0, 0, 3, 1, 1,
+ 2, 0, 0, 4, 1, 1,
+ 3, 0, 0, 5, 1, 1,
+ 4, 0, 1,
+ 5, 0, 1,
+
+ 0, 0, 1, // Extra delay
+
+// Back again
+
+ 5, 1, 1,
+ 4, 1, 1,
+ 5, 0, 0, 3, 1, 1,
+ 4, 0, 0, 2, 1, 1,
+ 3, 0, 0, 1, 1, 1,
+ 2, 0, 0, 0, 1, 1,
+ 1, 0, 1,
+ 0, 0, 1,
+
+ 0, 0, 1, // Extra delay
+
+ 0, 9, 0, // End marker
+
+} ;
+
+
+int main (void)
+{
+ int pin ;
+ int dataPtr ;
+ int l, s, d ;
+
+ printf ("Raspberry Pi - 6-LED Sequence\n") ;
+ printf ("=============================\n") ;
+ printf ("\n") ;
+ printf (" Use the 2 buttons to temporarily speed up the sequence\n") ;
+
+ wiringPiSetupSys () ; // Not using the Pi's GPIO here
+ drcSetupSerial (GERT_BASE, 20, "/dev/ttyAMA0", 115200) ;
+
+ for (pin = 0 ; pin < 6 ; ++pin)
+ pinMode (pinMap [pin], OUTPUT) ;
+
+ pinMode (GERT_BASE + 16, INPUT) ; // Buttons
+ pinMode (GERT_BASE + 17, INPUT) ;
+
+ pullUpDnControl (GERT_BASE + 16, PUD_UP) ;
+ pullUpDnControl (GERT_BASE + 17, PUD_UP) ;
+
+ dataPtr = 0 ;
+
+ for (;;)
+ {
+ l = data [dataPtr++] ; // LED
+ s = data [dataPtr++] ; // State
+ d = data [dataPtr++] ; // Duration (10ths)
+
+ if (s == 9) // 9 -> End Marker
+ {
+ dataPtr = 0 ;
+ continue ;
+ }
+
+ digitalWrite (pinMap [l], s) ;
+ delay (d * digitalRead (GERT_BASE + 16) * 15 + digitalRead (GERT_BASE + 17) * 20) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/blink8.c b/modules/catkin_ws/src/wiringPi/examples/blink8.c
new file mode 100644
index 0000000000000000000000000000000000000000..602d3c05965402d782f956f121d64bb962fb6c04
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/blink8.c
@@ -0,0 +1,57 @@
+/*
+ * blink8.c:
+ * Simple sequence over the first 8 GPIO pins - LEDs
+ * Aimed at the Gertboard, but it's fairly generic.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <wiringPi.h>
+
+int main (void)
+{
+ int i, led ;
+
+ printf ("Raspberry Pi - 8-LED Sequencer\n") ;
+ printf ("==============================\n") ;
+ printf ("\n") ;
+ printf ("Connect LEDs to the first 8 GPIO pins and watch ...\n") ;
+
+ wiringPiSetup () ;
+
+ for (i = 0 ; i < 8 ; ++i)
+ pinMode (i, OUTPUT) ;
+
+ for (;;)
+ {
+ for (led = 0 ; led < 8 ; ++led)
+ {
+ digitalWrite (led, 1) ;
+ delay (100) ;
+ }
+
+ for (led = 0 ; led < 8 ; ++led)
+ {
+ digitalWrite (led, 0) ;
+ delay (100) ;
+ }
+ }
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/clock.c b/modules/catkin_ws/src/wiringPi/examples/clock.c
new file mode 100644
index 0000000000000000000000000000000000000000..9a53210a5347ace87cc6ee873a0960bef6796b76
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/clock.c
@@ -0,0 +1,201 @@
+/*
+ * clock.c:
+ * Demo of the 128x64 graphics based LCD driver.
+ * This is designed to drive the parallel interface LCD drivers
+ * based on the popular 12864H controller chip.
+ *
+ * This test program assumes the following:
+ * (Which is currently hard-wired into the driver)
+ *
+ * GPIO 0-7 is connected to display data pins 0-7.
+ * GPIO 10 is CS1
+ * GPIO 11 is CS2
+ * GPIO 12 is STROBE
+ * GPIO 10 is RS
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <string.h>
+#include <errno.h>
+#include <time.h>
+#include <math.h>
+
+#include <wiringPi.h>
+#include <lcd128x64.h>
+
+#ifndef TRUE
+# define TRUE (1==1)
+# define FALSE (1==2)
+#endif
+
+double clockRadius ;
+double thickness, barLen ;
+int maxX, maxY ;
+
+double rads (double degs)
+{
+ return degs * M_PI / 180.0 ;
+}
+
+void drawClockHands (void)
+{
+ time_t t ;
+ struct tm *now ;
+ double angle, p, x0, y0, x1, y1 ;
+ int h24, h, m, s ;
+ char text [20] ;
+
+ time (&t) ;
+ now = localtime (&t) ;
+
+ h24 = now->tm_hour ;
+ m = now->tm_min ;
+ s = now->tm_sec ;
+
+ h = h24 ;
+ if (h > 12)
+ h -= 12 ;
+
+// Hour hand
+
+ angle = h * 30 + m * 0.5 ;
+ x0 = sin (rads (angle)) * (clockRadius * 0.75) ;
+ y0 = cos (rads (angle)) * (clockRadius * 0.75) ;
+ for (p = -3.0 ; p <= 3.0 ; p += 0.2)
+ {
+ x1 = sin (rads (angle + p)) * (clockRadius * 0.7) ;
+ y1 = cos (rads (angle + p)) * (clockRadius * 0.7) ;
+ lcd128x64line (0, 0, x1, y1, 1) ;
+ lcd128x64lineTo (x0, y0, 1) ;
+ }
+
+// Minute hand
+
+ angle = m * 6 ;
+ x0 = sin (rads (angle)) * (clockRadius * 0.9) ;
+ y0 = cos (rads (angle)) * (clockRadius * 0.9) ;
+ for (p = -1.0 ; p <= 1.0 ; p += 0.2)
+ {
+ x1 = sin (rads (angle + p)) * (clockRadius * 0.85) ;
+ y1 = cos (rads (angle + p)) * (clockRadius * 0.85) ;
+ lcd128x64line (0, 0, x1, y1, 1) ;
+ lcd128x64lineTo (x0, y0, 1) ;
+ }
+
+// Second hand
+
+ angle = s * 6 ;
+ x0 = sin (rads (angle)) * (clockRadius * 0.2) ;
+ y0 = cos (rads (angle)) * (clockRadius * 0.2) ;
+ x1 = sin (rads (angle)) * (clockRadius * 0.95) ;
+ y1 = cos (rads (angle)) * (clockRadius * 0.95) ;
+ lcd128x64line (0 - x0, 0 - y0, x1, y1, 1) ;
+ lcd128x64circle (0, 0, clockRadius * 0.1, 0, 1) ;
+ lcd128x64circle (0, 0, clockRadius * 0.05, 1, 1) ;
+
+// Text:
+
+ sprintf (text, "%02d:%02d:%02d", h24, m, s) ;
+ lcd128x64puts (32, 24, text, 0, 1) ;
+
+ sprintf (text, "%2d/%2d/%2d", now->tm_mday, now->tm_mon + 1, now->tm_year - 100) ;
+ lcd128x64puts (32, -23, text, 0, 1) ;
+}
+
+void drawClockFace (void)
+{
+ int m ;
+ double d, px1, py1, px2, py2 ;
+
+ lcd128x64clear (0) ;
+ lcd128x64circle (0,0, clockRadius, 1, TRUE) ;
+ lcd128x64circle (0,0, clockRadius - thickness, 0, TRUE) ;
+
+// The four big indicators for 12,15,30 and 45
+
+ lcd128x64rectangle (- 3, clockRadius - barLen, 3, clockRadius, 1, TRUE) ; // 12
+ lcd128x64rectangle (clockRadius - barLen, 3, clockRadius, -3, 1, TRUE) ; // 3
+ lcd128x64rectangle (- 3, -clockRadius + barLen, 3, -clockRadius, 1, TRUE) ; // 6
+ lcd128x64rectangle (-clockRadius + barLen, 3, -clockRadius, -3, 1, TRUE) ; // 9
+
+
+// Smaller 5 and 1 minute ticks
+
+ for (m = 0 ; m < 60 ; ++m)
+ {
+ px1 = sin (rads (m * 6)) * clockRadius ;
+ py1 = cos (rads (m * 6)) * clockRadius ;
+ if ((m % 5) == 0)
+ d = barLen ;
+ else
+ d = barLen / 2.0 ;
+
+ px2 = sin (rads (m * 6)) * (clockRadius - d) ;
+ py2 = cos (rads (m * 6)) * (clockRadius - d) ;
+ lcd128x64line (px1, py1, px2, py2, 1) ;
+ }
+}
+
+void setup (void)
+{
+ lcd128x64getScreenSize (&maxX, &maxY) ;
+ clockRadius = maxY / 2 - 1 ;
+ thickness = maxX / 48 ;
+ barLen = thickness * 4 ;
+ lcd128x64setOrigin (32, 32) ;
+}
+
+
+
+
+/*
+ ***********************************************************************
+ * The main program
+ ***********************************************************************
+ */
+
+int main (int argc, char *argv [])
+{
+ time_t now ;
+
+ wiringPiSetup () ;
+
+ lcd128x64setup () ;
+
+ setup () ;
+ for (;;)
+ {
+ drawClockFace () ;
+ drawClockHands () ;
+ lcd128x64update () ;
+
+ now = time (NULL) ;
+ while (time (NULL) == now)
+ delay (10) ;
+ }
+
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/delayTest.c b/modules/catkin_ws/src/wiringPi/examples/delayTest.c
new file mode 100644
index 0000000000000000000000000000000000000000..4c8b6ca40495b362be10241364bef35f186c9d98
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/delayTest.c
@@ -0,0 +1,107 @@
+/*
+ * delayTest.c:
+ * Just a little test program I'm using to experiment with
+ * various timings and latency, etc.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <unistd.h>
+#include <wiringPi.h>
+
+#include <sys/time.h>
+
+#define CYCLES 1000
+
+int main()
+{
+ int x ;
+ struct timeval t1, t2 ;
+ int t ;
+ int max, min ;
+ int del ;
+ int underRuns, overRuns, exactRuns, total ;
+ int descheds ;
+
+ if (wiringPiSetup () == -1)
+ return 1 ;
+
+ piHiPri (10) ; sleep (1) ;
+
+// Baseline test
+
+ gettimeofday (&t1, NULL) ;
+ gettimeofday (&t2, NULL) ;
+
+ t = t2.tv_usec - t1.tv_usec ;
+ printf ("Baseline test: %d\n", t);
+
+ for (del = 1 ; del < 200 ; ++del)
+ {
+ underRuns = overRuns = exactRuns = total = 0 ;
+ descheds = 0 ;
+ max = del ;
+ min = del ;
+
+ for (x = 0 ; x < CYCLES ; ++x)
+ {
+ for (;;) // Repeat this if we get a delay over 999uS
+ { // -> High probability Linux has deschedulled us
+ gettimeofday (&t1, NULL) ;
+ delayMicroseconds (del) ;
+ gettimeofday (&t2, NULL) ;
+
+ if (t2.tv_usec < t1.tv_usec) // Counter wrapped
+ t = (1000000 + t2.tv_usec) - t1.tv_usec;
+ else
+ t = t2.tv_usec - t1.tv_usec ;
+ if (t > 999)
+ {
+ ++descheds ;
+ continue ;
+ }
+ else
+ break ;
+ }
+
+ if (t > max)
+ {
+ max = t ;
+ ++overRuns ;
+ }
+ else if (t < min)
+ {
+ min = t ;
+ ++underRuns ;
+ }
+ else
+ ++exactRuns ;
+
+ total += t ;
+ }
+ printf ("Delay: %3d. Min: %3d, Max: %3d, Unders: %3d, Overs: %3d, Exacts: %3d, Average: %3d, Descheds: %2d\n",
+ del, min, max, underRuns, overRuns, exactRuns, total / CYCLES, descheds) ;
+ fflush (stdout) ;
+ delay (1) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/ds1302.c b/modules/catkin_ws/src/wiringPi/examples/ds1302.c
new file mode 100644
index 0000000000000000000000000000000000000000..f1e9e205724df1f863319ef340bd1a513aa01fd1
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/ds1302.c
@@ -0,0 +1,238 @@
+/*
+ * ds1302.c:
+ * Real Time clock
+ *
+ * Copyright (c) 2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <time.h>
+
+#include <wiringPi.h>
+#include <ds1302.h>
+
+// Register defines
+
+#define RTC_SECS 0
+#define RTC_MINS 1
+#define RTC_HOURS 2
+#define RTC_DATE 3
+#define RTC_MONTH 4
+#define RTC_DAY 5
+#define RTC_YEAR 6
+#define RTC_WP 7
+#define RTC_TC 8
+#define RTC_BM 31
+
+
+static unsigned int masks [] = { 0x7F, 0x7F, 0x3F, 0x3F, 0x1F, 0x07, 0xFF } ;
+
+
+/*
+ * bcdToD: dToBCD:
+ * BCD decode/encode
+ *********************************************************************************
+ */
+
+static int bcdToD (unsigned int byte, unsigned int mask)
+{
+ unsigned int b1, b2 ;
+ byte &= mask ;
+ b1 = byte & 0x0F ;
+ b2 = ((byte >> 4) & 0x0F) * 10 ;
+ return b1 + b2 ;
+}
+
+static unsigned int dToBcd (unsigned int byte)
+{
+ return ((byte / 10) << 4) + (byte % 10) ;
+}
+
+
+/*
+ * ramTest:
+ * Simple test of the 31 bytes of RAM inside the DS1302 chip
+ *********************************************************************************
+ */
+
+static int ramTestValues [] =
+ { 0x00, 0xFF, 0xAA, 0x55, 0x01, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x80, 0x00, 0xF0, 0x0F, -1 } ;
+
+static int ramTest (void)
+{
+ int addr ;
+ int got ;
+ int i = 0 ;
+ int errors = 0 ;
+ int testVal ;
+
+ printf ("DS1302 RAM TEST\n") ;
+
+ testVal = ramTestValues [i] ;
+
+ while (testVal != -1)
+ {
+ for (addr = 0 ; addr < 31 ; ++addr)
+ ds1302ramWrite (addr, testVal) ;
+
+ for (addr = 0 ; addr < 31 ; ++addr)
+ if ((got = ds1302ramRead (addr)) != testVal)
+ {
+ printf ("DS1302 RAM Failure: Address: %2d, Expected: 0x%02X, Got: 0x%02X\n",
+ addr, testVal, got) ;
+ ++errors ;
+ }
+ testVal = ramTestValues [++i] ;
+ }
+
+ for (addr = 0 ; addr < 31 ; ++addr)
+ ds1302ramWrite (addr, addr) ;
+
+ for (addr = 0 ; addr < 31 ; ++addr)
+ if ((got = ds1302ramRead (addr)) != addr)
+ {
+ printf ("DS1302 RAM Failure: Address: %2d, Expected: 0x%02X, Got: 0x%02X\n",
+ addr, addr, got) ;
+ ++errors ;
+ }
+
+ if (errors == 0)
+ printf ("-- DS1302 RAM TEST: OK\n") ;
+ else
+ printf ("-- DS1302 RAM TEST FAILURE. %d errors.\n", errors) ;
+
+ return 0 ;
+}
+
+/*
+ * setLinuxClock:
+ * Set the Linux clock from the hardware
+ *********************************************************************************
+ */
+
+static int setLinuxClock (void)
+{
+ char dateTime [20] ;
+ char command [64] ;
+ int clock [8] ;
+
+
+ printf ("Setting the Linux Clock from the DS1302... ") ; fflush (stdout) ;
+
+ ds1302clockRead (clock) ;
+
+// [MMDDhhmm[[CC]YY][.ss]]
+
+ sprintf (dateTime, "%02d%02d%02d%02d%02d%02d.%02d",
+ bcdToD (clock [RTC_MONTH], masks [RTC_MONTH]),
+ bcdToD (clock [RTC_DATE], masks [RTC_DATE]),
+ bcdToD (clock [RTC_HOURS], masks [RTC_HOURS]),
+ bcdToD (clock [RTC_MINS], masks [RTC_MINS]),
+ 20,
+ bcdToD (clock [RTC_YEAR], masks [RTC_YEAR]),
+ bcdToD (clock [RTC_SECS], masks [RTC_SECS])) ;
+
+ sprintf (command, "/bin/date %s", dateTime) ;
+ system (command) ;
+
+ return 0 ;
+}
+
+
+/*
+ * setDSclock:
+ * Set the DS1302 block from Linux time
+ *********************************************************************************
+ */
+
+static int setDSclock (void)
+{
+ struct tm t ;
+ time_t now ;
+ int clock [8] ;
+
+ printf ("Setting the clock in the DS1302 from Linux time... ") ;
+
+ now = time (NULL) ;
+ gmtime_r (&now, &t) ;
+
+ clock [ 0] = dToBcd (t.tm_sec) ; // seconds
+ clock [ 1] = dToBcd (t.tm_min) ; // mins
+ clock [ 2] = dToBcd (t.tm_hour) ; // hours
+ clock [ 3] = dToBcd (t.tm_mday) ; // date
+ clock [ 4] = dToBcd (t.tm_mon + 1) ; // months 0-11 --> 1-12
+ clock [ 5] = dToBcd (t.tm_wday + 1) ; // weekdays (sun 0)
+ clock [ 6] = dToBcd (t.tm_year - 100) ; // years
+ clock [ 7] = 0 ; // W-Protect off
+
+ ds1302clockWrite (clock) ;
+
+ printf ("OK\n") ;
+
+ return 0 ;
+}
+
+
+
+
+int main (int argc, char *argv [])
+{
+ int i ;
+ int clock [8] ;
+
+ wiringPiSetup () ;
+ ds1302setup (0, 1, 2) ;
+
+ if (argc == 2)
+ {
+ /**/ if (strcmp (argv [1], "-slc") == 0)
+ return setLinuxClock () ;
+ else if (strcmp (argv [1], "-sdsc") == 0)
+ return setDSclock () ;
+ else if (strcmp (argv [1], "-rtest") == 0)
+ return ramTest () ;
+ else
+ {
+ printf ("Usage: ds1302 [-slc | -sdsc | -rtest]\n") ;
+ return EXIT_FAILURE ;
+ }
+ }
+
+ for (i = 0 ;; ++i)
+ {
+ printf ("%5d: ", i) ;
+
+ ds1302clockRead (clock) ;
+ printf (" %2d:%02d:%02d",
+ bcdToD (clock [2], masks [2]), bcdToD (clock [1], masks [1]), bcdToD (clock [0], masks [0])) ;
+
+ printf (" %2d/%02d/%04d",
+ bcdToD (clock [3], masks [3]), bcdToD (clock [4], masks [4]), bcdToD (clock [6], masks [6]) + 2000) ;
+
+ printf ("\n") ;
+
+ delay (200) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/header.h b/modules/catkin_ws/src/wiringPi/examples/header.h
new file mode 100644
index 0000000000000000000000000000000000000000..82f723d3c3669ec9934e0728b6ed3bc22d29fafe
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/header.h
@@ -0,0 +1,23 @@
+/*
+ * file.c:
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
diff --git a/modules/catkin_ws/src/wiringPi/examples/isr-osc.c b/modules/catkin_ws/src/wiringPi/examples/isr-osc.c
new file mode 100644
index 0000000000000000000000000000000000000000..a872ee3abdb6feb8ae2dddc01900ae399cc0ffa7
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/isr-osc.c
@@ -0,0 +1,118 @@
+/*
+ * isr-osc.c:
+ * Wait for Interrupt test program - ISR method - interrupt oscillator
+ *
+ * How to test:
+ *
+ * IMPORTANT: To run this test we connect 2 GPIO pins together, but
+ * before we do that YOU must make sure that they are both setup
+ * the right way. If they are set to outputs and one is high and one low,
+ * then you connect the wire, you'll create a short and that won't be good.
+ *
+ * Before making the connection, type:
+ * gpio mode 0 output
+ * gpio write 0 0
+ * gpio mode 1 input
+ * then you can connect them together.
+ *
+ * Run the program, then:
+ * gpio write 0 1
+ * gpio write 0 0
+ *
+ * at which point it will trigger an interrupt and the program will
+ * then do the up/down toggling for itself and run at full speed, and
+ * it will report the number of interrupts recieved every second.
+ *
+ * Copyright (c) 2013 Gordon Henderson. projects@drogon.net
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <wiringPi.h>
+
+
+// What GPIO input are we using?
+// This is a wiringPi pin number
+
+#define OUT_PIN 0
+#define IN_PIN 1
+
+// globalCounter:
+// Global variable to count interrupts
+// Should be declared volatile to make sure the compiler doesn't cache it.
+
+static volatile int globalCounter = 0 ;
+
+/*
+ * myInterrupt:
+ *********************************************************************************
+ */
+
+void myInterrupt (void)
+{
+ digitalWrite (OUT_PIN, 1) ;
+ ++globalCounter ;
+ digitalWrite (OUT_PIN, 0) ;
+}
+
+
+/*
+ *********************************************************************************
+ * main
+ *********************************************************************************
+ */
+
+int main (void)
+{
+ int myCounter = 0 ;
+ int lastCounter = 0 ;
+
+ if (wiringPiSetup () < 0)
+ {
+ fprintf (stderr, "Unable to setup wiringPi: %s\n", strerror (errno)) ;
+ return 1 ;
+ }
+
+ pinMode (OUT_PIN, OUTPUT) ;
+ pinMode (IN_PIN, INPUT) ;
+
+ if (wiringPiISR (IN_PIN, INT_EDGE_FALLING, &myInterrupt) < 0)
+ {
+ fprintf (stderr, "Unable to setup ISR: %s\n", strerror (errno)) ;
+ return 1 ;
+ }
+
+ for (;;)
+ {
+ printf ("Waiting ... ") ; fflush (stdout) ;
+
+ while (myCounter == globalCounter)
+ delay (1000) ;
+
+ printf (" Done. counter: %6d: %6d\n",
+ globalCounter, myCounter - lastCounter) ;
+ lastCounter = myCounter ;
+ myCounter = globalCounter ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/isr.c b/modules/catkin_ws/src/wiringPi/examples/isr.c
new file mode 100644
index 0000000000000000000000000000000000000000..abc6aec994fcdf7f774f186ce6d75d298d96bd3a
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/isr.c
@@ -0,0 +1,110 @@
+/*
+ * isr.c:
+ * Wait for Interrupt test program - ISR method
+ *
+ * How to test:
+ * Use the SoC's pull-up and pull down resistors that are avalable
+ * on input pins. So compile & run this program (via sudo), then
+ * in another terminal:
+ * gpio mode 0 up
+ * gpio mode 0 down
+ * at which point it should trigger an interrupt. Toggle the pin
+ * up/down to generate more interrupts to test.
+ *
+ * Copyright (c) 2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <wiringPi.h>
+
+
+// globalCounter:
+// Global variable to count interrupts
+// Should be declared volatile to make sure the compiler doesn't cache it.
+
+static volatile int globalCounter [8] ;
+
+
+/*
+ * myInterrupt:
+ *********************************************************************************
+ */
+
+void myInterrupt0 (void) { ++globalCounter [0] ; }
+void myInterrupt1 (void) { ++globalCounter [1] ; }
+void myInterrupt2 (void) { ++globalCounter [2] ; }
+void myInterrupt3 (void) { ++globalCounter [3] ; }
+void myInterrupt4 (void) { ++globalCounter [4] ; }
+void myInterrupt5 (void) { ++globalCounter [5] ; }
+void myInterrupt6 (void) { ++globalCounter [6] ; }
+void myInterrupt7 (void) { ++globalCounter [7] ; }
+
+
+/*
+ *********************************************************************************
+ * main
+ *********************************************************************************
+ */
+
+int main (void)
+{
+ int gotOne, pin ;
+ int myCounter [8] ;
+
+ for (pin = 0 ; pin < 8 ; ++pin)
+ globalCounter [pin] = myCounter [pin] = 0 ;
+
+ wiringPiSetup () ;
+
+ wiringPiISR (0, INT_EDGE_FALLING, &myInterrupt0) ;
+ wiringPiISR (1, INT_EDGE_FALLING, &myInterrupt1) ;
+ wiringPiISR (2, INT_EDGE_FALLING, &myInterrupt2) ;
+ wiringPiISR (3, INT_EDGE_FALLING, &myInterrupt3) ;
+ wiringPiISR (4, INT_EDGE_FALLING, &myInterrupt4) ;
+ wiringPiISR (5, INT_EDGE_FALLING, &myInterrupt5) ;
+ wiringPiISR (6, INT_EDGE_FALLING, &myInterrupt6) ;
+ wiringPiISR (7, INT_EDGE_FALLING, &myInterrupt7) ;
+
+ for (;;)
+ {
+ gotOne = 0 ;
+ printf ("Waiting ... ") ; fflush (stdout) ;
+
+ for (;;)
+ {
+ for (pin = 0 ; pin < 8 ; ++pin)
+ {
+ if (globalCounter [pin] != myCounter [pin])
+ {
+ printf (" Int on pin %d: Counter: %5d\n", pin, globalCounter [pin]) ;
+ myCounter [pin] = globalCounter [pin] ;
+ ++gotOne ;
+ }
+ }
+ if (gotOne != 0)
+ break ;
+ }
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/lcd-adafruit.c b/modules/catkin_ws/src/wiringPi/examples/lcd-adafruit.c
new file mode 100644
index 0000000000000000000000000000000000000000..47c9b9b25c7c1b00a06cef8c5141175e4afdf0c4
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/lcd-adafruit.c
@@ -0,0 +1,347 @@
+/*
+ * lcd-adafruit.c:
+ * Text-based LCD driver test code
+ * This is designed to drive the Adafruit RGB LCD Plate
+ * with the additional 5 buttons for the Raspberry Pi
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <time.h>
+
+#include <wiringPi.h>
+#include <mcp23017.h>
+#include <lcd.h>
+
+#ifndef TRUE
+# define TRUE (1==1)
+# define FALSE (1==2)
+#endif
+
+
+// Defines for the Adafruit Pi LCD interface board
+
+#define AF_BASE 100
+#define AF_RED (AF_BASE + 6)
+#define AF_GREEN (AF_BASE + 7)
+#define AF_BLUE (AF_BASE + 8)
+
+#define AF_E (AF_BASE + 13)
+#define AF_RW (AF_BASE + 14)
+#define AF_RS (AF_BASE + 15)
+
+#define AF_DB4 (AF_BASE + 12)
+#define AF_DB5 (AF_BASE + 11)
+#define AF_DB6 (AF_BASE + 10)
+#define AF_DB7 (AF_BASE + 9)
+
+#define AF_SELECT (AF_BASE + 0)
+#define AF_RIGHT (AF_BASE + 1)
+#define AF_DOWN (AF_BASE + 2)
+#define AF_UP (AF_BASE + 3)
+#define AF_LEFT (AF_BASE + 4)
+
+
+// User-Defined character test
+
+static unsigned char newChar [8] =
+{
+ 0b00100,
+ 0b00100,
+ 0b00000,
+ 0b00100,
+ 0b01110,
+ 0b11011,
+ 0b11011,
+ 0b10001,
+} ;
+
+// Global lcd handle:
+
+static int lcdHandle ;
+
+/*
+ * usage:
+ *********************************************************************************
+ */
+
+int usage (const char *progName)
+{
+ fprintf (stderr, "Usage: %s colour\n", progName) ;
+ return EXIT_FAILURE ;
+}
+
+
+/*
+ * scrollMessage:
+ *********************************************************************************
+ */
+
+static const char *message =
+ " "
+ "Wiring Pi by Gordon Henderson. HTTP://WIRINGPI.COM/"
+ " " ;
+
+void scrollMessage (int line, int width)
+{
+ char buf [32] ;
+ static int position = 0 ;
+ static int timer = 0 ;
+
+ if (millis () < timer)
+ return ;
+
+ timer = millis () + 200 ;
+
+ strncpy (buf, &message [position], width) ;
+ buf [width] = 0 ;
+ lcdPosition (lcdHandle, 0, line) ;
+ lcdPuts (lcdHandle, buf) ;
+
+ if (++position == (strlen (message) - width))
+ position = 0 ;
+}
+
+
+/*
+ * setBacklightColour:
+ * The colour outputs are inverted.
+ *********************************************************************************
+ */
+
+static void setBacklightColour (int colour)
+{
+ colour &= 7 ;
+
+ digitalWrite (AF_RED, !(colour & 1)) ;
+ digitalWrite (AF_GREEN, !(colour & 2)) ;
+ digitalWrite (AF_BLUE, !(colour & 4)) ;
+}
+
+
+/*
+ * adafruitLCDSetup:
+ * Setup the Adafruit board by making sure the additional pins are
+ * set to the correct modes, etc.
+ *********************************************************************************
+ */
+
+static void adafruitLCDSetup (int colour)
+{
+ int i ;
+
+// Backlight LEDs
+
+ pinMode (AF_RED, OUTPUT) ;
+ pinMode (AF_GREEN, OUTPUT) ;
+ pinMode (AF_BLUE, OUTPUT) ;
+ setBacklightColour (colour) ;
+
+// Input buttons
+
+ for (i = 0 ; i <= 4 ; ++i)
+ {
+ pinMode (AF_BASE + i, INPUT) ;
+ pullUpDnControl (AF_BASE + i, PUD_UP) ; // Enable pull-ups, switches close to 0v
+ }
+
+// Control signals
+
+ pinMode (AF_RW, OUTPUT) ; digitalWrite (AF_RW, LOW) ; // Not used with wiringPi - always in write mode
+
+// The other control pins are initialised with lcdInit ()
+
+ lcdHandle = lcdInit (2, 16, 4, AF_RS, AF_E, AF_DB4,AF_DB5,AF_DB6,AF_DB7, 0,0,0,0) ;
+
+ if (lcdHandle < 0)
+ {
+ fprintf (stderr, "lcdInit failed\n") ;
+ exit (EXIT_FAILURE) ;
+ }
+}
+
+
+/*
+ * waitForEnter:
+ * On the Adafruit display, wait for the select button
+ *********************************************************************************
+ */
+
+static void waitForEnter (void)
+{
+ printf ("Press SELECT to continue: ") ; fflush (stdout) ;
+
+ while (digitalRead (AF_SELECT) == HIGH) // Wait for push
+ delay (1) ;
+
+ while (digitalRead (AF_SELECT) == LOW) // Wait for release
+ delay (1) ;
+
+ printf ("OK\n") ;
+}
+
+
+/*
+ * speedTest:
+ * Test the update speed of the display
+ *********************************************************************************
+ */
+
+static void speedTest (void)
+{
+ unsigned int start, end, taken ;
+ int times ;
+
+ lcdClear (lcdHandle) ;
+ start = millis () ;
+ for (times = 0 ; times < 10 ; ++times)
+ {
+ lcdPuts (lcdHandle, "0123456789ABCDEF") ;
+ lcdPuts (lcdHandle, "0123456789ABCDEF") ;
+ }
+ end = millis () ;
+ taken = (end - start) / 10;
+
+ lcdClear (lcdHandle) ;
+ lcdPosition (lcdHandle, 0, 0) ; lcdPrintf (lcdHandle, "Speed: %dmS", taken) ;
+ lcdPosition (lcdHandle, 0, 1) ; lcdPrintf (lcdHandle, "For full update") ;
+
+ waitForEnter () ;
+
+ lcdClear (lcdHandle) ;
+ lcdPosition (lcdHandle, 0, 0) ; lcdPrintf (lcdHandle, "Time: %dmS", taken / 32) ;
+ lcdPosition (lcdHandle, 0, 1) ; lcdPrintf (lcdHandle, "Per character") ;
+
+ waitForEnter () ;
+
+ lcdClear (lcdHandle) ;
+ lcdPosition (lcdHandle, 0, 0) ; lcdPrintf (lcdHandle, "%d cps...", 32000 / taken) ;
+
+ waitForEnter () ;
+}
+
+
+/*
+ * The works
+ *********************************************************************************
+ */
+
+int main (int argc, char *argv[])
+{
+ int colour ;
+ int cols = 16 ;
+ int waitForRelease = FALSE ;
+
+ struct tm *t ;
+ time_t tim ;
+
+ char buf [32] ;
+
+ if (argc != 2)
+ return usage (argv [0]) ;
+
+ printf ("Raspberry Pi Adafruit LCD test\n") ;
+ printf ("==============================\n") ;
+
+ colour = atoi (argv [1]) ;
+
+ wiringPiSetupSys () ;
+ mcp23017Setup (AF_BASE, 0x20) ;
+
+ adafruitLCDSetup (colour) ;
+
+ lcdPosition (lcdHandle, 0, 0) ; lcdPuts (lcdHandle, "Gordon Henderson") ;
+ lcdPosition (lcdHandle, 0, 1) ; lcdPuts (lcdHandle, " wiringpi.com ") ;
+
+ waitForEnter () ;
+
+ lcdPosition (lcdHandle, 0, 1) ; lcdPuts (lcdHandle, "Adafruit RGB LCD") ;
+
+ waitForEnter () ;
+
+ lcdCharDef (lcdHandle, 2, newChar) ;
+
+ lcdClear (lcdHandle) ;
+ lcdPosition (lcdHandle, 0, 0) ;
+ lcdPuts (lcdHandle, "User Char: ") ;
+ lcdPutchar (lcdHandle, 2) ;
+
+ lcdCursor (lcdHandle, TRUE) ;
+ lcdCursorBlink (lcdHandle, TRUE) ;
+
+ waitForEnter () ;
+
+ lcdCursor (lcdHandle, FALSE) ;
+ lcdCursorBlink (lcdHandle, FALSE) ;
+
+ speedTest () ;
+
+ lcdClear (lcdHandle) ;
+
+ for (;;)
+ {
+ scrollMessage (0, cols) ;
+
+ tim = time (NULL) ;
+ t = localtime (&tim) ;
+
+ sprintf (buf, "%02d:%02d:%02d", t->tm_hour, t->tm_min, t->tm_sec) ;
+
+ lcdPosition (lcdHandle, (cols - 8) / 2, 1) ;
+ lcdPuts (lcdHandle, buf) ;
+
+// Check buttons to cycle colour
+
+// If Up or Down are still pushed, then skip
+
+ if (waitForRelease)
+ {
+ if ((digitalRead (AF_UP) == LOW) || (digitalRead (AF_DOWN) == LOW))
+ continue ;
+ else
+ waitForRelease = FALSE ;
+ }
+
+ if (digitalRead (AF_UP) == LOW) // Pushed
+ {
+ colour = colour + 1 ;
+ if (colour == 8)
+ colour = 0 ;
+ setBacklightColour (colour) ;
+ waitForRelease = TRUE ;
+ }
+
+ if (digitalRead (AF_DOWN) == LOW) // Pushed
+ {
+ colour = colour - 1 ;
+ if (colour == -1)
+ colour = 7 ;
+ setBacklightColour (colour) ;
+ waitForRelease = TRUE ;
+ }
+
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/lcd.c b/modules/catkin_ws/src/wiringPi/examples/lcd.c
new file mode 100644
index 0000000000000000000000000000000000000000..510f5620469f49e06e7593e07cdb64fa10e01ef1
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/lcd.c
@@ -0,0 +1,286 @@
+/*
+ * lcd.c:
+ * Text-based LCD driver.
+ * This is designed to drive the parallel interface LCD drivers
+ * based in the Hitachi HD44780U controller and compatables.
+ *
+ * This test program assumes the following:
+ *
+ * 8-bit displays:
+ * GPIO 0-7 is connected to display data pins 0-7.
+ * GPIO 11 is the RS pin.
+ * GPIO 10 is the Strobe/E pin.
+ *
+ * For 4-bit interface:
+ * GPIO 4-7 is connected to display data pins 4-7.
+ * GPIO 11 is the RS pin.
+ * GPIO 10 is the Strobe/E pin.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+
+#include <unistd.h>
+#include <string.h>
+#include <time.h>
+
+#include <wiringPi.h>
+#include <lcd.h>
+
+#ifndef TRUE
+# define TRUE (1==1)
+# define FALSE (1==2)
+#endif
+
+static unsigned char newChar [8] =
+{
+ 0b11111,
+ 0b10001,
+ 0b10001,
+ 0b10101,
+ 0b11111,
+ 0b10001,
+ 0b10001,
+ 0b11111,
+} ;
+
+
+// Global lcd handle:
+
+static int lcdHandle ;
+
+/*
+ * usage:
+ *********************************************************************************
+ */
+
+int usage (const char *progName)
+{
+ fprintf (stderr, "Usage: %s bits cols rows\n", progName) ;
+ return EXIT_FAILURE ;
+}
+
+
+/*
+ * scrollMessage:
+ *********************************************************************************
+ */
+
+static const char *message =
+ " "
+ "Wiring Pi by Gordon Henderson. HTTP://WIRINGPI.COM/"
+ " " ;
+
+void scrollMessage (int line, int width)
+{
+ char buf [32] ;
+ static int position = 0 ;
+ static int timer = 0 ;
+
+ if (millis () < timer)
+ return ;
+
+ timer = millis () + 200 ;
+
+ strncpy (buf, &message [position], width) ;
+ buf [width] = 0 ;
+ lcdPosition (lcdHandle, 0, line) ;
+ lcdPuts (lcdHandle, buf) ;
+
+ if (++position == (strlen (message) - width))
+ position = 0 ;
+}
+
+
+/*
+ * pingPong:
+ * Bounce a character - only on 4-line displays
+ *********************************************************************************
+ */
+
+static void pingPong (int lcd, int cols)
+{
+ static int position = 0 ;
+ static int dir = 0 ;
+
+ if (dir == 0) // Setup
+ {
+ dir = 1 ;
+ lcdPosition (lcdHandle, 0, 3) ;
+ lcdPutchar (lcdHandle, '*') ;
+ return ;
+ }
+
+ lcdPosition (lcdHandle, position, 3) ;
+ lcdPutchar (lcdHandle, ' ') ;
+ position += dir ;
+
+ if (position == cols)
+ {
+ dir = -1 ;
+ --position ;
+ }
+
+ if (position < 0)
+ {
+ dir = 1 ;
+ ++position ;
+ }
+
+ lcdPosition (lcdHandle, position, 3) ;
+ lcdPutchar (lcdHandle, '#') ;
+}
+
+
+/*
+ * waitForEnter:
+ *********************************************************************************
+ */
+
+static void waitForEnter (void)
+{
+ printf ("Press ENTER to continue: ") ;
+ (void)fgetc (stdin) ;
+}
+
+
+/*
+ * The works
+ *********************************************************************************
+ */
+
+int main (int argc, char *argv[])
+{
+ int i ;
+ int lcd ;
+ int bits, rows, cols ;
+
+ struct tm *t ;
+ time_t tim ;
+
+ char buf [32] ;
+
+ if (argc != 4)
+ return usage (argv [0]) ;
+
+ printf ("Raspberry Pi LCD test\n") ;
+ printf ("=====================\n") ;
+
+ bits = atoi (argv [1]) ;
+ cols = atoi (argv [2]) ;
+ rows = atoi (argv [3]) ;
+
+ if (!((rows == 1) || (rows == 2) || (rows == 4)))
+ {
+ fprintf (stderr, "%s: rows must be 1, 2 or 4\n", argv [0]) ;
+ return EXIT_FAILURE ;
+ }
+
+ if (!((cols == 16) || (cols == 20)))
+ {
+ fprintf (stderr, "%s: cols must be 16 or 20\n", argv [0]) ;
+ return EXIT_FAILURE ;
+ }
+
+ wiringPiSetup () ;
+
+ if (bits == 4)
+ lcdHandle = lcdInit (rows, cols, 4, 11,10, 4,5,6,7,0,0,0,0) ;
+ else
+ lcdHandle = lcdInit (rows, cols, 8, 11,10, 0,1,2,3,4,5,6,7) ;
+
+ if (lcdHandle < 0)
+ {
+ fprintf (stderr, "%s: lcdInit failed\n", argv [0]) ;
+ return -1 ;
+ }
+
+ lcdPosition (lcdHandle, 0, 0) ; lcdPuts (lcdHandle, "Gordon Henderson") ;
+ lcdPosition (lcdHandle, 0, 1) ; lcdPuts (lcdHandle, " wiringpi.com ") ;
+
+ waitForEnter () ;
+
+ if (rows > 1)
+ {
+ lcdPosition (lcdHandle, 0, 1) ; lcdPuts (lcdHandle, " wiringpi.com ") ;
+
+ if (rows == 4)
+ {
+ lcdPosition (lcdHandle, 0, 2) ;
+ for (i = 0 ; i < ((cols - 1) / 2) ; ++i)
+ lcdPuts (lcdHandle, "=-") ;
+ lcdPuts (lcdHandle, "=3") ;
+
+ lcdPosition (lcdHandle, 0, 3) ;
+ for (i = 0 ; i < ((cols - 1) / 2) ; ++i)
+ lcdPuts (lcdHandle, "-=") ;
+ lcdPuts (lcdHandle, "-4") ;
+ }
+ }
+
+ waitForEnter () ;
+
+ lcdCharDef (lcdHandle, 2, newChar) ;
+
+ lcdClear (lcdHandle) ;
+ lcdPosition (lcdHandle, 0, 0) ;
+ lcdPuts (lcdHandle, "User Char: ") ;
+ lcdPutchar (lcdHandle, 2) ;
+
+ lcdCursor (lcdHandle, TRUE) ;
+ lcdCursorBlink (lcdHandle, TRUE) ;
+
+ waitForEnter () ;
+
+ lcdCursor (lcdHandle, FALSE) ;
+ lcdCursorBlink (lcdHandle, FALSE) ;
+ lcdClear (lcdHandle) ;
+
+ for (;;)
+ {
+ scrollMessage (0, cols) ;
+
+ if (rows == 1)
+ continue ;
+
+ tim = time (NULL) ;
+ t = localtime (&tim) ;
+
+ sprintf (buf, "%02d:%02d:%02d", t->tm_hour, t->tm_min, t->tm_sec) ;
+
+ lcdPosition (lcdHandle, (cols - 8) / 2, 1) ;
+ lcdPuts (lcdHandle, buf) ;
+
+ if (rows == 2)
+ continue ;
+
+ sprintf (buf, "%02d/%02d/%04d", t->tm_mday, t->tm_mon + 1, t->tm_year+1900) ;
+
+ lcdPosition (lcdHandle, (cols - 10) / 2, 2) ;
+ lcdPuts (lcdHandle, buf) ;
+
+ pingPong (lcd, cols) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/lowPower.c b/modules/catkin_ws/src/wiringPi/examples/lowPower.c
new file mode 100644
index 0000000000000000000000000000000000000000..e901e7faadc16f4f6831b715e2fc3ae917bfc014
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/lowPower.c
@@ -0,0 +1,68 @@
+/*
+ * lowPower.c:
+ * Check the Pi's LOW-Power signal.
+ *
+ * This is a demonstration program that could be turned into some sort
+ * of logger via e.g. syslog - however it's also probably something
+ * that might be better handled by a future kernel - who knows.
+ *
+ * Copyright (c) 2014 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <time.h>
+#include <wiringPi.h>
+
+
+#define LOW_POWER 35
+
+/*
+ * lowPower:
+ * This is an ISR that waits for the low-power signal going low and
+ * prints the result.
+ *********************************************************************************
+ */
+
+void lowPower (void)
+{
+ time_t t ;
+
+ time (&t) ;
+ printf ("%s: LOW POWER DETECTED\n", ctime (&t)) ;
+}
+
+
+/*
+ *********************************************************************************
+ * main
+ *********************************************************************************
+ */
+
+int main (void)
+{
+ wiringPiSetupGpio () ; // GPIO mode as it's an internal pin
+
+ wiringPiISR (LOW_POWER, INT_EDGE_FALLING, &lowPower) ;
+
+ for (;;)
+ delay (1000) ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/nes.c b/modules/catkin_ws/src/wiringPi/examples/nes.c
new file mode 100644
index 0000000000000000000000000000000000000000..31908e8a0efbe5ff0e149731039a7cd4cdda3bd1
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/nes.c
@@ -0,0 +1,67 @@
+/*
+ * nes.c:
+ * Test program for an old NES controller connected to the Pi.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+
+#include <wiringPi.h>
+#include <piNes.h>
+
+#define BLANK "| "
+
+int main ()
+{
+ int joystick ;
+ unsigned int buttons ;
+
+ if (wiringPiSetup () == -1)
+ {
+ fprintf (stdout, "oops: %s\n", strerror (errno)) ;
+ return 1 ;
+ }
+
+ if ((joystick = setupNesJoystick (2, 1, 0)) == -1)
+ {
+ fprintf (stdout, "Unable to setup joystick\n") ;
+ return 1 ;
+ }
+
+ for (;;)
+ {
+ buttons = readNesJoystick (joystick) ;
+
+ if ((buttons & NES_UP) != 0) printf ("| UP " ) ; else printf (BLANK) ;
+ if ((buttons & NES_DOWN) != 0) printf ("| DOWN " ) ; else printf (BLANK) ;
+ if ((buttons & NES_LEFT) != 0) printf ("| LEFT " ) ; else printf (BLANK) ;
+ if ((buttons & NES_RIGHT) != 0) printf ("|RIGHT " ) ; else printf (BLANK) ;
+ if ((buttons & NES_SELECT) != 0) printf ("|SELECT" ) ; else printf (BLANK) ;
+ if ((buttons & NES_START) != 0) printf ("|START " ) ; else printf (BLANK) ;
+ if ((buttons & NES_A) != 0) printf ("| A " ) ; else printf (BLANK) ;
+ if ((buttons & NES_B) != 0) printf ("| B " ) ; else printf (BLANK) ;
+ printf ("|\n") ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/okLed.c b/modules/catkin_ws/src/wiringPi/examples/okLed.c
new file mode 100644
index 0000000000000000000000000000000000000000..930f266b5c4a387870bd81982382f0cafa95b1a7
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/okLed.c
@@ -0,0 +1,82 @@
+/*
+ * okLed.c:
+ * Make the OK LED on the Pi Pulsate...
+ *
+ * Originally posted to the Raspberry Pi forums:
+ * http://www.raspberrypi.org/phpBB3/viewtopic.php?p=162581#p162581
+ *
+ * Compile this and store it somewhere, then kick it off at boot time
+ * e.g. by putting it in /etc/rc.local and running it in the
+ * background &
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <math.h>
+
+#include <wiringPi.h>
+#include <softPwm.h>
+
+// The OK/Act LED is connected to BCM_GPIO pin 16
+
+#define OK_LED 16
+
+int main ()
+{
+ int fd, i ;
+
+ wiringPiSetupGpio () ;
+
+// Change the trigger on the OK/Act LED to "none"
+
+ if ((fd = open ("/sys/class/leds/led0/trigger", O_RDWR)) < 0)
+ {
+ fprintf (stderr, "Unable to change LED trigger: %s\n", strerror (errno)) ;
+ return 1 ;
+ }
+ write (fd, "none\n", 5) ;
+ close (fd) ;
+
+ softPwmCreate (OK_LED, 0, 100) ;
+
+ for (;;)
+ {
+ for (i = 0 ; i <= 100 ; ++i)
+ {
+ softPwmWrite (OK_LED, i) ;
+ delay (10) ;
+ }
+ delay (50) ;
+
+ for (i = 100 ; i >= 0 ; --i)
+ {
+ softPwmWrite (OK_LED, i) ;
+ delay (10) ;
+ }
+ delay (10) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/pwm.c b/modules/catkin_ws/src/wiringPi/examples/pwm.c
new file mode 100644
index 0000000000000000000000000000000000000000..816c8322e357db2f56458a1bd4689aa61f75c64f
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/pwm.c
@@ -0,0 +1,58 @@
+/*
+ * pwm.c:
+ * This tests the hardware PWM channel.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <wiringPi.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+
+int main (void)
+{
+ int bright ;
+
+ printf ("Raspberry Pi wiringPi PWM test program\n") ;
+
+ if (wiringPiSetup () == -1)
+ exit (1) ;
+
+ pinMode (1, PWM_OUTPUT) ;
+
+ for (;;)
+ {
+ for (bright = 0 ; bright < 1024 ; ++bright)
+ {
+ pwmWrite (1, bright) ;
+ delay (1) ;
+ }
+
+ for (bright = 1023 ; bright >= 0 ; --bright)
+ {
+ pwmWrite (1, bright) ;
+ delay (1) ;
+ }
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/q2w/Makefile b/modules/catkin_ws/src/wiringPi/examples/q2w/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..150c825f6ac7ed46cdcb95fb4ecd908254066968
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/q2w/Makefile
@@ -0,0 +1,81 @@
+#
+# Makefile:
+# wiringPi - Wiring Compatable library for the Raspberry Pi
+# https://projects.drogon.net/wiring-pi
+#
+# Copyright (c) 2012-2013 Gordon Henderson
+#################################################################################
+# This file is part of wiringPi:
+# Wiring Compatable library for the Raspberry Pi
+#
+# wiringPi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# wiringPi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+#################################################################################
+
+
+#DEBUG = -g -O0
+DEBUG = -O3
+CC = gcc
+INCLUDE = -I/usr/local/include
+CFLAGS = $(DEBUG) -Wall $(INCLUDE) -Winline -pipe
+
+LDFLAGS = -L/usr/local/lib
+LDLIBS = -lwiringPi -lwiringPiDev -lpthread -lm
+
+###############################################################################
+
+SRC = blink.c button.c blink-io.c volts.c bright.c
+
+OBJ = $(SRC:.c=.o)
+
+BINS = $(SRC:.c=)
+
+all: $(BINS)
+
+blink: blink.o
+ @echo [link]
+ @$(CC) -o $@ blink.o $(LDFLAGS) $(LDLIBS)
+
+blink-io: blink-io.o
+ @echo [link]
+ @$(CC) -o $@ blink-io.o $(LDFLAGS) $(LDLIBS)
+
+button: button.o
+ @echo [link]
+ @$(CC) -o $@ button.o $(LDFLAGS) $(LDLIBS)
+
+volts: volts.o
+ @echo [link]
+ @$(CC) -o $@ volts.o $(LDFLAGS) $(LDLIBS)
+
+bright: bright.o
+ @echo [link]
+ @$(CC) -o $@ bright.o $(LDFLAGS) $(LDLIBS)
+
+
+.c.o:
+ @echo [CC] $<
+ @$(CC) -c $(CFLAGS) $< -o $@
+
+clean:
+ @echo "[Clean]"
+ @rm -f $(OBJ) *~ core tags $(BINS)
+
+tags: $(SRC)
+ @echo [ctags]
+ @ctags $(SRC)
+
+depend:
+ makedepend -Y $(SRC)
+
+# DO NOT DELETE
diff --git a/modules/catkin_ws/src/wiringPi/examples/q2w/binary.c b/modules/catkin_ws/src/wiringPi/examples/q2w/binary.c
new file mode 100644
index 0000000000000000000000000000000000000000..3c987c6ac2506eed6d57cd15096c5b2766ade27f
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/q2w/binary.c
@@ -0,0 +1,79 @@
+/*
+ * binary.c:
+ * Using the Quick 2 wire 16-bit GPIO expansion board to output
+ * a binary counter.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <wiringPi.h>
+#include <mcp23017.h>
+
+#define Q2W_BASE 100
+
+int main (void)
+{
+ int i, bit ;
+
+// Enable the on-goard GPIO
+
+ wiringPiSetup () ;
+
+// Add in the mcp23017 on the q2w board
+
+ mcp23017Setup (Q2W_BASE, 0x20) ;
+
+ printf ("Raspberry Pi - quite2Wire MCP23017 Test\n") ;
+
+// On-board button Input:
+
+ pinMode (0, INPUT) ;
+
+// First 10 pins on q2w board as outputs:
+
+ for (i = 0 ; i < 10 ; ++i)
+ pinMode (Q2W_BASE + i, OUTPUT) ;
+
+// Last pin as an input with the internal pull-up enabled
+
+ pinMode (Q2W_BASE + 15, INPUT) ;
+ pullUpDnControl (Q2W_BASE + 15, PUD_UP) ;
+
+// Loop, outputting a binary number,
+// Go faster with the button, or stop if the
+// on-board button is pushed
+
+ for (;;)
+ {
+ for (i = 0 ; i < 1024 ; ++i)
+ {
+ for (bit = 0 ; bit < 10 ; ++bit)
+ digitalWrite (Q2W_BASE + bit, i & (1 << bit)) ;
+
+ while (digitalRead (0) == HIGH) // While pushed
+ delay (1) ;
+
+ if (digitalRead (Q2W_BASE + 15) == HIGH) // Not Pushed
+ delay (100) ;
+ }
+ }
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/q2w/blink-io.c b/modules/catkin_ws/src/wiringPi/examples/q2w/blink-io.c
new file mode 100644
index 0000000000000000000000000000000000000000..4dd427657059aa478c920fa58ee64f345bfe6ea9
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/q2w/blink-io.c
@@ -0,0 +1,61 @@
+/*
+ * blink-io.c:
+ * Simple "blink" test for the Quick2Wire 16-pin IO board.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <wiringPi.h>
+#include <mcp23017.h>
+
+#define LED 1
+#define Q2W_BASE 100
+
+int main (void)
+{
+
+// Enable the on-goard GPIO
+
+ wiringPiSetup () ;
+
+// Add in the mcp23017 on the q2w board
+
+ mcp23017Setup (Q2W_BASE, 0x20) ;
+
+ printf ("Raspberry Pi - Quick2Wire MCP23017 Blink Test\n") ;
+
+// Blink the on-board LED as well as one on the mcp23017
+
+ pinMode (LED, OUTPUT) ;
+ pinMode (Q2W_BASE + 0, OUTPUT) ;
+
+ for (;;)
+ {
+ digitalWrite (LED, HIGH) ;
+ digitalWrite (Q2W_BASE + 0, HIGH) ;
+ delay (500) ;
+ digitalWrite (LED, LOW) ;
+ digitalWrite (Q2W_BASE + 0, LOW) ;
+ delay (500) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/q2w/blink.c b/modules/catkin_ws/src/wiringPi/examples/q2w/blink.c
new file mode 100644
index 0000000000000000000000000000000000000000..62b694a7cf29b7eb261faae7d7956d34ec6d3d8b
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/q2w/blink.c
@@ -0,0 +1,50 @@
+/*
+ * blink.c:
+ * Simple "blink" test for the Quick2Wire interface board.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <wiringPi.h>
+
+#define LED 1
+
+int main (void)
+{
+
+// Enable the on-goard GPIO
+
+ wiringPiSetup () ;
+
+ printf ("Raspberry Pi - Quick2Wire Mainboard LED Blink Test\n") ;
+
+ pinMode (LED, OUTPUT) ;
+
+ for (;;)
+ {
+ digitalWrite (LED, HIGH) ;
+ delay (500) ;
+ digitalWrite (LED, LOW) ;
+ delay (500) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/q2w/blink.sh b/modules/catkin_ws/src/wiringPi/examples/q2w/blink.sh
new file mode 100755
index 0000000000000000000000000000000000000000..2dee6c736702d4d8d59cfd9cc83b8546612e2197
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/q2w/blink.sh
@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# blink.sh:
+# Standard "blink" program in wiringPi. Blinks an LED connected
+# to the LED on the Quick2Wire board
+#
+# Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+#######################################################################
+# This file is part of wiringPi:
+# https://projects.drogon.net/raspberry-pi/wiringpi/
+#
+# wiringPi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# wiringPi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+#######################################################################
+
+# LED Pin - wiringPi pin 1 is BCM_GPIO 18.
+
+LED=1
+
+gpio mode $LED out
+
+while true; do
+ gpio write $LED 1
+ sleep 0.5
+ gpio write $LED 0
+ sleep 0.5
+done
diff --git a/modules/catkin_ws/src/wiringPi/examples/q2w/bright.c b/modules/catkin_ws/src/wiringPi/examples/q2w/bright.c
new file mode 100644
index 0000000000000000000000000000000000000000..231883416a6200d09cdf3158da7b791c6a9a6d01
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/q2w/bright.c
@@ -0,0 +1,59 @@
+/*
+ * bright.c:
+ * Vary the Q2W LED brightness with the analog card
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <wiringPi.h>
+#include <pcf8591.h>
+
+#define LED 1
+#define Q2W_ABASE 120
+
+int main (void)
+{
+ int value ;
+
+// Enable the on-goard GPIO
+
+ wiringPiSetup () ;
+
+// Add in the pcf8591 on the q2w board
+
+ pcf8591Setup (Q2W_ABASE, 0x48) ;
+
+ printf ("Raspberry Pi - Quick2Wire Analog Test\n") ;
+
+// Setup the LED
+
+ pinMode (LED, PWM_OUTPUT) ;
+ pwmWrite (LED, 0) ;
+
+ for (;;)
+ {
+ value = analogRead (Q2W_ABASE + 0) ;
+ pwmWrite (LED, value * 4) ;
+ delay (10) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/q2w/button.c b/modules/catkin_ws/src/wiringPi/examples/q2w/button.c
new file mode 100644
index 0000000000000000000000000000000000000000..1781f02fdad4e16cdc72b080289e6d5d68898d6f
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/q2w/button.c
@@ -0,0 +1,63 @@
+/*
+ * button.c:
+ * Simple button test for the Quick2Wire interface board.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <wiringPi.h>
+
+#define BUTTON 0
+#define LED1 1
+#define LED2 7
+
+int main (void)
+{
+
+// Enable the on-goard GPIO
+
+ wiringPiSetup () ;
+
+ printf ("Raspberry Pi - Quick2Wire Mainboard Button & LED Test\n") ;
+
+ pinMode (BUTTON, INPUT) ;
+ pinMode (LED1, OUTPUT) ;
+ pinMode (LED2, OUTPUT) ;
+
+ digitalWrite (LED1, HIGH) ; // On-board LED on
+ digitalWrite (LED2, LOW) ; // 2nd LED off
+
+ for (;;)
+ {
+ if (digitalRead (BUTTON) == HIGH) // Swap LED states
+ {
+ digitalWrite (LED1, LOW) ;
+ digitalWrite (LED2, HIGH) ;
+ while (digitalRead (BUTTON) == HIGH)
+ delay (1) ;
+ digitalWrite (LED1, HIGH) ;
+ digitalWrite (LED2, LOW) ;
+ }
+ delay (1) ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/q2w/volts.c b/modules/catkin_ws/src/wiringPi/examples/q2w/volts.c
new file mode 100644
index 0000000000000000000000000000000000000000..e0910933feca9859ae90781aa9150ee3a8fe0f80
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/q2w/volts.c
@@ -0,0 +1,62 @@
+/*
+ * volts.c:
+ * Read in all 4 analogs on the Q2W analog board.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <wiringPi.h>
+#include <pcf8591.h>
+
+#define LED 1
+#define Q2W_ABASE 120
+
+int main (void)
+{
+ int value, pin ;
+
+// Enable the on-goard GPIO
+
+ wiringPiSetup () ;
+
+ pinMode (LED, OUTPUT) ; // On-board LED
+
+// Add in the pcf8591 on the q2w board
+
+ pcf8591Setup (Q2W_ABASE, 0x48) ;
+
+ printf ("Raspberry Pi - Quick2Wire Voltmeter\n") ;
+
+ for (;;)
+ {
+ for (pin = 0 ; pin < 4 ; ++pin)
+ {
+ value = analogRead (Q2W_ABASE + pin) ;
+ printf (" %5.2f", (double)value * 3.3 / 255.0) ;
+ }
+ printf ("\r") ; fflush (stdout) ;
+
+ delay (100) ;
+ digitalWrite (LED, !digitalRead (LED)) ; // Flicker the LED
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/rht03.c b/modules/catkin_ws/src/wiringPi/examples/rht03.c
new file mode 100644
index 0000000000000000000000000000000000000000..566e954c4ac3fb1de8e17ad846b91335f1c865ff
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/rht03.c
@@ -0,0 +1,69 @@
+/*
+ * rht03.c:
+ * Driver for the MaxDetect series sensors
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+
+#include <wiringPi.h>
+#include <maxdetect.h>
+
+#define RHT03_PIN 0
+
+/*
+ ***********************************************************************
+ * The main program
+ ***********************************************************************
+ */
+
+int main (void)
+{
+ int temp, rh ;
+ int newTemp, newRh ;
+
+ temp = rh = newTemp = newRh = 0 ;
+
+ wiringPiSetup () ;
+ piHiPri (55) ;
+
+ for (;;)
+ {
+ delay (100) ;
+
+ if (!readRHT03 (RHT03_PIN, &newTemp, &newRh))
+ continue ;
+
+ if ((temp != newTemp) || (rh != newRh))
+ {
+ temp = newTemp ;
+ rh = newRh ;
+ if ((temp & 0x8000) != 0) // Negative
+ {
+ temp &= 0x7FFF ;
+ temp = -temp ;
+ }
+ printf ("Temp: %5.1f, RH: %5.1f%%\n", temp / 10.0, rh / 10.0) ;
+ }
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/serialRead.c b/modules/catkin_ws/src/wiringPi/examples/serialRead.c
new file mode 100644
index 0000000000000000000000000000000000000000..9ee11ac290938cb7a1a1006b64319e6b1fb5f4a7
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/serialRead.c
@@ -0,0 +1,48 @@
+/*
+ * serial.c:
+ * Example program to read bytes from the Serial line
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+
+#include <wiringSerial.h>
+
+int main ()
+{
+ int fd ;
+
+ if ((fd = serialOpen ("/dev/ttyAMA0", 115200)) < 0)
+ {
+ fprintf (stderr, "Unable to open serial device: %s\n", strerror (errno)) ;
+ return 1 ;
+ }
+
+// Loop, getting and printing characters
+
+ for (;;)
+ {
+ putchar (serialGetchar (fd)) ;
+ fflush (stdout) ;
+ }
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/serialTest.c b/modules/catkin_ws/src/wiringPi/examples/serialTest.c
new file mode 100644
index 0000000000000000000000000000000000000000..0d6da5f08c752cf09e0e23792affdfc2eafa52eb
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/serialTest.c
@@ -0,0 +1,75 @@
+/*
+ * serialTest.c:
+ * Very simple program to test the serial port. Expects
+ * the port to be looped back to itself
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+
+#include <wiringPi.h>
+#include <wiringSerial.h>
+
+int main ()
+{
+ int fd ;
+ int count ;
+ unsigned int nextTime ;
+
+ if ((fd = serialOpen ("/dev/ttyAMA0", 115200)) < 0)
+ {
+ fprintf (stderr, "Unable to open serial device: %s\n", strerror (errno)) ;
+ return 1 ;
+ }
+
+ if (wiringPiSetup () == -1)
+ {
+ fprintf (stdout, "Unable to start wiringPi: %s\n", strerror (errno)) ;
+ return 1 ;
+ }
+
+ nextTime = millis () + 300 ;
+
+ for (count = 0 ; count < 256 ; )
+ {
+ if (millis () > nextTime)
+ {
+ printf ("\nOut: %3d: ", count) ;
+ fflush (stdout) ;
+ serialPutchar (fd, count) ;
+ nextTime += 300 ;
+ ++count ;
+ }
+
+ delay (3) ;
+
+ while (serialDataAvail (fd))
+ {
+ printf (" -> %3d", serialGetchar (fd)) ;
+ fflush (stdout) ;
+ }
+ }
+
+ printf ("\n") ;
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/servo.c b/modules/catkin_ws/src/wiringPi/examples/servo.c
new file mode 100644
index 0000000000000000000000000000000000000000..aa1ab05245293a12254832bef6083af957021e8b
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/servo.c
@@ -0,0 +1,57 @@
+/*
+ * servo.c:
+ * Test of the softServo code.
+ * Do not use this code - use the servoBlaster kernel module instead
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+
+#include <wiringPi.h>
+#include <softServo.h>
+
+int main ()
+{
+ if (wiringPiSetup () == -1)
+ {
+ fprintf (stdout, "oops: %s\n", strerror (errno)) ;
+ return 1 ;
+ }
+
+ softServoSetup (0, 1, 2, 3, 4, 5, 6, 7) ;
+
+ softServoWrite (0, 0) ;
+/*
+ softServoWrite (1, 1000) ;
+ softServoWrite (2, 1100) ;
+ softServoWrite (3, 1200) ;
+ softServoWrite (4, 1300) ;
+ softServoWrite (5, 1400) ;
+ softServoWrite (6, 1500) ;
+ softServoWrite (7, 2200) ;
+*/
+
+ for (;;)
+ delay (10) ;
+
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/softPwm.c b/modules/catkin_ws/src/wiringPi/examples/softPwm.c
new file mode 100644
index 0000000000000000000000000000000000000000..11f7ad0a85537423b6947265a9f660e4060b9753
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/softPwm.c
@@ -0,0 +1,89 @@
+/*
+ * softPwm.c:
+ * Test of the software PWM driver. Needs 8 LEDs connected
+ * to the Pi - e.g. Ladder board.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+
+#include <wiringPi.h>
+#include <softPwm.h>
+
+#define RANGE 100
+#define NUM_LEDS 8
+
+int ledMap [NUM_LEDS] = { 0, 1, 2, 3, 4, 5, 6, 7 } ;
+
+int values [NUM_LEDS] = { 0, 25, 50, 75, 100, 75, 50, 25 } ;
+
+int main ()
+{
+ int i, j ;
+ char buf [80] ;
+
+ wiringPiSetup () ;
+
+ for (i = 0 ; i < NUM_LEDS ; ++i)
+ {
+ softPwmCreate (ledMap [i], 0, RANGE) ;
+ printf ("%3d, %3d, %3d\n", i, ledMap [i], values [i]) ;
+ }
+
+ fgets (buf, 80, stdin) ;
+
+// Bring all up one by one:
+
+ for (i = 0 ; i < NUM_LEDS ; ++i)
+ for (j = 0 ; j <= 100 ; ++j)
+ {
+ softPwmWrite (ledMap [i], j) ;
+ delay (10) ;
+ }
+
+ fgets (buf, 80, stdin) ;
+
+// All Down
+
+ for (i = 100 ; i > 0 ; --i)
+ {
+ for (j = 0 ; j < NUM_LEDS ; ++j)
+ softPwmWrite (ledMap [j], i) ;
+ delay (10) ;
+ }
+
+ fgets (buf, 80, stdin) ;
+
+ for (;;)
+ {
+ for (i = 0 ; i < NUM_LEDS ; ++i)
+ softPwmWrite (ledMap [i], values [i]) ;
+
+ delay (50) ;
+
+ i = values [0] ;
+ for (j = 0 ; j < NUM_LEDS - 1 ; ++j)
+ values [j] = values [j + 1] ;
+ values [NUM_LEDS - 1] = i ;
+ }
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/softTone.c b/modules/catkin_ws/src/wiringPi/examples/softTone.c
new file mode 100644
index 0000000000000000000000000000000000000000..2f46783e9ac915e451b21b687f33da8d19dd050c
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/softTone.c
@@ -0,0 +1,54 @@
+/*
+ * softTone.c:
+ * Test of the softTone module in wiringPi
+ * Plays a scale out on pin 3 - connect pizeo disc to pin 3 & 0v
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+
+#include <wiringPi.h>
+#include <softTone.h>
+
+#define PIN 3
+
+int scale [8] = { 262, 294, 330, 349, 392, 440, 494, 525 } ;
+
+int main ()
+{
+ int i ;
+
+ wiringPiSetup () ;
+
+ softToneCreate (PIN) ;
+
+ for (;;)
+ {
+ for (i = 0 ; i < 8 ; ++i)
+ {
+ printf ("%3d\n", i) ;
+ softToneWrite (PIN, scale [i]) ;
+ delay (500) ;
+ }
+ }
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/speed.c b/modules/catkin_ws/src/wiringPi/examples/speed.c
new file mode 100644
index 0000000000000000000000000000000000000000..0a42b36291473907b133c0e67967900a0938eada
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/speed.c
@@ -0,0 +1,95 @@
+/*
+ * speed.c:
+ * Simple program to measure the speed of the various GPIO
+ * access mechanisms.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <wiringPi.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+
+#define FAST_COUNT 10000000
+#define SLOW_COUNT 1000000
+#define PASSES 5
+
+void speedTest (int pin, int maxCount)
+{
+ int count, sum, perSec, i ;
+ unsigned int start, end ;
+
+ sum = 0 ;
+
+ for (i = 0 ; i < PASSES ; ++i)
+ {
+ start = millis () ;
+ for (count = 0 ; count < maxCount ; ++count)
+ digitalWrite (pin, 1) ;
+ end = millis () ;
+ printf (" %6d", end - start) ;
+ fflush (stdout) ;
+ sum += (end - start) ;
+ }
+
+ digitalWrite (pin, 0) ;
+ printf (". Av: %6dmS", sum / PASSES) ;
+ perSec = (int)(double)maxCount / (double)((double)sum / (double)PASSES) * 1000.0 ;
+ printf (": %7d/sec\n", perSec) ;
+}
+
+
+int main (void)
+{
+ printf ("Raspberry Pi wiringPi GPIO speed test program\n") ;
+ printf ("=============================================\n") ;
+
+// Start the standard way
+
+ printf ("\nNative wiringPi method: (%8d iterations)\n", FAST_COUNT) ;
+ wiringPiSetup () ;
+ pinMode (0, OUTPUT) ;
+ speedTest (0, FAST_COUNT) ;
+
+// GPIO
+
+ printf ("\nNative GPIO method: (%8d iterations)\n", FAST_COUNT) ;
+ wiringPiSetupGpio () ;
+ pinMode (17, OUTPUT) ;
+ speedTest (17, FAST_COUNT) ;
+
+// Phys
+
+ printf ("\nPhysical pin GPIO method: (%8d iterations)\n", FAST_COUNT) ;
+ wiringPiSetupPhys () ;
+ pinMode (11, OUTPUT) ;
+ speedTest (11, FAST_COUNT) ;
+
+// Switch to SYS mode:
+
+ system ("/usr/local/bin/gpio export 17 out") ;
+ printf ("\n/sys/class/gpio method: (%8d iterations)\n", SLOW_COUNT) ;
+ wiringPiSetupSys () ;
+ speedTest (17, SLOW_COUNT) ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/spiSpeed.c b/modules/catkin_ws/src/wiringPi/examples/spiSpeed.c
new file mode 100644
index 0000000000000000000000000000000000000000..0208f0a2bb9da6ea98c637b53e84c9454d94c8dc
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/spiSpeed.c
@@ -0,0 +1,118 @@
+/*
+ * spiSpeed.c:
+ * Code to measure the SPI speed/latency.
+ * Copyright (c) 2014 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <string.h>
+#include <errno.h>
+//#include <fcntl.h>
+//#include <sys/ioctl.h>
+//#include <linux/spi/spidev.h>
+
+#include <wiringPi.h>
+#include <wiringPiSPI.h>
+
+#define TRUE (1==1)
+#define FALSE (!TRUE)
+
+#define SPI_CHAN 0
+#define NUM_TIMES 100
+#define MAX_SIZE (1024*1024)
+
+static int myFd ;
+
+
+void spiSetup (int speed)
+{
+ if ((myFd = wiringPiSPISetup (SPI_CHAN, speed)) < 0)
+ {
+ fprintf (stderr, "Can't open the SPI bus: %s\n", strerror (errno)) ;
+ exit (EXIT_FAILURE) ;
+ }
+}
+
+
+int main (void)
+{
+ int speed, times, size ;
+ unsigned int start, end ;
+ int spiFail ;
+ unsigned char *myData ;
+ double timePerTransaction, perfectTimePerTransaction, dataSpeed ;
+
+ if ((myData = malloc (MAX_SIZE)) == NULL)
+ {
+ fprintf (stderr, "Unable to allocate buffer: %s\n", strerror (errno)) ;
+ exit (EXIT_FAILURE) ;
+ }
+
+ wiringPiSetup () ;
+
+ for (speed = 1 ; speed <= 32 ; speed *= 2)
+ {
+ printf ("+-------+--------+----------+----------+-----------+------------+\n") ;
+ printf ("| MHz | Size | mS/Trans | TpS | Mb/Sec | Latency mS |\n") ;
+ printf ("+-------+--------+----------+----------+-----------+------------+\n") ;
+
+ spiFail = FALSE ;
+ spiSetup (speed * 1000000) ;
+ for (size = 1 ; size <= MAX_SIZE ; size *= 2)
+ {
+ printf ("| %5d | %6d ", speed, size) ;
+
+ start = millis () ;
+ for (times = 0 ; times < NUM_TIMES ; ++times)
+ if (wiringPiSPIDataRW (SPI_CHAN, myData, size) == -1)
+ {
+ printf ("SPI failure: %s\n", strerror (errno)) ;
+ spiFail = TRUE ;
+ break ;
+ }
+ end = millis () ;
+
+ if (spiFail)
+ break ;
+
+ timePerTransaction = ((double)(end - start) / (double)NUM_TIMES) / 1000.0 ;
+ dataSpeed = (double)(size * 8) / (1024.0 * 1024.0) / timePerTransaction ;
+ perfectTimePerTransaction = ((double)(size * 8)) / ((double)(speed * 1000000)) ;
+
+ printf ("| %8.3f ", timePerTransaction * 1000.0) ;
+ printf ("| %8.1f ", 1.0 / timePerTransaction) ;
+ printf ("| %9.5f ", dataSpeed) ;
+ printf ("| %8.5f ", (timePerTransaction - perfectTimePerTransaction) * 1000.0) ;
+ printf ("|\n") ;
+
+ }
+
+ close (myFd) ;
+ printf ("+-------+--------+----------+----------+-----------+------------+\n") ;
+ printf ("\n") ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/examples/wfi.c b/modules/catkin_ws/src/wiringPi/examples/wfi.c
new file mode 100644
index 0000000000000000000000000000000000000000..6bb68927edd4503bfd5057b57addfc989f81b49a
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/examples/wfi.c
@@ -0,0 +1,161 @@
+/*
+ * wfi.c:
+ * Wait for Interrupt test program
+ *
+ * This program demonstrates the use of the waitForInterrupt()
+ * function in wiringPi. It listens to a button input on
+ * BCM_GPIO pin 17 (wiringPi pin 0)
+ *
+ * The biggest issue with this method is that it really only works
+ * well in Sys mode.
+ *
+ * Jan 2013: This way of doing things is sort of deprecated now, see
+ * the wiringPiISR() function instead and the isr.c test program here.
+ *
+ * Copyright (c) 2012-2013 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <wiringPi.h>
+
+// A 'key' which we can lock and unlock - values are 0 through 3
+// This is interpreted internally as a pthread_mutex by wiringPi
+// which is hiding some of that to make life simple.
+
+#define COUNT_KEY 0
+
+// What BCM_GPIO input are we using?
+
+#define BUTTON_PIN 17
+
+// Debounce time in mS
+
+#define DEBOUNCE_TIME 100
+
+
+// globalCounter:
+// Global variable to count interrupts
+// Should be declared volatile to make sure the compiler doesn't cache it.
+
+static volatile int globalCounter = 0 ;
+
+
+/*
+ * waitForIt:
+ * This is a thread created using the wiringPi simplified threading
+ * mechanism. It will wait on an interrupt on the button and increment
+ * a counter.
+ *********************************************************************************
+ */
+
+PI_THREAD (waitForIt)
+{
+ int state = 0 ;
+ int debounceTime = 0 ;
+
+ (void)piHiPri (10) ; // Set this thread to be high priority
+
+ for (;;)
+ {
+ if (waitForInterrupt (BUTTON_PIN, -1) > 0) // Got it
+ {
+// Bouncing?
+
+ if (millis () < debounceTime)
+ {
+ debounceTime = millis () + DEBOUNCE_TIME ;
+ continue ;
+ }
+
+// We have a valid one
+
+ state ^= 1 ;
+
+ piLock (COUNT_KEY) ;
+ ++globalCounter ;
+ piUnlock (COUNT_KEY) ;
+
+// Wait for key to be released
+
+ while (digitalRead (BUTTON_PIN) == LOW)
+ delay (1) ;
+
+ debounceTime = millis () + DEBOUNCE_TIME ;
+ }
+ }
+}
+
+
+/*
+ * setup:
+ * Demo a crude but effective way to initialise the hardware
+ *********************************************************************************
+ */
+
+void setup (void)
+{
+
+// Use the gpio program to initialise the hardware
+// (This is the crude, but effective)
+
+ system ("gpio edge 17 falling") ;
+
+// Setup wiringPi
+
+ wiringPiSetupSys () ;
+
+// Fire off our interrupt handler
+
+ piThreadCreate (waitForIt) ;
+
+}
+
+
+/*
+ * main
+ *********************************************************************************
+ */
+
+int main (void)
+{
+ int lastCounter = 0 ;
+ int myCounter = 0 ;
+
+ setup () ;
+
+ for (;;)
+ {
+ printf ("Waiting ... ") ; fflush (stdout) ;
+
+ while (myCounter == lastCounter)
+ {
+ piLock (COUNT_KEY) ;
+ myCounter = globalCounter ;
+ piUnlock (COUNT_KEY) ;
+ delay (500) ;
+ }
+
+ printf (" Done. myCounter: %5d\n", myCounter) ;
+ lastCounter = myCounter ;
+ }
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/gpio/COPYING.LESSER b/modules/catkin_ws/src/wiringPi/gpio/COPYING.LESSER
new file mode 100644
index 0000000000000000000000000000000000000000..65c5ca88a67c30becee01c5a8816d964b03862f9
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/gpio/COPYING.LESSER
@@ -0,0 +1,165 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+ This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+ 0. Additional Definitions.
+
+ As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+ "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+ An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+ A "Combined Work" is a work produced by combining or linking an
+Application with the Library. The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+ The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+ The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+ 1. Exception to Section 3 of the GNU GPL.
+
+ You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+ 2. Conveying Modified Versions.
+
+ If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+ a) under this License, provided that you make a good faith effort to
+ ensure that, in the event an Application does not supply the
+ function or data, the facility still operates, and performs
+ whatever part of its purpose remains meaningful, or
+
+ b) under the GNU GPL, with none of the additional permissions of
+ this License applicable to that copy.
+
+ 3. Object Code Incorporating Material from Library Header Files.
+
+ The object code form of an Application may incorporate material from
+a header file that is part of the Library. You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+ a) Give prominent notice with each copy of the object code that the
+ Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the object code with a copy of the GNU GPL and this license
+ document.
+
+ 4. Combined Works.
+
+ You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+ a) Give prominent notice with each copy of the Combined Work that
+ the Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the Combined Work with a copy of the GNU GPL and this license
+ document.
+
+ c) For a Combined Work that displays copyright notices during
+ execution, include the copyright notice for the Library among
+ these notices, as well as a reference directing the user to the
+ copies of the GNU GPL and this license document.
+
+ d) Do one of the following:
+
+ 0) Convey the Minimal Corresponding Source under the terms of this
+ License, and the Corresponding Application Code in a form
+ suitable for, and under terms that permit, the user to
+ recombine or relink the Application with a modified version of
+ the Linked Version to produce a modified Combined Work, in the
+ manner specified by section 6 of the GNU GPL for conveying
+ Corresponding Source.
+
+ 1) Use a suitable shared library mechanism for linking with the
+ Library. A suitable mechanism is one that (a) uses at run time
+ a copy of the Library already present on the user's computer
+ system, and (b) will operate properly with a modified version
+ of the Library that is interface-compatible with the Linked
+ Version.
+
+ e) Provide Installation Information, but only if you would otherwise
+ be required to provide such information under section 6 of the
+ GNU GPL, and only to the extent that such information is
+ necessary to install and execute a modified version of the
+ Combined Work produced by recombining or relinking the
+ Application with a modified version of the Linked Version. (If
+ you use option 4d0, the Installation Information must accompany
+ the Minimal Corresponding Source and Corresponding Application
+ Code. If you use option 4d1, you must provide the Installation
+ Information in the manner specified by section 6 of the GNU GPL
+ for conveying Corresponding Source.)
+
+ 5. Combined Libraries.
+
+ You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+ a) Accompany the combined library with a copy of the same work based
+ on the Library, uncombined with any other library facilities,
+ conveyed under the terms of this License.
+
+ b) Give prominent notice with the combined library that part of it
+ is a work based on the Library, and explaining where to find the
+ accompanying uncombined form of the same work.
+
+ 6. Revised Versions of the GNU Lesser General Public License.
+
+ The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+ If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.
diff --git a/modules/catkin_ws/src/wiringPi/gpio/Makefile b/modules/catkin_ws/src/wiringPi/gpio/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..37b4887dcba284e13cc8ececca945e0a076d709d
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/gpio/Makefile
@@ -0,0 +1,87 @@
+#
+# Makefile:
+# The gpio command:
+# A swiss-army knige of GPIO shenanigans.
+# https://projects.drogon.net/wiring-pi
+#
+# Copyright (c) 2012-2013 Gordon Henderson
+#################################################################################
+# This file is part of wiringPi:
+# Wiring Compatable library for the Raspberry Pi
+#
+# wiringPi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# wiringPi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+#################################################################################
+
+DESTDIR=/usr
+PREFIX=/local
+
+#DEBUG = -g -O0
+DEBUG = -O2
+CC = gcc
+INCLUDE = -I$(DESTDIR)$(PREFIX)/include
+CFLAGS = $(DEBUG) -Wall $(INCLUDE) -Winline -pipe
+
+LDFLAGS = -L$(DESTDIR)$(PREFIX)/lib
+LIBS = -lwiringPi -lwiringPiDev -lpthread -lm
+
+# May not need to alter anything below this line
+###############################################################################
+
+SRC = gpio.c extensions.c readall.c pins.c
+
+OBJ = $(SRC:.c=.o)
+
+all: gpio
+
+gpio: $(OBJ)
+ @echo [Link]
+ @$(CC) -o $@ $(OBJ) $(LDFLAGS) $(LIBS)
+
+.c.o:
+ @echo [Compile] $<
+ @$(CC) -c $(CFLAGS) $< -o $@
+
+.PHONY: clean
+clean:
+ @echo "[Clean]"
+ @rm -f $(OBJ) gpio *~ core tags *.bak
+
+.PHONY: tags
+tags: $(SRC)
+ @echo [ctags]
+ @ctags $(SRC)
+
+.PHONY: install
+install:
+ @echo "[Install]"
+ @cp gpio $(DESTDIR)$(PREFIX)/bin
+ @chown root.root $(DESTDIR)$(PREFIX)/bin/gpio
+ @chmod 4755 $(DESTDIR)$(PREFIX)/bin/gpio
+ @mkdir -p $(DESTDIR)$(PREFIX)/man/man1
+ @cp gpio.1 $(DESTDIR)$(PREFIX)/man/man1
+
+.PHONY: uninstall
+uninstall:
+ @echo "[UnInstall]"
+ @rm -f $(DESTDIR)$(PREFIX)/bin/gpio
+ @rm -f $(DESTDIR)$(PREFIX)/man/man1/gpio.1
+
+.PHONY: depend
+depend:
+ makedepend -Y $(SRC)
+
+# DO NOT DELETE
+
+gpio.o: extensions.h
+extensions.o: extensions.h
diff --git a/modules/catkin_ws/src/wiringPi/gpio/extensions.c b/modules/catkin_ws/src/wiringPi/gpio/extensions.c
new file mode 100644
index 0000000000000000000000000000000000000000..96d6255f7930f5e75daaf0a3d77ade5ba9cd5c04
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/gpio/extensions.c
@@ -0,0 +1,700 @@
+/*
+ * extensions.c:
+ * Part of the GPIO program to test, peek, poke and otherwise
+ * noodle with the GPIO hardware on the Raspberry Pi.
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <ctype.h>
+#include <string.h>
+#include <unistd.h>
+#include <errno.h>
+#include <sys/types.h>
+#include <fcntl.h>
+
+#include <wiringPi.h>
+
+#include <mcp23008.h>
+#include <mcp23016.h>
+#include <mcp23017.h>
+#include <mcp23s08.h>
+#include <mcp23s17.h>
+#include <sr595.h>
+#include <pcf8591.h>
+#include <pcf8574.h>
+#include <max31855.h>
+#include <max5322.h>
+#include <mcp3002.h>
+#include <mcp3004.h>
+#include <mcp4802.h>
+#include <mcp3422.h>
+#include <sn3218.h>
+#include <drcSerial.h>
+
+#include "extensions.h"
+
+extern int wiringPiDebug ;
+
+#ifndef TRUE
+# define TRUE (1==1)
+# define FALSE (1==2)
+#endif
+
+// Local structure to hold details
+
+struct extensionFunctionStruct
+{
+ const char *name ;
+ int (*function)(char *progName, int pinBase, char *params) ;
+} ;
+
+
+/*
+ * extractInt:
+ * Check & return an integer at the given location (prefixed by a :)
+ *********************************************************************************
+ */
+
+static char *extractInt (char *progName, char *p, int *num)
+{
+ if (*p != ':')
+ {
+ fprintf (stderr, "%s: colon expected\n", progName) ;
+ return NULL ;
+ }
+
+ ++p ;
+
+ if (!isdigit (*p))
+ {
+ fprintf (stderr, "%s: digit expected\n", progName) ;
+ return NULL ;
+ }
+
+ *num = strtol (p, NULL, 0) ;
+ while (isdigit (*p))
+ ++p ;
+
+ return p ;
+}
+
+
+/*
+ * extractStr:
+ * Check & return a string at the given location (prefixed by a :)
+ *********************************************************************************
+ */
+
+static char *extractStr (char *progName, char *p, char **str)
+{
+ char *q, *r ;
+
+ if (*p != ':')
+ {
+ fprintf (stderr, "%s: colon expected\n", progName) ;
+ return NULL ;
+ }
+
+ ++p ;
+
+ if (!isprint (*p))
+ {
+ fprintf (stderr, "%s: character expected\n", progName) ;
+ return NULL ;
+ }
+
+ q = p ;
+ while ((*q != 0) && (*q != ':'))
+ ++q ;
+
+ *str = r = calloc (q - p + 2, 1) ; // Zeros it
+
+ while (p != q)
+ *r++ = *p++ ;
+
+ return p ;
+}
+
+
+
+/*
+ * doExtensionMcp23008:
+ * MCP23008 - 8-bit I2C GPIO expansion chip
+ * mcp23002:base:i2cAddr
+ *********************************************************************************
+ */
+
+static int doExtensionMcp23008 (char *progName, int pinBase, char *params)
+{
+ int i2c ;
+
+ if ((params = extractInt (progName, params, &i2c)) == NULL)
+ return FALSE ;
+
+ if ((i2c < 0x03) || (i2c > 0x77))
+ {
+ fprintf (stderr, "%s: i2c address (0x%X) out of range\n", progName, i2c) ;
+ return FALSE ;
+ }
+
+ mcp23008Setup (pinBase, i2c) ;
+
+ return TRUE ;
+}
+
+
+/*
+ * doExtensionMcp23016:
+ * MCP230016- 16-bit I2C GPIO expansion chip
+ * mcp23016:base:i2cAddr
+ *********************************************************************************
+ */
+
+static int doExtensionMcp23016 (char *progName, int pinBase, char *params)
+{
+ int i2c ;
+
+ if ((params = extractInt (progName, params, &i2c)) == NULL)
+ return FALSE ;
+
+ if ((i2c < 0x03) || (i2c > 0x77))
+ {
+ fprintf (stderr, "%s: i2c address (0x%X) out of range\n", progName, i2c) ;
+ return FALSE ;
+ }
+
+ mcp23016Setup (pinBase, i2c) ;
+
+ return TRUE ;
+}
+
+
+/*
+ * doExtensionMcp23017:
+ * MCP230017- 16-bit I2C GPIO expansion chip
+ * mcp23017:base:i2cAddr
+ *********************************************************************************
+ */
+
+static int doExtensionMcp23017 (char *progName, int pinBase, char *params)
+{
+ int i2c ;
+
+ if ((params = extractInt (progName, params, &i2c)) == NULL)
+ return FALSE ;
+
+ if ((i2c < 0x03) || (i2c > 0x77))
+ {
+ fprintf (stderr, "%s: i2c address (0x%X) out of range\n", progName, i2c) ;
+ return FALSE ;
+ }
+
+ mcp23017Setup (pinBase, i2c) ;
+
+ return TRUE ;
+}
+
+
+/*
+ * doExtensionMcp23s08:
+ * MCP23s08 - 8-bit SPI GPIO expansion chip
+ * mcp23s08:base:spi:port
+ *********************************************************************************
+ */
+
+static int doExtensionMcp23s08 (char *progName, int pinBase, char *params)
+{
+ int spi, port ;
+
+ if ((params = extractInt (progName, params, &spi)) == NULL)
+ return FALSE ;
+
+ if ((spi < 0) || (spi > 1))
+ {
+ fprintf (stderr, "%s: SPI address (%d) out of range\n", progName, spi) ;
+ return FALSE ;
+ }
+
+ if ((params = extractInt (progName, params, &port)) == NULL)
+ return FALSE ;
+
+ if ((port < 0) || (port > 7))
+ {
+ fprintf (stderr, "%s: port address (%d) out of range\n", progName, port) ;
+ return FALSE ;
+ }
+
+ mcp23s08Setup (pinBase, spi, port) ;
+
+ return TRUE ;
+}
+
+
+/*
+ * doExtensionMcp23s17:
+ * MCP23s17 - 16-bit SPI GPIO expansion chip
+ * mcp23s17:base:spi:port
+ *********************************************************************************
+ */
+
+static int doExtensionMcp23s17 (char *progName, int pinBase, char *params)
+{
+ int spi, port ;
+
+ if ((params = extractInt (progName, params, &spi)) == NULL)
+ return FALSE ;
+
+ if ((spi < 0) || (spi > 1))
+ {
+ fprintf (stderr, "%s: SPI address (%d) out of range\n", progName, spi) ;
+ return FALSE ;
+ }
+
+ if ((params = extractInt (progName, params, &port)) == NULL)
+ return FALSE ;
+
+ if ((port < 0) || (port > 7))
+ {
+ fprintf (stderr, "%s: port address (%d) out of range\n", progName, port) ;
+ return FALSE ;
+ }
+
+ mcp23s17Setup (pinBase, spi, port) ;
+
+ return TRUE ;
+}
+
+
+/*
+ * doExtensionSr595:
+ * Shift Register 74x595
+ * sr595:base:pins:data:clock:latch
+ *********************************************************************************
+ */
+
+static int doExtensionSr595 (char *progName, int pinBase, char *params)
+{
+ int pins, data, clock, latch ;
+
+// Extract pins
+
+ if ((params = extractInt (progName, params, &pins)) == NULL)
+ return FALSE ;
+
+ if ((pins < 8) || (pins > 32))
+ {
+ fprintf (stderr, "%s: pin count (%d) out of range - 8-32 expected.\n", progName, pins) ;
+ return FALSE ;
+ }
+
+ if ((params = extractInt (progName, params, &data)) == NULL)
+ return FALSE ;
+
+ if ((params = extractInt (progName, params, &clock)) == NULL)
+ return FALSE ;
+
+ if ((params = extractInt (progName, params, &latch)) == NULL)
+ return FALSE ;
+
+ sr595Setup (pinBase, pins, data, clock, latch) ;
+
+ return TRUE ;
+}
+
+
+/*
+ * doExtensionPcf8574:
+ * Digital IO (Crude!)
+ * pcf8574:base:i2cAddr
+ *********************************************************************************
+ */
+
+static int doExtensionPcf8574 (char *progName, int pinBase, char *params)
+{
+ int i2c ;
+
+ if ((params = extractInt (progName, params, &i2c)) == NULL)
+ return FALSE ;
+
+ if ((i2c < 0x03) || (i2c > 0x77))
+ {
+ fprintf (stderr, "%s: i2c address (0x%X) out of range\n", progName, i2c) ;
+ return FALSE ;
+ }
+
+ pcf8574Setup (pinBase, i2c) ;
+
+ return TRUE ;
+}
+
+
+/*
+ * doExtensionPcf8591:
+ * Analog IO
+ * pcf8591:base:i2cAddr
+ *********************************************************************************
+ */
+
+static int doExtensionPcf8591 (char *progName, int pinBase, char *params)
+{
+ int i2c ;
+
+ if ((params = extractInt (progName, params, &i2c)) == NULL)
+ return FALSE ;
+
+ if ((i2c < 0x03) || (i2c > 0x77))
+ {
+ fprintf (stderr, "%s: i2c address (0x%X) out of range\n", progName, i2c) ;
+ return FALSE ;
+ }
+
+ pcf8591Setup (pinBase, i2c) ;
+
+ return TRUE ;
+}
+
+
+/*
+ * doExtensionMax31855:
+ * Analog IO
+ * max31855:base:spiChan
+ *********************************************************************************
+ */
+
+static int doExtensionMax31855 (char *progName, int pinBase, char *params)
+{
+ int spi ;
+
+ if ((params = extractInt (progName, params, &spi)) == NULL)
+ return FALSE ;
+
+ if ((spi < 0) || (spi > 1))
+ {
+ fprintf (stderr, "%s: SPI channel (%d) out of range\n", progName, spi) ;
+ return FALSE ;
+ }
+
+ max31855Setup (pinBase, spi) ;
+
+ return TRUE ;
+}
+
+
+/*
+ * doExtensionMcp3002:
+ * Analog IO
+ * mcp3002:base:spiChan
+ *********************************************************************************
+ */
+
+static int doExtensionMcp3002 (char *progName, int pinBase, char *params)
+{
+ int spi ;
+
+ if ((params = extractInt (progName, params, &spi)) == NULL)
+ return FALSE ;
+
+ if ((spi < 0) || (spi > 1))
+ {
+ fprintf (stderr, "%s: SPI channel (%d) out of range\n", progName, spi) ;
+ return FALSE ;
+ }
+
+ mcp3002Setup (pinBase, spi) ;
+
+ return TRUE ;
+}
+
+
+/*
+ * doExtensionMcp3004:
+ * Analog IO
+ * mcp3004:base:spiChan
+ *********************************************************************************
+ */
+
+static int doExtensionMcp3004 (char *progName, int pinBase, char *params)
+{
+ int spi ;
+
+ if ((params = extractInt (progName, params, &spi)) == NULL)
+ return FALSE ;
+
+ if ((spi < 0) || (spi > 1))
+ {
+ fprintf (stderr, "%s: SPI channel (%d) out of range\n", progName, spi) ;
+ return FALSE ;
+ }
+
+ mcp3004Setup (pinBase, spi) ;
+
+ return TRUE ;
+}
+
+
+/*
+ * doExtensionMax5322:
+ * Analog O
+ * max5322:base:spiChan
+ *********************************************************************************
+ */
+
+static int doExtensionMax5322 (char *progName, int pinBase, char *params)
+{
+ int spi ;
+
+ if ((params = extractInt (progName, params, &spi)) == NULL)
+ return FALSE ;
+
+ if ((spi < 0) || (spi > 1))
+ {
+ fprintf (stderr, "%s: SPI channel (%d) out of range\n", progName, spi) ;
+ return FALSE ;
+ }
+
+ max5322Setup (pinBase, spi) ;
+
+ return TRUE ;
+}
+
+
+/*
+ * doExtensionMcp4802:
+ * Analog IO
+ * mcp4802:base:spiChan
+ *********************************************************************************
+ */
+
+static int doExtensionMcp4802 (char *progName, int pinBase, char *params)
+{
+ int spi ;
+
+ if ((params = extractInt (progName, params, &spi)) == NULL)
+ return FALSE ;
+
+ if ((spi < 0) || (spi > 1))
+ {
+ fprintf (stderr, "%s: SPI channel (%d) out of range\n", progName, spi) ;
+ return FALSE ;
+ }
+
+ mcp4802Setup (pinBase, spi) ;
+
+ return TRUE ;
+}
+
+
+/*
+ * doExtensionSn3218:
+ * Analog Output (LED Driver)
+ * sn3218:base
+ *********************************************************************************
+ */
+
+static int doExtensionSn3218 (char *progName, int pinBase, char *params)
+{
+ sn3218Setup (pinBase) ;
+ return TRUE ;
+}
+
+
+/*
+ * doExtensionMcp3422:
+ * Analog IO
+ * mcp3422:base:i2cAddr
+ *********************************************************************************
+ */
+
+static int doExtensionMcp3422 (char *progName, int pinBase, char *params)
+{
+ int i2c, sampleRate, gain ;
+
+ if ((params = extractInt (progName, params, &i2c)) == NULL)
+ return FALSE ;
+
+ if ((i2c < 0x03) || (i2c > 0x77))
+ {
+ fprintf (stderr, "%s: i2c address (0x%X) out of range\n", progName, i2c) ;
+ return FALSE ;
+ }
+
+ if ((params = extractInt (progName, params, &sampleRate)) == NULL)
+ return FALSE ;
+
+ if ((sampleRate < 0) || (sampleRate > 3))
+ {
+ fprintf (stderr, "%s: sample rate (%d) out of range\n", progName, sampleRate) ;
+ return FALSE ;
+ }
+
+ if ((params = extractInt (progName, params, &gain)) == NULL)
+ return FALSE ;
+
+ if ((gain < 0) || (gain > 3))
+ {
+ fprintf (stderr, "%s: gain (%d) out of range\n", progName, gain) ;
+ return FALSE ;
+ }
+
+ mcp3422Setup (pinBase, i2c, sampleRate, gain) ;
+
+ return TRUE ;
+}
+
+/*
+ * doExtensionDrcS:
+ * Interface to a DRC Serial system
+ * drcs:base:pins:serialPort:baud
+ *********************************************************************************
+ */
+
+static int doExtensionDrcS (char *progName, int pinBase, char *params)
+{
+ char *port ;
+ int pins, baud ;
+
+ if ((params = extractInt (progName, params, &pins)) == NULL)
+ return FALSE ;
+
+ if ((pins < 1) || (pins > 100))
+ {
+ fprintf (stderr, "%s: pins (%d) out of range (2-100)\n", progName, pins) ;
+ return FALSE ;
+ }
+
+ if ((params = extractStr (progName, params, &port)) == NULL)
+ return FALSE ;
+
+ if (strlen (port) == 0)
+ {
+ fprintf (stderr, "%s: serial port device name required\n", progName) ;
+ return FALSE ;
+ }
+
+ if ((params = extractInt (progName, params, &baud)) == NULL)
+ return FALSE ;
+
+ if ((baud < 1) || (baud > 4000000))
+ {
+ fprintf (stderr, "%s: baud rate (%d) out of range\n", progName, baud) ;
+ return FALSE ;
+ }
+
+ drcSetupSerial (pinBase, pins, port, baud) ;
+
+ return TRUE ;
+}
+
+
+
+/*
+ * Function list
+ *********************************************************************************
+ */
+
+struct extensionFunctionStruct extensionFunctions [] =
+{
+ { "mcp23008", &doExtensionMcp23008 },
+ { "mcp23016", &doExtensionMcp23016 },
+ { "mcp23017", &doExtensionMcp23017 },
+ { "mcp23s08", &doExtensionMcp23s08 },
+ { "mcp23s17", &doExtensionMcp23s17 },
+ { "sr595", &doExtensionSr595 },
+ { "pcf8574", &doExtensionPcf8574 },
+ { "pcf8591", &doExtensionPcf8591 },
+ { "mcp3002", &doExtensionMcp3002 },
+ { "mcp3004", &doExtensionMcp3004 },
+ { "mcp4802", &doExtensionMcp4802 },
+ { "mcp3422", &doExtensionMcp3422 },
+ { "max31855", &doExtensionMax31855 },
+ { "max5322", &doExtensionMax5322 },
+ { "sn3218", &doExtensionSn3218 },
+ { "drcs", &doExtensionDrcS },
+ { NULL, NULL },
+} ;
+
+
+/*
+ * doExtension:
+ * Load in a wiringPi extension
+ *********************************************************************************
+ */
+
+int doExtension (char *progName, char *extensionData)
+{
+ char *p ;
+ char *extension = extensionData ;
+ struct extensionFunctionStruct *extensionFn ;
+ int pinBase = 0 ;
+
+// Get the extension extension name by finding the first colon
+
+ p = extension ;
+ while (*p != ':')
+ {
+ if (!*p) // ran out of characters
+ {
+ fprintf (stderr, "%s: extension name not terminated by a colon\n", progName) ;
+ return FALSE ;
+ }
+ ++p ;
+ }
+
+ *p++ = 0 ;
+
+ if (!isdigit (*p))
+ {
+ fprintf (stderr, "%s: pinBase number expected after extension name\n", progName) ;
+ return FALSE ;
+ }
+
+ while (isdigit (*p))
+ {
+ if (pinBase > 1000000000)
+ {
+ fprintf (stderr, "%s: pinBase too large\n", progName) ;
+ return FALSE ;
+ }
+
+ pinBase = pinBase * 10 + (*p - '0') ;
+ ++p ;
+ }
+
+ if (pinBase < 64)
+ {
+ fprintf (stderr, "%s: pinBase (%d) too small. Minimum is 64.\n", progName, pinBase) ;
+ return FALSE ;
+ }
+
+// Search for extensions:
+
+ for (extensionFn = extensionFunctions ; extensionFn->name != NULL ; ++extensionFn)
+ {
+ if (strcmp (extensionFn->name, extension) == 0)
+ return extensionFn->function (progName, pinBase, p) ;
+ }
+
+ fprintf (stderr, "%s: extension %s not found\n", progName, extension) ;
+ return FALSE ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/gpio/extensions.h b/modules/catkin_ws/src/wiringPi/gpio/extensions.h
new file mode 100644
index 0000000000000000000000000000000000000000..5d2712348ca53f4596946f2c8223b92086ffa821
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/gpio/extensions.h
@@ -0,0 +1,26 @@
+/*
+ * extensions.h:
+ * Part of the GPIO program to test, peek, poke and otherwise
+ * noodle with the GPIO hardware on the Raspberry Pi.
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+
+extern int doExtension (char *progName, char *extensionData) ;
diff --git a/modules/catkin_ws/src/wiringPi/gpio/extensions.o b/modules/catkin_ws/src/wiringPi/gpio/extensions.o
new file mode 100644
index 0000000000000000000000000000000000000000..fd7d06e442a7d111f4cffe03ddef9d0b6dbb7fdb
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/gpio/extensions.o differ
diff --git a/modules/catkin_ws/src/wiringPi/gpio/gpio b/modules/catkin_ws/src/wiringPi/gpio/gpio
new file mode 100755
index 0000000000000000000000000000000000000000..477efde624dbf2ac47b5806040a14645817dabc4
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/gpio/gpio differ
diff --git a/modules/catkin_ws/src/wiringPi/gpio/gpio.1 b/modules/catkin_ws/src/wiringPi/gpio/gpio.1
new file mode 100644
index 0000000000000000000000000000000000000000..e7131c1c033820d37f095970b8b86fea3964e351
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/gpio/gpio.1
@@ -0,0 +1,371 @@
+.TH "GPIO" "March 2013" "Command-Line access to Raspberry Pi's GPIO"
+
+.SH NAME
+gpio \- Command-line access to Raspberry Pi's GPIO
+
+.SH SYNOPSIS
+.B gpio
+.B \-v
+.PP
+.B gpio
+.B [ \-g | \-1 ]
+.B mode/read/write/aread/awrite/wb/pwm/clock ...
+.PP
+.B gpio
+.B [ \-x extension:params ]
+.B mode/read/write/aread/awrite/pwm/pwmTone ...
+.PP
+.B gpio
+.B [ \-p ]
+.B read/write/toggle/wb
+.B ...
+.PP
+.B gpio
+.B readall/reset
+.PP
+.B gpio
+.B unexportall/exports
+.PP
+.B gpio
+.B export/edge/unexport
+.B ...
+.PP
+.B gpio
+.B wfi
+.B ...
+.PP
+.B gpio
+.B drive
+group value
+.PP
+.B gpio
+.B usbp
+high | low
+.PP
+.B gpio
+.B pwm-bal/pwm-ms
+.PP
+.B gpio
+.B pwmr
+range
+.PP
+.B gpio
+.B load \ i2c/spi ...
+.PP
+.B gpio
+.B gbr
+channel
+.PP
+.B gpio
+.B gbw
+channel value
+
+.SH DESCRIPTION
+
+.B GPIO
+is a swiss army knife of a command line tool to allow the user easy
+access to the GPIO pins on the Raspberry Pi and the SPI A/D and D/A
+converters on the Gertboard. It's designed for simple testing and
+diagnostic purposes, but can be used in shell scripts for general if
+somewhat slow control of the GPIO pins.
+
+It can also control the IO's on the PiFace IO board and load the SPI and I2C
+kernel modules if required.
+
+Additionally, it can be used to set the exports in the \fI/sys/class/gpio\fR
+system directory to allow subsequent programs to use the \fR/sys/class/gpio\fR
+interface without needing to be run as root.
+
+.SH OPTIONS
+
+.TP
+.B \-v
+Output the current version including the board revision of the Raspberry Pi.
+
+.TP
+.B \-g
+Use the BCM_GPIO pins numbers rather than wiringPi pin numbers.
+\fINote:\fR The BCM_GPIO pin numbers are always used with the
+export and edge commands.
+
+.TP
+.B \-1
+Use the physical pin numbers rather than wiringPi pin numbers.
+\fINote:\fR that this applies to the P1 connector only. It is not possible to
+use pins on the Revision 2 P5 connector this way, and as with \-g the
+BCM_GPIO pin numbers are always used with the export and edge commands.
+
+.TP
+.B \-x extension
+This causes the named extension to be initialised. Extensions
+comprise of a name (e.g. mcp23017) followed by a colon, then the
+pin-base, then more optional parameters depending on the extension type.
+See the web page on http://wiringpi.com/the-gpio-utility/
+
+.TP
+.B \-p
+Use the PiFace interface board and its corresponding pin numbers. The PiFace
+will always appear at pin number 200 in the gpio command. You can assign any
+pin numbers you like in your own programs though.
+
+.TP
+.B read <pin>
+Read the digital value of the given pin and print 0 or 1 to represent the
+respective logic levels.
+
+.TP
+.B write <pin> <value>
+Write the given value (0 or 1) to the pin. You need to set the pin
+to output mode first.
+
+.TP
+.B aread <pin>
+Read the analog value of the given pin. This needs to be uses in
+conjunction with a -x flag to add in an extension that handles analog
+inputs. respective logic levels.
+
+e.g. gpio -x mcp3002:200:0 aread 200
+
+will read the first analog input on an mcp3002 SPI ADC chip.
+
+.TP
+.B awrite <pin> <value>
+Write the analog value to the given pin. This needs to be used in
+conjunction with a -x flag to add in an extension that handles analog
+inputs. respective logic levels.
+
+e.g. gpio -x mcp4802:200:0 awrite 200 128
+
+will write the value 128 to the first DAC port on an mcp4802 chip on
+the Pi's SPI bus 0.
+
+
+.TP
+.B wb <value>
+Write the given byte to the 8 main GPIO pins. You can prefix it with 0x
+to specify a hexadecimal number. You need to set pins to output mode
+first.
+
+.TP
+.B readall
+Output a table of all GPIO pins values. The values represent the actual values read
+if the pin is in input mode, or the last value written if the pin is in output
+mode.
+
+The readall command is usable with an extension module (via the -x parameter),
+but it's unable to determine pin modes or states, so will perform both a
+digital and analog read on each pin in-turn.
+
+.TP
+.B reset
+Resets the GPIO - As much as it's possible to do. All pins are set to
+input mode and all the internal pull-up/down resistors are disconnected
+(tristate mode).
+
+The reset command is usable with an extension module (via the -x parameter),
+but it's limited to turning the pin into input mode (if applicable) and
+removing any pull up/down resistor.
+
+.TP
+.B pwm <pin> <value>
+Write a PWM value (0-1023) to the given pin. The pin needs to be put
+into PWM mode first.
+
+.TP
+.B clock <pin> <frequency>
+Set the output frequency on the given pin. The pin needs to be put into
+clock mode first.
+
+.TP
+.B mode <pin> <mode>
+Set a pin into \fIinput\fR, \fIoutput\fR or \fIpwm\fR mode. Can also
+use the literals \fIup\fR, \fIdown\fR or \fItri\fR to set the internal
+pull-up, pull-down or tristate (off) controls.
+
+.TP
+.B unexportall
+Un-Export all the GPIO pins in the /sys/class/gpio directory.
+
+.TP
+.B exports
+Print a list (if any) of all the exported GPIO pins and their current values.
+
+.TP
+.B export
+Export a GPIO pin in the \fI/sys/class/gpio\fR directory. Use like the
+mode command above however only \fIin\fR and \fIout\fR are supported at
+this time. Note that the pin number is the \fBBCM_GPIO\fR number and
+not the wiringPi number.
+
+Once a GPIO pin has been exported, the \fBgpio\fR program changes the
+ownership of the \fI/sys/class/gpio/gpioX/value\fR and if present in
+later kernels, the \fI/sys/class/gpio/gpioX/edge\fR pseudo files to
+that of the user running the \fBgpio\fR program. This means that you
+can have a small script of gpio exports to setup the gpio pins as your
+program requires without the need to run anything as root, or with the
+sudo command.
+
+.TP
+.B edge
+This exports a GPIO pin in the \fI/sys/class/gpio\fR directory, set
+the direction to input and set the edge interrupt method to \fInone\fR,
+\fIrising\fR, \fIfalling\fR or \fIboth\fR. Use like the export command
+above and note that \fBBCM_GPIO\fR pin number is used not not wiringPi pin
+numbering.
+
+Like the export commands above, ownership is set to that of the
+calling user, allowing subsequent access from user programs without
+requiring root/sudo.
+
+.TP
+.B unexport
+Un-Export a GPIO pin in the /sys/class/gpio directory.
+
+.TP
+.B wfi <pin> <mode>
+This set the given pin to the supplied interrupt mode: rising, falling
+or both then waits for the interrupt to happen. It's a non-busy wait,
+so does not consume and CPU while it's waiting.
+
+.TP
+.B drive
+group value
+
+Change the pad driver value for the given pad group to the supplied drive
+value. Group is 0, 1 or 2 and value is 0-7. Do not use unless you are
+absolutely sure you know what you're doing.
+
+.TP
+.B usbp
+high | low
+
+Change the USB current limiter to high (1.2 amps) or low (the default, 600mA)
+This is only applicable to the model B+
+
+.TP
+.B pwm-bal/pwm-ms
+Change the PWM mode to balanced (the default) or mark:space ratio (traditional)
+
+.TP
+.B pwmr
+Change the PWM range register. The default is 1024.
+
+.TP
+.B load i2c [baudrate]
+This loads the i2c or drivers into the kernel and changes the permissions
+on the associated /dev/ entries so that the current user has access to
+them. Optionally it will set the I2C baudrate to that supplied in Kb/sec
+(or as close as the Pi can manage) The default speed is 100Kb/sec.
+
+.TP
+.B load spi [buffer size in KB]
+This loads the spi drivers into the kernel and changes the permissions
+on the associated /dev/ entries so that the current user has access to
+them. Optionally it will set the SPI buffer size to that supplied. The
+default is 4KB.
+
+.TP
+.B gbr
+channel
+
+This reads the analog to digital converter on the Gertboard on the given
+channel. The board jumpers need to be in-place to do this operation.
+
+.TP
+.B gbw
+channel value
+
+This writes the supplied value to the output channel on the Gertboards
+SPI digital to analogue converter.
+The board jumpers need to be in-place to do this operation.
+
+
+.SH "WiringPi vs. BCM_GPIO Pin numbering"
+
+.PP
+.TS
+c c c c l.
+WiringPi GPIO-r1 GPIO-r2 P1-Phys Function
+_
+ 0 17 17 11
+ 1 18 18 12 (PWM)
+ 2 21 27 13
+ 3 22 22 15
+ 4 23 23 16
+ 5 24 24 18
+ 6 25 25 22
+ 7 4 4 7
+ 8 0 2 3 I2C: SDA0
+ 9 1 3 5 I2C: SCL0
+10 8 8 24 SPI: CE0
+11 7 7 26 SPI: CE1
+12 10 10 19 SPI: MOSI
+13 9 9 21 SPI: MISO
+14 11 11 23 SPI: SCLK
+15 14 14 8 TxD
+16 15 16 10 RxD
+17 - 28
+18 - 29
+19 - 30
+20 - 31
+.TE
+
+Note that "r1" and "r2" above refers to the board revision. Normally
+wiringPi detects the correct board revision with use for it's own
+numbering scheme, but if you are using a Revision 2 board with some
+of the pins which change numbers between revisions you will need
+to alter your software.
+
+.SH FILES
+
+.TP 2.2i
+.I gpio
+executable
+
+.SH EXAMPLES
+.TP 2.2i
+gpio mode 4 output # Set pin 4 to output
+.PP
+gpio -g mode 23 output # Set GPIO pin 23 to output (same as WiringPi pin 4)
+.PP
+gpio mode 1 pwm # Set pin 1 to PWM mode
+.PP
+gpio pwm 1 512 # Set pin 1 to PWM value 512 - half brightness
+.PP
+gpio export 17 out # Set GPIO Pin 17 to output
+.PP
+gpio export 0 in # Set GPIO Pin 0 (SDA0) to input.
+.PP
+gpio -g read 0 # Read GPIO Pin 0 (SDA0)
+
+.SH "NOTES"
+
+When using the \fIexport\fR, \fIedge\fR or \fIunexport\fR commands, the
+pin numbers are \fBalways\fR native BCM_GPIO numbers and never wiringPi
+pin numbers.
+
+.SH "SEE ALSO"
+
+.LP
+WiringPi's home page
+.IP
+http://wiringpi.com/
+
+.SH AUTHOR
+
+Gordon Henderson
+
+.SH "REPORTING BUGS"
+
+Please report bugs to <projects@drogon.net>
+
+.SH COPYRIGHT
+
+Copyright (c) 2012-2013 Gordon Henderson
+This is free software; see the source for copying conditions. There is NO
+warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+
+.SH TRADEMARKS AND ACKNOWLEDGEMENTS
+
+Raspberry Pi is a trademark of the Raspberry Pi Foundation. See
+http://raspberrypi.org/ for full details.
diff --git a/modules/catkin_ws/src/wiringPi/gpio/gpio.c b/modules/catkin_ws/src/wiringPi/gpio/gpio.c
new file mode 100755
index 0000000000000000000000000000000000000000..8567e77cb4c9c83e79dde05738e865d2c4418cac
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/gpio/gpio.c
@@ -0,0 +1,1477 @@
+/*
+ * gpio.c:
+ * Swiss-Army-Knife, Set-UID command-line interface to the Raspberry
+ * Pi's GPIO.
+ * Copyright (c) 2012-2014 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <ctype.h>
+#include <string.h>
+#include <unistd.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+
+#include <wiringPi.h>
+
+#include <gertboard.h>
+#include <piFace.h>
+
+#include "extensions.h"
+
+extern int wiringPiDebug ;
+
+// External functions I can't be bothered creating a separate .h file for:
+
+extern void doReadall (void) ;
+extern void doPins (void) ;
+
+#ifndef TRUE
+# define TRUE (1==1)
+# define FALSE (1==2)
+#endif
+
+/*
+ 2.31 : ODROID-C1/ODROID-C2 wiringPi support
+ 2.33 : ODROID-C1/ODROID-C2 GPIO sysfs irq support
+*/
+#define VERSION "2.33"
+#define PI_USB_POWER_CONTROL 38
+#define I2CDETECT "/usr/sbin/i2cdetect"
+
+int wpMode ;
+int piModel = PI_MODEL_UNKNOWN;
+
+char *usage = "Usage: gpio -v\n"
+ " gpio -h\n"
+ " gpio [-g|-1] [-x extension:params] ...\n"
+ " gpio [-p] <read/write/wb> ...\n"
+ " gpio <read/write/aread/awritewb/pwm/clock/mode> ...\n"
+ " gpio readall/reset\n"
+ " gpio unexportall/exports\n"
+ " gpio export/edge/unexport ...\n"
+ " gpio wfi <pin> <mode>\n"
+ " gpio drive <group> <value>\n"
+ " gpio pwm-bal/pwm-ms \n"
+ " gpio pwmr <range> \n"
+ " gpio pwmc <divider> \n"
+ " gpio load spi/i2c\n"
+ " gpio i2cd/i2cdetect\n"
+ " gpio usbp high/low\n"
+ " gpio gbr <channel>\n"
+ " gpio gbw <channel> <value>" ; // No trailing newline needed here.
+
+
+#ifdef NOT_FOR_NOW
+/*
+ * decodePin:
+ * Decode a pin "number" which can actually be a pin name to represent
+ * one of the Pi's on-board pins.
+ *********************************************************************************
+ */
+
+static int decodePin (const char *str)
+{
+
+// The first case - see if it's a number:
+
+ if (isdigit (str [0]))
+ return atoi (str) ;
+
+ return 0 ;
+}
+#endif
+
+
+/*
+ * changeOwner:
+ * Change the ownership of the file to the real userId of the calling
+ * program so we can access it.
+ *********************************************************************************
+ */
+
+static void changeOwner (char *cmd, char *file)
+{
+ uid_t uid = getuid () ;
+ uid_t gid = getgid () ;
+
+ if (chown (file, uid, gid) != 0)
+ {
+ if (errno == ENOENT) // Warn that it's not there
+ fprintf (stderr, "%s: Warning: File not present: %s\n", cmd, file) ;
+ else
+ {
+ fprintf (stderr, "%s: Unable to change ownership of %s: %s\n", cmd, file, strerror (errno)) ;
+ exit (1) ;
+ }
+ }
+}
+
+
+/*
+ * moduleLoaded:
+ * Return true/false if the supplied module is loaded
+ *********************************************************************************
+ */
+
+static int moduleLoaded (char *modName)
+{
+ int len = strlen (modName) ;
+ int found = FALSE ;
+ FILE *fd = fopen ("/proc/modules", "r") ;
+ char line [80] ;
+
+ if (fd == NULL)
+ {
+ fprintf (stderr, "gpio: Unable to check modules: %s\n", strerror (errno)) ;
+ exit (1) ;
+ }
+
+ while (fgets (line, 80, fd) != NULL)
+ {
+ if (strncmp (line, modName, len) != 0)
+ continue ;
+
+ found = TRUE ;
+ break ;
+ }
+
+ fclose (fd) ;
+
+ return found ;
+}
+
+
+/*
+ * doLoad:
+ * Load either the spi or i2c modules and change device ownerships, etc.
+ *********************************************************************************
+ */
+
+static void _doLoadUsage (char *argv [])
+{
+ fprintf (stderr, "Usage: %s load <spi/i2c> [SPI bufferSize in KB | I2C baudrate in Kb/sec]\n", argv [0]) ;
+ exit (1) ;
+}
+
+static void doLoad (int argc, char *argv [])
+{
+ char *module1, *module2 ;
+ char cmd [80] ;
+ char *file1, *file2 ;
+ char args1 [32], args2 [32] ;
+
+ if (argc < 3)
+ _doLoadUsage (argv) ;
+
+ args1 [0] = args2 [0] = 0 ;
+
+ /**/ if (strcasecmp (argv [2], "spi") == 0)
+ {
+ module1 = "spidev" ;
+ module2 = "spi_bcm2708" ;
+ file1 = "/dev/spidev0.0" ;
+ file2 = "/dev/spidev0.1" ;
+ if (argc == 4)
+ sprintf (args1, " bufsiz=%d", atoi (argv [3]) * 1024) ;
+ else if (argc > 4)
+ _doLoadUsage (argv) ;
+ }
+ else if (strcasecmp (argv [2], "i2c") == 0)
+ {
+ module1 = "i2c_dev" ;
+ module2 = "i2c_bcm2708" ;
+ file1 = "/dev/i2c-0" ;
+ file2 = "/dev/i2c-1" ;
+ if (argc == 4)
+ sprintf (args2, " baudrate=%d", atoi (argv [3]) * 1000) ;
+ else if (argc > 4)
+ _doLoadUsage (argv) ;
+ }
+ else
+ _doLoadUsage (argv) ;
+
+ if (piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34) {
+ if (strcasecmp (argv [2], "i2c") == 0) {
+ if (piModel == PI_MODEL_ODROIDC || piModel == PI_MODEL_ODROIDC2) {
+ module1 = "aml-i2c";
+ file1 = "/dev/i2c-1";
+ file2 = "/dev/i2c-2";
+
+ if (!moduleLoaded(module1)) {
+ sprintf (cmd, "PATH=/bin:/usr/bin:/sbin:/usr/local/bin modprobe %s", module1) ;
+ system (cmd) ;
+ }
+ }
+ else {
+ file1 = "/dev/i2c-4"; /* i2c smbus : 0x12c70000 */
+ file2 = "/dev/i2c-1"; /* hsi2c : 0x12cb0000 */
+ }
+
+ sleep (1) ; // To let things get settled
+ changeOwner (argv [0], file1) ;
+ changeOwner (argv [0], file2) ;
+ }
+ else {
+ if (piModel == PI_MODEL_ODROIDC2) {
+ fprintf (stderr, "ODROID-C2 : H/W SPI not support!\n") ;
+ return;
+ }
+ if (piModel == PI_MODEL_ODROIDC) {
+ file1 = "/dev/spidev0.0";
+ module1 = "spidev";
+ module2 = "spicc";
+ if (!moduleLoaded(module1)) {
+ sprintf (cmd, "PATH=/bin:/usr/bin:/sbin:/usr/local/bin modprobe %s%s", module1, args1) ;
+ system (cmd) ;
+ }
+ if (!moduleLoaded(module2)) {
+ sprintf (cmd, "PATH=/bin:/usr/bin:/sbin:/usr/local/bin modprobe %s", module2) ;
+ system (cmd) ;
+ }
+ if (!moduleLoaded (module2))
+ {
+ fprintf (stderr, "%s: Unable to load %s\n", argv [0], module2) ;
+ exit (1) ;
+ }
+
+ sleep (1) ; // To let things get settled
+ changeOwner (argv [0], file1) ;
+ }
+ else {
+ module1 = "spidev";
+ file1 = "/dev/spidev1.0";
+
+ if (!moduleLoaded (module1))
+ {
+ fprintf (stderr, "%s: Unable to load %s\n", argv [0], module1) ;
+ fprintf (stderr, "\nYou need modified dtb file for spidev.\n");
+ fprintf (stderr, "\nstep 1)\n");
+ fprintf (stderr, " - install device-tree-compiler.\n");
+ fprintf (stderr, " sudo apt-get install device-tree-compiler\n");
+ fprintf (stderr, "\nstep 2)\n");
+ fprintf (stderr, " - modified dtb file.\n");
+ fprintf (stderr, " sudo -s\n");
+ fprintf (stderr, " fdtput -c /media/boot/exynos5422-odroidxu3.dtb /spi@12d30000/spidev\n");
+ fprintf (stderr, " fdtput -t s /media/boot/exynos5422-odroidxu3.dtb /spi@12d30000/spidev compatible \"spidev\"\n");
+ fprintf (stderr, " fdtput -t x /media/boot/exynos5422-odroidxu3.dtb /spi@12d30000/spidev reg 0\n");
+ fprintf (stderr, " fdtput -t i /media/boot/exynos5422-odroidxu3.dtb /spi@12d30000/spidev spi-max-frequency 20000000\n");
+ fprintf (stderr, " fdtput -c /media/boot/exynos5422-odroidxu3.dtb /spi@12d30000/spidev/controller-data\n");
+ fprintf (stderr, " fdtput -t x /media/boot/exynos5422-odroidxu3.dtb /spi@12d30000/spidev/controller-data cs-gpio 0x44, 0x5, 0x0\n");
+ fprintf (stderr, " fdtput -t x /media/boot/exynos5422-odroidxu3.dtb /spi@12d30000/spidev/controller-data samsung,spi-feedback-delay 0\n");
+ fprintf (stderr, "\nstep 3)\n");
+ fprintf (stderr, " - reboot system.\n");
+ fprintf (stderr, " sudo reboot\n");
+ fprintf (stderr, "\nstep 4)\n");
+ fprintf (stderr, " - check your SPI node.\n");
+ fprintf (stderr, " ls /dev/spidev1.0\n");
+ // fdtput
+ exit (1) ;
+ }
+
+ sleep (1) ; // To let things get settled
+ changeOwner (argv [0], file1) ;
+ }
+ }
+ }
+ else {
+ if (!moduleLoaded (module1))
+ {
+ sprintf (cmd, "PATH=/bin:/usr/bin:/sbin:/usr/local/bin modprobe %s%s", module1, args1) ;
+ system (cmd) ;
+ }
+
+ if (!moduleLoaded (module2))
+ {
+ sprintf (cmd, "PATH=/bin:/usr/bin:/sbin:/usr/local/bin modprobe %s%s", module2, args2) ;
+ system (cmd) ;
+ }
+
+ if (!moduleLoaded (module2))
+ {
+ fprintf (stderr, "%s: Unable to load %s\n", argv [0], module2) ;
+ exit (1) ;
+ }
+ sleep (1) ; // To let things get settled
+
+ changeOwner (argv [0], file1) ;
+ changeOwner (argv [0], file2) ;
+ }
+}
+
+
+/*
+ * doI2Cdetect:
+ * Run the i2cdetect command with the right runes for this Pi revision
+ *********************************************************************************
+ */
+
+static void doI2Cdetect (int argc, char *argv [])
+{
+ int port = piBoardRev () == 1 ? 0 : 1 ;
+ char command [128] ;
+ struct stat statBuf ;
+
+ if (stat (I2CDETECT, &statBuf) < 0)
+ {
+ fprintf (stderr, "%s: Unable to find i2cdetect command: %s\n", argv [0], strerror (errno)) ;
+ return ;
+ }
+
+ if (!moduleLoaded ("i2c_dev"))
+ {
+ fprintf (stderr, "%s: The I2C kernel module(s) are not loaded.\n", argv [0]) ;
+ return ;
+ }
+
+ sprintf (command, "%s -y %d", I2CDETECT, port) ;
+ if (system (command) < 0)
+ fprintf (stderr, "%s: Unable to run i2cdetect: %s\n", argv [0], strerror (errno)) ;
+
+}
+
+
+/*
+ * doExports:
+ * List all GPIO exports
+ *********************************************************************************
+ */
+
+static void doExports (int argc, char *argv [])
+{
+ int fd ;
+ int i, l, first ;
+ char fName [128] ;
+ char buf [16] ;
+
+ // ODROIDC GPIO Max 128, ODROIDXU_34 GPIO Max 256
+ for (first = 0, i = 0 ; i < 256 ; ++i) // Crude, but effective
+ {
+
+// Try to read the direction
+
+ sprintf (fName, "/sys/class/gpio/gpio%d/direction", i) ;
+ if ((fd = open (fName, O_RDONLY)) == -1)
+ continue ;
+
+ if (first == 0)
+ {
+ ++first ;
+ printf ("GPIO Pins exported:\n") ;
+ }
+
+ printf ("%4d: ", i) ;
+
+ if ((l = read (fd, buf, 16)) == 0)
+ sprintf (buf, "%s", "?") ;
+
+ buf [l] = 0 ;
+ if ((buf [strlen (buf) - 1]) == '\n')
+ buf [strlen (buf) - 1] = 0 ;
+
+ printf ("%-3s", buf) ;
+
+ close (fd) ;
+
+// Try to Read the value
+
+ sprintf (fName, "/sys/class/gpio/gpio%d/value", i) ;
+ if ((fd = open (fName, O_RDONLY)) == -1)
+ {
+ printf ("No Value file (huh?)\n") ;
+ continue ;
+ }
+
+ if ((l = read (fd, buf, 16)) == 0)
+ sprintf (buf, "%s", "?") ;
+
+ buf [l] = 0 ;
+ if ((buf [strlen (buf) - 1]) == '\n')
+ buf [strlen (buf) - 1] = 0 ;
+
+ printf (" %s", buf) ;
+
+// Read any edge trigger file
+
+ sprintf (fName, "/sys/class/gpio/gpio%d/edge", i) ;
+ if ((fd = open (fName, O_RDONLY)) == -1)
+ {
+ printf ("\n") ;
+ continue ;
+ }
+
+ if ((l = read (fd, buf, 16)) == 0)
+ sprintf (buf, "%s", "?") ;
+
+ buf [l] = 0 ;
+ if ((buf [strlen (buf) - 1]) == '\n')
+ buf [strlen (buf) - 1] = 0 ;
+
+ printf (" %-8s\n", buf) ;
+
+ close (fd) ;
+ }
+}
+
+
+/*
+ * doExport:
+ * gpio export pin mode
+ * This uses the /sys/class/gpio device interface.
+ *********************************************************************************
+ */
+
+void doExport (int argc, char *argv [])
+{
+ FILE *fd ;
+ int pin ;
+ char *mode ;
+ char fName [128] ;
+
+ if (argc != 4)
+ {
+ fprintf (stderr, "Usage: %s export pin mode\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ pin = atoi (argv [2]) ;
+
+ mode = argv [3] ;
+
+ sprintf (fName, "/sys/class/%s/export", "gpio");
+
+ if ((fd = fopen (fName, "w")) == NULL)
+ {
+ fprintf (stderr, "%s: Unable to open GPIO export interface: %s\n", argv [0], strerror (errno)) ;
+ exit (1) ;
+ }
+
+ fprintf (fd, "%d\n", pin) ;
+ fclose (fd) ;
+
+ sprintf (fName, "/sys/class/gpio/gpio%d/direction", pin) ;
+
+ if ((fd = fopen (fName, "w")) == NULL)
+ {
+ fprintf (stderr, "%s: Unable to open GPIO direction interface for pin %d: %s\n", argv [0], pin, strerror (errno)) ;
+ exit (1) ;
+ }
+
+ /**/ if ((strcasecmp (mode, "in") == 0) || (strcasecmp (mode, "input") == 0))
+ fprintf (fd, "in\n") ;
+ else if ((strcasecmp (mode, "out") == 0) || (strcasecmp (mode, "output") == 0))
+ fprintf (fd, "out\n") ;
+ else
+ {
+ fprintf (stderr, "%s: Invalid mode: %s. Should be in or out\n", argv [1], mode) ;
+ exit (1) ;
+ }
+
+ fclose (fd) ;
+
+// Change ownership so the current user can actually use it!
+
+ sprintf (fName, "/sys/class/gpio/gpio%d/value", pin) ;
+
+ changeOwner (argv [0], fName) ;
+
+ sprintf (fName, "/sys/class/gpio/gpio%d/edge", pin) ;
+
+ changeOwner (argv [0], fName) ;
+
+}
+
+
+/*
+ * doWfi:
+ * gpio wfi pin mode
+ * Wait for Interrupt on a given pin.
+ * Slight cheat here - it's easier to actually use ISR now (which calls
+ * gpio to set the pin modes!) then we simply sleep, and expect the thread
+ * to exit the program. Crude but effective.
+ *********************************************************************************
+ */
+
+static void wfi (void)
+ { exit (0) ; }
+
+void doWfi (int argc, char *argv [])
+{
+ int pin, mode ;
+
+ if (argc != 4)
+ {
+ fprintf (stderr, "Usage: %s wfi pin mode\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ pin = atoi (argv [2]) ;
+
+ /**/ if (strcasecmp (argv [3], "rising") == 0) mode = INT_EDGE_RISING ;
+ else if (strcasecmp (argv [3], "falling") == 0) mode = INT_EDGE_FALLING ;
+ else if (strcasecmp (argv [3], "both") == 0) mode = INT_EDGE_BOTH ;
+ else
+ {
+ fprintf (stderr, "%s: wfi: Invalid mode: %s. Should be rising, falling or both\n", argv [1], argv [3]) ;
+ exit (1) ;
+ }
+
+ if (wiringPiISR (pin, mode, &wfi) < 0)
+ {
+ fprintf (stderr, "%s: wfi: Unable to setup ISR: %s\n", argv [1], strerror (errno)) ;
+ exit (1) ;
+ }
+
+ for (;;)
+ delay (9999) ;
+}
+
+
+
+/*
+ * doEdge:
+ * gpio edge pin mode
+ * Easy access to changing the edge trigger on a GPIO pin
+ * This uses the /sys/class/gpio device interface.
+ *********************************************************************************
+ */
+
+void doEdge (int argc, char *argv [])
+{
+ FILE *fd ;
+ int pin ;
+ char *mode ;
+ char fName [128] ;
+
+ // Reset irq gpio
+ doUnexport(3, argv); // unexport argc == 3
+
+ if (argc != 4)
+ {
+ fprintf (stderr, "Usage: %s edge pin mode\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ pin = atoi (argv [2]) ;
+ mode = argv [3] ;
+
+// Export the pin and set direction to input
+
+ sprintf (fName, "/sys/class/%s/export", "gpio");
+
+ if ((fd = fopen (fName, "w")) == NULL)
+ {
+ fprintf (stderr, "%s: Unable to open GPIO export interface: %s\n", argv [0], strerror (errno)) ;
+ exit (1) ;
+ }
+ fprintf (fd, "%d\n", pin) ;
+ fclose (fd) ;
+
+ sprintf (fName, "/sys/class/gpio/gpio%d/direction", pin);
+
+ if ((fd = fopen (fName, "w")) == NULL)
+ {
+ fprintf (stderr, "%s: Unable to open GPIO direction interface for pin %d: %s\n", argv [0], pin, strerror (errno)) ;
+ exit (1) ;
+ }
+
+ fprintf (fd, "in\n") ;
+ fclose (fd) ;
+
+ sprintf (fName, "/sys/class/gpio/gpio%d/edge", pin);
+
+ if ((fd = fopen (fName, "w")) == NULL)
+ {
+ fprintf (stderr, "%s: Unable to open GPIO edge interface for pin %d: %s\n", argv [0], pin, strerror (errno)) ;
+ exit (1) ;
+ }
+
+ /**/ if (strcasecmp (mode, "none") == 0) fprintf (fd, "none\n") ;
+ else if (strcasecmp (mode, "rising") == 0) fprintf (fd, "rising\n") ;
+ else if (strcasecmp (mode, "falling") == 0) fprintf (fd, "falling\n") ;
+ else if (strcasecmp (mode, "both") == 0) fprintf (fd, "both\n") ;
+ else
+ {
+ fprintf (stderr, "%s: Invalid mode: %s. Should be none, rising, falling or both\n", argv [1], mode) ;
+ exit (1) ;
+ }
+
+// Change ownership of the value and edge files, so the current user can actually use it!
+
+ sprintf (fName, "/sys/class/gpio/gpio%d/value", pin);
+
+ changeOwner (argv [0], fName) ;
+
+ sprintf (fName, "/sys/class/gpio/gpio%d/edge", pin);
+
+ changeOwner (argv [0], fName) ;
+
+ fclose (fd) ;
+}
+
+
+/*
+ * doUnexport:
+ * gpio unexport pin
+ * This uses the /sys/class/gpio device interface.
+ *********************************************************************************
+ */
+
+void doUnexport (int argc, char *argv [])
+{
+ FILE *fd ;
+ int pin ;
+ char fName [128] ;
+
+ if (argc != 3)
+ {
+ fprintf (stderr, "Usage: %s unexport pin\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ pin = atoi (argv [2]) ;
+
+ sprintf (fName, "/sys/class/%s/unexport", "gpio") ;
+
+ if ((fd = fopen (fName, "w")) == NULL)
+ {
+ fprintf (stderr, "%s: Unable to open GPIO export interface\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ fprintf (fd, "%d\n", pin) ;
+ fclose (fd) ;
+}
+
+
+/*
+ * doUnexportAll:
+ * gpio unexportall
+ * Un-Export all the GPIO pins.
+ * This uses the /sys/class/gpio device interface.
+ *********************************************************************************
+ */
+
+void doUnexportall (char *progName)
+{
+ FILE *fd ;
+ int pin ;
+
+ // ODROIDC GPIO Max 128, ODROIDXU_34 GPIO Max 256
+ for (pin = 0 ; pin < 256 ; ++pin)
+ {
+ if ((fd = fopen ("/sys/class/gpio/unexport", "w")) == NULL)
+ {
+ fprintf (stderr, "%s: Unable to open GPIO export interface\n", progName) ;
+ exit (1) ;
+ }
+ fprintf (fd, "%d\n", pin) ;
+ fclose (fd) ;
+ }
+}
+
+
+/*
+ * doResetExternal:
+ * Load readallExternal, we try to do this with an external device.
+ *********************************************************************************
+ */
+
+static void doResetExternal (void)
+{
+ int pin ;
+
+ for (pin = wiringPiNodes->pinBase ; pin <= wiringPiNodes->pinMax ; ++pin)
+ {
+ pinMode (pin, INPUT) ;
+ pullUpDnControl (pin, PUD_OFF) ;
+ }
+}
+
+
+/*
+ * doReset:
+ * Reset the GPIO pins - as much as we can do
+ *********************************************************************************
+ */
+
+static void doReset (char *progName)
+{
+ int model, rev, mem, maker, overVolted ;
+ int pin, endPin ;
+
+ printf ("GPIO Reset is dangerous!\n") ;
+ printf (" - Do Not rely on this to do anything sensible!\n") ;
+
+ if (wiringPiNodes != NULL) // External
+ {
+ doResetExternal () ;
+ return ;
+ }
+
+ piBoardId (&model, &rev, &mem, &maker, &overVolted) ;
+
+ /**/ if ((model == PI_MODEL_A) || (model == PI_MODEL_B))
+ endPin = 16 ;
+ else if ((model == PI_MODEL_BP) ||
+ (model == PI_MODEL_ODROIDC) ||
+ (model == PI_MODEL_ODROIDC2) ||
+ (model == PI_MODEL_ODROIDXU_34))
+ endPin = 39 ;
+ else if (model == PI_MODEL_CM)
+ {
+ printf (" - Don't know how to reset a comput module:\n") ;
+ printf (" Write a shell-script to reset the pins to the state you need.\n") ;
+ return ;
+ }
+ else
+ {
+ printf ("Oops - unable to determine board type... model: %d\n", model) ;
+ return ;
+ }
+
+ for (pin = 0 ; pin <= endPin ; ++pin)
+ {
+ if (wpiPinToGpio (pin) == -1)
+ continue ;
+
+ digitalWrite (pin, LOW) ;
+ pinMode (pin, INPUT) ;
+ pullUpDnControl (pin, PUD_OFF) ;
+ }
+}
+
+
+/*
+ * doMode:
+ * gpio mode pin mode ...
+ *********************************************************************************
+ */
+
+void doMode (int argc, char *argv [])
+{
+ int pin ;
+ char *mode ;
+
+ if (argc != 4)
+ {
+ fprintf (stderr, "Usage: %s mode pin mode\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ pin = atoi (argv [2]) ;
+
+ mode = argv [3] ;
+
+ /**/ if (strcasecmp (mode, "in") == 0) pinMode (pin, INPUT) ;
+ else if (strcasecmp (mode, "input") == 0) pinMode (pin, INPUT) ;
+ else if (strcasecmp (mode, "out") == 0) pinMode (pin, OUTPUT) ;
+ else if (strcasecmp (mode, "output") == 0) pinMode (pin, OUTPUT) ;
+ else if (strcasecmp (mode, "pwm") == 0) pinMode (pin, PWM_OUTPUT) ;
+ else if (strcasecmp (mode, "pwmTone") == 0) pinMode (pin, PWM_TONE_OUTPUT) ;
+ else if (strcasecmp (mode, "clock") == 0) pinMode (pin, GPIO_CLOCK) ;
+ else if (strcasecmp (mode, "up") == 0) pullUpDnControl (pin, PUD_UP) ;
+ else if (strcasecmp (mode, "down") == 0) pullUpDnControl (pin, PUD_DOWN) ;
+ else if (strcasecmp (mode, "tri") == 0) pullUpDnControl (pin, PUD_OFF) ;
+ else if (strcasecmp (mode, "off") == 0) pullUpDnControl (pin, PUD_OFF) ;
+
+// Undocumented
+
+ else if (strcasecmp (mode, "alt0") == 0) pinModeAlt (pin, 0b100) ;
+ else if (strcasecmp (mode, "alt1") == 0) pinModeAlt (pin, 0b101) ;
+ else if (strcasecmp (mode, "alt2") == 0) pinModeAlt (pin, 0b110) ;
+ else if (strcasecmp (mode, "alt3") == 0) pinModeAlt (pin, 0b111) ;
+ else if (strcasecmp (mode, "alt4") == 0) pinModeAlt (pin, 0b011) ;
+ else if (strcasecmp (mode, "alt5") == 0) pinModeAlt (pin, 0b010) ;
+ else
+ {
+ fprintf (stderr, "%s: Invalid mode: %s. Should be in/out/pwm/clock/up/down/tri\n", argv [1], mode) ;
+ exit (1) ;
+ }
+}
+
+
+/*
+ * doPadDrive:
+ * gpio drive group value
+ *********************************************************************************
+ */
+
+static void doPadDrive (int argc, char *argv [])
+{
+ int group, val ;
+
+ if (argc != 4)
+ {
+ fprintf (stderr, "Usage: %s drive group value\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ group = atoi (argv [2]) ;
+ val = atoi (argv [3]) ;
+
+ if ((group < 0) || (group > 2))
+ {
+ fprintf (stderr, "%s: drive group not 0, 1 or 2: %d\n", argv [0], group) ;
+ exit (1) ;
+ }
+
+ if ((val < 0) || (val > 7))
+ {
+ fprintf (stderr, "%s: drive value not 0-7: %d\n", argv [0], val) ;
+ exit (1) ;
+ }
+
+ setPadDrive (group, val) ;
+}
+
+
+/*
+ * doUsbP:
+ * Control USB Power - High (1.2A) or Low (600mA)
+ * gpio usbp high/low
+ *********************************************************************************
+ */
+
+static void doUsbP (int argc, char *argv [])
+{
+ int model, rev, mem, maker, overVolted ;
+
+ if (argc != 3)
+ {
+ fprintf (stderr, "Usage: %s usbp high|low\n", argv [0]) ;
+ exit (1) ;
+ }
+
+// Make sure we're on a B+
+
+ piBoardId (&model, &rev, &mem, &maker, &overVolted) ;
+
+ if (model != PI_MODEL_BP)
+ {
+ fprintf (stderr, "USB power contol is applicable to B+ boards only.\n") ;
+ exit (1) ;
+ }
+
+// Need to force BCM_GPIO mode:
+
+ wiringPiSetupGpio () ;
+
+ if ((strcasecmp (argv [2], "high") == 0) || (strcasecmp (argv [2], "hi") == 0))
+ {
+ digitalWrite (PI_USB_POWER_CONTROL, 1) ;
+ pinMode (PI_USB_POWER_CONTROL, OUTPUT) ;
+ printf ("Switched to HIGH current USB (1.2A)\n") ;
+ return ;
+ }
+
+ if ((strcasecmp (argv [2], "low") == 0) || (strcasecmp (argv [2], "lo") == 0))
+ {
+ digitalWrite (PI_USB_POWER_CONTROL, 0) ;
+ pinMode (PI_USB_POWER_CONTROL, OUTPUT) ;
+ printf ("Switched to LOW current USB (600mA)\n") ;
+ return ;
+ }
+
+ fprintf (stderr, "Usage: %s usbp high|low\n", argv [0]) ;
+ exit (1) ;
+}
+
+
+/*
+ * doGbw:
+ * gpio gbw channel value
+ * Gertboard Write - To the Analog output
+ *********************************************************************************
+ */
+
+static void doGbw (int argc, char *argv [])
+{
+ int channel, value ;
+
+ if (argc != 4)
+ {
+ fprintf (stderr, "Usage: %s gbw <channel> <value>\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ channel = atoi (argv [2]) ;
+ value = atoi (argv [3]) ;
+
+ if ((channel < 0) || (channel > 1))
+ {
+ fprintf (stderr, "%s: gbw: Channel number must be 0 or 1\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ if ((value < 0) || (value > 255))
+ {
+ fprintf (stderr, "%s: gbw: Value must be from 0 to 255\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ if (gertboardAnalogSetup (64) < 0)
+ {
+ fprintf (stderr, "Unable to initialise the Gertboard SPI interface: %s\n", strerror (errno)) ;
+ exit (1) ;
+ }
+
+ analogWrite (64 + channel, value) ;
+}
+
+
+/*
+ * doGbr:
+ * gpio gbr channel
+ * From the analog input
+ *********************************************************************************
+ */
+
+static void doGbr (int argc, char *argv [])
+{
+ int channel ;
+
+ if (argc != 3)
+ {
+ fprintf (stderr, "Usage: %s gbr <channel>\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ channel = atoi (argv [2]) ;
+
+ if ((channel < 0) || (channel > 1))
+ {
+ fprintf (stderr, "%s: gbr: Channel number must be 0 or 1\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ if (gertboardAnalogSetup (64) < 0)
+ {
+ fprintf (stderr, "Unable to initialise the Gertboard SPI interface: %s\n", strerror (errno)) ;
+ exit (1) ;
+ }
+
+ printf ("%d\n", analogRead (64 + channel)) ;
+}
+
+
+/*
+ * doWrite:
+ * gpio write pin value
+ *********************************************************************************
+ */
+
+static void doWrite (int argc, char *argv [])
+{
+ int pin, val ;
+
+ if (argc != 4)
+ {
+ fprintf (stderr, "Usage: %s write pin value\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ pin = atoi (argv [2]) ;
+
+ /**/ if ((strcasecmp (argv [3], "up") == 0) || (strcasecmp (argv [3], "on") == 0))
+ val = 1 ;
+ else if ((strcasecmp (argv [3], "down") == 0) || (strcasecmp (argv [3], "off") == 0))
+ val = 0 ;
+ else
+ val = atoi (argv [3]) ;
+
+ /**/ if (val == 0)
+ digitalWrite (pin, LOW) ;
+ else
+ digitalWrite (pin, HIGH) ;
+}
+
+
+/*
+ * doAwriterite:
+ * gpio awrite pin value
+ *********************************************************************************
+ */
+
+static void doAwrite (int argc, char *argv [])
+{
+ int pin, val ;
+
+ if (argc != 4)
+ {
+ fprintf (stderr, "Usage: %s awrite pin value\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ pin = atoi (argv [2]) ;
+
+ val = atoi (argv [3]) ;
+
+ analogWrite (pin, val) ;
+}
+
+
+/*
+ * doWriteByte:
+ * gpio write value
+ *********************************************************************************
+ */
+
+static void doWriteByte (int argc, char *argv [])
+{
+ int val ;
+
+ if (argc != 3)
+ {
+ fprintf (stderr, "Usage: %s wb value\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ val = (int)strtol (argv [2], NULL, 0) ;
+
+ digitalWriteByte (val) ;
+}
+
+
+/*
+ * doRead:
+ * Read a pin and return the value
+ *********************************************************************************
+ */
+
+void doRead (int argc, char *argv [])
+{
+ int pin, val ;
+
+ if (argc != 3)
+ {
+ fprintf (stderr, "Usage: %s read pin\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ pin = atoi (argv [2]) ;
+ val = digitalRead (pin) ;
+
+ printf ("%s\n", val == 0 ? "0" : "1") ;
+}
+
+
+/*
+ * doAread:
+ * Read an analog pin and return the value
+ *********************************************************************************
+ */
+
+void doAread (int argc, char *argv [])
+{
+ if (argc != 3)
+ {
+ fprintf (stderr, "Usage: %s aread pin\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ printf ("%d\n", analogRead (atoi (argv [2]))) ;
+}
+
+
+/*
+ * doToggle:
+ * Toggle an IO pin
+ *********************************************************************************
+ */
+
+void doToggle (int argc, char *argv [])
+{
+ int pin ;
+
+ if (argc != 3)
+ {
+ fprintf (stderr, "Usage: %s toggle pin\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ pin = atoi (argv [2]) ;
+
+ digitalWrite (pin, !digitalRead (pin)) ;
+}
+
+
+/*
+ * doPwmTone:
+ * Output a tone in a PWM pin
+ *********************************************************************************
+ */
+
+void doPwmTone (int argc, char *argv [])
+{
+ int pin, freq ;
+
+ if (argc != 4)
+ {
+ fprintf (stderr, "Usage: %s pwmTone <pin> <freq>\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ pin = atoi (argv [2]) ;
+ freq = atoi (argv [3]) ;
+
+ pwmToneWrite (pin, freq) ;
+}
+
+
+/*
+ * doClock:
+ * Output a clock on a pin
+ *********************************************************************************
+ */
+
+void doClock (int argc, char *argv [])
+{
+ int pin, freq ;
+
+ if (argc != 4)
+ {
+ fprintf (stderr, "Usage: %s clock <pin> <freq>\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ pin = atoi (argv [2]) ;
+
+ freq = atoi (argv [3]) ;
+
+ gpioClockSet (pin, freq) ;
+}
+
+
+/*
+ * doPwm:
+ * Output a PWM value on a pin
+ *********************************************************************************
+ */
+
+void doPwm (int argc, char *argv [])
+{
+ int pin, val ;
+
+ if (argc != 4)
+ {
+ fprintf (stderr, "Usage: %s pwm <pin> <value>\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ pin = atoi (argv [2]) ;
+
+ val = atoi (argv [3]) ;
+
+ pwmWrite (pin, val) ;
+}
+
+
+/*
+ * doPwmMode: doPwmRange: doPwmClock:
+ * Change the PWM mode, range and clock divider values
+ *********************************************************************************
+ */
+
+static void doPwmMode (int mode)
+{
+ pwmSetMode (mode) ;
+}
+
+static void doPwmRange (int argc, char *argv [])
+{
+ unsigned int range ;
+
+ if (argc != 3)
+ {
+ fprintf (stderr, "Usage: %s pwmr <range>\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ range = (unsigned int)strtoul (argv [2], NULL, 10) ;
+
+ if (range == 0)
+ {
+ fprintf (stderr, "%s: range must be > 0\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ pwmSetRange (range) ;
+}
+
+static void doPwmClock (int argc, char *argv [])
+{
+ unsigned int clock ;
+
+ if (argc != 3)
+ {
+ fprintf (stderr, "Usage: %s pwmc <clock>\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ clock = (unsigned int)strtoul (argv [2], NULL, 10) ;
+
+ if ((clock < 1) || (clock > 4095))
+ {
+ fprintf (stderr, "%s: clock must be between 0 and 4096\n", argv [0]) ;
+ exit (1) ;
+ }
+
+ pwmSetClock (clock) ;
+}
+
+
+/*
+ * main:
+ * Start here
+ *********************************************************************************
+ */
+
+int main (int argc, char *argv [])
+{
+ int i ;
+ int model, rev, mem, maker, overVolted ;
+
+ if (getenv ("WIRINGPI_DEBUG") != NULL)
+ {
+ printf ("gpio: wiringPi debug mode enabled\n") ;
+ wiringPiDebug = TRUE ;
+ }
+
+ if (argc == 1)
+ {
+ fprintf (stderr, "%s\n", usage) ;
+ return 1 ;
+ }
+
+// Help
+
+ if (strcasecmp (argv [1], "-h") == 0)
+ {
+ printf ("%s: %s\n", argv [0], usage) ;
+ return 0 ;
+ }
+
+// Sort of a special:
+
+ if (strcmp (argv [1], "-R") == 0)
+ {
+ printf ("%d\n", piBoardRev ()) ;
+ return 0 ;
+ }
+
+// Version & Warranty
+
+ if (strcmp (argv [1], "-V") == 0)
+ {
+ printf ("%d\n", piBoardRev ()) ;
+ return 0 ;
+ }
+
+ piBoardId (&model, &rev, &mem, &maker, &overVolted) ;
+ piModel = model;
+
+ if (strcmp (argv [1], "-v") == 0)
+ {
+ printf ("gpio version: %s\n", VERSION) ;
+ printf ("Copyright (c) 2012-2014 Gordon Henderson\n") ;
+ printf ("This is free software with ABSOLUTELY NO WARRANTY.\n") ;
+ printf ("For details type: %s -warranty\n", argv [0]) ;
+ printf ("\n") ;
+ if (model == PI_MODEL_UNKNOWN)
+ {
+ printf ("Your Raspberry Pi has an unknown model type. Please report this to\n") ;
+ printf (" projects@drogon.net\n") ;
+ printf ("with a copy of your /proc/cpuinfo if possible\n") ;
+ }
+ else if ( model == PI_MODEL_ODROIDC ||
+ model == PI_MODEL_ODROIDXU_34 ||
+ model == PI_MODEL_ODROIDC2 )
+ {
+ printf ("Hardkernel ODROID Details:\n") ;
+ printf (" Type: %s, Revision: %s, Memory: %dMB, Maker: %s\n",
+ piModelNames [model], piRevisionNames [rev], mem, piMakerNames [maker]) ;
+ }
+ else
+ {
+ printf ("Raspberry Pi Details:\n") ;
+ printf (" Type: %s, Revision: %s, Memory: %dMB, Maker: %s %s\n",
+ piModelNames [model], piRevisionNames [rev], mem, piMakerNames [maker], overVolted ? "[OV]" : "") ;
+ }
+ return 0 ;
+ }
+
+ if (strcasecmp (argv [1], "-warranty") == 0)
+ {
+ printf ("gpio version: %s\n", VERSION) ;
+ printf ("Copyright (c) 2012-2014 Gordon Henderson\n") ;
+ printf ("\n") ;
+ printf (" This program is free software; you can redistribute it and/or modify\n") ;
+ printf (" it under the terms of the GNU Leser General Public License as published\n") ;
+ printf (" by the Free Software Foundation, either version 3 of the License, or\n") ;
+ printf (" (at your option) any later version.\n") ;
+ printf ("\n") ;
+ printf (" This program is distributed in the hope that it will be useful,\n") ;
+ printf (" but WITHOUT ANY WARRANTY; without even the implied warranty of\n") ;
+ printf (" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n") ;
+ printf (" GNU Lesser General Public License for more details.\n") ;
+ printf ("\n") ;
+ printf (" You should have received a copy of the GNU Lesser General Public License\n") ;
+ printf (" along with this program. If not, see <http://www.gnu.org/licenses/>.\n") ;
+ printf ("\n") ;
+ return 0 ;
+ }
+
+ if (geteuid () != 0)
+ {
+ fprintf (stderr, "%s: Must be root to run. Program should be suid root. This is an error.\n", argv [0]) ;
+ return 1 ;
+ }
+
+// Initial test for /sys/class/gpio operations:
+
+ /**/ if (strcasecmp (argv [1], "exports" ) == 0) { doExports (argc, argv) ; return 0 ; }
+ else if (strcasecmp (argv [1], "export" ) == 0) { doExport (argc, argv) ; return 0 ; }
+ else if (strcasecmp (argv [1], "edge" ) == 0) { doEdge (argc, argv) ; return 0 ; }
+ else if (strcasecmp (argv [1], "unexport" ) == 0) { doUnexport (argc, argv) ; return 0 ; }
+ else if (strcasecmp (argv [1], "unexportall") == 0) { doUnexportall (argv [0]) ; return 0 ; }
+
+// Check for load command:
+
+ if (strcasecmp (argv [1], "load" ) == 0) { doLoad (argc, argv) ; return 0 ; }
+
+// Gertboard commands
+
+ if (strcasecmp (argv [1], "gbr" ) == 0) { doGbr (argc, argv) ; return 0 ; }
+ if (strcasecmp (argv [1], "gbw" ) == 0) { doGbw (argc, argv) ; return 0 ; }
+
+// Check for -g argument
+
+ /**/ if (strcasecmp (argv [1], "-g") == 0)
+ {
+ wiringPiSetupGpio () ;
+
+ for (i = 2 ; i < argc ; ++i)
+ argv [i - 1] = argv [i] ;
+ --argc ;
+ wpMode = WPI_MODE_GPIO ;
+ }
+
+// Check for -1 argument
+
+ else if (strcasecmp (argv [1], "-1") == 0)
+ {
+ wiringPiSetupPhys () ;
+
+ for (i = 2 ; i < argc ; ++i)
+ argv [i - 1] = argv [i] ;
+ --argc ;
+ wpMode = WPI_MODE_PHYS ;
+ }
+
+// Check for -p argument for PiFace
+
+ else if (strcasecmp (argv [1], "-p") == 0)
+ {
+ piFaceSetup (200) ;
+
+ for (i = 2 ; i < argc ; ++i)
+ argv [i - 1] = argv [i] ;
+ --argc ;
+ wpMode = WPI_MODE_PIFACE ;
+ }
+
+// Default to wiringPi mode
+
+ else
+ {
+ wiringPiSetup () ;
+ wpMode = WPI_MODE_PINS ;
+ }
+
+// Check for -x argument to load in a new extension
+
+ if (strcasecmp (argv [1], "-x") == 0)
+ {
+ if (argc < 3)
+ {
+ fprintf (stderr, "%s: -x missing extension specification.\n", argv [0]) ;
+ exit (EXIT_FAILURE) ;
+ }
+
+ if (!doExtension (argv [0], argv [2])) // Prints its own error messages
+ exit (EXIT_FAILURE) ;
+
+ for (i = 3 ; i < argc ; ++i)
+ argv [i - 2] = argv [i] ;
+ argc -= 2 ;
+ }
+
+ if (argc <= 1)
+ {
+ fprintf (stderr, "%s: no command given\n", argv [0]) ;
+ exit (EXIT_FAILURE) ;
+ }
+
+// Core wiringPi functions
+
+ /**/ if (strcasecmp (argv [1], "mode" ) == 0) doMode (argc, argv) ;
+ else if (strcasecmp (argv [1], "read" ) == 0) doRead (argc, argv) ;
+ else if (strcasecmp (argv [1], "write" ) == 0) doWrite (argc, argv) ;
+ else if (strcasecmp (argv [1], "pwm" ) == 0) doPwm (argc, argv) ;
+ else if (strcasecmp (argv [1], "awrite" ) == 0) doAwrite (argc, argv) ;
+ else if (strcasecmp (argv [1], "aread" ) == 0) doAread (argc, argv) ;
+
+// GPIO Nicies
+
+ else if (strcasecmp (argv [1], "toggle" ) == 0) doToggle (argc, argv) ;
+
+// Pi Specifics
+
+ else if (strcasecmp (argv [1], "pwm-bal" ) == 0) doPwmMode (PWM_MODE_BAL) ;
+ else if (strcasecmp (argv [1], "pwm-ms" ) == 0) doPwmMode (PWM_MODE_MS) ;
+ else if (strcasecmp (argv [1], "pwmr" ) == 0) doPwmRange (argc, argv) ;
+ else if (strcasecmp (argv [1], "pwmc" ) == 0) doPwmClock (argc, argv) ;
+ else if (strcasecmp (argv [1], "pwmTone" ) == 0) doPwmTone (argc, argv) ;
+ else if (strcasecmp (argv [1], "drive" ) == 0) doPadDrive (argc, argv) ;
+ else if (strcasecmp (argv [1], "usbp" ) == 0) doUsbP (argc, argv) ;
+ else if (strcasecmp (argv [1], "readall" ) == 0) doReadall () ;
+ else if (strcasecmp (argv [1], "nreadall" ) == 0) doReadall () ;
+ else if (strcasecmp (argv [1], "pins" ) == 0) doPins () ;
+ else if (strcasecmp (argv [1], "i2cdetect") == 0) doI2Cdetect (argc, argv) ;
+ else if (strcasecmp (argv [1], "i2cd" ) == 0) doI2Cdetect (argc, argv) ;
+ else if (strcasecmp (argv [1], "reset" ) == 0) doReset (argv [0]) ;
+ else if (strcasecmp (argv [1], "wb" ) == 0) doWriteByte (argc, argv) ;
+ else if (strcasecmp (argv [1], "clock" ) == 0) doClock (argc, argv) ;
+ else if (strcasecmp (argv [1], "wfi" ) == 0) doWfi (argc, argv) ;
+ else
+ {
+ fprintf (stderr, "%s: Unknown command: %s.\n", argv [0], argv [1]) ;
+ exit (EXIT_FAILURE) ;
+ }
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/gpio/gpio.o b/modules/catkin_ws/src/wiringPi/gpio/gpio.o
new file mode 100644
index 0000000000000000000000000000000000000000..4246715057cf41d1fd0910f7952b41567237be7a
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/gpio/gpio.o differ
diff --git a/modules/catkin_ws/src/wiringPi/gpio/pins.c b/modules/catkin_ws/src/wiringPi/gpio/pins.c
new file mode 100644
index 0000000000000000000000000000000000000000..19fcc1af927f958345377e732acd1c56d7c84650
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/gpio/pins.c
@@ -0,0 +1,33 @@
+/*
+ * pins.c:
+ * Just display a handy Pi pinnout diagram.
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+
+#include <stdio.h>
+
+void doPins (void)
+{
+ printf ("The pins command has been deprecated - sorry. Please use the\n") ;
+ printf (" gpio readall\n") ;
+ printf ("command to get a list of the pinnouts for your Pi.\n") ;
+}
+
diff --git a/modules/catkin_ws/src/wiringPi/gpio/pins.o b/modules/catkin_ws/src/wiringPi/gpio/pins.o
new file mode 100644
index 0000000000000000000000000000000000000000..eb996a8ebdbd77ef4c51baa9c9c36981c01d65ff
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/gpio/pins.o differ
diff --git a/modules/catkin_ws/src/wiringPi/gpio/pintest b/modules/catkin_ws/src/wiringPi/gpio/pintest
new file mode 100755
index 0000000000000000000000000000000000000000..83ca12a51817381e530f01d4e7756f94f7957b19
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/gpio/pintest
@@ -0,0 +1,193 @@
+#!/bin/bash
+#
+# pintest
+# Test the Pi's GPIO port
+# Copyright (c) 2013 Gordon Henderson
+#################################################################################
+# This file is part of wiringPi:
+# Wiring Compatable library for the Raspberry Pi
+#
+# wiringPi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# wiringPi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+#################################################################################
+
+
+# logErr pin, expected got
+################################################################################
+
+logErr ()
+{
+ if [ $errs = 0 ]; then
+ echo ""
+ fi
+ echo " --> Pin $1 failure. Expected $2, got $3"
+ let errs+=1
+}
+
+
+# printErrorCount
+################################################################################
+
+printErrCount()
+{
+ if [ $errs = 0 ]; then
+ echo "No faults detected."
+ elif [ $errs = 1 ]; then
+ echo "One fault detected."
+ else
+ echo "$errs faults detected"
+ fi
+}
+
+
+# testPins start end
+################################################################################
+
+testPins()
+{
+ start=$1
+ end=$2
+ errs=0
+
+ printf "%30s %2d:%2d: " "$3" $1 $2
+
+# Set range to inputs
+
+ for i in `seq $start $end`; do
+ gpio mode $i in
+ done
+
+# Enable internal pull-ups and expect to read high
+
+ for i in `seq $start $end`; do
+ gpio mode $i up
+ if [ `gpio read $i` = 0 ]; then
+ logErr $i 1 0
+ fi
+ done
+
+# Enable internal pull-downs and expect to read low
+
+ for i in `seq $start $end`; do
+ gpio mode $i down
+ if [ `gpio read $i` = 1 ]; then
+ echo "Pin $i failure - expected 0, got 1"
+ let errs+=1
+ fi
+ done
+
+# Remove the internal pull up/downs
+
+ for i in `seq $start $end`; do
+ gpio mode $i tri
+ done
+
+ if [ $errs = 0 ]; then
+ echo " OK"
+ else
+ printErrCount
+ fi
+
+ let totErrs+=errs
+}
+
+
+intro()
+{
+ revision=`gpio -V`
+ cat <<EOF
+PinTest
+=======
+
+This is a simple utility to test the GPIO pins on your revision $revision
+Raspberry Pi.
+
+NOTE: All GPIO peripherals must be removed to perform this test. This
+ includes serial, I2C and SPI connections. You may get incorrect results
+ if something is connected and it interferes with the test.
+
+This test can only test the input side of things. It uses the internal
+pull-up and pull-down resistors to simulate inputs. It does not test
+the output drivers.
+
+You will need to reboot your Pi after this test if you wish to use the
+serial port as it will be left in GPIO mode rather than serial mode.
+
+Please make sure everything is removed and press the ENTER key to continue,
+EOF
+
+ echo -n "or Control-C to abort... "
+ read a
+}
+
+
+# Start here
+################################################################################
+
+intro
+gpio unexportall
+gpio reset
+
+ errs=0
+totErrs=0
+
+echo ""
+
+# Main pins
+
+testPins 0 7 "The main 8 GPIO pins"
+
+# P5 pins, if a rev 2:
+
+if [ $revision = 2 ]; then
+ testPins 17 20 "The 4 pins on the P5 connector"
+fi
+
+# SPI
+
+testPins 10 14 "The 5 SPI pins"
+
+# Serial
+
+testPins 15 16 "The serial pins"
+
+# I2C - Needs somewhat different testing
+# due to the on-board pull-up's
+
+echo -n " The I2C pins 8: 9: "
+errs=0
+gpio mode 8 in
+gpio mode 9 in
+
+if [ `gpio read 8` = 0 ]; then
+ echo "Pin 8 failure - expected 1, got 0"
+ let errs+=1
+fi
+
+if [ `gpio read 9` = 0 ]; then
+ echo "Pin 9 failure - expected 1, got 0"
+ let errs+=1
+fi
+
+if [ $errs = 0 ]; then
+ echo " OK"
+else
+ printErrCount
+fi
+
+echo ""
+if [ $totErrs != 0 ]; then
+ echo ""
+ echo "Faults detected! Output of 'readall':"
+ gpio readall
+fi
diff --git a/modules/catkin_ws/src/wiringPi/gpio/readall.c b/modules/catkin_ws/src/wiringPi/gpio/readall.c
new file mode 100755
index 0000000000000000000000000000000000000000..f05b2982620076af549f57c1075315dbde78e85a
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/gpio/readall.c
@@ -0,0 +1,629 @@
+/*
+ * readall.c:
+ * The readall functions - getting a bit big, so split them out.
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <ctype.h>
+#include <string.h>
+#include <unistd.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+
+#include <wiringPi.h>
+
+extern int wpMode ;
+
+#ifndef TRUE
+# define TRUE (1==1)
+# define FALSE (1==2)
+#endif
+
+/*
+ * doReadallExternal:
+ * A relatively crude way to read the pins on an external device.
+ * We don't know the input/output mode of pins, but we can tell
+ * if it's an analog pin or a digital one...
+ *********************************************************************************
+ */
+
+static void doReadallExternal (void)
+{
+ int pin ;
+
+ printf ("+------+---------+--------+\n") ;
+ printf ("| Pin | Digital | Analog |\n") ;
+ printf ("+------+---------+--------+\n") ;
+
+ for (pin = wiringPiNodes->pinBase ; pin <= wiringPiNodes->pinMax ; ++pin)
+ printf ("| %4d | %4d | %4d |\n", pin, digitalRead (pin), analogRead (pin)) ;
+
+ printf ("+------+---------+--------+\n") ;
+}
+
+
+/*
+ * doReadall:
+ * Read all the GPIO pins
+ * We also want to use this to read the state of pins on an externally
+ * connected device, so we need to do some fiddling with the internal
+ * wiringPi node structures - since the gpio command can only use
+ * one external device at a time, we'll use that to our advantage...
+ *********************************************************************************
+ */
+
+static char *alts [] =
+{
+ "IN", "OUT", "ALT5", "ALT4", "ALT0", "ALT1", "ALT2", "ALT3"
+} ;
+
+static int physToWpi [64] =
+{
+ -1, // 0
+ -1, -1, // 1, 2
+ 8, -1,
+ 9, -1,
+ 7, 15,
+ -1, 16,
+ 0, 1,
+ 2, -1,
+ 3, 4,
+ -1, 5,
+ 12, -1,
+ 13, 6,
+ 14, 10,
+ -1, 11, // 25, 26
+ 30, 31, // Actually I2C, but not used
+ 21, -1,
+ 22, 26,
+ 23, -1,
+ 24, 27,
+ 25, 28,
+ -1, 29,
+ -1, -1,
+ -1, -1,
+ -1, -1,
+ -1, -1,
+ -1, -1,
+ 17, 18,
+ 19, 20,
+ -1, -1, -1, -1, -1, -1, -1, -1, -1
+} ;
+
+static char *physNames [64] =
+{
+ NULL,
+
+ " 3.3v", "5v ",
+ " SDA.1", "5V ",
+ " SCL.1", "0v ",
+ "GPIO. 7", "TxD ",
+ " 0v", "RxD ",
+ "GPIO. 0", "GPIO. 1",
+ "GPIO. 2", "0v ",
+ "GPIO. 3", "GPIO. 4",
+ " 3.3v", "GPIO. 5",
+ " MOSI", "0v ",
+ " MISO", "GPIO. 6",
+ " SCLK", "CE0 ",
+ " 0v", "CE1 ",
+ " SDA.0", "SCL.0 ",
+ "GPIO.21", "0v ",
+ "GPIO.22", "GPIO.26",
+ "GPIO.23", "0v ",
+ "GPIO.24", "GPIO.27",
+ "GPIO.25", "GPIO.28",
+ " 0v", "GPIO.29",
+ NULL, NULL,
+ NULL, NULL,
+ NULL, NULL,
+ NULL, NULL,
+ NULL, NULL,
+ "GPIO.17", "GPIO.18",
+ "GPIO.19", "GPIO.20",
+ NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,
+} ;
+
+static char *physNamesOdroidc [64] =
+{
+ NULL,
+
+ " 3.3v", "5v ",
+ " SDA.1", "5V ",
+ " SCL.1", "0v ",
+ "GPIO. 83", "TxD1 ",
+ " 0v", "RxD1 ",
+ "GPIO. 88", "GPIO. 87",
+ "GPIO.116", "0v ",
+ "GPIO.115", "GPIO.104",
+ " 3.3v", "GPIO.102",
+ " MOSI", "0v ",
+ " MISO", "GPIO.103",
+ " SCLK", "CE0 ",
+ " 0v", "GPIO.118",
+ " SDA.2", "SCL.2 ",
+ "GPIO.101", "0v ",
+ "GPIO.100", "GPIO. 99",
+ "GPIO.108", "0v ",
+ "GPIO.97 ", "GPIO. 98",
+ " AIN.1", "1v8 ",
+ " 0v", "AIN.0 ",
+
+ NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,
+ NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,
+ NULL,NULL,NULL,
+} ;
+
+static char *physNamesOdroidc2_Rev1_1 [64] =
+{
+ NULL,
+
+ " 3.3v", "5v ",
+ " SDA.1", "5V ",
+ " SCL.1", "0v ",
+ "GPIO.249", "TxD1 ",
+ " 0v", "RxD1 ",
+ "GPIO.247", "GPIO.238",
+ "GPIO.239", "0v ",
+ "GPIO.237", "GPIO.236",
+ " 3.3v", "GPIO.233",
+ "GPIO.235", "0v ",
+ "GPIO.232", "GPIO.231",
+ "GPIO.230", "GPIO.229",
+ " 0v", "GPIO.225",
+ " SDA.2", "SCL.2 ",
+ "GPIO.228", "0v ",
+ "GPIO.219", "GPIO.224",
+ "GPIO.234", "0v ",
+ "GPIO.214", "GPIO.218",
+ " AIN.1", "1v8 ",
+ " 0v", "AIN.0 ",
+
+ NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,
+ NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,
+ NULL,NULL,NULL,
+} ;
+
+static char *physNamesOdroidc2_Rev1_0 [64] =
+{
+ NULL,
+
+ " 3.3v", "5v ",
+ " SDA.1", "5V ",
+ " SCL.1", "0v ",
+ "GPIO.214", "--------",
+ " 0v", "--------",
+ "GPIO.219", "GPIO.218",
+ "GPIO.247", "0v ",
+ "--------", "GPIO.235",
+ " 3.3v", "GPIO.233",
+ "GPIO.238", "0v ",
+ "GPIO.237", "GPIO.234",
+ "GPIO.236", "GPIO.248",
+ " 0v", "GPIO.249",
+ " SDA.2", "SCL.2 ",
+ "GPIO.232", "0v ",
+ "GPIO.231", "GPIO.230",
+ "GPIO.239", "0v ",
+ "GPIO.228", "GPIO.229",
+ " AIN.1", "1v8 ",
+ " 0v", "AIN.0 ",
+
+ NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,
+ NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,
+ NULL,NULL,NULL,
+} ;
+
+static char *physNamesOdroidXU [64] =
+{
+ NULL,
+
+ " 3.3v", "5v ",
+ "I2C1.SDA", "5V ",
+ "I2C1.SCL", "0v ",
+ "GPIO. 18", "UART0.TX",
+ " 0v", "UART0.RX",
+ "GPIO.174", "GPIO.173",
+ "GPIO. 21", "0v ",
+ "GPIO. 22", "GPIO. 19",
+ " 3.3v", "GPIO. 23",
+ " MOSI", "0v ",
+ " MISO", "GPIO. 24",
+ " SCLK", "CE0 ",
+ " 0v", "GPIO. 25",
+ "I2C5.SDA", "I2C5.SCL",
+ "GPIO. 28", "0v ",
+ "GPIO. 30", "GPIO. 29",
+ "GPIO. 31", "0v ",
+ "POWER ON", "GPIO. 33",
+ " AIN.0", "1v8 ",
+ " 0v", "AIN.3 ",
+
+ NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,
+ NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL,
+ NULL,NULL,NULL,
+} ;
+
+/*
+ * readallPhys:
+ * Given a physical pin output the data on it and the next pin:
+ *| BCM | wPi | Name | Mode | Val| Physical |Val | Mode | Name | wPi | BCM |
+ *********************************************************************************
+ */
+
+static void readallPhys (int physPin)
+{
+ int pin ;
+
+ if (physPinToGpio (physPin) == -1)
+ printf (" | | ") ;
+ else
+ printf (" | %3d | %3d", physPinToGpio (physPin), physToWpi [physPin]) ;
+
+ printf (" | %s", physNames [physPin]) ;
+
+ if (physToWpi [physPin] == -1)
+ printf (" | | ") ;
+ else
+ {
+ /**/ if (wpMode == WPI_MODE_GPIO)
+ pin = physPinToGpio (physPin) ;
+ else if (wpMode == WPI_MODE_PHYS)
+ pin = physPin ;
+ else
+ pin = physToWpi [physPin] ;
+
+ printf (" | %4s", alts [getAlt (pin)]) ;
+ printf (" | %d", digitalRead (pin)) ;
+ }
+
+// Pin numbers:
+
+ printf (" | %2d", physPin) ;
+ ++physPin ;
+ printf (" || %-2d", physPin) ;
+
+// Same, reversed
+
+ if (physToWpi [physPin] == -1)
+ printf (" | | ") ;
+ else
+ {
+ /**/ if (wpMode == WPI_MODE_GPIO)
+ pin = physPinToGpio (physPin) ;
+ else if (wpMode == WPI_MODE_PHYS)
+ pin = physPin ;
+ else
+ pin = physToWpi [physPin] ;
+
+ printf (" | %d", digitalRead (pin)) ;
+ printf (" | %-4s", alts [getAlt (pin)]) ;
+ }
+
+ printf (" | %-5s", physNames [physPin]) ;
+
+ if (physToWpi [physPin] == -1)
+ printf (" | | ") ;
+ else
+ printf (" | %-3d | %-3d", physToWpi [physPin], physPinToGpio (physPin)) ;
+
+ printf (" |\n") ;
+}
+
+
+void cmReadall (void)
+{
+ int pin ;
+
+ printf ("+-----+------+-------+ +-----+------+-------+\n") ;
+ printf ("| Pin | Mode | Value | | Pin | Mode | Value |\n") ;
+ printf ("+-----+------+-------+ +-----+------+-------+\n") ;
+
+ for (pin = 0 ; pin < 28 ; ++pin)
+ {
+ printf ("| %3d ", pin) ;
+ printf ("| %-4s ", alts [getAlt (pin)]) ;
+ printf ("| %s ", digitalRead (pin) == HIGH ? "High" : "Low ") ;
+ printf ("| ") ;
+ printf ("| %3d ", pin + 28) ;
+ printf ("| %-4s ", alts [getAlt (pin + 28)]) ;
+ printf ("| %s ", digitalRead (pin + 28) == HIGH ? "High" : "Low ") ;
+ printf ("|\n") ;
+ }
+
+ printf ("+-----+------+-------+ +-----+------+-------+\n") ;
+}
+
+
+/*
+ * abReadall:
+ * Read all the pins on the model A or B.
+ *********************************************************************************
+ */
+
+void abReadall (int model, int rev)
+{
+ int pin ;
+ char *type ;
+
+ if (model == PI_MODEL_A)
+ type = " A" ;
+ else
+ if (rev == PI_VERSION_2)
+ type = "B2" ;
+ else
+ type = "B1" ;
+
+ printf (" +-----+-----+---------+------+---+-Model %s-+---+------+---------+-----+-----+\n", type) ;
+ printf (" | BCM | wPi | Name | Mode | V | Physical | V | Mode | Name | wPi | BCM |\n") ;
+ printf (" +-----+-----+---------+------+---+----++----+---+------+---------+-----+-----+\n") ;
+ for (pin = 1 ; pin <= 26 ; pin += 2)
+ readallPhys (pin) ;
+
+ if (rev == PI_VERSION_2) // B version 2
+ {
+ printf (" +-----+-----+---------+------+---+----++----+---+------+---------+-----+-----+\n") ;
+ for (pin = 51 ; pin <= 54 ; pin += 2)
+ readallPhys (pin) ;
+ }
+
+ printf (" +-----+-----+---------+------+---+----++----+---+------+---------+-----+-----+\n") ;
+ printf (" | BCM | wPi | Name | Mode | V | Physical | V | Mode | Name | wPi | BCM |\n") ;
+ printf (" +-----+-----+---------+------+---+-Model %s-+---+------+---------+-----+-----+\n", type) ;
+}
+
+
+/*
+ * piPlusReadall:
+ * Read all the pins on the model A+ or the B+
+ *********************************************************************************
+ */
+
+void piPlusReadall (int model)
+{
+ int pin ;
+
+ if (model == PI_MODEL_AP)
+ printf (" +-----+-----+---------+------+---+--A Plus--+---+------+---------+-----+-----+\n") ;
+ else
+ printf (" +-----+-----+---------+------+---+--B Plus--+---+------+---------+-----+-----+\n") ;
+
+ printf (" | BCM | wPi | Name | Mode | V | Physical | V | Mode | Name | wPi | BCM |\n") ;
+ printf (" +-----+-----+---------+------+---+----++----+---+------+---------+-----+-----+\n") ;
+ for (pin = 1 ; pin <= 40 ; pin += 2)
+ readallPhys (pin) ;
+ printf (" +-----+-----+---------+------+---+----++----+---+------+---------+-----+-----+\n") ;
+ printf (" | BCM | wPi | Name | Mode | V | Physical | V | Mode | Name | wPi | BCM |\n") ;
+
+ if (model == PI_MODEL_AP)
+ printf (" +-----+-----+---------+------+---+--A Plus--+---+------+---------+-----+-----+\n") ;
+ else
+ printf (" +-----+-----+---------+------+---+--B Plus--+---+------+---------+-----+-----+\n") ;
+}
+
+static void readallPhysOdroidC (int physPin, int model, int rev)
+{
+ int pin ;
+
+ if ((physPinToGpio (physPin) == -1) && (physToWpi [physPin] == -1))
+ printf (" | | ");
+ else if (physPinToGpio (physPin) != -1)
+ printf (" | %3d | %3d", physPinToGpio (physPin), physToWpi [physPin]);
+ else
+ printf (" | | %3d", physToWpi [physPin]);
+
+ if (model == PI_MODEL_ODROIDC)
+ printf (" | %s", physNamesOdroidc [physPin]) ;
+ else {
+ if (rev == PI_VERSION_1)
+ printf (" | %s", physNamesOdroidc2_Rev1_0 [physPin]) ;
+ else
+ printf (" | %s", physNamesOdroidc2_Rev1_1 [physPin]) ;
+ }
+
+ if ((physToWpi [physPin] == -1) || (physPinToGpio (physPin) == -1))
+ printf (" | | ");
+ else
+ {
+ /**/ if (wpMode == WPI_MODE_GPIO)
+ pin = physPinToGpio (physPin) ;
+ else if (wpMode == WPI_MODE_PHYS)
+ pin = physPin ;
+ else
+ pin = physToWpi [physPin] ;
+
+ if( physPinToGpio (physPin) == -1 ) {
+ printf (" | | ") ;
+ }
+ else {
+ printf (" | %4s", alts [getAlt (pin)]) ;
+ printf (" | %d", digitalRead (pin)) ;
+ }
+ }
+
+// Pin numbers:
+
+ printf (" | %2d", physPin) ;
+ ++physPin ;
+ printf (" || %-2d", physPin) ;
+
+// Same, reversed
+
+ if ((physToWpi [physPin] == -1) || (physPinToGpio (physPin) == -1))
+ printf (" | | ");
+ else
+ {
+ /**/ if (wpMode == WPI_MODE_GPIO)
+ pin = physPinToGpio (physPin) ;
+ else if (wpMode == WPI_MODE_PHYS)
+ pin = physPin ;
+ else
+ pin = physToWpi [physPin] ;
+
+ if (physPinToGpio (physPin) == -1) {
+ printf (" | | ") ;
+ }
+ else {
+ printf (" | %d", digitalRead (pin)) ;
+ printf (" | %-4s", alts [getAlt (pin)]) ;
+ }
+ }
+
+ if (model == PI_MODEL_ODROIDC)
+ printf (" | %-6s", physNamesOdroidc [physPin]) ;
+ else {
+ if (rev == PI_VERSION_1)
+ printf (" | %-6s", physNamesOdroidc2_Rev1_0 [physPin]) ;
+ else
+ printf (" | %-6s", physNamesOdroidc2_Rev1_1 [physPin]) ;
+ }
+
+ if ((physPinToGpio (physPin) == -1) && (physToWpi [physPin] == -1))
+ printf (" | | ");
+ else if (physPinToGpio (physPin) != -1)
+ printf (" | %-3d | %-3d", physToWpi [physPin], physPinToGpio (physPin));
+ else
+ printf (" | %-3d | ", physToWpi [physPin]);
+
+ printf (" |\n") ;
+}
+
+void ReadallOdroidC (int model, int rev)
+{
+ int pin ;
+
+ if(model == PI_MODEL_ODROIDC2)
+ printf (" +------+-----+----------+------+ Model ODROID-C2 +------+----------+-----+------+\n") ;
+ else
+ printf (" +------+-----+----------+------+- Model ODROID-C -+------+----------+-----+------+\n") ;
+
+ printf (" | GPIO | wPi | Name | Mode | V | Physical | V | Mode | Name | wPi | GPIO |\n") ;
+ printf (" +------+-----+----------+------+---+----++----+---+------+----------+-----+------+\n") ;
+ for (pin = 1 ; pin <= 40 ; pin += 2)
+ readallPhysOdroidC (pin, model, rev) ;
+ printf (" +------+-----+----------+------+---+----++----+---+------+----------+-----+------+\n") ;
+}
+
+static void readallPhysOdroidXU (int physPin)
+{
+ int pin ;
+
+ if ((physPinToGpio (physPin) == -1) && (physToWpi [physPin] == -1))
+ printf (" | | ") ;
+ else if (physPinToGpio (physPin) != -1)
+ printf (" | %3d | %3d", physPinToGpio (physPin), physToWpi [physPin]);
+ else
+ printf (" | | %3d", physToWpi [physPin]);
+
+ printf (" | %s", physNamesOdroidXU [physPin]) ;
+
+ if ((physToWpi [physPin] == -1) || (physPinToGpio (physPin) == -1))
+ printf (" | | ") ;
+ else
+ {
+ /**/ if (wpMode == WPI_MODE_GPIO)
+ pin = physPinToGpio (physPin) ;
+ else if (wpMode == WPI_MODE_PHYS)
+ pin = physPin ;
+ else
+ pin = physToWpi [physPin] ;
+
+ printf (" | %4s", alts [getAlt (pin)]) ;
+ printf (" | %d", digitalRead (pin)) ;
+ }
+
+// Pin numbers:
+
+ printf (" | %2d", physPin) ;
+ ++physPin ;
+ printf (" || %-2d", physPin) ;
+
+// Same, reversed
+
+ if ((physToWpi [physPin] == -1) || (physPinToGpio (physPin) == -1))
+ printf (" | | ") ;
+ else
+ {
+ /**/ if (wpMode == WPI_MODE_GPIO)
+ pin = physPinToGpio (physPin) ;
+ else if (wpMode == WPI_MODE_PHYS)
+ pin = physPin ;
+ else
+ pin = physToWpi [physPin] ;
+
+ printf (" | %d", digitalRead (pin)) ;
+ printf (" | %-4s", alts [getAlt (pin)]) ;
+ }
+
+ printf (" | %-6s", physNamesOdroidXU [physPin]) ;
+
+ if ((physPinToGpio (physPin) == -1) && (physToWpi [physPin] == -1))
+ printf (" | | ") ;
+ else if (physPinToGpio (physPin) != -1)
+ printf (" | %-3d | %-3d", physToWpi [physPin], physPinToGpio (physPin));
+ else
+ printf (" | %-3d | ", physToWpi [physPin]);
+
+ printf (" |\n") ;
+}
+
+void ReadallOdroidXU (void)
+{
+ int pin ;
+
+ printf (" +------+-----+----------+------ Model ODROID-XU3/4 ------+----------+-----+------+\n") ;
+ printf (" | GPIO | wPi | Name | Mode | V | Physical | V | Mode | Name | wPi | GPIO |\n") ;
+ printf (" +------+-----+----------+------+---+----++----+---+------+----------+-----+------+\n") ;
+ for (pin = 1 ; pin <= 40 ; pin += 2)
+ readallPhysOdroidXU (pin) ;
+ printf (" +------+-----+----------+------+---+----++----+---+------+----------+-----+------+\n") ;
+}
+
+void doReadall (void)
+{
+ int model, rev, mem, maker, overVolted ;
+
+ if (wiringPiNodes != NULL) // External readall
+ {
+ doReadallExternal () ;
+ return ;
+ }
+
+ piBoardId (&model, &rev, &mem, &maker, &overVolted) ;
+
+ /**/ if ((model == PI_MODEL_A) || (model == PI_MODEL_B))
+ abReadall (model, rev) ;
+ else if ((model == PI_MODEL_BP) || (model == PI_MODEL_AP))
+ piPlusReadall (model) ;
+ else if (model == PI_MODEL_CM)
+ cmReadall () ;
+ else if (model == PI_MODEL_ODROIDC || model == PI_MODEL_ODROIDC2)
+ ReadallOdroidC (model, rev);
+ else if (model == PI_MODEL_ODROIDXU_34)
+ ReadallOdroidXU();
+ else
+ printf ("Oops - unable to determine board type... model: %d\n", model) ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/gpio/readall.o b/modules/catkin_ws/src/wiringPi/gpio/readall.o
new file mode 100644
index 0000000000000000000000000000000000000000..857e25e18132f7e867ea0a3d927d5de9b0080521
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/gpio/readall.o differ
diff --git a/modules/catkin_ws/src/wiringPi/gpio/test.sh b/modules/catkin_ws/src/wiringPi/gpio/test.sh
new file mode 100755
index 0000000000000000000000000000000000000000..a7c2bb22658514d64ade4cb02d919740d1c5a4c0
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/gpio/test.sh
@@ -0,0 +1,44 @@
+#!/bin/bash
+#
+# test.sh:
+# Simple test: Assumes LEDs on Pins 0-7 and lights them
+# in-turn.
+#################################################################################
+# This file is part of wiringPi:
+# Wiring Compatable library for the Raspberry Pi
+#
+# wiringPi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# wiringPi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+#################################################################################
+
+# Simple test - assumes LEDs on Pins 0-7.
+
+for i in `seq 0 7`;
+do
+ gpio mode $i out
+done
+
+while true;
+do
+ for i in `seq 0 7`;
+ do
+ gpio write $i 1
+ sleep 0.1
+ done
+
+ for i in `seq 0 7`;
+ do
+ gpio write $i 0
+ sleep 0.1
+ done
+done
diff --git a/modules/catkin_ws/src/wiringPi/pins/Makefile b/modules/catkin_ws/src/wiringPi/pins/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..fd34ee930ac8fc730b659b1713652d2a0ad70a7c
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/pins/Makefile
@@ -0,0 +1,18 @@
+
+SRC = pins.tex
+
+
+all: ${SRC}
+ @echo Generating DVI
+ @latex pins.tex
+
+pins.dvi: pins.tex
+ @latex pins.tex
+
+pdf: pins.dvi
+ @dvipdf pins.dvi
+
+
+.PHONY: clean
+clean:
+ @rm -f *.dvi *.aux *.log *.ps *.toc *.bak *~
diff --git a/modules/catkin_ws/src/wiringPi/pins/pins.pdf b/modules/catkin_ws/src/wiringPi/pins/pins.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..bd9629d62044179a5532a68a0eb0dbd7b3ac2dd1
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/pins/pins.pdf differ
diff --git a/modules/catkin_ws/src/wiringPi/pins/pins.tex b/modules/catkin_ws/src/wiringPi/pins/pins.tex
new file mode 100644
index 0000000000000000000000000000000000000000..c3753e9e60931593075f77e68d6a5e73f3de9964
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/pins/pins.tex
@@ -0,0 +1,116 @@
+\documentclass[12pt,a4paper]{article}
+\parskip 1ex
+\parindent 0em
+\thispagestyle{empty}
+\pagestyle{plain}
+\pagenumbering{arabic}
+\setlength{\topmargin}{0pt}
+\setlength{\headheight}{0pt}
+\setlength{\headsep}{0pt}
+\setlength{\topskip}{0pt}
+\setlength{\textheight}{240mm}
+\setlength{\footskip}{5ex}
+\setlength{\oddsidemargin}{0pt}
+\setlength{\evensidemargin}{0pt}
+\setlength{\textwidth}{160mm}
+\usepackage[dvips]{graphics,color}
+\usepackage{helvet}
+\renewcommand{\familydefault}{\sfdefault}
+\begin{document}
+\begin{sffamily}
+\definecolor{rtb-black}{rgb} {0.0, 0.0, 0.0}
+\definecolor{rtb-navy}{rgb} {0.0, 0.0, 0.5}
+\definecolor{rtb-green}{rgb} {0.0, 0.5, 0.0}
+\definecolor{rtb-teal}{rgb} {0.0, 0.5, 0.5}
+\definecolor{rtb-maroon}{rgb} {0.5, 0.0, 0.0}
+\definecolor{rtb-purple}{rgb} {0.5, 0.0, 0.5}
+\definecolor{rtb-olive}{rgb} {0.5, 0.5, 0.0}
+\definecolor{rtb-silver}{rgb} {0.7, 0.7, 0.7}
+\definecolor{rtb-grey}{rgb} {0.5, 0.5, 0.5}
+\definecolor{rtb-blue}{rgb} {0.0, 0.0, 1.0}
+\definecolor{rtb-lime}{rgb} {0.0, 1.0, 0.0}
+\definecolor{rtb-aqua}{rgb} {0.0, 1.0, 1.0}
+\definecolor{rtb-red}{rgb} {1.0, 0.0, 0.0}
+\definecolor{rtb-fuchsia}{rgb}{1.0, 0.0, 1.0}
+\definecolor{rtb-yellow}{rgb} {1.0, 1.0, 0.0}
+\definecolor{rtb-white}{rgb} {1.0, 1.0, 1.0}
+
+\begin{center}
+\bfseries{WiringPi: GPIO Pin Numbering Tables}\\
+\tt{http://wiringpi.com/}
+\end{center}
+
+\begin{center}
+\begin{tabular}{|c|c|c||p{8mm}|p{8mm}||c|c|c|c|}
+\hline
+\multicolumn{8}{|c|}{\bfseries{P1: The Main GPIO connector}}\\
+\hline
+\hline
+WiringPi Pin & BCM GPIO & Name & \multicolumn{2}{|c||}{Header} & Name & BCM GPIO & WiringPi Pin\\
+\hline
+\hline
+ & & \textcolor{rtb-red}{3.3v} & \raggedleft{1} & 2 & \textcolor{rtb-maroon}{5v} & & \\
+\hline
+8 & Rv1:0 - Rv2:2 & \textcolor{rtb-aqua}{SDA} & \raggedleft{3} & 4 & \textcolor{rtb-maroon}{5v} & & \\
+\hline
+9 & Rv1:1 - Rv2:3 & \textcolor{rtb-aqua}{SCL} & \raggedleft{5} & 6 & \textcolor{rtb-black}{0v} & & \\
+\hline
+7 & 4 & \textcolor{rtb-green}{GPIO7} & \raggedleft{7} & 8 & \textcolor{rtb-yellow}{TxD} & 14 & 15\\
+\hline
+ & & \textcolor{rtb-black}{0v} & \raggedleft{9} & 10 & \textcolor{rtb-yellow}{RxD} & 15 & 16\\
+\hline
+0 & 17 & \textcolor{rtb-green}{GPIO0} & \raggedleft{11} & 12 & \textcolor{rtb-green}{GPIO1} & 18 & 1\\
+\hline
+2 & Rv1:21 - Rv2:27 & \textcolor{rtb-green}{GPIO2} & \raggedleft{13} & 14 & \textcolor{rtb-black}{0v} & & \\
+\hline
+3 & 22 & \textcolor{rtb-green}{GPIO3} & \raggedleft{15} & 16 & \textcolor{rtb-green}{GPIO4} & 23 & 4\\
+\hline
+ & & \textcolor{rtb-red}{3.3v} & \raggedleft{17} & 18 & \textcolor{rtb-green}{GPIO5} & 24 & 5\\
+\hline
+12 & 10 & \textcolor{rtb-teal}{MOSI} & \raggedleft{19} & 20 & \textcolor{rtb-black}{0v} & & \\
+\hline
+13 & 9 & \textcolor{rtb-teal}{MISO} & \raggedleft{21} & 22 & \textcolor{rtb-green}{GPIO6} & 25 & 6\\
+\hline
+14 & 11 & \textcolor{rtb-teal}{SCLK} & \raggedleft{23} & 24 & \textcolor{rtb-teal}{CE0} & 8 & 10\\
+\hline
+ & & \textcolor{rtb-black}{0v} & \raggedleft{25} & 26 & \textcolor{rtb-teal}{CE1} & 7 & 11\\
+\hline
+\hline
+WiringPi Pin & BCM GPIO & Name & \multicolumn{2}{|c||}{Header} & Name & BCM GPIO & WiringPi Pin\\
+\hline
+\end{tabular}
+\end{center}
+
+Note the differences between Revision 1 and Revision 2 Raspberry
+Pi's. The Revision 2 is readily identifiable by the presence of the 2
+mounting holes.
+
+The revision 2 Raspberry Pi has an additional GPIO connector, P5, which is next to the main P1 GPIO
+connector:
+
+\begin{center}
+\begin{tabular}{|c|c|c||p{8mm}|p{8mm}||c|c|c|c|}
+\hline
+\multicolumn{8}{|c|}{\bfseries{P5: Secondary GPIO connector (Rev. 2 Pi only)}}\\
+\hline
+\hline
+WiringPi Pin & BCM GPIO & Name & \multicolumn{2}{|c||}{Header} & Name & BCM GPIO & WiringPi Pin\\
+\hline
+\hline
+ & & \textcolor{rtb-maroon}{5v} & \raggedleft{1} & 2 & \textcolor{rtb-red}{3.3v} & & \\
+\hline
+17 & 28 & \textcolor{rtb-green}{GPIO8} & \raggedleft{3} & 4 & \textcolor{rtb-green}{GPIO9} & 29 & 18 \\
+\hline
+19 & 30 & \textcolor{rtb-green}{GPIO10} & \raggedleft{5} & 6 & \textcolor{rtb-green}{GPIO11} & 31 & 20 \\
+\hline
+ & & \textcolor{rtb-black}{0v} & \raggedleft{7} & 8 & \textcolor{rtb-black}{0v} & & \\
+\hline
+\hline
+WiringPi Pin & BCM GPIO & Name & \multicolumn{2}{|c||}{Header} & Name & BCM GPIO & WiringPi Pin\\
+\hline
+\end{tabular}
+\end{center}
+
+
+\end{sffamily}
+\end{document}
diff --git a/modules/catkin_ws/src/wiringPi/postinstall-pak b/modules/catkin_ws/src/wiringPi/postinstall-pak
new file mode 100644
index 0000000000000000000000000000000000000000..469eb470f73bc58e4dd4b0c669af66b206f1cda8
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/postinstall-pak
@@ -0,0 +1,7 @@
+#!/bin/bash
+echo
+echo "WiringPi for C1 is now installed"
+echo "Please check the wiki: http://odroid.com/dokuwiki/doku.php?id=en:odroid-c1"
+echo "For extra references:"
+echo "Github: https://github.com/hardkernel/wiringPi"
+echo "Examples folder is copied to /usr/share/wiringPi/examples"
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/COPYING.LESSER b/modules/catkin_ws/src/wiringPi/wiringPi/COPYING.LESSER
new file mode 100644
index 0000000000000000000000000000000000000000..65c5ca88a67c30becee01c5a8816d964b03862f9
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/COPYING.LESSER
@@ -0,0 +1,165 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+ This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+ 0. Additional Definitions.
+
+ As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+ "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+ An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+ A "Combined Work" is a work produced by combining or linking an
+Application with the Library. The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+ The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+ The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+ 1. Exception to Section 3 of the GNU GPL.
+
+ You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+ 2. Conveying Modified Versions.
+
+ If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+ a) under this License, provided that you make a good faith effort to
+ ensure that, in the event an Application does not supply the
+ function or data, the facility still operates, and performs
+ whatever part of its purpose remains meaningful, or
+
+ b) under the GNU GPL, with none of the additional permissions of
+ this License applicable to that copy.
+
+ 3. Object Code Incorporating Material from Library Header Files.
+
+ The object code form of an Application may incorporate material from
+a header file that is part of the Library. You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+ a) Give prominent notice with each copy of the object code that the
+ Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the object code with a copy of the GNU GPL and this license
+ document.
+
+ 4. Combined Works.
+
+ You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+ a) Give prominent notice with each copy of the Combined Work that
+ the Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the Combined Work with a copy of the GNU GPL and this license
+ document.
+
+ c) For a Combined Work that displays copyright notices during
+ execution, include the copyright notice for the Library among
+ these notices, as well as a reference directing the user to the
+ copies of the GNU GPL and this license document.
+
+ d) Do one of the following:
+
+ 0) Convey the Minimal Corresponding Source under the terms of this
+ License, and the Corresponding Application Code in a form
+ suitable for, and under terms that permit, the user to
+ recombine or relink the Application with a modified version of
+ the Linked Version to produce a modified Combined Work, in the
+ manner specified by section 6 of the GNU GPL for conveying
+ Corresponding Source.
+
+ 1) Use a suitable shared library mechanism for linking with the
+ Library. A suitable mechanism is one that (a) uses at run time
+ a copy of the Library already present on the user's computer
+ system, and (b) will operate properly with a modified version
+ of the Library that is interface-compatible with the Linked
+ Version.
+
+ e) Provide Installation Information, but only if you would otherwise
+ be required to provide such information under section 6 of the
+ GNU GPL, and only to the extent that such information is
+ necessary to install and execute a modified version of the
+ Combined Work produced by recombining or relinking the
+ Application with a modified version of the Linked Version. (If
+ you use option 4d0, the Installation Information must accompany
+ the Minimal Corresponding Source and Corresponding Application
+ Code. If you use option 4d1, you must provide the Installation
+ Information in the manner specified by section 6 of the GNU GPL
+ for conveying Corresponding Source.)
+
+ 5. Combined Libraries.
+
+ You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+ a) Accompany the combined library with a copy of the same work based
+ on the Library, uncombined with any other library facilities,
+ conveyed under the terms of this License.
+
+ b) Give prominent notice with the combined library that part of it
+ is a work based on the Library, and explaining where to find the
+ accompanying uncombined form of the same work.
+
+ 6. Revised Versions of the GNU Lesser General Public License.
+
+ The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+ If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/Makefile b/modules/catkin_ws/src/wiringPi/wiringPi/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..4e3342e03ca354c531fc3f687885a360ca7a9432
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/Makefile
@@ -0,0 +1,193 @@
+# ;
+# Makefile:
+# wiringPi - Wiring Compatable library for the Raspberry Pi
+#
+# Copyright (c) 2012 Gordon Henderson
+#################################################################################
+# This file is part of wiringPi:
+# https://projects.drogon.net/raspberry-pi/wiringpi/
+#
+# wiringPi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# wiringPi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+#################################################################################
+
+DYN_VERS_MAJ=2
+DYN_VERS_MIN=0
+
+VERSION=$(DYN_VERS_MAJ).$(DYN_VERS_MIN)
+DESTDIR=/usr
+PREFIX=/local
+
+STATIC=libwiringPi.a
+DYNAMIC=libwiringPi.so.$(VERSION)
+
+#DEBUG = -g -O0
+DEBUG = -O2
+CC = gcc
+INCLUDE = -I.
+DEFS = -D_GNU_SOURCE
+CFLAGS = $(DEBUG) $(DEFS) -Wformat=2 -Wall -Winline $(INCLUDE) -pipe -fPIC
+
+LIBS =
+
+# Should not alter anything below this line
+###############################################################################
+
+SRC = wiringPi.c \
+ wiringSerial.c wiringShift.c \
+ piHiPri.c piThread.c \
+ wiringPiSPI.c wiringPiI2C.c \
+ softPwm.c softTone.c \
+ mcp23008.c mcp23016.c mcp23017.c \
+ mcp23s08.c mcp23s17.c \
+ sr595.c \
+ pcf8574.c pcf8591.c \
+ mcp3002.c mcp3004.c mcp4802.c mcp3422.c \
+ max31855.c max5322.c \
+ sn3218.c \
+ drcSerial.c
+
+OBJ = $(SRC:.c=.o)
+
+all: $(DYNAMIC)
+
+static: $(STATIC)
+
+$(STATIC): $(OBJ)
+ @echo "[Link (Static)]"
+ @ar rcs $(STATIC) $(OBJ)
+ @ranlib $(STATIC)
+# @size $(STATIC)
+
+$(DYNAMIC): $(OBJ)
+ @echo "[Link (Dynamic)]"
+ @$(CC) -shared -Wl,-soname,libwiringPi.so -o libwiringPi.so.$(VERSION) -lpthread $(OBJ)
+
+.c.o:
+ @echo [Compile] $<
+ @$(CC) -c $(CFLAGS) $< -o $@
+
+.PHONY: clean
+clean:
+ @echo "[Clean]"
+ @rm -f $(OBJ) $(OBJ_I2C) *~ core tags Makefile.bak libwiringPi.*
+
+.PHONY: tags
+tags: $(SRC)
+ @echo [ctags]
+ @ctags $(SRC)
+
+
+.PHONY: install-headers
+install-headers:
+ @echo "[Install Headers]"
+ @install -m 0755 -d $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 wiringPi.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 wiringSerial.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 wiringShift.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 softPwm.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 softTone.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 wiringPiSPI.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 wiringPiI2C.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 drcSerial.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 mcp23008.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 mcp23016.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 mcp23017.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 mcp23s08.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 mcp23s17.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 max31855.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 max5322.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 mcp3002.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 mcp3004.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 mcp4802.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 mcp3422.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 sr595.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 pcf8574.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 pcf8591.h $(DESTDIR)$(PREFIX)/include
+ @install -m 0644 sn3218.h $(DESTDIR)$(PREFIX)/include
+
+.PHONY: install
+install: $(DYNAMIC) install-headers
+ @echo "[Install Dynamic Lib]"
+ @install -m 0755 -d $(DESTDIR)$(PREFIX)/lib
+ @install -m 0755 libwiringPi.so.$(VERSION) $(DESTDIR)$(PREFIX)/lib/libwiringPi.so.$(VERSION)
+ @ln -sf $(DESTDIR)$(PREFIX)/lib/libwiringPi.so.$(VERSION) $(DESTDIR)/lib/libwiringPi.so
+ @ldconfig
+
+.PHONY: install-static
+install-static: $(STATIC) install-headers
+ @echo "[Install Static Lib]"
+ @install -m 0755 -d $(DESTDIR)$(PREFIX)/lib
+ @install -m 0755 libwiringPi.a $(DESTDIR)$(PREFIX)/lib
+
+.PHONY: uninstall
+uninstall:
+ @echo "[UnInstall]"
+ @rm -f $(DESTDIR)$(PREFIX)/include/wiringPi.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/wiringSerial.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/wiringShift.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/softPwm.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/softTone.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/wiringPiSPI.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/wiringPiI2C.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/drcSerial.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/mcp23008.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/mcp23016.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/mcp23017.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/mcp23s08.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/mcp23s17.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/max31855.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/max5322.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/mcp3002.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/mcp3004.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/mcp4802.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/mcp3422.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/sr595.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/pcf8574.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/pcf8591.h
+ @rm -f $(DESTDIR)$(PREFIX)/include/sn3218.h
+ @rm -f $(DESTDIR)$(PREFIX)/lib/libwiringPi.*
+ @ldconfig
+
+
+.PHONY: depend
+depend:
+ makedepend -Y $(SRC) $(SRC_I2C)
+
+# DO NOT DELETE
+
+wiringPi.o: softPwm.h softTone.h wiringPi.h
+wiringSerial.o: wiringSerial.h
+wiringShift.o: wiringPi.h wiringShift.h
+piHiPri.o: wiringPi.h
+piThread.o: wiringPi.h
+wiringPiSPI.o: wiringPi.h wiringPiSPI.h
+wiringPiI2C.o: wiringPi.h wiringPiI2C.h
+softPwm.o: wiringPi.h softPwm.h
+softTone.o: wiringPi.h softTone.h
+mcp23008.o: wiringPi.h wiringPiI2C.h mcp23x0817.h mcp23008.h
+mcp23016.o: wiringPi.h wiringPiI2C.h mcp23016.h mcp23016reg.h
+mcp23017.o: wiringPi.h wiringPiI2C.h mcp23x0817.h mcp23017.h
+mcp23s08.o: wiringPi.h wiringPiSPI.h mcp23x0817.h mcp23s08.h
+mcp23s17.o: wiringPi.h wiringPiSPI.h mcp23x0817.h mcp23s17.h
+sr595.o: wiringPi.h sr595.h
+pcf8574.o: wiringPi.h wiringPiI2C.h pcf8574.h
+pcf8591.o: wiringPi.h wiringPiI2C.h pcf8591.h
+mcp3002.o: wiringPi.h wiringPiSPI.h mcp3002.h
+mcp3004.o: wiringPi.h wiringPiSPI.h mcp3004.h
+mcp4802.o: wiringPi.h wiringPiSPI.h mcp4802.h
+mcp3422.o: wiringPi.h wiringPiI2C.h mcp3422.h
+max31855.o: wiringPi.h wiringPiSPI.h max31855.h
+max5322.o: wiringPi.h wiringPiSPI.h max5322.h
+sn3218.o: wiringPi.h wiringPiI2C.h sn3218.h
+drcSerial.o: wiringPi.h wiringSerial.h drcSerial.h
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/drcSerial.c b/modules/catkin_ws/src/wiringPi/wiringPi/drcSerial.c
new file mode 100644
index 0000000000000000000000000000000000000000..6491a98c3ad4fd03860ee3ee9e215d2c8a8c9ad9
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/drcSerial.c
@@ -0,0 +1,201 @@
+/*
+ * drcSerial.c:
+ * Extend wiringPi with the DRC Serial protocol (e.g. to Arduino)
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <time.h>
+#include <string.h>
+#include <errno.h>
+
+#include "wiringPi.h"
+#include "wiringSerial.h"
+
+#include "drcSerial.h"
+
+#ifndef TRUE
+# define TRUE (1==1)
+# define FALSE (1==2)
+#endif
+
+
+/*
+ * myPinMode:
+ * Change the pin mode on the remote DRC device
+ *********************************************************************************
+ */
+
+static void myPinMode (struct wiringPiNodeStruct *node, int pin, int mode)
+{
+ /**/ if (mode == OUTPUT)
+ serialPutchar (node->fd, 'o') ; // Input
+ else if (mode == PWM_OUTPUT)
+ serialPutchar (node->fd, 'p') ; // PWM
+ else
+ serialPutchar (node->fd, 'i') ; // Default to input
+
+ serialPutchar (node->fd, pin - node->pinBase) ;
+}
+
+
+/*
+ * myPullUpDnControl:
+ * ATmegas only have pull-up's on of off. No pull-downs.
+ *********************************************************************************
+ */
+
+static void myPullUpDnControl (struct wiringPiNodeStruct *node, int pin, int mode)
+{
+
+// Force pin into input mode
+
+ serialPutchar (node->fd, 'i' ) ;
+ serialPutchar (node->fd, pin - node->pinBase) ;
+
+ /**/ if (mode == PUD_UP)
+ {
+ serialPutchar (node->fd, '1') ;
+ serialPutchar (node->fd, pin - node->pinBase) ;
+ }
+ else if (mode == PUD_OFF)
+ {
+ serialPutchar (node->fd, '0') ;
+ serialPutchar (node->fd, pin - node->pinBase) ;
+ }
+}
+
+
+/*
+ * myDigitalWrite:
+ *********************************************************************************
+ */
+
+static void myDigitalWrite (struct wiringPiNodeStruct *node, int pin, int value)
+{
+ serialPutchar (node->fd, value == 0 ? '0' : '1') ;
+ serialPutchar (node->fd, pin - node->pinBase) ;
+}
+
+
+/*
+ * myPwmWrite:
+ *********************************************************************************
+ */
+
+static void myPwmWrite (struct wiringPiNodeStruct *node, int pin, int value)
+{
+ serialPutchar (node->fd, 'v') ;
+ serialPutchar (node->fd, pin - node->pinBase) ;
+ serialPutchar (node->fd, value & 0xFF) ;
+}
+
+
+/*
+ * myAnalogRead:
+ *********************************************************************************
+ */
+
+static int myAnalogRead (struct wiringPiNodeStruct *node, int pin)
+{
+ int vHi, vLo ;
+
+ serialPutchar (node->fd, 'a') ;
+ serialPutchar (node->fd, pin - node->pinBase) ;
+ vHi = serialGetchar (node->fd) ;
+ vLo = serialGetchar (node->fd) ;
+
+ return (vHi << 8) | vLo ;
+}
+
+
+/*
+ * myDigitalRead:
+ *********************************************************************************
+ */
+
+static int myDigitalRead (struct wiringPiNodeStruct *node, int pin)
+{
+ serialPutchar (node->fd, 'r') ; // Send read command
+ serialPutchar (node->fd, pin - node->pinBase) ;
+ return (serialGetchar (node->fd) == '0') ? 0 : 1 ;
+}
+
+
+/*
+ * drcSetup:
+ * Create a new instance of an DRC GPIO interface.
+ * Could be a variable nunber of pins here - we might not know in advance
+ * if it's an ATmega with 14 pins, or something with less or more!
+ *********************************************************************************
+ */
+
+int drcSetupSerial (const int pinBase, const int numPins, const char *device, const int baud)
+{
+ int fd ;
+ int ok, tries ;
+ time_t then ;
+ struct wiringPiNodeStruct *node ;
+
+ if ((fd = serialOpen (device, baud)) < 0)
+ return wiringPiFailure (WPI_ALMOST, "Unable to open DRC device (%s): %s", device, strerror (errno)) ;
+
+ delay (10) ; // May need longer if it's an Uno that reboots on the open...
+
+// Flush any pending input
+
+ while (serialDataAvail (fd))
+ (void)serialGetchar (fd) ;
+
+ ok = FALSE ;
+ for (tries = 1 ; (tries < 5) && (!ok) ; ++tries)
+ {
+ serialPutchar (fd, '@') ; // Ping
+ then = time (NULL) + 2 ;
+ while (time (NULL) < then)
+ if (serialDataAvail (fd))
+ {
+ if (serialGetchar (fd) == '@')
+ {
+ ok = TRUE ;
+ break ;
+ }
+ }
+ }
+
+ if (!ok)
+ {
+ serialClose (fd) ;
+ return wiringPiFailure (WPI_FATAL, "Unable to communicate with DRC serial device") ;
+ }
+
+ node = wiringPiNewNode (pinBase, numPins) ;
+
+ node->fd = fd ;
+ node->pinMode = myPinMode ;
+ node->pullUpDnControl = myPullUpDnControl ;
+ node->analogRead = myAnalogRead ;
+ node->digitalRead = myDigitalRead ;
+ node->digitalWrite = myDigitalWrite ;
+ node->pwmWrite = myPwmWrite ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/drcSerial.h b/modules/catkin_ws/src/wiringPi/wiringPi/drcSerial.h
new file mode 100644
index 0000000000000000000000000000000000000000..29e988e1fbab27e7f5e168afa7e2e9d800ec899a
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/drcSerial.h
@@ -0,0 +1,33 @@
+/*
+ * drcSerial.h:
+ * Extend wiringPi with the DRC Serial protocol (e.g. to Arduino)
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int drcSetupSerial (const int pinBase, const int numPins, const char *device, const int baud) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/drcSerial.o b/modules/catkin_ws/src/wiringPi/wiringPi/drcSerial.o
new file mode 100644
index 0000000000000000000000000000000000000000..ba441cc869b08506fea8d047bfda37048a161705
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/drcSerial.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/libwiringPi.so.2.0 b/modules/catkin_ws/src/wiringPi/wiringPi/libwiringPi.so.2.0
new file mode 100755
index 0000000000000000000000000000000000000000..801a295cad6d5acc33144088a4343f6b3b5d6281
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/libwiringPi.so.2.0 differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/max31855.c b/modules/catkin_ws/src/wiringPi/wiringPi/max31855.c
new file mode 100644
index 0000000000000000000000000000000000000000..21858391b406e73107565695a5b29bbb13c1909c
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/max31855.c
@@ -0,0 +1,81 @@
+/*
+ * max31855.c:
+ * Extend wiringPi with the max31855 SPI Analog to Digital convertor
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <wiringPi.h>
+#include <wiringPiSPI.h>
+
+#include "max31855.h"
+
+/*
+ * myAnalogRead:
+ * Return the analog value of the given pin
+ * Note: The chip really only has one read "channel", but we're faking it
+ * here so we can read the error registers. Channel 0 will be the data
+ * channel, and 1 is the error register code.
+ * Note: Temperature returned is temp in C * 4, so divide result by 4
+ *********************************************************************************
+ */
+
+static int myAnalogRead (struct wiringPiNodeStruct *node, int pin)
+{
+ unsigned int spiData ;
+ int temp ;
+ int chan = pin - node->pinBase ;
+
+ wiringPiSPIDataRW (node->fd, (unsigned char *)&spiData, 4) ;
+
+ if (chan == 0) // Read temp in C
+ {
+ spiData >>= 18 ;
+ temp = spiData & 0x3FFF ; // Bottom 13 bits
+ if ((spiData & 0x2000) != 0) // Negative
+ temp = -temp ;
+ return temp ;
+ }
+ else // Return error bits
+ return spiData & 0x7 ;
+}
+
+
+/*
+ * max31855Setup:
+ * Create a new wiringPi device node for an max31855 on the Pi's
+ * SPI interface.
+ *********************************************************************************
+ */
+
+int max31855Setup (const int pinBase, int spiChannel)
+{
+ struct wiringPiNodeStruct *node ;
+
+ if (wiringPiSPISetup (spiChannel, 5000000) < 0) // 5MHz - prob 4 on the Pi
+ return -1 ;
+
+ node = wiringPiNewNode (pinBase, 2) ;
+
+ node->fd = spiChannel ;
+ node->analogRead = myAnalogRead ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/max31855.h b/modules/catkin_ws/src/wiringPi/wiringPi/max31855.h
new file mode 100644
index 0000000000000000000000000000000000000000..385c4bd361a15a25291da2dfe1476f263fbe6478
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/max31855.h
@@ -0,0 +1,33 @@
+/*
+ * max31855.c:
+ * Extend wiringPi with the MAX31855 SPI Thermocouple driver
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int max31855Setup (int pinBase, int spiChannel) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/max31855.o b/modules/catkin_ws/src/wiringPi/wiringPi/max31855.o
new file mode 100644
index 0000000000000000000000000000000000000000..6fec57b600b24b76b0ccf117f6f43a1abebd0616
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/max31855.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/max5322.c b/modules/catkin_ws/src/wiringPi/wiringPi/max5322.c
new file mode 100644
index 0000000000000000000000000000000000000000..b7cd6a9497cbe302fd45fbedbdb68916d55e0487
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/max5322.c
@@ -0,0 +1,84 @@
+/*
+ * max5322.c:
+ * Extend wiringPi with the MAX5322 SPI Digital to Analog convertor
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <wiringPi.h>
+#include <wiringPiSPI.h>
+
+#include "max5322.h"
+
+/*
+ * myAnalogWrite:
+ * Write analog value on the given pin
+ *********************************************************************************
+ */
+
+static void myAnalogWrite (struct wiringPiNodeStruct *node, int pin, int value)
+{
+ unsigned char spiData [2] ;
+ unsigned char chanBits, dataBits ;
+ int chan = pin - node->pinBase ;
+
+ if (chan == 0)
+ chanBits = 0b01000000 ;
+ else
+ chanBits = 0b01010000 ;
+
+ chanBits |= ((value >> 12) & 0x0F) ;
+ dataBits = ((value ) & 0xFF) ;
+
+ spiData [0] = chanBits ;
+ spiData [1] = dataBits ;
+
+ wiringPiSPIDataRW (node->fd, spiData, 2) ;
+}
+
+/*
+ * max5322Setup:
+ * Create a new wiringPi device node for an max5322 on the Pi's
+ * SPI interface.
+ *********************************************************************************
+ */
+
+int max5322Setup (const int pinBase, int spiChannel)
+{
+ struct wiringPiNodeStruct *node ;
+ unsigned char spiData [2] ;
+
+ if (wiringPiSPISetup (spiChannel, 8000000) < 0) // 10MHz Max
+ return -1 ;
+
+ node = wiringPiNewNode (pinBase, 2) ;
+
+ node->fd = spiChannel ;
+ node->analogWrite = myAnalogWrite ;
+
+// Enable both DACs
+
+ spiData [0] = 0b11100000 ;
+ spiData [1] = 0 ;
+
+ wiringPiSPIDataRW (node->fd, spiData, 2) ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/max5322.h b/modules/catkin_ws/src/wiringPi/wiringPi/max5322.h
new file mode 100644
index 0000000000000000000000000000000000000000..a217cf88f2bc968692aa93bdde604305594444a6
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/max5322.h
@@ -0,0 +1,33 @@
+/*
+ * max5322.h:
+ * Extend wiringPi with the MAX5322 SPI Digital to Analog convertor
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int max5322Setup (int pinBase, int spiChannel) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/max5322.o b/modules/catkin_ws/src/wiringPi/wiringPi/max5322.o
new file mode 100644
index 0000000000000000000000000000000000000000..157c4dea98aa1d1606cb7005b31605e3dd56c326
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/max5322.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23008.c b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23008.c
new file mode 100644
index 0000000000000000000000000000000000000000..d21d23786adcc49d95b7bb1d4fb8c1e9a1e5f8c3
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23008.c
@@ -0,0 +1,149 @@
+/*
+ * mcp23008.c:
+ * Extend wiringPi with the MCP 23008 I2C GPIO expander chip
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <pthread.h>
+
+#include "wiringPi.h"
+#include "wiringPiI2C.h"
+#include "mcp23x0817.h"
+
+#include "mcp23008.h"
+
+
+/*
+ * myPinMode:
+ *********************************************************************************
+ */
+
+static void myPinMode (struct wiringPiNodeStruct *node, int pin, int mode)
+{
+ int mask, old, reg ;
+
+ reg = MCP23x08_IODIR ;
+ mask = 1 << (pin - node->pinBase) ;
+ old = wiringPiI2CReadReg8 (node->fd, reg) ;
+
+ if (mode == OUTPUT)
+ old &= (~mask) ;
+ else
+ old |= mask ;
+
+ wiringPiI2CWriteReg8 (node->fd, reg, old) ;
+}
+
+
+/*
+ * myPullUpDnControl:
+ *********************************************************************************
+ */
+
+static void myPullUpDnControl (struct wiringPiNodeStruct *node, int pin, int mode)
+{
+ int mask, old, reg ;
+
+ reg = MCP23x08_GPPU ;
+ mask = 1 << (pin - node->pinBase) ;
+
+ old = wiringPiI2CReadReg8 (node->fd, reg) ;
+
+ if (mode == PUD_UP)
+ old |= mask ;
+ else
+ old &= (~mask) ;
+
+ wiringPiI2CWriteReg8 (node->fd, reg, old) ;
+}
+
+
+/*
+ * myDigitalWrite:
+ *********************************************************************************
+ */
+
+static void myDigitalWrite (struct wiringPiNodeStruct *node, int pin, int value)
+{
+ int bit, old ;
+
+ bit = 1 << ((pin - node->pinBase) & 7) ;
+
+ old = node->data2 ;
+ if (value == LOW)
+ old &= (~bit) ;
+ else
+ old |= bit ;
+
+ wiringPiI2CWriteReg8 (node->fd, MCP23x08_GPIO, old) ;
+ node->data2 = old ;
+}
+
+
+/*
+ * myDigitalRead:
+ *********************************************************************************
+ */
+
+static int myDigitalRead (struct wiringPiNodeStruct *node, int pin)
+{
+ int mask, value ;
+
+ mask = 1 << ((pin - node->pinBase) & 7) ;
+ value = wiringPiI2CReadReg8 (node->fd, MCP23x08_GPIO) ;
+
+ if ((value & mask) == 0)
+ return LOW ;
+ else
+ return HIGH ;
+}
+
+
+/*
+ * mcp23008Setup:
+ * Create a new instance of an MCP23008 I2C GPIO interface. We know it
+ * has 8 pins, so all we need to know here is the I2C address and the
+ * user-defined pin base.
+ *********************************************************************************
+ */
+
+int mcp23008Setup (const int pinBase, const int i2cAddress)
+{
+ int fd ;
+ struct wiringPiNodeStruct *node ;
+
+ if ((fd = wiringPiI2CSetup (i2cAddress)) < 0)
+ return fd ;
+
+ wiringPiI2CWriteReg8 (fd, MCP23x08_IOCON, IOCON_INIT) ;
+
+ node = wiringPiNewNode (pinBase, 8) ;
+
+ node->fd = fd ;
+ node->pinMode = myPinMode ;
+ node->pullUpDnControl = myPullUpDnControl ;
+ node->digitalRead = myDigitalRead ;
+ node->digitalWrite = myDigitalWrite ;
+ node->data2 = wiringPiI2CReadReg8 (fd, MCP23x08_OLAT) ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23008.h b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23008.h
new file mode 100644
index 0000000000000000000000000000000000000000..e9299a8cfb5f836739be86311f7ea44f1f2cf9a7
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23008.h
@@ -0,0 +1,33 @@
+/*
+ * 23008.h:
+ * Extend wiringPi with the MCP 23008 I2C GPIO expander chip
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int mcp23008Setup (const int pinBase, const int i2cAddress) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23008.o b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23008.o
new file mode 100644
index 0000000000000000000000000000000000000000..03a0289efb5e21db0906e1cbe9ec48814c15d247
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23008.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23016.c b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23016.c
new file mode 100644
index 0000000000000000000000000000000000000000..e5cc6328ebdcd8bc9d4b4c1e2b6bf452f177487d
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23016.c
@@ -0,0 +1,164 @@
+/*
+ * mcp23016.c:
+ * Extend wiringPi with the MCP 23016 I2C GPIO expander chip
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <pthread.h>
+
+#include "wiringPi.h"
+#include "wiringPiI2C.h"
+#include "mcp23016.h"
+
+#include "mcp23016reg.h"
+
+
+/*
+ * myPinMode:
+ *********************************************************************************
+ */
+
+static void myPinMode (struct wiringPiNodeStruct *node, int pin, int mode)
+{
+ int mask, old, reg ;
+
+ pin -= node->pinBase ;
+
+ if (pin < 8) // Bank A
+ reg = MCP23016_IODIR0 ;
+ else
+ {
+ reg = MCP23016_IODIR1 ;
+ pin &= 0x07 ;
+ }
+
+ mask = 1 << pin ;
+ old = wiringPiI2CReadReg8 (node->fd, reg) ;
+
+ if (mode == OUTPUT)
+ old &= (~mask) ;
+ else
+ old |= mask ;
+
+ wiringPiI2CWriteReg8 (node->fd, reg, old) ;
+}
+
+
+/*
+ * myDigitalWrite:
+ *********************************************************************************
+ */
+
+static void myDigitalWrite (struct wiringPiNodeStruct *node, int pin, int value)
+{
+ int bit, old ;
+
+ pin -= node->pinBase ; // Pin now 0-15
+
+ bit = 1 << (pin & 7) ;
+
+ if (pin < 8) // Bank A
+ {
+ old = node->data2 ;
+
+ if (value == LOW)
+ old &= (~bit) ;
+ else
+ old |= bit ;
+
+ wiringPiI2CWriteReg8 (node->fd, MCP23016_GP0, old) ;
+ node->data2 = old ;
+ }
+ else // Bank B
+ {
+ old = node->data3 ;
+
+ if (value == LOW)
+ old &= (~bit) ;
+ else
+ old |= bit ;
+
+ wiringPiI2CWriteReg8 (node->fd, MCP23016_GP1, old) ;
+ node->data3 = old ;
+ }
+}
+
+
+/*
+ * myDigitalRead:
+ *********************************************************************************
+ */
+
+static int myDigitalRead (struct wiringPiNodeStruct *node, int pin)
+{
+ int mask, value, gpio ;
+
+ pin -= node->pinBase ;
+
+ if (pin < 8) // Bank A
+ gpio = MCP23016_GP0 ;
+ else
+ {
+ gpio = MCP23016_GP1 ;
+ pin &= 0x07 ;
+ }
+
+ mask = 1 << pin ;
+ value = wiringPiI2CReadReg8 (node->fd, gpio) ;
+
+ if ((value & mask) == 0)
+ return LOW ;
+ else
+ return HIGH ;
+}
+
+
+/*
+ * mcp23016Setup:
+ * Create a new instance of an MCP23016 I2C GPIO interface. We know it
+ * has 16 pins, so all we need to know here is the I2C address and the
+ * user-defined pin base.
+ *********************************************************************************
+ */
+
+int mcp23016Setup (const int pinBase, const int i2cAddress)
+{
+ int fd ;
+ struct wiringPiNodeStruct *node ;
+
+ if ((fd = wiringPiI2CSetup (i2cAddress)) < 0)
+ return fd ;
+
+ wiringPiI2CWriteReg8 (fd, MCP23016_IOCON0, IOCON_INIT) ;
+ wiringPiI2CWriteReg8 (fd, MCP23016_IOCON1, IOCON_INIT) ;
+
+ node = wiringPiNewNode (pinBase, 16) ;
+
+ node->fd = fd ;
+ node->pinMode = myPinMode ;
+ node->digitalRead = myDigitalRead ;
+ node->digitalWrite = myDigitalWrite ;
+ node->data2 = wiringPiI2CReadReg8 (fd, MCP23016_OLAT0) ;
+ node->data3 = wiringPiI2CReadReg8 (fd, MCP23016_OLAT1) ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23016.h b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23016.h
new file mode 100644
index 0000000000000000000000000000000000000000..f9b5cc549ed602ba87f44fa329f522b8a492288c
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23016.h
@@ -0,0 +1,33 @@
+/*
+ * mcp23016.h:
+ * Extend wiringPi with the MCP 23016 I2C GPIO expander chip
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int mcp23016Setup (const int pinBase, const int i2cAddress) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23016.o b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23016.o
new file mode 100644
index 0000000000000000000000000000000000000000..712d58f4359e6b6a3863b67140672363c694a1d4
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23016.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23016reg.h b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23016reg.h
new file mode 100644
index 0000000000000000000000000000000000000000..9aea92d518a68526cdb3ecdfb896aacaf12985bb
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23016reg.h
@@ -0,0 +1,48 @@
+/*
+ * mcp23016:
+ * Copyright (c) 2012-2013 Gordon Henderson
+ *
+ * Header file for code using the MCP23016 GPIO expander
+ * chip.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+// MCP23016 Registers
+
+#define MCP23016_GP0 0x00
+#define MCP23016_GP1 0x01
+#define MCP23016_OLAT0 0x02
+#define MCP23016_OLAT1 0x03
+#define MCP23016_IPOL0 0x04
+#define MCP23016_IPOL1 0x05
+#define MCP23016_IODIR0 0x06
+#define MCP23016_IODIR1 0x07
+#define MCP23016_INTCAP0 0x08
+#define MCP23016_INTCAP1 0x09
+#define MCP23016_IOCON0 0x0A
+#define MCP23016_IOCON1 0x0B
+
+// Bits in the IOCON register
+
+#define IOCON_IARES 0x01
+
+// Default initialisation mode
+
+#define IOCON_INIT 0
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23017.c b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23017.c
new file mode 100644
index 0000000000000000000000000000000000000000..51741954b5e637da0b837271d66b011606ad895a
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23017.c
@@ -0,0 +1,195 @@
+/*
+ * mcp23017.c:
+ * Extend wiringPi with the MCP 23017 I2C GPIO expander chip
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <pthread.h>
+
+#include "wiringPi.h"
+#include "wiringPiI2C.h"
+#include "mcp23x0817.h"
+
+#include "mcp23017.h"
+
+
+/*
+ * myPinMode:
+ *********************************************************************************
+ */
+
+static void myPinMode (struct wiringPiNodeStruct *node, int pin, int mode)
+{
+ int mask, old, reg ;
+
+ pin -= node->pinBase ;
+
+ if (pin < 8) // Bank A
+ reg = MCP23x17_IODIRA ;
+ else
+ {
+ reg = MCP23x17_IODIRB ;
+ pin &= 0x07 ;
+ }
+
+ mask = 1 << pin ;
+ old = wiringPiI2CReadReg8 (node->fd, reg) ;
+
+ if (mode == OUTPUT)
+ old &= (~mask) ;
+ else
+ old |= mask ;
+
+ wiringPiI2CWriteReg8 (node->fd, reg, old) ;
+}
+
+
+/*
+ * myPullUpDnControl:
+ *********************************************************************************
+ */
+
+static void myPullUpDnControl (struct wiringPiNodeStruct *node, int pin, int mode)
+{
+ int mask, old, reg ;
+
+ pin -= node->pinBase ;
+
+ if (pin < 8) // Bank A
+ reg = MCP23x17_GPPUA ;
+ else
+ {
+ reg = MCP23x17_GPPUB ;
+ pin &= 0x07 ;
+ }
+
+ mask = 1 << pin ;
+ old = wiringPiI2CReadReg8 (node->fd, reg) ;
+
+ if (mode == PUD_UP)
+ old |= mask ;
+ else
+ old &= (~mask) ;
+
+ wiringPiI2CWriteReg8 (node->fd, reg, old) ;
+}
+
+
+/*
+ * myDigitalWrite:
+ *********************************************************************************
+ */
+
+static void myDigitalWrite (struct wiringPiNodeStruct *node, int pin, int value)
+{
+ int bit, old ;
+
+ pin -= node->pinBase ; // Pin now 0-15
+
+ bit = 1 << (pin & 7) ;
+
+ if (pin < 8) // Bank A
+ {
+ old = node->data2 ;
+
+ if (value == LOW)
+ old &= (~bit) ;
+ else
+ old |= bit ;
+
+ wiringPiI2CWriteReg8 (node->fd, MCP23x17_GPIOA, old) ;
+ node->data2 = old ;
+ }
+ else // Bank B
+ {
+ old = node->data3 ;
+
+ if (value == LOW)
+ old &= (~bit) ;
+ else
+ old |= bit ;
+
+ wiringPiI2CWriteReg8 (node->fd, MCP23x17_GPIOB, old) ;
+ node->data3 = old ;
+ }
+}
+
+
+/*
+ * myDigitalRead:
+ *********************************************************************************
+ */
+
+static int myDigitalRead (struct wiringPiNodeStruct *node, int pin)
+{
+ int mask, value, gpio ;
+
+ pin -= node->pinBase ;
+
+ if (pin < 8) // Bank A
+ gpio = MCP23x17_GPIOA ;
+ else
+ {
+ gpio = MCP23x17_GPIOB ;
+ pin &= 0x07 ;
+ }
+
+ mask = 1 << pin ;
+ value = wiringPiI2CReadReg8 (node->fd, gpio) ;
+
+ if ((value & mask) == 0)
+ return LOW ;
+ else
+ return HIGH ;
+}
+
+
+/*
+ * mcp23017Setup:
+ * Create a new instance of an MCP23017 I2C GPIO interface. We know it
+ * has 16 pins, so all we need to know here is the I2C address and the
+ * user-defined pin base.
+ *********************************************************************************
+ */
+
+int mcp23017Setup (const int pinBase, const int i2cAddress)
+{
+ int fd ;
+ struct wiringPiNodeStruct *node ;
+
+ if ((fd = wiringPiI2CSetup (i2cAddress)) < 0)
+ return fd ;
+
+ wiringPiI2CWriteReg8 (fd, MCP23x17_IOCON, IOCON_INIT) ;
+
+ node = wiringPiNewNode (pinBase, 16) ;
+
+ node->fd = fd ;
+ node->pinMode = myPinMode ;
+ node->pullUpDnControl = myPullUpDnControl ;
+ node->digitalRead = myDigitalRead ;
+ node->digitalWrite = myDigitalWrite ;
+ node->data2 = wiringPiI2CReadReg8 (fd, MCP23x17_OLATA) ;
+ node->data3 = wiringPiI2CReadReg8 (fd, MCP23x17_OLATB) ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23017.h b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23017.h
new file mode 100644
index 0000000000000000000000000000000000000000..79b4d7b31f1b17ccf72805f5d721d1d9df30b949
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23017.h
@@ -0,0 +1,33 @@
+/*
+ * 23017.h:
+ * Extend wiringPi with the MCP 23017 I2C GPIO expander chip
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int mcp23017Setup (const int pinBase, const int i2cAddress) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23017.o b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23017.o
new file mode 100644
index 0000000000000000000000000000000000000000..cbb25e9859541b9a4374838761ba80ec9160cb91
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23017.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s08.c b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s08.c
new file mode 100644
index 0000000000000000000000000000000000000000..d0acb5ee5fa54174645f9b0ed386feb764a73055
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s08.c
@@ -0,0 +1,189 @@
+/*
+ * mcp23s08.c:
+ * Extend wiringPi with the MCP 23s08 SPI GPIO expander chip
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdint.h>
+
+#include "wiringPi.h"
+#include "wiringPiSPI.h"
+#include "mcp23x0817.h"
+
+#include "mcp23s08.h"
+
+#define MCP_SPEED 4000000
+
+
+
+/*
+ * writeByte:
+ * Write a byte to a register on the MCP23s08 on the SPI bus.
+ *********************************************************************************
+ */
+
+static void writeByte (uint8_t spiPort, uint8_t devId, uint8_t reg, uint8_t data)
+{
+ uint8_t spiData [4] ;
+
+ spiData [0] = CMD_WRITE | ((devId & 7) << 1) ;
+ spiData [1] = reg ;
+ spiData [2] = data ;
+
+ wiringPiSPIDataRW (spiPort, spiData, 3) ;
+}
+
+/*
+ * readByte:
+ * Read a byte from a register on the MCP23s08 on the SPI bus.
+ *********************************************************************************
+ */
+
+static uint8_t readByte (uint8_t spiPort, uint8_t devId, uint8_t reg)
+{
+ uint8_t spiData [4] ;
+
+ spiData [0] = CMD_READ | ((devId & 7) << 1) ;
+ spiData [1] = reg ;
+
+ wiringPiSPIDataRW (spiPort, spiData, 3) ;
+
+ return spiData [2] ;
+}
+
+
+/*
+ * myPinMode:
+ *********************************************************************************
+ */
+
+static void myPinMode (struct wiringPiNodeStruct *node, int pin, int mode)
+{
+ int mask, old, reg ;
+
+ reg = MCP23x08_IODIR ;
+ mask = 1 << (pin - node->pinBase) ;
+ old = readByte (node->data0, node->data1, reg) ;
+
+ if (mode == OUTPUT)
+ old &= (~mask) ;
+ else
+ old |= mask ;
+
+ writeByte (node->data0, node->data1, reg, old) ;
+}
+
+
+/*
+ * myPullUpDnControl:
+ *********************************************************************************
+ */
+
+static void myPullUpDnControl (struct wiringPiNodeStruct *node, int pin, int mode)
+{
+ int mask, old, reg ;
+
+ reg = MCP23x08_GPPU ;
+ mask = 1 << (pin - node->pinBase) ;
+
+ old = readByte (node->data0, node->data1, reg) ;
+
+ if (mode == PUD_UP)
+ old |= mask ;
+ else
+ old &= (~mask) ;
+
+ writeByte (node->data0, node->data1, reg, old) ;
+}
+
+
+/*
+ * myDigitalWrite:
+ *********************************************************************************
+ */
+
+static void myDigitalWrite (struct wiringPiNodeStruct *node, int pin, int value)
+{
+ int bit, old ;
+
+ bit = 1 << ((pin - node->pinBase) & 7) ;
+
+ old = node->data2 ;
+ if (value == LOW)
+ old &= (~bit) ;
+ else
+ old |= bit ;
+
+ writeByte (node->data0, node->data1, MCP23x08_GPIO, old) ;
+ node->data2 = old ;
+}
+
+
+/*
+ * myDigitalRead:
+ *********************************************************************************
+ */
+
+static int myDigitalRead (struct wiringPiNodeStruct *node, int pin)
+{
+ int mask, value ;
+
+ mask = 1 << ((pin - node->pinBase) & 7) ;
+ value = readByte (node->data0, node->data1, MCP23x08_GPIO) ;
+
+ if ((value & mask) == 0)
+ return LOW ;
+ else
+ return HIGH ;
+}
+
+
+/*
+ * mcp23s08Setup:
+ * Create a new instance of an MCP23s08 SPI GPIO interface. We know it
+ * has 8 pins, so all we need to know here is the SPI address and the
+ * user-defined pin base.
+ *********************************************************************************
+ */
+
+int mcp23s08Setup (const int pinBase, const int spiPort, const int devId)
+{
+ int x ;
+ struct wiringPiNodeStruct *node ;
+
+ if ((x = wiringPiSPISetup (spiPort, MCP_SPEED)) < 0)
+ return x ;
+
+ writeByte (spiPort, devId, MCP23x08_IOCON, IOCON_INIT) ;
+
+ node = wiringPiNewNode (pinBase, 8) ;
+
+ node->data0 = spiPort ;
+ node->data1 = devId ;
+ node->pinMode = myPinMode ;
+ node->pullUpDnControl = myPullUpDnControl ;
+ node->digitalRead = myDigitalRead ;
+ node->digitalWrite = myDigitalWrite ;
+ node->data2 = readByte (spiPort, devId, MCP23x08_OLAT) ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s08.h b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s08.h
new file mode 100644
index 0000000000000000000000000000000000000000..ebf93d1981c69c8b82c400ddc906dc6e6861cf33
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s08.h
@@ -0,0 +1,33 @@
+/*
+ * 23s08.h:
+ * Extend wiringPi with the MCP 23s08 SPI GPIO expander chip
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int mcp23s08Setup (const int pinBase, const int spiPort, const int devId) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s08.o b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s08.o
new file mode 100644
index 0000000000000000000000000000000000000000..4e653c774677624b93b18b0b30c2efeb17712570
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s08.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s17.c b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s17.c
new file mode 100644
index 0000000000000000000000000000000000000000..c2d1be3a966ec1b7cd31f5b777d3d3397a69fb89
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s17.c
@@ -0,0 +1,236 @@
+/*
+ * mcp23s17.c:
+ * Extend wiringPi with the MCP 23s17 SPI GPIO expander chip
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdint.h>
+
+#include "wiringPi.h"
+#include "wiringPiSPI.h"
+#include "mcp23x0817.h"
+
+#include "mcp23s17.h"
+
+#define MCP_SPEED 4000000
+
+
+
+/*
+ * writeByte:
+ * Write a byte to a register on the MCP23s17 on the SPI bus.
+ *********************************************************************************
+ */
+
+static void writeByte (uint8_t spiPort, uint8_t devId, uint8_t reg, uint8_t data)
+{
+ uint8_t spiData [4] ;
+
+ spiData [0] = CMD_WRITE | ((devId & 7) << 1) ;
+ spiData [1] = reg ;
+ spiData [2] = data ;
+
+ wiringPiSPIDataRW (spiPort, spiData, 3) ;
+}
+
+/*
+ * readByte:
+ * Read a byte from a register on the MCP23s17 on the SPI bus.
+ *********************************************************************************
+ */
+
+static uint8_t readByte (uint8_t spiPort, uint8_t devId, uint8_t reg)
+{
+ uint8_t spiData [4] ;
+
+ spiData [0] = CMD_READ | ((devId & 7) << 1) ;
+ spiData [1] = reg ;
+
+ wiringPiSPIDataRW (spiPort, spiData, 3) ;
+
+ return spiData [2] ;
+}
+
+
+/*
+ * myPinMode:
+ *********************************************************************************
+ */
+
+static void myPinMode (struct wiringPiNodeStruct *node, int pin, int mode)
+{
+ int mask, old, reg ;
+
+ pin -= node->pinBase ;
+
+ if (pin < 8) // Bank A
+ reg = MCP23x17_IODIRA ;
+ else
+ {
+ reg = MCP23x17_IODIRB ;
+ pin &= 0x07 ;
+ }
+
+ mask = 1 << pin ;
+ old = readByte (node->data0, node->data1, reg) ;
+
+ if (mode == OUTPUT)
+ old &= (~mask) ;
+ else
+ old |= mask ;
+
+ writeByte (node->data0, node->data1, reg, old) ;
+}
+
+
+/*
+ * myPullUpDnControl:
+ *********************************************************************************
+ */
+
+static void myPullUpDnControl (struct wiringPiNodeStruct *node, int pin, int mode)
+{
+ int mask, old, reg ;
+
+ pin -= node->pinBase ;
+
+ if (pin < 8) // Bank A
+ reg = MCP23x17_GPPUA ;
+ else
+ {
+ reg = MCP23x17_GPPUB ;
+ pin &= 0x07 ;
+ }
+
+ mask = 1 << pin ;
+ old = readByte (node->data0, node->data1, reg) ;
+
+ if (mode == PUD_UP)
+ old |= mask ;
+ else
+ old &= (~mask) ;
+
+ writeByte (node->data0, node->data1, reg, old) ;
+}
+
+
+/*
+ * myDigitalWrite:
+ *********************************************************************************
+ */
+
+static void myDigitalWrite (struct wiringPiNodeStruct *node, int pin, int value)
+{
+ int bit, old ;
+
+ pin -= node->pinBase ; // Pin now 0-15
+
+ bit = 1 << (pin & 7) ;
+
+ if (pin < 8) // Bank A
+ {
+ old = node->data2 ;
+
+ if (value == LOW)
+ old &= (~bit) ;
+ else
+ old |= bit ;
+
+ writeByte (node->data0, node->data1, MCP23x17_GPIOA, old) ;
+ node->data2 = old ;
+ }
+ else // Bank B
+ {
+ old = node->data3 ;
+
+ if (value == LOW)
+ old &= (~bit) ;
+ else
+ old |= bit ;
+
+ writeByte (node->data0, node->data1, MCP23x17_GPIOB, old) ;
+ node->data3 = old ;
+ }
+}
+
+
+/*
+ * myDigitalRead:
+ *********************************************************************************
+ */
+
+static int myDigitalRead (struct wiringPiNodeStruct *node, int pin)
+{
+ int mask, value, gpio ;
+
+ pin -= node->pinBase ;
+
+ if (pin < 8) // Bank A
+ gpio = MCP23x17_GPIOA ;
+ else
+ {
+ gpio = MCP23x17_GPIOB ;
+ pin &= 0x07 ;
+ }
+
+ mask = 1 << pin ;
+ value = readByte (node->data0, node->data1, gpio) ;
+
+ if ((value & mask) == 0)
+ return LOW ;
+ else
+ return HIGH ;
+}
+
+
+/*
+ * mcp23s17Setup:
+ * Create a new instance of an MCP23s17 SPI GPIO interface. We know it
+ * has 16 pins, so all we need to know here is the SPI address and the
+ * user-defined pin base.
+ *********************************************************************************
+ */
+
+int mcp23s17Setup (const int pinBase, const int spiPort, const int devId)
+{
+ int x ;
+ struct wiringPiNodeStruct *node ;
+
+ if ((x = wiringPiSPISetup (spiPort, MCP_SPEED)) < 0)
+ return x ;
+
+ writeByte (spiPort, devId, MCP23x17_IOCON, IOCON_INIT | IOCON_HAEN) ;
+ writeByte (spiPort, devId, MCP23x17_IOCONB, IOCON_INIT | IOCON_HAEN) ;
+
+ node = wiringPiNewNode (pinBase, 16) ;
+
+ node->data0 = spiPort ;
+ node->data1 = devId ;
+ node->pinMode = myPinMode ;
+ node->pullUpDnControl = myPullUpDnControl ;
+ node->digitalRead = myDigitalRead ;
+ node->digitalWrite = myDigitalWrite ;
+ node->data2 = readByte (spiPort, devId, MCP23x17_OLATA) ;
+ node->data3 = readByte (spiPort, devId, MCP23x17_OLATB) ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s17.h b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s17.h
new file mode 100644
index 0000000000000000000000000000000000000000..3b2a8088386535c8dbce2b2f8c7b7cb7ffdae530
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s17.h
@@ -0,0 +1,33 @@
+/*
+ * 23s17.h:
+ * Extend wiringPi with the MCP 23s17 SPI GPIO expander chip
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int mcp23s17Setup (int pinBase, int spiPort, int devId) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s17.o b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s17.o
new file mode 100644
index 0000000000000000000000000000000000000000..e780bad13ace885dd39f68bd355f999fd2e43140
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23s17.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23x08.h b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23x08.h
new file mode 100644
index 0000000000000000000000000000000000000000..c4e6b272ca6d889a2c5152cb3c721ae3214b1fbd
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23x08.h
@@ -0,0 +1,73 @@
+/*
+ * mcp23x17:
+ * Copyright (c) 2012-2013 Gordon Henderson
+ *
+ * Header file for code using the MCP23x17 GPIO expander chip.
+ * This comes in 2 flavours: MCP23017 which has an I2C interface,
+ * an the MXP23S17 which has an SPI interface.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+
+// MCP23x17 Registers
+
+#define IODIRA 0x00
+#define IPOLA 0x02
+#define GPINTENA 0x04
+#define DEFVALA 0x06
+#define INTCONA 0x08
+#define IOCON 0x0A
+#define GPPUA 0x0C
+#define INTFA 0x0E
+#define INTCAPA 0x10
+#define GPIOA 0x12
+#define OLATA 0x14
+
+#define IODIRB 0x01
+#define IPOLB 0x03
+#define GPINTENB 0x05
+#define DEFVALB 0x07
+#define INTCONB 0x09
+#define IOCONB 0x0B
+#define GPPUB 0x0D
+#define INTFB 0x0F
+#define INTCAPB 0x11
+#define GPIOB 0x13
+#define OLATB 0x15
+
+// Bits in the IOCON register
+
+#define IOCON_UNUSED 0x01
+#define IOCON_INTPOL 0x02
+#define IOCON_ODR 0x04
+#define IOCON_HAEN 0x08
+#define IOCON_DISSLW 0x10
+#define IOCON_SEQOP 0x20
+#define IOCON_MIRROR 0x40
+#define IOCON_BANK_MODE 0x80
+
+// Default initialisation mode
+
+#define IOCON_INIT (IOCON_SEQOP)
+
+// SPI Command codes
+
+#define CMD_WRITE 0x40
+#define CMD_READ 0x41
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp23x0817.h b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23x0817.h
new file mode 100644
index 0000000000000000000000000000000000000000..58bc038239f6bc4b915db9f01f04d284b38e80dc
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp23x0817.h
@@ -0,0 +1,87 @@
+/*
+ * mcp23xxx:
+ * Copyright (c) 2012-2013 Gordon Henderson
+ *
+ * Header file for code using the MCP23x08 and 17 GPIO expander
+ * chips.
+ * This comes in 2 flavours: MCP230xx (08/17) which has an I2C
+ * interface, and the MXP23Sxx (08/17) which has an SPI interface.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+// MCP23x08 Registers
+
+#define MCP23x08_IODIR 0x00
+#define MCP23x08_IPOL 0x01
+#define MCP23x08_GPINTEN 0x02
+#define MCP23x08_DEFVAL 0x03
+#define MCP23x08_INTCON 0x04
+#define MCP23x08_IOCON 0x05
+#define MCP23x08_GPPU 0x06
+#define MCP23x08_INTF 0x07
+#define MCP23x08_INTCAP 0x08
+#define MCP23x08_GPIO 0x09
+#define MCP23x08_OLAT 0x0A
+
+// MCP23x17 Registers
+
+#define MCP23x17_IODIRA 0x00
+#define MCP23x17_IPOLA 0x02
+#define MCP23x17_GPINTENA 0x04
+#define MCP23x17_DEFVALA 0x06
+#define MCP23x17_INTCONA 0x08
+#define MCP23x17_IOCON 0x0A
+#define MCP23x17_GPPUA 0x0C
+#define MCP23x17_INTFA 0x0E
+#define MCP23x17_INTCAPA 0x10
+#define MCP23x17_GPIOA 0x12
+#define MCP23x17_OLATA 0x14
+
+#define MCP23x17_IODIRB 0x01
+#define MCP23x17_IPOLB 0x03
+#define MCP23x17_GPINTENB 0x05
+#define MCP23x17_DEFVALB 0x07
+#define MCP23x17_INTCONB 0x09
+#define MCP23x17_IOCONB 0x0B
+#define MCP23x17_GPPUB 0x0D
+#define MCP23x17_INTFB 0x0F
+#define MCP23x17_INTCAPB 0x11
+#define MCP23x17_GPIOB 0x13
+#define MCP23x17_OLATB 0x15
+
+// Bits in the IOCON register
+
+#define IOCON_UNUSED 0x01
+#define IOCON_INTPOL 0x02
+#define IOCON_ODR 0x04
+#define IOCON_HAEN 0x08
+#define IOCON_DISSLW 0x10
+#define IOCON_SEQOP 0x20
+#define IOCON_MIRROR 0x40
+#define IOCON_BANK_MODE 0x80
+
+// Default initialisation mode
+
+#define IOCON_INIT (IOCON_SEQOP)
+
+// SPI Command codes
+
+#define CMD_WRITE 0x40
+#define CMD_READ 0x41
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp3002.c b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3002.c
new file mode 100644
index 0000000000000000000000000000000000000000..5d4494013c4f1dbf4d63f9da44fe9b3af5baddbe
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3002.c
@@ -0,0 +1,76 @@
+/*
+ * mcp3002.c:
+ * Extend wiringPi with the MCP3002 SPI Analog to Digital convertor
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <wiringPi.h>
+#include <wiringPiSPI.h>
+
+#include "mcp3002.h"
+
+/*
+ * myAnalogRead:
+ * Return the analog value of the given pin
+ *********************************************************************************
+ */
+
+static int myAnalogRead (struct wiringPiNodeStruct *node, int pin)
+{
+ unsigned char spiData [2] ;
+ unsigned char chanBits ;
+ int chan = pin - node->pinBase ;
+
+ if (chan == 0)
+ chanBits = 0b11010000 ;
+ else
+ chanBits = 0b11110000 ;
+
+ spiData [0] = chanBits ;
+ spiData [1] = 0 ;
+
+ wiringPiSPIDataRW (node->fd, spiData, 2) ;
+
+ return ((spiData [0] << 7) | (spiData [1] >> 1)) & 0x3FF ;
+}
+
+
+/*
+ * mcp3002Setup:
+ * Create a new wiringPi device node for an mcp3002 on the Pi's
+ * SPI interface.
+ *********************************************************************************
+ */
+
+int mcp3002Setup (const int pinBase, int spiChannel)
+{
+ struct wiringPiNodeStruct *node ;
+
+ if (wiringPiSPISetup (spiChannel, 1000000) < 0)
+ return -1 ;
+
+ node = wiringPiNewNode (pinBase, 2) ;
+
+ node->fd = spiChannel ;
+ node->analogRead = myAnalogRead ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp3002.h b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3002.h
new file mode 100644
index 0000000000000000000000000000000000000000..0cd727f33ac58709433881d91a3b4e780ec23331
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3002.h
@@ -0,0 +1,33 @@
+/*
+ * mcp3002.c:
+ * Extend wiringPi with the MCP3002 SPI Analog to Digital convertor
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int mcp3002Setup (int pinBase, int spiChannel) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp3002.o b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3002.o
new file mode 100644
index 0000000000000000000000000000000000000000..919732166877cd1b9538a16117cef0725ee7c597
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3002.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp3004.c b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3004.c
new file mode 100644
index 0000000000000000000000000000000000000000..82c73dd253165d306c8c2e81db108c11ccbcb53f
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3004.c
@@ -0,0 +1,76 @@
+/*
+ * mcp3004.c:
+ * Extend wiringPi with the MCP3004 SPI Analog to Digital convertor
+ * Copyright (c) 2012-2013 Gordon Henderson
+ *
+ * Thanks also to "ShorTie" on IRC for some remote debugging help!
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <wiringPi.h>
+#include <wiringPiSPI.h>
+
+#include "mcp3004.h"
+
+/*
+ * myAnalogRead:
+ * Return the analog value of the given pin
+ *********************************************************************************
+ */
+
+static int myAnalogRead (struct wiringPiNodeStruct *node, int pin)
+{
+ unsigned char spiData [3] ;
+ unsigned char chanBits ;
+ int chan = pin - node->pinBase ;
+
+ chanBits = 0b10000000 | (chan << 4) ;
+
+ spiData [0] = 1 ; // Start bit
+ spiData [1] = chanBits ;
+ spiData [2] = 0 ;
+
+ wiringPiSPIDataRW (node->fd, spiData, 3) ;
+
+ return ((spiData [1] << 8) | spiData [2]) & 0x3FF ;
+}
+
+
+/*
+ * mcp3004Setup:
+ * Create a new wiringPi device node for an mcp3004 on the Pi's
+ * SPI interface.
+ *********************************************************************************
+ */
+
+int mcp3004Setup (const int pinBase, int spiChannel)
+{
+ struct wiringPiNodeStruct *node ;
+
+ if (wiringPiSPISetup (spiChannel, 1000000) < 0)
+ return -1 ;
+
+ node = wiringPiNewNode (pinBase, 8) ;
+
+ node->fd = spiChannel ;
+ node->analogRead = myAnalogRead ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp3004.h b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3004.h
new file mode 100644
index 0000000000000000000000000000000000000000..a07c0bf01d990c5cde30f33a5afd73a3b5ffc6db
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3004.h
@@ -0,0 +1,33 @@
+/*
+ * mcp3004.c:
+ * Extend wiringPi with the MCP3004 SPI Analog to Digital convertor
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int mcp3004Setup (int pinBase, int spiChannel) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp3004.o b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3004.o
new file mode 100644
index 0000000000000000000000000000000000000000..862b16fce398efd8c0a551889d5f44c4e5c80ee7
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3004.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp3422.c b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3422.c
new file mode 100644
index 0000000000000000000000000000000000000000..831aece32956c0c8115a3348336e4e605f241bef
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3422.c
@@ -0,0 +1,110 @@
+/*
+ * mcp3422.c:
+ * Extend wiringPi with the MCP3422 I2C ADC chip
+ * Also works for the MCP3423 and MCP3224 (4 channel) chips
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+
+#include <stdio.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <linux/spi/spidev.h>
+
+#include <wiringPi.h>
+#include <wiringPiI2C.h>
+
+#include "mcp3422.h"
+
+
+/*
+ * myAnalogRead:
+ * Read a channel from the device
+ *********************************************************************************
+ */
+
+int myAnalogRead (struct wiringPiNodeStruct *node, int chan)
+{
+ unsigned char config ;
+ unsigned char buffer [4] ;
+ int value = 0 ;
+
+// One-shot mode, trigger plus the other configs.
+
+ config = 0x80 | ((chan - node->pinBase) << 5) | (node->data0 << 2) | (node->data1) ;
+
+ wiringPiI2CWrite (node->fd, config) ;
+
+ switch (node->data0) // Sample rate
+ {
+ case MCP3422_SR_3_75: // 18 bits
+ delay (270) ;
+ read (node->fd, buffer, 4) ;
+ value = ((buffer [0] & 3) << 16) | (buffer [1] << 8) | buffer [0] ;
+ break ;
+
+ case MCP3422_SR_15: // 16 bits
+ delay ( 70) ;
+ read (node->fd, buffer, 3) ;
+ value = (buffer [0] << 8) | buffer [1] ;
+ break ;
+
+ case MCP3422_SR_60: // 14 bits
+ delay ( 17) ;
+ read (node->fd, buffer, 3) ;
+ value = ((buffer [0] & 0x3F) << 8) | buffer [1] ;
+ break ;
+
+ case MCP3422_SR_240: // 12 bits
+ delay ( 5) ;
+ read (node->fd, buffer, 3) ;
+ value = ((buffer [0] & 0x0F) << 8) | buffer [0] ;
+ break ;
+ }
+
+ return value ;
+}
+
+
+/*
+ * mcp3422Setup:
+ * Create a new wiringPi device node for the mcp3422
+ *********************************************************************************
+ */
+
+int mcp3422Setup (int pinBase, int i2cAddress, int sampleRate, int gain)
+{
+ int fd ;
+ struct wiringPiNodeStruct *node ;
+
+ if ((fd = wiringPiI2CSetup (i2cAddress)) < 0)
+ return fd ;
+
+ node = wiringPiNewNode (pinBase, 4) ;
+
+ node->data0 = sampleRate ;
+ node->data1 = gain ;
+ node->analogRead = myAnalogRead ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp3422.h b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3422.h
new file mode 100644
index 0000000000000000000000000000000000000000..bb4692d841cc6caed92116a37479f4fad6a2d878
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3422.h
@@ -0,0 +1,43 @@
+/*
+ * mcp3422.c:
+ * Extend wiringPi with the MCP3422 I2C ADC chip
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#define MCP3422_SR_3_75 0
+#define MCP3422_SR_15 1
+#define MCP3422_SR_60 2
+#define MCP3422_SR_240 3
+
+#define MCP3422_GAIN_1 0
+#define MCP3422_GAIN_2 1
+#define MCP3422_GAIN_4 2
+#define MCP3422_GAIN_8 3
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int mcp3422Setup (int pinBase, int i2cAddress, int sampleRate, int gain) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp3422.o b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3422.o
new file mode 100644
index 0000000000000000000000000000000000000000..3ceba46e47d31d53e620b957e5b7fa9d88411dc3
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/mcp3422.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp4802.c b/modules/catkin_ws/src/wiringPi/wiringPi/mcp4802.c
new file mode 100644
index 0000000000000000000000000000000000000000..5c5c17af5e6a42d04c71c2fe4b5692935bd48ce0
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp4802.c
@@ -0,0 +1,76 @@
+/*
+ * mcp4802.c:
+ * Extend wiringPi with the MCP4802 SPI Digital to Analog convertor
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <wiringPi.h>
+#include <wiringPiSPI.h>
+
+#include "mcp4802.h"
+
+/*
+ * myAnalogWrite:
+ * Write analog value on the given pin
+ *********************************************************************************
+ */
+
+static void myAnalogWrite (struct wiringPiNodeStruct *node, int pin, int value)
+{
+ unsigned char spiData [2] ;
+ unsigned char chanBits, dataBits ;
+ int chan = pin - node->pinBase ;
+
+ if (chan == 0)
+ chanBits = 0x30 ;
+ else
+ chanBits = 0xB0 ;
+
+ chanBits |= ((value >> 4) & 0x0F) ;
+ dataBits = ((value << 4) & 0xF0) ;
+
+ spiData [0] = chanBits ;
+ spiData [1] = dataBits ;
+
+ wiringPiSPIDataRW (node->fd, spiData, 2) ;
+}
+
+/*
+ * mcp4802Setup:
+ * Create a new wiringPi device node for an mcp4802 on the Pi's
+ * SPI interface.
+ *********************************************************************************
+ */
+
+int mcp4802Setup (const int pinBase, int spiChannel)
+{
+ struct wiringPiNodeStruct *node ;
+
+ if (wiringPiSPISetup (spiChannel, 1000000) < 0)
+ return -1 ;
+
+ node = wiringPiNewNode (pinBase, 2) ;
+
+ node->fd = spiChannel ;
+ node->analogWrite = myAnalogWrite ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp4802.h b/modules/catkin_ws/src/wiringPi/wiringPi/mcp4802.h
new file mode 100644
index 0000000000000000000000000000000000000000..effa0246149fa7720e3c7c58d95658078ece7482
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/mcp4802.h
@@ -0,0 +1,33 @@
+/*
+ * mcp4802.c:
+ * Extend wiringPi with the MCP4802 SPI Digital to Analog convertor
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int mcp4802Setup (int pinBase, int spiChannel) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/mcp4802.o b/modules/catkin_ws/src/wiringPi/wiringPi/mcp4802.o
new file mode 100644
index 0000000000000000000000000000000000000000..4da7eca49478f60c72d4e855cd3b2ef2bd882936
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/mcp4802.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/pcf8574.c b/modules/catkin_ws/src/wiringPi/wiringPi/pcf8574.c
new file mode 100644
index 0000000000000000000000000000000000000000..c172d1cba63c024b9aea0b16c799fd54de98e27b
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/pcf8574.c
@@ -0,0 +1,126 @@
+/*
+ * pcf8574.c:
+ * Extend wiringPi with the PCF8574 I2C GPIO expander chip
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <pthread.h>
+
+#include "wiringPi.h"
+#include "wiringPiI2C.h"
+
+#include "pcf8574.h"
+
+
+/*
+ * myPinMode:
+ * The PCF8574 is an odd chip - the pins are effectively bi-directional,
+ * however the pins should be drven high when used as an input pin...
+ * So, we're effectively copying digitalWrite...
+ *********************************************************************************
+ */
+
+static void myPinMode (struct wiringPiNodeStruct *node, int pin, int mode)
+{
+ int bit, old ;
+
+ bit = 1 << ((pin - node->pinBase) & 7) ;
+
+ old = node->data2 ;
+ if (mode == OUTPUT)
+ old &= (~bit) ; // Write bit to 0
+ else
+ old |= bit ; // Write bit to 1
+
+ wiringPiI2CWrite (node->fd, old) ;
+ node->data2 = old ;
+}
+
+
+
+/*
+ * myDigitalWrite:
+ *********************************************************************************
+ */
+
+static void myDigitalWrite (struct wiringPiNodeStruct *node, int pin, int value)
+{
+ int bit, old ;
+
+ bit = 1 << ((pin - node->pinBase) & 7) ;
+
+ old = node->data2 ;
+ if (value == LOW)
+ old &= (~bit) ;
+ else
+ old |= bit ;
+
+ wiringPiI2CWrite (node->fd, old) ;
+ node->data2 = old ;
+}
+
+
+/*
+ * myDigitalRead:
+ *********************************************************************************
+ */
+
+static int myDigitalRead (struct wiringPiNodeStruct *node, int pin)
+{
+ int mask, value ;
+
+ mask = 1 << ((pin - node->pinBase) & 7) ;
+ value = wiringPiI2CRead (node->fd) ;
+
+ if ((value & mask) == 0)
+ return LOW ;
+ else
+ return HIGH ;
+}
+
+
+/*
+ * pcf8574Setup:
+ * Create a new instance of a PCF8574 I2C GPIO interface. We know it
+ * has 8 pins, so all we need to know here is the I2C address and the
+ * user-defined pin base.
+ *********************************************************************************
+ */
+
+int pcf8574Setup (const int pinBase, const int i2cAddress)
+{
+ int fd ;
+ struct wiringPiNodeStruct *node ;
+
+ if ((fd = wiringPiI2CSetup (i2cAddress)) < 0)
+ return fd ;
+
+ node = wiringPiNewNode (pinBase, 8) ;
+
+ node->fd = fd ;
+ node->pinMode = myPinMode ;
+ node->digitalRead = myDigitalRead ;
+ node->digitalWrite = myDigitalWrite ;
+ node->data2 = wiringPiI2CRead (fd) ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/pcf8574.h b/modules/catkin_ws/src/wiringPi/wiringPi/pcf8574.h
new file mode 100644
index 0000000000000000000000000000000000000000..8e2d8181de75b289f62190fc897e2d22e2748927
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/pcf8574.h
@@ -0,0 +1,33 @@
+/*
+ * pcf8574.h:
+ * Extend wiringPi with the PCF8574 I2C GPIO expander chip
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int pcf8574Setup (const int pinBase, const int i2cAddress) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/pcf8574.o b/modules/catkin_ws/src/wiringPi/wiringPi/pcf8574.o
new file mode 100644
index 0000000000000000000000000000000000000000..2b38c7fddfd72d2818ed5bf99a9bde2e5e408518
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/pcf8574.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/pcf8591.c b/modules/catkin_ws/src/wiringPi/wiringPi/pcf8591.c
new file mode 100644
index 0000000000000000000000000000000000000000..0c860564fde29f142e64da9f6b443c9cd14cf81d
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/pcf8591.c
@@ -0,0 +1,90 @@
+/*
+ * pcf8591.c:
+ * Extend wiringPi with the PCF8591 I2C GPIO Analog expander chip
+ * The chip has 1 8-bit DAC and 4 x 8-bit ADCs
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <unistd.h>
+
+#include "wiringPi.h"
+#include "wiringPiI2C.h"
+
+#include "pcf8591.h"
+
+
+/*
+ * myAnalogWrite:
+ *********************************************************************************
+ */
+
+static void myAnalogWrite (struct wiringPiNodeStruct *node, int pin, int value)
+{
+ unsigned char b [2] ;
+ b [0] = 0x40 ;
+ b [1] = value & 0xFF ;
+ write (node->fd, b, 2) ;
+}
+
+
+/*
+ * myAnalogRead:
+ *********************************************************************************
+ */
+
+static int myAnalogRead (struct wiringPiNodeStruct *node, int pin)
+{
+ int x ;
+
+ wiringPiI2CWrite (node->fd, 0x40 | ((pin - node->pinBase) & 3)) ;
+
+ x = wiringPiI2CRead (node->fd) ; // Throw away the first read
+ x = wiringPiI2CRead (node->fd) ;
+
+ return x ;
+}
+
+
+/*
+ * pcf8591Setup:
+ * Create a new instance of a PCF8591 I2C GPIO interface. We know it
+ * has 4 pins, (4 analog inputs and 1 analog output which we'll shadow
+ * input 0) so all we need to know here is the I2C address and the
+ * user-defined pin base.
+ *********************************************************************************
+ */
+
+int pcf8591Setup (const int pinBase, const int i2cAddress)
+{
+ int fd ;
+ struct wiringPiNodeStruct *node ;
+
+ if ((fd = wiringPiI2CSetup (i2cAddress)) < 0)
+ return fd ;
+
+ node = wiringPiNewNode (pinBase, 4) ;
+
+ node->fd = fd ;
+ node->analogRead = myAnalogRead ;
+ node->analogWrite = myAnalogWrite ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/pcf8591.h b/modules/catkin_ws/src/wiringPi/wiringPi/pcf8591.h
new file mode 100644
index 0000000000000000000000000000000000000000..6b44ccf905e0b39af8b27eab01c75300189ab67f
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/pcf8591.h
@@ -0,0 +1,33 @@
+/*
+ * pcf8591.h:
+ * Extend wiringPi with the PCF8591 I2C GPIO Analog expander chip
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int pcf8591Setup (const int pinBase, const int i2cAddress) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/pcf8591.o b/modules/catkin_ws/src/wiringPi/wiringPi/pcf8591.o
new file mode 100644
index 0000000000000000000000000000000000000000..4db158b8eb13716dd11f97f03004c54782ac3890
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/pcf8591.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/piHiPri.c b/modules/catkin_ws/src/wiringPi/wiringPi/piHiPri.c
new file mode 100644
index 0000000000000000000000000000000000000000..d2f3b4e9cc867a58b6d365990bfcdde3c877a9a6
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/piHiPri.c
@@ -0,0 +1,51 @@
+/*
+ * piHiPri:
+ * Simple way to get your program running at high priority
+ * with realtime schedulling.
+ *
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <sched.h>
+#include <string.h>
+
+#include "wiringPi.h"
+
+
+/*
+ * piHiPri:
+ * Attempt to set a high priority schedulling for the running program
+ *********************************************************************************
+ */
+
+int piHiPri (const int pri)
+{
+ struct sched_param sched ;
+
+ memset (&sched, 0, sizeof(sched)) ;
+
+ if (pri > sched_get_priority_max (SCHED_RR))
+ sched.sched_priority = sched_get_priority_max (SCHED_RR) ;
+ else
+ sched.sched_priority = pri ;
+
+ return sched_setscheduler (0, SCHED_RR, &sched) ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/piHiPri.o b/modules/catkin_ws/src/wiringPi/wiringPi/piHiPri.o
new file mode 100644
index 0000000000000000000000000000000000000000..15cfa994b10b34524c1dc75a381724f3a3d0852b
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/piHiPri.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/piThread.c b/modules/catkin_ws/src/wiringPi/wiringPi/piThread.c
new file mode 100644
index 0000000000000000000000000000000000000000..b0499be495f72af992dac2cffa705f53c6772111
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/piThread.c
@@ -0,0 +1,63 @@
+/*
+ * piThread.c:
+ * Provide a simplified interface to pthreads
+ *
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <pthread.h>
+#include "wiringPi.h"
+
+static pthread_mutex_t piMutexes [4] ;
+
+
+
+/*
+ * piThreadCreate:
+ * Create and start a thread
+ *********************************************************************************
+ */
+
+int piThreadCreate (void *(*fn)(void *))
+{
+ pthread_t myThread ;
+
+ return pthread_create (&myThread, NULL, fn, NULL) ;
+}
+
+/*
+ * piLock: piUnlock:
+ * Activate/Deactivate a mutex.
+ * We're keeping things simple here and only tracking 4 mutexes which
+ * is more than enough for out entry-level pthread programming
+ *********************************************************************************
+ */
+
+void piLock (int key)
+{
+ pthread_mutex_lock (&piMutexes [key]) ;
+}
+
+void piUnlock (int key)
+{
+ pthread_mutex_unlock (&piMutexes [key]) ;
+}
+
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/piThread.o b/modules/catkin_ws/src/wiringPi/wiringPi/piThread.o
new file mode 100644
index 0000000000000000000000000000000000000000..ab3aaf50b793ce169fc02b6124f8032089b3d19a
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/piThread.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/sn3218.c b/modules/catkin_ws/src/wiringPi/wiringPi/sn3218.c
new file mode 100644
index 0000000000000000000000000000000000000000..7ceb156b627ad21799597285805bf4262d881353
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/sn3218.c
@@ -0,0 +1,75 @@
+/*
+ * sn3218.c:
+ * Extend wiringPi with the SN3218 I2C LEd Driver
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <wiringPi.h>
+#include <wiringPiI2C.h>
+
+#include "sn3218.h"
+
+/*
+ * myAnalogWrite:
+ * Write analog value on the given pin
+ *********************************************************************************
+ */
+
+static void myAnalogWrite (struct wiringPiNodeStruct *node, int pin, int value)
+{
+ int fd = node->fd ;
+ int chan = 0x01 + (pin - node->pinBase) ;
+
+ wiringPiI2CWriteReg8 (fd, chan, value & 0xFF) ; // Value
+ wiringPiI2CWriteReg8 (fd, 0x16, 0x00) ; // Update
+}
+
+/*
+ * sn3218Setup:
+ * Create a new wiringPi device node for an sn3218 on the Pi's
+ * SPI interface.
+ *********************************************************************************
+ */
+
+int sn3218Setup (const int pinBase)
+{
+ int fd ;
+ struct wiringPiNodeStruct *node ;
+
+ if ((fd = wiringPiI2CSetup (0x54)) < 0)
+ return fd ;
+
+// Setup the chip - initialise all 18 LEDs to off
+
+//wiringPiI2CWriteReg8 (fd, 0x17, 0) ; // Reset
+ wiringPiI2CWriteReg8 (fd, 0x00, 1) ; // Not Shutdown
+ wiringPiI2CWriteReg8 (fd, 0x13, 0x3F) ; // Enable LEDs 0- 5
+ wiringPiI2CWriteReg8 (fd, 0x14, 0x3F) ; // Enable LEDs 6-11
+ wiringPiI2CWriteReg8 (fd, 0x15, 0x3F) ; // Enable LEDs 12-17
+ wiringPiI2CWriteReg8 (fd, 0x16, 0x00) ; // Update
+
+ node = wiringPiNewNode (pinBase, 18) ;
+
+ node->fd = fd ;
+ node->analogWrite = myAnalogWrite ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/sn3218.h b/modules/catkin_ws/src/wiringPi/wiringPi/sn3218.h
new file mode 100644
index 0000000000000000000000000000000000000000..580d5f96b507de7811e8f03af3e785f75a2ebbe9
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/sn3218.h
@@ -0,0 +1,33 @@
+/*
+ * sn3218.c:
+ * Extend wiringPi with the SN3218 I2C LED driver board.
+ * Copyright (c) 2012-2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int sn3218Setup (int pinBase) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/sn3218.o b/modules/catkin_ws/src/wiringPi/wiringPi/sn3218.o
new file mode 100644
index 0000000000000000000000000000000000000000..a2c6d32712410e33e2ca161db6ed802beab9d138
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/sn3218.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/softPwm.c b/modules/catkin_ws/src/wiringPi/wiringPi/softPwm.c
new file mode 100644
index 0000000000000000000000000000000000000000..3c79ba7b37a57f5c5bb67b131ed62b04396261f5
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/softPwm.c
@@ -0,0 +1,167 @@
+/*
+ * softPwm.c:
+ * Provide 2 channels of software driven PWM.
+ * Copyright (c) 2012-2014 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <pthread.h>
+
+#include "wiringPi.h"
+#include "softPwm.h"
+
+// MAX_PINS:
+// This is more than the number of Pi pins because we can actually softPwm
+// pins that are on GPIO expanders. It's not that efficient and more than 1 or
+// 2 pins on e.g. (SPI) mcp23s17 won't really be that effective, however...
+
+#define MAX_PINS 1024
+
+// The PWM Frequency is derived from the "pulse time" below. Essentially,
+// the frequency is a function of the range and this pulse time.
+// The total period will be range * pulse time in µS, so a pulse time
+// of 100 and a range of 100 gives a period of 100 * 100 = 10,000 µS
+// which is a frequency of 100Hz.
+//
+// It's possible to get a higher frequency by lowering the pulse time,
+// however CPU uage will skyrocket as wiringPi uses a hard-loop to time
+// periods under 100µS - this is because the Linux timer calls are just
+// accurate at all, and have an overhead.
+//
+// Another way to increase the frequency is to reduce the range - however
+// that reduces the overall output accuracy...
+
+#define PULSE_TIME 100
+
+static int marks [MAX_PINS] ;
+static int range [MAX_PINS] ;
+static pthread_t threads [MAX_PINS] ;
+
+int newPin = -1 ;
+
+
+/*
+ * softPwmThread:
+ * Thread to do the actual PWM output
+ *********************************************************************************
+ */
+
+static PI_THREAD (softPwmThread)
+{
+ int pin, mark, space ;
+ struct sched_param param ;
+
+ param.sched_priority = sched_get_priority_max (SCHED_RR) ;
+ pthread_setschedparam (pthread_self (), SCHED_RR, ¶m) ;
+
+ pin = newPin ;
+ newPin = -1 ;
+
+ piHiPri (90) ;
+
+ for (;;)
+ {
+ mark = marks [pin] ;
+ space = range [pin] - mark ;
+
+ if (mark != 0)
+ digitalWrite (pin, HIGH) ;
+ delayMicroseconds (mark * 100) ;
+
+ if (space != 0)
+ digitalWrite (pin, LOW) ;
+ delayMicroseconds (space * 100) ;
+ }
+
+ return NULL ;
+}
+
+
+/*
+ * softPwmWrite:
+ * Write a PWM value to the given pin
+ *********************************************************************************
+ */
+
+void softPwmWrite (int pin, int value)
+{
+ pin &= (MAX_PINS - 1) ;
+
+ /**/ if (value < 0)
+ value = 0 ;
+ else if (value > range [pin])
+ value = range [pin] ;
+
+ marks [pin] = value ;
+}
+
+
+/*
+ * softPwmCreate:
+ * Create a new softPWM thread.
+ *********************************************************************************
+ */
+
+int softPwmCreate (int pin, int initialValue, int pwmRange)
+{
+ int res ;
+ pthread_t myThread ;
+
+ if (range [pin] != 0) // Already running on this pin
+ return -1 ;
+
+ if (range <= 0)
+ return -1 ;
+
+ pinMode (pin, OUTPUT) ;
+ digitalWrite (pin, LOW) ;
+
+ marks [pin] = initialValue ;
+ range [pin] = pwmRange ;
+
+ newPin = pin ;
+ res = pthread_create (&myThread, NULL, softPwmThread, NULL) ;
+
+ while (newPin != -1)
+ delay (1) ;
+
+ threads [pin] = myThread ;
+
+ return res ;
+}
+
+
+/*
+ * softPwmStop:
+ * Stop an existing softPWM thread
+ *********************************************************************************
+ */
+
+void softPwmStop (int pin)
+{
+ if (range [pin] != 0)
+ {
+ pthread_cancel (threads [pin]) ;
+ pthread_join (threads [pin], NULL) ;
+ range [pin] = 0 ;
+ digitalWrite (pin, LOW) ;
+ }
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/softPwm.h b/modules/catkin_ws/src/wiringPi/wiringPi/softPwm.h
new file mode 100644
index 0000000000000000000000000000000000000000..0351da5d13d3de5f256c4a9bfd293b9ebdb301f5
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/softPwm.h
@@ -0,0 +1,35 @@
+/*
+ * softPwm.h:
+ * Provide 2 channels of software driven PWM.
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int softPwmCreate (int pin, int value, int range) ;
+extern void softPwmWrite (int pin, int value) ;
+extern void softPwmStop (int pin) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/softPwm.o b/modules/catkin_ws/src/wiringPi/wiringPi/softPwm.o
new file mode 100644
index 0000000000000000000000000000000000000000..f461408e648898946498f0eaf4c0523e9488d203
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/softPwm.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/softServo.c b/modules/catkin_ws/src/wiringPi/wiringPi/softServo.c
new file mode 100644
index 0000000000000000000000000000000000000000..9de9f4faf11a82074b7f794e048431d488ebcaa4
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/softServo.c
@@ -0,0 +1,211 @@
+/*
+ * softServo.c:
+ * Provide N channels of software driven PWM suitable for RC
+ * servo motors.
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+//#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <sys/time.h>
+#include <pthread.h>
+
+#include "wiringPi.h"
+#include "softServo.h"
+
+// RC Servo motors are a bit of an oddity - designed in the days when
+// radio control was experimental and people were tryin to make
+// things as simple as possible as it was all very expensive...
+//
+// So... To drive an RC Servo motor, you need to send it a modified PWM
+// signal - it needs anything from 1ms to 2ms - with 1ms meaning
+// to move the server fully left, and 2ms meaning to move it fully
+// right. Then you need a long gap before sending the next pulse.
+// The reason for this is that you send a multiplexed stream of these
+// pulses up the radio signal into the reciever which de-multiplexes
+// them into the signals for each individual servo. Typically there
+// might be 8 channels, so you need at least 8 "slots" of 2mS pulses
+// meaning the entire frame must fit into a 16mS slot - which would
+// then be repeated...
+//
+// In practice we have a total slot width of about 20mS - so we're sending 50
+// updates per second to each servo.
+//
+// In this code, we don't need to be too fussy about the gap as we're not doing
+// the multipexing, but it does need to be at least 10mS, and preferably 16
+// from what I've been able to determine.
+
+// WARNING:
+// This code is really experimental. It was written in response to some people
+// asking for a servo driver, however while it works, there is too much
+// jitter to successfully drive a small servo - I have tried it with a micro
+// servo and it worked, but the servo ran hot due to the jitter in the signal
+// being sent to it.
+//
+// If you want servo control for the Pi, then use the servoblaster kernel
+// module.
+
+#define MAX_SERVOS 8
+
+static int pinMap [MAX_SERVOS] ; // Keep track of our pins
+static int pulseWidth [MAX_SERVOS] ; // microseconds
+
+
+/*
+ * softServoThread:
+ * Thread to do the actual Servo PWM output
+ *********************************************************************************
+ */
+
+static PI_THREAD (softServoThread)
+{
+ register int i, j, k, m, tmp ;
+ int lastDelay, pin, servo ;
+
+ int myDelays [MAX_SERVOS] ;
+ int myPins [MAX_SERVOS] ;
+
+ struct timeval tNow, tStart, tPeriod, tGap, tTotal ;
+ struct timespec tNs ;
+
+ tTotal.tv_sec = 0 ;
+ tTotal.tv_usec = 8000 ;
+
+ piHiPri (50) ;
+
+ for (;;)
+ {
+ gettimeofday (&tStart, NULL) ;
+
+ memcpy (myDelays, pulseWidth, sizeof (myDelays)) ;
+ memcpy (myPins, pinMap, sizeof (myPins)) ;
+
+// Sort the delays (& pins), shortest first
+
+ for (m = MAX_SERVOS / 2 ; m > 0 ; m /= 2 )
+ for (j = m ; j < MAX_SERVOS ; ++j)
+ for (i = j - m ; i >= 0 ; i -= m)
+ {
+ k = i + m ;
+ if (myDelays [k] >= myDelays [i])
+ break ;
+ else // Swap
+ {
+ tmp = myDelays [i] ; myDelays [i] = myDelays [k] ; myDelays [k] = tmp ;
+ tmp = myPins [i] ; myPins [i] = myPins [k] ; myPins [k] = tmp ;
+ }
+ }
+
+// All on
+
+ lastDelay = 0 ;
+ for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
+ {
+ if ((pin = myPins [servo]) == -1)
+ continue ;
+
+ digitalWrite (pin, HIGH) ;
+ myDelays [servo] = myDelays [servo] - lastDelay ;
+ lastDelay += myDelays [servo] ;
+ }
+
+// Now loop, turning them all off as required
+
+ for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
+ {
+ if ((pin = myPins [servo]) == -1)
+ continue ;
+
+ delayMicroseconds (myDelays [servo]) ;
+ digitalWrite (pin, LOW) ;
+ }
+
+// Wait until the end of an 8mS time-slot
+
+ gettimeofday (&tNow, NULL) ;
+ timersub (&tNow, &tStart, &tPeriod) ;
+ timersub (&tTotal, &tPeriod, &tGap) ;
+ tNs.tv_sec = tGap.tv_sec ;
+ tNs.tv_nsec = tGap.tv_usec * 1000 ;
+ nanosleep (&tNs, NULL) ;
+ }
+
+ return NULL ;
+}
+
+
+/*
+ * softServoWrite:
+ * Write a Servo value to the given pin
+ *********************************************************************************
+ */
+
+void softServoWrite (int servoPin, int value)
+{
+ int servo ;
+
+ servoPin &= 63 ;
+
+ /**/ if (value < -250)
+ value = -250 ;
+ else if (value > 1250)
+ value = 1250 ;
+
+ for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
+ if (pinMap [servo] == servoPin)
+ pulseWidth [servo] = value + 1000 ; // uS
+}
+
+
+/*
+ * softServoSetup:
+ * Setup the software servo system
+ *********************************************************************************
+ */
+
+int softServoSetup (int p0, int p1, int p2, int p3, int p4, int p5, int p6, int p7)
+{
+ int servo ;
+
+ if (p0 != -1) { pinMode (p0, OUTPUT) ; digitalWrite (p0, LOW) ; }
+ if (p1 != -1) { pinMode (p1, OUTPUT) ; digitalWrite (p1, LOW) ; }
+ if (p2 != -1) { pinMode (p2, OUTPUT) ; digitalWrite (p2, LOW) ; }
+ if (p3 != -1) { pinMode (p3, OUTPUT) ; digitalWrite (p3, LOW) ; }
+ if (p4 != -1) { pinMode (p4, OUTPUT) ; digitalWrite (p4, LOW) ; }
+ if (p5 != -1) { pinMode (p5, OUTPUT) ; digitalWrite (p5, LOW) ; }
+ if (p6 != -1) { pinMode (p6, OUTPUT) ; digitalWrite (p6, LOW) ; }
+ if (p7 != -1) { pinMode (p7, OUTPUT) ; digitalWrite (p7, LOW) ; }
+
+ pinMap [0] = p0 ;
+ pinMap [1] = p1 ;
+ pinMap [2] = p2 ;
+ pinMap [3] = p3 ;
+ pinMap [4] = p4 ;
+ pinMap [5] = p5 ;
+ pinMap [6] = p6 ;
+ pinMap [7] = p7 ;
+
+ for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
+ pulseWidth [servo] = 1500 ; // Mid point
+
+ return piThreadCreate (softServoThread) ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/softServo.h b/modules/catkin_ws/src/wiringPi/wiringPi/softServo.h
new file mode 100644
index 0000000000000000000000000000000000000000..794cf552c0a70708d04c2777b4fb5642ff278053
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/softServo.h
@@ -0,0 +1,35 @@
+/*
+ * softServo.h:
+ * Provide N channels of software driven PWM suitable for RC
+ * servo motors.
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern void softServoWrite (int pin, int value) ;
+extern int softServoSetup (int p0, int p1, int p2, int p3, int p4, int p5, int p6, int p7) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/softTone.c b/modules/catkin_ws/src/wiringPi/wiringPi/softTone.c
new file mode 100644
index 0000000000000000000000000000000000000000..e2fb73711927adadf33557484ce8b55c84b981f4
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/softTone.c
@@ -0,0 +1,150 @@
+/*
+ * softTone.c:
+ * For that authentic retro sound...
+ * Er... A little experiment to produce tones out of a Pi using
+ * one (or 2) GPIO pins and a piezeo "speaker" element.
+ * (Or a high impedance speaker, but don'y blame me if you blow-up
+ * the GPIO pins!)
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <pthread.h>
+
+#include "wiringPi.h"
+#include "softTone.h"
+
+#define MAX_PINS 64
+
+#define PULSE_TIME 100
+
+static int freqs [MAX_PINS] ;
+static pthread_t threads [MAX_PINS] ;
+
+static int newPin = -1 ;
+
+
+/*
+ * softToneThread:
+ * Thread to do the actual PWM output
+ *********************************************************************************
+ */
+
+static PI_THREAD (softToneThread)
+{
+ int pin, freq, halfPeriod ;
+ struct sched_param param ;
+
+ param.sched_priority = sched_get_priority_max (SCHED_RR) ;
+ pthread_setschedparam (pthread_self (), SCHED_RR, ¶m) ;
+
+ pin = newPin ;
+ newPin = -1 ;
+
+ piHiPri (50) ;
+
+ for (;;)
+ {
+ freq = freqs [pin] ;
+ if (freq == 0)
+ delay (1) ;
+ else
+ {
+ halfPeriod = 500000 / freq ;
+
+ digitalWrite (pin, HIGH) ;
+ delayMicroseconds (halfPeriod) ;
+
+ digitalWrite (pin, LOW) ;
+ delayMicroseconds (halfPeriod) ;
+ }
+ }
+
+ return NULL ;
+}
+
+
+/*
+ * softToneWrite:
+ * Write a frequency value to the given pin
+ *********************************************************************************
+ */
+
+void softToneWrite (int pin, int freq)
+{
+ pin &= 63 ;
+
+ /**/ if (freq < 0)
+ freq = 0 ;
+ else if (freq > 5000) // Max 5KHz
+ freq = 5000 ;
+
+ freqs [pin] = freq ;
+}
+
+
+/*
+ * softToneCreate:
+ * Create a new tone thread.
+ *********************************************************************************
+ */
+
+int softToneCreate (int pin)
+{
+ int res ;
+ pthread_t myThread ;
+
+ pinMode (pin, OUTPUT) ;
+ digitalWrite (pin, LOW) ;
+
+ if (threads [pin] != 0)
+ return -1 ;
+
+ freqs [pin] = 0 ;
+
+ newPin = pin ;
+ res = pthread_create (&myThread, NULL, softToneThread, NULL) ;
+
+ while (newPin != -1)
+ delay (1) ;
+
+ threads [pin] = myThread ;
+
+ return res ;
+}
+
+
+/*
+ * softToneStop:
+ * Stop an existing softTone thread
+ *********************************************************************************
+ */
+
+void softToneStop (int pin)
+{
+ if (threads [pin] != 0)
+ {
+ pthread_cancel (threads [pin]) ;
+ pthread_join (threads [pin], NULL) ;
+ threads [pin] = 0 ;
+ digitalWrite (pin, LOW) ;
+ }
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/softTone.h b/modules/catkin_ws/src/wiringPi/wiringPi/softTone.h
new file mode 100644
index 0000000000000000000000000000000000000000..a93c5af3326e1828d18662eeff351164742da60c
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/softTone.h
@@ -0,0 +1,39 @@
+/*
+ * softTone.c:
+ * For that authentic retro sound...
+ * Er... A little experiment to produce tones out of a Pi using
+ * one (or 2) GPIO pins and a piezeo "speaker" element.
+ * (Or a high impedance speaker, but don'y blame me if you blow-up
+ * the GPIO pins!)
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int softToneCreate (int pin) ;
+extern void softToneStop (int pin) ;
+extern void softToneWrite (int pin, int freq) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/softTone.o b/modules/catkin_ws/src/wiringPi/wiringPi/softTone.o
new file mode 100644
index 0000000000000000000000000000000000000000..5bbf1c7fbb3051776cc147c16ef3962ba19bb443
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/softTone.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/sr595.c b/modules/catkin_ws/src/wiringPi/wiringPi/sr595.c
new file mode 100644
index 0000000000000000000000000000000000000000..87210c28232ecd6538a0fbf0be16c0a797aec153
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/sr595.c
@@ -0,0 +1,109 @@
+/*
+ * sr595.c:
+ * Extend wiringPi with the 74x595 shift register as a GPIO
+ * expander chip.
+ * Note that the code can cope with a number of 595's
+ * daisy-chained together - up to 4 for now as we're storing
+ * the output "register" in a single unsigned int.
+ *
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdint.h>
+
+#include "wiringPi.h"
+
+#include "sr595.h"
+
+
+/*
+ * myDigitalWrite:
+ *********************************************************************************
+ */
+
+static void myDigitalWrite (struct wiringPiNodeStruct *node, int pin, int value)
+{
+ unsigned int mask ;
+ int dataPin, clockPin, latchPin ;
+ int bit, bits, output ;
+
+ pin -= node->pinBase ; // Normalise pin number
+ bits = node->pinMax - node->pinBase + 1 ; // ie. number of clock pulses
+ dataPin = node->data0 ;
+ clockPin = node->data1 ;
+ latchPin = node->data2 ;
+ output = node->data3 ;
+
+ mask = 1 << pin ;
+
+ if (value == LOW)
+ output &= (~mask) ;
+ else
+ output |= mask ;
+
+ node->data3 = output ;
+
+// A low -> high latch transition copies the latch to the output pins
+
+ digitalWrite (latchPin, LOW) ; delayMicroseconds (1) ;
+ for (bit = bits - 1 ; bit >= 0 ; --bit)
+ {
+ digitalWrite (dataPin, output & (1 << bit)) ;
+
+ digitalWrite (clockPin, HIGH) ; delayMicroseconds (1) ;
+ digitalWrite (clockPin, LOW) ; delayMicroseconds (1) ;
+ }
+ digitalWrite (latchPin, HIGH) ; delayMicroseconds (1) ;
+}
+
+
+/*
+ * sr595Setup:
+ * Create a new instance of a 74x595 shift register GPIO expander.
+ *********************************************************************************
+ */
+
+int sr595Setup (const int pinBase, const int numPins,
+ const int dataPin, const int clockPin, const int latchPin)
+{
+ struct wiringPiNodeStruct *node ;
+
+ node = wiringPiNewNode (pinBase, numPins) ;
+
+ node->data0 = dataPin ;
+ node->data1 = clockPin ;
+ node->data2 = latchPin ;
+ node->data3 = 0 ; // Output register
+ node->digitalWrite = myDigitalWrite ;
+
+// Initialise the underlying hardware
+
+ digitalWrite (dataPin, LOW) ;
+ digitalWrite (clockPin, LOW) ;
+ digitalWrite (latchPin, HIGH) ;
+
+ pinMode (dataPin, OUTPUT) ;
+ pinMode (clockPin, OUTPUT) ;
+ pinMode (latchPin, OUTPUT) ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/sr595.h b/modules/catkin_ws/src/wiringPi/wiringPi/sr595.h
new file mode 100644
index 0000000000000000000000000000000000000000..4a26dc7c60405e058fb52444bbe086aadeebd890
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/sr595.h
@@ -0,0 +1,34 @@
+/*
+ * sr595.h:
+ * Extend wiringPi with the 74x595 shift registers.
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int sr595Setup (const int pinBase, const int numPins,
+ const int dataPin, const int clockPin, const int latchPin) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/sr595.o b/modules/catkin_ws/src/wiringPi/wiringPi/sr595.o
new file mode 100644
index 0000000000000000000000000000000000000000..c78ae47e4c011e43ccc8f804e6fb4f8cdecbcde7
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/sr595.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringPi.c b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPi.c
new file mode 100755
index 0000000000000000000000000000000000000000..6d1c1104ec2e61ed51ca5615212ffc66f1dfe518
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPi.c
@@ -0,0 +1,3152 @@
+/*
+ * wiringPi:
+ * Arduino compatable (ish) Wiring library for the Raspberry Pi
+ * Copyright (c) 2012 Gordon Henderson
+ * Additional code for pwmSetClock by Chris Hall <chris@kchall.plus.com>
+ *
+ * Thanks to code samples from Gert Jan van Loo and the
+ * BCM2835 ARM Peripherals manual, however it's missing
+ * the clock section /grr/mutter/
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+// Revisions:
+// 19 Jul 2012:
+// Moved to the LGPL
+// Added an abstraction layer to the main routines to save a tiny
+// bit of run-time and make the clode a little cleaner (if a little
+// larger)
+// Added waitForInterrupt code
+// Added piHiPri code
+//
+// 9 Jul 2012:
+// Added in support to use the /sys/class/gpio interface.
+// 2 Jul 2012:
+// Fixed a few more bugs to do with range-checking when in GPIO mode.
+// 11 Jun 2012:
+// Fixed some typos.
+// Added c++ support for the .h file
+// Added a new function to allow for using my "pin" numbers, or native
+// GPIO pin numbers.
+// Removed my busy-loop delay and replaced it with a call to delayMicroseconds
+//
+// 02 May 2012:
+// Added in the 2 UART pins
+// Change maxPins to numPins to more accurately reflect purpose
+
+#include <stdio.h>
+#include <stdarg.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <ctype.h>
+#include <poll.h>
+#include <unistd.h>
+#include <errno.h>
+#include <string.h>
+#include <time.h>
+#include <fcntl.h>
+#include <pthread.h>
+#include <sys/time.h>
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <sys/wait.h>
+#include <sys/ioctl.h>
+#include <sys/utsname.h>
+
+#include "softPwm.h"
+#include "softTone.h"
+
+#include "wiringPi.h"
+
+#ifndef TRUE
+#define TRUE (1==1)
+#define FALSE (1==2)
+#endif
+
+#ifndef ARRAY_SIZE
+#define ARRAY_SIZE(x) (sizeof(x) / sizeof((x)[0]))
+#endif
+
+// Environment Variables
+
+#define ENV_DEBUG "WIRINGPI_DEBUG"
+#define ENV_CODES "WIRINGPI_CODES"
+
+
+// Mask for the bottom 64 pins which belong to the Raspberry Pi
+// The others are available for the other devices
+
+#define PI_GPIO_MASK (0xFFFFFFC0)
+
+struct wiringPiNodeStruct *wiringPiNodes = NULL ;
+
+// BCM Magic
+
+#define BCM_PASSWORD 0x5A000000
+
+
+// The BCM2835 has 54 GPIO pins.
+// BCM2835 data sheet, Page 90 onwards.
+// There are 6 control registers, each control the functions of a block
+// of 10 pins.
+// Each control register has 10 sets of 3 bits per GPIO pin - the ALT values
+//
+// 000 = GPIO Pin X is an input
+// 001 = GPIO Pin X is an output
+// 100 = GPIO Pin X takes alternate function 0
+// 101 = GPIO Pin X takes alternate function 1
+// 110 = GPIO Pin X takes alternate function 2
+// 111 = GPIO Pin X takes alternate function 3
+// 011 = GPIO Pin X takes alternate function 4
+// 010 = GPIO Pin X takes alternate function 5
+//
+// So the 3 bits for port X are:
+// X / 10 + ((X % 10) * 3)
+
+// Port function select bits
+
+#define FSEL_INPT 0b000
+#define FSEL_OUTP 0b001
+#define FSEL_ALT0 0b100
+#define FSEL_ALT1 0b101
+#define FSEL_ALT2 0b110
+#define FSEL_ALT3 0b111
+#define FSEL_ALT4 0b011
+#define FSEL_ALT5 0b010
+
+// Access from ARM Running Linux
+// Taken from Gert/Doms code. Some of this is not in the manual
+// that I can find )-:
+
+#define BCM2708_PERI_BASE 0x20000000
+#define GPIO_PADS (BCM2708_PERI_BASE + 0x00100000)
+#define CLOCK_BASE (BCM2708_PERI_BASE + 0x00101000)
+#define GPIO_BASE (BCM2708_PERI_BASE + 0x00200000)
+#define GPIO_TIMER (BCM2708_PERI_BASE + 0x0000B000)
+#define GPIO_PWM (BCM2708_PERI_BASE + 0x0020C000)
+
+#define PAGE_SIZE (4*1024)
+#define BLOCK_SIZE (4*1024)
+
+// PWM
+// Word offsets into the PWM control region
+
+#define PWM_CONTROL 0
+#define PWM_STATUS 1
+#define PWM0_RANGE 4
+#define PWM0_DATA 5
+#define PWM1_RANGE 8
+#define PWM1_DATA 9
+
+// Clock regsiter offsets
+
+#define PWMCLK_CNTL 40
+#define PWMCLK_DIV 41
+
+#define PWM0_MS_MODE 0x0080 // Run in MS mode
+#define PWM0_USEFIFO 0x0020 // Data from FIFO
+#define PWM0_REVPOLAR 0x0010 // Reverse polarity
+#define PWM0_OFFSTATE 0x0008 // Ouput Off state
+#define PWM0_REPEATFF 0x0004 // Repeat last value if FIFO empty
+#define PWM0_SERIAL 0x0002 // Run in serial mode
+#define PWM0_ENABLE 0x0001 // Channel Enable
+
+#define PWM1_MS_MODE 0x8000 // Run in MS mode
+#define PWM1_USEFIFO 0x2000 // Data from FIFO
+#define PWM1_REVPOLAR 0x1000 // Reverse polarity
+#define PWM1_OFFSTATE 0x0800 // Ouput Off state
+#define PWM1_REPEATFF 0x0400 // Repeat last value if FIFO empty
+#define PWM1_SERIAL 0x0200 // Run in serial mode
+#define PWM1_ENABLE 0x0100 // Channel Enable
+
+// Timer
+// Word offsets
+
+#define TIMER_LOAD (0x400 >> 2)
+#define TIMER_VALUE (0x404 >> 2)
+#define TIMER_CONTROL (0x408 >> 2)
+#define TIMER_IRQ_CLR (0x40C >> 2)
+#define TIMER_IRQ_RAW (0x410 >> 2)
+#define TIMER_IRQ_MASK (0x414 >> 2)
+#define TIMER_RELOAD (0x418 >> 2)
+#define TIMER_PRE_DIV (0x41C >> 2)
+#define TIMER_COUNTER (0x420 >> 2)
+
+// Locals to hold pointers to the hardware
+
+static volatile uint32_t *gpio, *gpio1;
+static volatile uint32_t *pwm ;
+static volatile uint32_t *clk ;
+static volatile uint32_t *pads ;
+
+#ifdef USE_TIMER
+static volatile uint32_t *timer ;
+static volatile uint32_t *timerIrqRaw ;
+#endif
+
+
+// Data for use with the boardId functions.
+// The order of entries here to correspond with the PI_MODEL_X
+// and PI_VERSION_X defines in wiringPi.h
+// Only intended for the gpio command - use at your own risk!
+
+const char *piModelNames [9] =
+{
+ "Unknown",
+ "Model A",
+ "Model B",
+ "Model B+",
+ "Compute Module",
+ "Model A+",
+ "ODROID-C1/C1+",
+ "ODROID-XU3/4",
+ "ODROID-C2",
+} ;
+
+const char *piRevisionNames [5] =
+{
+ "Unknown",
+ "1",
+ "1.1",
+ "1.2",
+ "2",
+} ;
+
+const char *piMakerNames [5] =
+{
+ "Unknown",
+ "Egoman",
+ "Sony",
+ "Qusda",
+ "Hardkernel",
+} ;
+
+
+// Time for easy calculations
+
+static uint64_t epochMilli, epochMicro ;
+
+// Misc
+
+static int wiringPiMode = WPI_MODE_UNINITIALISED ;
+static volatile int pinPass = -1 ;
+static pthread_mutex_t pinMutex ;
+
+// Debugging & Return codes
+
+int wiringPiDebug = FALSE ;
+int wiringPiReturnCodes = FALSE ;
+
+// sysFds:
+// Map a file descriptor from the /sys/class/gpio/gpioX/value
+
+static int sysFds [64] =
+{
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+} ;
+
+// ISR Data
+
+static void (*isrFunctions [64])(void) ;
+
+
+// Doing it the Arduino way with lookup tables...
+// Yes, it's probably more innefficient than all the bit-twidling, but it
+// does tend to make it all a bit clearer. At least to me!
+
+// pinToGpio:
+// Take a Wiring pin (0 through X) and re-map it to the BCM_GPIO pin
+// Cope for 3 different board revisions here.
+
+static int *pinToGpio ;
+static int pin_array_count;
+
+// Revision 1, 1.1:
+
+static int pinToGpioR1 [64] =
+{
+ 17, 18, 21, 22, 23, 24, 25, 4, // From the Original Wiki - GPIO 0 through 7: wpi 0 - 7
+ 0, 1, // I2C - SDA1, SCL1 wpi 8 - 9
+ 8, 7, // SPI - CE1, CE0 wpi 10 - 11
+ 10, 9, 11, // SPI - MOSI, MISO, SCLK wpi 12 - 14
+ 14, 15, // UART - Tx, Rx wpi 15 - 16
+
+// Padding:
+
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 31
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 47
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 63
+} ;
+
+// Revision 2:
+
+static int pinToGpioR2 [64] =
+{
+ 17, 18, 27, 22, 23, 24, 25, 4, // From the Original Wiki - GPIO 0 through 7: wpi 0 - 7
+ 2, 3, // I2C - SDA0, SCL0 wpi 8 - 9
+ 8, 7, // SPI - CE1, CE0 wpi 10 - 11
+ 10, 9, 11, // SPI - MOSI, MISO, SCLK wpi 12 - 14
+ 14, 15, // UART - Tx, Rx wpi 15 - 16
+ 28, 29, 30, 31, // Rev 2: New GPIOs 8 though 11 wpi 17 - 20
+ 5, 6, 13, 19, 26, // B+ wpi 21, 22, 23, 24, 25
+ 12, 16, 20, 21, // B+ wpi 26, 27, 28, 29
+ 0, 1, // B+ wpi 30, 31
+
+// Padding:
+
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 47
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 63
+} ;
+
+
+// physToGpio:
+// Take a physical pin (1 through 26) and re-map it to the BCM_GPIO pin
+// Cope for 2 different board revisions here.
+// Also add in the P5 connector, so the P5 pins are 3,4,5,6, so 53,54,55,56
+
+static int *physToGpio ;
+
+static int physToGpioR1 [64] =
+{
+ -1, // 0
+ -1, -1, // 1, 2
+ 0, -1,
+ 1, -1,
+ 4, 14,
+ -1, 15,
+ 17, 18,
+ 21, -1,
+ 22, 23,
+ -1, 24,
+ 10, -1,
+ 9, 25,
+ 11, 8,
+ -1, 7, // 25, 26
+
+ -1, -1, -1, -1, -1, // ... 31
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 47
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 63
+} ;
+
+static int physToGpioR2 [64] =
+{
+ -1, // 0
+ -1, -1, // 1, 2
+ 2, -1,
+ 3, -1,
+ 4, 14,
+ -1, 15,
+ 17, 18,
+ 27, -1,
+ 22, 23,
+ -1, 24,
+ 10, -1,
+ 9, 25,
+ 11, 8,
+ -1, 7, // 25, 26
+
+// B+
+
+ 0, 1,
+ 5, -1,
+ 6, 12,
+ 13, -1,
+ 19, 16,
+ 26, 20,
+ -1, 21,
+
+// the P5 connector on the Rev 2 boards:
+
+ -1, -1,
+ -1, -1,
+ -1, -1,
+ -1, -1,
+ -1, -1,
+ 28, 29,
+ 30, 31,
+ -1, -1,
+ -1, -1,
+ -1, -1,
+ -1, -1,
+} ;
+
+// gpioToGPFSEL:
+// Map a BCM_GPIO pin to it's Function Selection
+// control port. (GPFSEL 0-5)
+// Groups of 10 - 3 bits per Function - 30 bits per port
+
+static uint8_t gpioToGPFSEL [] =
+{
+ 0,0,0,0,0,0,0,0,0,0,
+ 1,1,1,1,1,1,1,1,1,1,
+ 2,2,2,2,2,2,2,2,2,2,
+ 3,3,3,3,3,3,3,3,3,3,
+ 4,4,4,4,4,4,4,4,4,4,
+ 5,5,5,5,5,5,5,5,5,5,
+} ;
+
+
+// gpioToShift
+// Define the shift up for the 3 bits per pin in each GPFSEL port
+
+static uint8_t gpioToShift [] =
+{
+ 0,3,6,9,12,15,18,21,24,27,
+ 0,3,6,9,12,15,18,21,24,27,
+ 0,3,6,9,12,15,18,21,24,27,
+ 0,3,6,9,12,15,18,21,24,27,
+ 0,3,6,9,12,15,18,21,24,27,
+} ;
+
+
+// gpioToGPSET:
+// (Word) offset to the GPIO Set registers for each GPIO pin
+
+static uint8_t gpioToGPSET [] =
+{
+ 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7,
+ 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8, 8,
+} ;
+
+// gpioToGPCLR:
+// (Word) offset to the GPIO Clear registers for each GPIO pin
+
+static uint8_t gpioToGPCLR [] =
+{
+ 10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,
+ 11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,11,
+} ;
+
+
+// gpioToGPLEV:
+// (Word) offset to the GPIO Input level registers for each GPIO pin
+
+static uint8_t gpioToGPLEV [] =
+{
+ 13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,13,
+ 14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,14,
+} ;
+
+
+#ifdef notYetReady
+// gpioToEDS
+// (Word) offset to the Event Detect Status
+
+static uint8_t gpioToEDS [] =
+{
+ 16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,
+ 17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,17,
+} ;
+
+// gpioToREN
+// (Word) offset to the Rising edge ENable register
+
+static uint8_t gpioToREN [] =
+{
+ 19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,19,
+ 20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,20,
+} ;
+
+// gpioToFEN
+// (Word) offset to the Falling edgde ENable register
+
+static uint8_t gpioToFEN [] =
+{
+ 22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,22,
+ 23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,23,
+} ;
+#endif
+
+
+// GPPUD:
+// GPIO Pin pull up/down register
+
+#define GPPUD 37
+
+// gpioToPUDCLK
+// (Word) offset to the Pull Up Down Clock regsiter
+
+static uint8_t gpioToPUDCLK [] =
+{
+ 38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,38,
+ 39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,39,
+} ;
+
+
+// gpioToPwmALT
+// the ALT value to put a GPIO pin into PWM mode
+
+static uint8_t gpioToPwmALT [] =
+{
+ 0, 0, 0, 0, 0, 0, 0, 0, // 0 -> 7
+ 0, 0, 0, 0, FSEL_ALT0, FSEL_ALT0, 0, 0, // 8 -> 15
+ 0, 0, FSEL_ALT5, FSEL_ALT5, 0, 0, 0, 0, // 16 -> 23
+ 0, 0, 0, 0, 0, 0, 0, 0, // 24 -> 31
+ 0, 0, 0, 0, 0, 0, 0, 0, // 32 -> 39
+ FSEL_ALT0, FSEL_ALT0, 0, 0, 0, FSEL_ALT0, 0, 0, // 40 -> 47
+ 0, 0, 0, 0, 0, 0, 0, 0, // 48 -> 55
+ 0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63
+} ;
+
+
+// gpioToPwmPort
+// The port value to put a GPIO pin into PWM mode
+
+static uint8_t gpioToPwmPort [] =
+{
+ 0, 0, 0, 0, 0, 0, 0, 0, // 0 -> 7
+ 0, 0, 0, 0, PWM0_DATA, PWM1_DATA, 0, 0, // 8 -> 15
+ 0, 0, PWM0_DATA, PWM1_DATA, 0, 0, 0, 0, // 16 -> 23
+ 0, 0, 0, 0, 0, 0, 0, 0, // 24 -> 31
+ 0, 0, 0, 0, 0, 0, 0, 0, // 32 -> 39
+ PWM0_DATA, PWM1_DATA, 0, 0, 0, PWM1_DATA, 0, 0, // 40 -> 47
+ 0, 0, 0, 0, 0, 0, 0, 0, // 48 -> 55
+ 0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63
+
+} ;
+
+// gpioToGpClkALT:
+// ALT value to put a GPIO pin into GP Clock mode.
+// On the Pi we can really only use BCM_GPIO_4 and BCM_GPIO_21
+// for clocks 0 and 1 respectively, however I'll include the full
+// list for completeness - maybe one day...
+
+#define GPIO_CLOCK_SOURCE 1
+
+// gpioToGpClkALT0:
+
+static uint8_t gpioToGpClkALT0 [] =
+{
+ 0, 0, 0, 0, FSEL_ALT0, FSEL_ALT0, FSEL_ALT0, 0, // 0 -> 7
+ 0, 0, 0, 0, 0, 0, 0, 0, // 8 -> 15
+ 0, 0, 0, 0, FSEL_ALT5, FSEL_ALT5, 0, 0, // 16 -> 23
+ 0, 0, 0, 0, 0, 0, 0, 0, // 24 -> 31
+ FSEL_ALT0, 0, FSEL_ALT0, 0, 0, 0, 0, 0, // 32 -> 39
+ 0, 0, FSEL_ALT0, FSEL_ALT0, FSEL_ALT0, 0, 0, 0, // 40 -> 47
+ 0, 0, 0, 0, 0, 0, 0, 0, // 48 -> 55
+ 0, 0, 0, 0, 0, 0, 0, 0, // 56 -> 63
+} ;
+
+// gpioToClk:
+// (word) Offsets to the clock Control and Divisor register
+
+static uint8_t gpioToClkCon [] =
+{
+ -1, -1, -1, -1, 28, 30, 32, -1, // 0 -> 7
+ -1, -1, -1, -1, -1, -1, -1, -1, // 8 -> 15
+ -1, -1, -1, -1, 28, 30, -1, -1, // 16 -> 23
+ -1, -1, -1, -1, -1, -1, -1, -1, // 24 -> 31
+ 28, -1, 28, -1, -1, -1, -1, -1, // 32 -> 39
+ -1, -1, 28, 30, 28, -1, -1, -1, // 40 -> 47
+ -1, -1, -1, -1, -1, -1, -1, -1, // 48 -> 55
+ -1, -1, -1, -1, -1, -1, -1, -1, // 56 -> 63
+} ;
+
+static uint8_t gpioToClkDiv [] =
+{
+ -1, -1, -1, -1, 29, 31, 33, -1, // 0 -> 7
+ -1, -1, -1, -1, -1, -1, -1, -1, // 8 -> 15
+ -1, -1, -1, -1, 29, 31, -1, -1, // 16 -> 23
+ -1, -1, -1, -1, -1, -1, -1, -1, // 24 -> 31
+ 29, -1, 29, -1, -1, -1, -1, -1, // 32 -> 39
+ -1, -1, 29, 31, 29, -1, -1, -1, // 40 -> 47
+ -1, -1, -1, -1, -1, -1, -1, -1, // 48 -> 55
+ -1, -1, -1, -1, -1, -1, -1, -1, // 56 -> 63
+} ;
+
+//
+// For ODROID-C Board
+//
+#define ODROIDC_GPIO_MASK (0xFFFFFF80)
+
+#define ODROIDC_PERI_BASE 0xC1100000
+#define GPIO_REG_OFFSET 0x8000
+#define ODROID_GPIO_BASE (ODROIDC_PERI_BASE + GPIO_REG_OFFSET)
+
+#define GPIO_PIN_BASE 80
+#define GPIOY_PIN_START 80
+#define GPIOY_PIN_END 96
+#define GPIOX_PIN_START 97
+#define GPIOX_PIN_END 118
+
+#define GPIOX_FSEL_REG_OFFSET 0x0C
+#define GPIOX_OUTP_REG_OFFSET 0x0D
+#define GPIOX_INP_REG_OFFSET 0x0E
+#define GPIOX_PUPD_REG_OFFSET 0x3E
+#define GPIOX_PUEN_REG_OFFSET 0x4C
+
+#define GPIOY_FSEL_REG_OFFSET 0x0F
+#define GPIOY_OUTP_REG_OFFSET 0x10
+#define GPIOY_INP_REG_OFFSET 0x11
+#define GPIOY_PUPD_REG_OFFSET 0x3D
+#define GPIOY_PUEN_REG_OFFSET 0x4B
+
+#define piAinNode0 "/sys/class/saradc/saradc_ch0"
+#define piAinNode1 "/sys/class/saradc/saradc_ch1"
+
+static int adcFds [2] = {
+ -1, -1,
+} ;
+
+//
+// For ODROID-C2 Board
+//
+#define ODROIDC2_GPIO_MASK (0xFFFFFF00)
+#define ODROIDC2_GPIO_BASE 0xC8834000
+
+#define C2_GPIO_PIN_BASE 136
+#define C2_GPIOY_PIN_START (C2_GPIO_PIN_BASE + 75)
+#define C2_GPIOY_PIN_END (C2_GPIO_PIN_BASE + 91)
+#define C2_GPIOX_PIN_START (C2_GPIO_PIN_BASE + 92)
+#define C2_GPIOX_PIN_END (C2_GPIO_PIN_BASE + 114)
+
+#define C2_GPIOX_FSEL_REG_OFFSET 0x118
+#define C2_GPIOX_OUTP_REG_OFFSET 0x119
+#define C2_GPIOX_INP_REG_OFFSET 0x11A
+#define C2_GPIOX_PUPD_REG_OFFSET 0x13E
+#define C2_GPIOX_PUEN_REG_OFFSET 0x14C
+
+#define C2_GPIOY_FSEL_REG_OFFSET 0x10F
+#define C2_GPIOY_OUTP_REG_OFFSET 0x110
+#define C2_GPIOY_INP_REG_OFFSET 0x111
+#define C2_GPIOY_PUPD_REG_OFFSET 0x13B
+#define C2_GPIOY_PUEN_REG_OFFSET 0x149
+
+#define C2_piAinNode0 "/sys/class/saradc/ch0"
+#define C2_piAinNode1 "/sys/class/saradc/ch1"
+
+//
+// For ODROID-XU3/4 Board
+//
+#define ODROIDXU_GPIO_MASK (0xFFFFFF00)
+
+#define ODROIDXU_GPX_BASE 0x13400000 // GPX0,1,2,3
+#define ODROIDXU_GPA_BASE 0x14010000 // GPA0,1,2, GPB0,1,2,3,4
+
+#define GPIO_X1_START 16
+#define GPIO_X1_CON_OFFSET 0x0C20
+#define GPIO_X1_DAT_OFFSET 0x0C24
+#define GPIO_X1_PUD_OFFSET 0x0C28
+#define GPIO_X1_END 23
+
+#define GPIO_X2_START 24
+#define GPIO_X2_CON_OFFSET 0x0C40
+#define GPIO_X2_DAT_OFFSET 0x0C44
+#define GPIO_X2_PUD_OFFSET 0x0C48
+#define GPIO_X2_END 31
+
+#define GPIO_X3_START 32
+#define GPIO_X3_CON_OFFSET 0x0C60
+#define GPIO_X3_DAT_OFFSET 0x0C64
+#define GPIO_X3_PUD_OFFSET 0x0C68
+#define GPIO_X3_END 39
+
+#define GPIO_A0_START 171
+#define GPIO_A0_CON_OFFSET 0x0000
+#define GPIO_A0_DAT_OFFSET 0x0004
+#define GPIO_A0_PUD_OFFSET 0x0008
+#define GPIO_A0_END 178
+
+#define GPIO_A2_START 185
+#define GPIO_A2_CON_OFFSET 0x0040
+#define GPIO_A2_DAT_OFFSET 0x0044
+#define GPIO_A2_PUD_OFFSET 0x0048
+#define GPIO_A2_END 192
+
+#define GPIO_B3_START 207
+#define GPIO_B3_CON_OFFSET 0x00C0
+#define GPIO_B3_DAT_OFFSET 0x00C4
+#define GPIO_B3_PUD_OFFSET 0x00C8
+#define GPIO_B3_END 214
+
+static char *piAinNode0_xu;
+static char *piAinNode1_xu;
+
+static int piModel = PI_MODEL_UNKNOWN;
+
+static int sysFdData [64] = {
+ -1, -1, -1, -1, -1, -1, -1, -1, // 0...7
+ -1, -1, -1, -1, -1, -1, -1, -1, // 8...15
+ -1, -1, -1, -1, -1, -1, -1, -1, // 16...23
+ -1, -1, -1, -1, -1, -1, -1, -1, // 24...31
+ -1, -1, -1, -1, -1, -1, -1, -1, // 32...39
+ -1, -1, -1, -1, -1, -1, -1, -1, // 40...47
+ -1, -1, -1, -1, -1, -1, -1, -1, // 48...55
+ -1, -1, -1, -1, -1, -1, -1, -1, // 56...63
+};
+
+static int sysFdIrqType [64] = {
+ -1, -1, -1, -1, -1, -1, -1, -1, // 0...7
+ -1, -1, -1, -1, -1, -1, -1, -1, // 8...15
+ -1, -1, -1, -1, -1, -1, -1, -1, // 16...23
+ -1, -1, -1, -1, -1, -1, -1, -1, // 24...31
+ -1, -1, -1, -1, -1, -1, -1, -1, // 32...39
+ -1, -1, -1, -1, -1, -1, -1, -1, // 40...47
+ -1, -1, -1, -1, -1, -1, -1, -1, // 48...55
+ -1, -1, -1, -1, -1, -1, -1, -1, // 56...63
+};
+
+static int gpioToPin(int gpio)
+{
+ int pin;
+
+ if (pinToGpio == NULL) {
+ (void)wiringPiFailure (WPI_FATAL, "%s: wiringPi is not initialized yet\n", __func__);
+ return -1;
+ }
+
+ for (pin = 0; pin < pin_array_count; ++pin) {
+ if (pinToGpio[pin] == gpio)
+ return pin;
+ }
+
+ (void)wiringPiFailure (WPI_FATAL, "%s: could not find the pin of %d gpio\n", __func__, gpio);
+ return -1;
+}
+
+//
+// sysfs FD offset
+//
+static int gpioFdOffsetXU34(int pin)
+{
+ int offset = -1;
+
+ switch(pin) {
+ case GPIO_X1_START...GPIO_X1_END: offset = (pin - GPIO_X1_START) + 0; break;
+ case GPIO_X2_START...GPIO_X2_END: offset = (pin - GPIO_X2_START) + 8; break;
+ case GPIO_X3_START...GPIO_X3_END: offset = (pin - GPIO_X3_START) + 16; break;
+ case GPIO_A0_START...GPIO_A0_END: offset = (pin - GPIO_A0_START) + 24; break;
+ case GPIO_A2_START...GPIO_A2_END: offset = (pin - GPIO_A2_START) + 32; break;
+ case GPIO_B3_START...GPIO_B3_END: offset = (pin - GPIO_B3_START) + 40; break;
+ default : offset = -1; break;
+ }
+ return offset;
+}
+
+//
+// offset to the GPIO Set regsiter
+//
+static int gpioToGPSETReg (int pin)
+{
+ if(piModel == PI_MODEL_ODROIDXU_34) {
+ switch(pin) {
+ case GPIO_X1_START...GPIO_X1_END:
+ return (GPIO_X1_DAT_OFFSET >> 2);
+ case GPIO_X2_START...GPIO_X2_END:
+ return (GPIO_X2_DAT_OFFSET >> 2);
+ case GPIO_X3_START...GPIO_X3_END:
+ return (GPIO_X3_DAT_OFFSET >> 2);
+ case GPIO_A0_START...GPIO_A0_END:
+ return (GPIO_A0_DAT_OFFSET >> 2);
+ case GPIO_A2_START...GPIO_A2_END:
+ return (GPIO_A2_DAT_OFFSET >> 2);
+ case GPIO_B3_START...GPIO_B3_END:
+ return (GPIO_B3_DAT_OFFSET >> 2);
+ default:
+ break;
+ }
+ }
+ else if (piModel == PI_MODEL_ODROIDC2) {
+ if(pin >= C2_GPIOX_PIN_START && pin <= C2_GPIOX_PIN_END)
+ return C2_GPIOX_OUTP_REG_OFFSET;
+ if(pin >= C2_GPIOY_PIN_START && pin <= C2_GPIOY_PIN_END)
+ return C2_GPIOY_OUTP_REG_OFFSET;
+ }
+ else {
+ if(pin >= GPIOX_PIN_START && pin <= GPIOX_PIN_END)
+ return GPIOX_OUTP_REG_OFFSET;
+ if(pin >= GPIOY_PIN_START && pin <= GPIOY_PIN_END)
+ return GPIOY_OUTP_REG_OFFSET;
+ }
+
+ return -1;
+}
+
+//
+// offset to the GPIO Input regsiter
+//
+static int gpioToGPLEVReg (int pin)
+{
+ if(piModel == PI_MODEL_ODROIDXU_34) {
+ switch(pin) {
+ case GPIO_X1_START...GPIO_X1_END:
+ return (GPIO_X1_DAT_OFFSET >> 2);
+ case GPIO_X2_START...GPIO_X2_END:
+ return (GPIO_X2_DAT_OFFSET >> 2);
+ case GPIO_X3_START...GPIO_X3_END:
+ return (GPIO_X3_DAT_OFFSET >> 2);
+ case GPIO_A0_START...GPIO_A0_END:
+ return (GPIO_A0_DAT_OFFSET >> 2);
+ case GPIO_A2_START...GPIO_A2_END:
+ return (GPIO_A2_DAT_OFFSET >> 2);
+ case GPIO_B3_START...GPIO_B3_END:
+ return (GPIO_B3_DAT_OFFSET >> 2);
+ default:
+ break;
+ }
+ }
+ else if (piModel == PI_MODEL_ODROIDC2) {
+ if(pin >= C2_GPIOX_PIN_START && pin <= C2_GPIOX_PIN_END)
+ return C2_GPIOX_INP_REG_OFFSET;
+ if(pin >= C2_GPIOY_PIN_START && pin <= C2_GPIOY_PIN_END)
+ return C2_GPIOY_INP_REG_OFFSET;
+ }
+ else {
+ if(pin >= GPIOX_PIN_START && pin <= GPIOX_PIN_END)
+ return GPIOX_INP_REG_OFFSET;
+ if(pin >= GPIOY_PIN_START && pin <= GPIOY_PIN_END)
+ return GPIOY_INP_REG_OFFSET;
+ }
+
+ return -1;
+}
+
+//
+// offset to the GPIO Pull up/down enable regsiter
+//
+static int gpioToPUENReg (int pin)
+{
+ if(piModel == PI_MODEL_ODROIDC2) {
+ if(pin >= C2_GPIOX_PIN_START && pin <= C2_GPIOX_PIN_END)
+ return C2_GPIOX_PUEN_REG_OFFSET;
+ if(pin >= C2_GPIOY_PIN_START && pin <= C2_GPIOY_PIN_END)
+ return C2_GPIOY_PUEN_REG_OFFSET;
+ }
+ else {
+ if(pin >= GPIOX_PIN_START && pin <= GPIOX_PIN_END)
+ return GPIOX_PUEN_REG_OFFSET;
+ if(pin >= GPIOY_PIN_START && pin <= GPIOY_PIN_END)
+ return GPIOY_PUEN_REG_OFFSET;
+ }
+
+ return -1;
+}
+
+//
+// offset to the GPIO Pull up/down regsiter
+//
+static int gpioToPUPDReg (int pin)
+{
+ if(piModel == PI_MODEL_ODROIDXU_34) {
+ switch(pin) {
+ case GPIO_X1_START...GPIO_X1_END:
+ return (GPIO_X1_PUD_OFFSET >> 2);
+ case GPIO_X2_START...GPIO_X2_END:
+ return (GPIO_X2_PUD_OFFSET >> 2);
+ case GPIO_X3_START...GPIO_X3_END:
+ return (GPIO_X3_PUD_OFFSET >> 2);
+ case GPIO_A0_START...GPIO_A0_END:
+ return (GPIO_A0_PUD_OFFSET >> 2);
+ case GPIO_A2_START...GPIO_A2_END:
+ return (GPIO_A2_PUD_OFFSET >> 2);
+ case GPIO_B3_START...GPIO_B3_END:
+ return (GPIO_B3_PUD_OFFSET >> 2);
+ default:
+ break;
+ }
+ }
+ else if (piModel == PI_MODEL_ODROIDC2) {
+ if(pin >= C2_GPIOX_PIN_START && pin <= C2_GPIOX_PIN_END)
+ return C2_GPIOX_PUPD_REG_OFFSET;
+ if(pin >= C2_GPIOY_PIN_START && pin <= C2_GPIOY_PIN_END)
+ return C2_GPIOY_PUPD_REG_OFFSET;
+ }
+ else {
+ if(pin >= GPIOX_PIN_START && pin <= GPIOX_PIN_END)
+ return GPIOX_PUPD_REG_OFFSET;
+ if(pin >= GPIOY_PIN_START && pin <= GPIOY_PIN_END)
+ return GPIOY_PUPD_REG_OFFSET;
+ }
+
+ return -1;
+}
+
+//
+// offset to the GPIO bit
+//
+static int gpioToShiftReg (int pin)
+{
+ if(piModel == PI_MODEL_ODROIDXU_34) {
+ switch(pin) {
+ case GPIO_X1_START...GPIO_X1_END:
+ return (pin - GPIO_X1_START);
+ case GPIO_X2_START...GPIO_X2_END:
+ return (pin - GPIO_X2_START);
+ case GPIO_X3_START...GPIO_X3_END:
+ return (pin - GPIO_X3_START);
+ case GPIO_A0_START...GPIO_A0_END:
+ return (pin - GPIO_A0_START);
+ case GPIO_A2_START...GPIO_A2_END:
+ return (pin - GPIO_A2_START);
+ case GPIO_B3_START...GPIO_B3_END:
+ return (pin - GPIO_B3_START);
+ default:
+ break;
+ }
+ }
+ else if (piModel == PI_MODEL_ODROIDC2) {
+ if(pin >= C2_GPIOX_PIN_START && pin <= C2_GPIOX_PIN_END)
+ return pin - C2_GPIOX_PIN_START;
+ if(pin >= C2_GPIOY_PIN_START && pin <= C2_GPIOY_PIN_END)
+ return pin - C2_GPIOY_PIN_START;
+ }
+ else {
+ if(pin >= GPIOX_PIN_START && pin <= GPIOX_PIN_END)
+ return pin - GPIOX_PIN_START;
+ if(pin >= GPIOY_PIN_START && pin <= GPIOY_PIN_END)
+ return pin - GPIOY_PIN_START;
+ }
+
+ return -1;
+}
+
+//
+// offset to the GPIO Function register
+//
+static int gpioToGPFSELReg (int pin)
+{
+ if(piModel == PI_MODEL_ODROIDXU_34) {
+ switch(pin) {
+ case GPIO_X1_START...GPIO_X1_END:
+ return (GPIO_X1_CON_OFFSET >> 2);
+ case GPIO_X2_START...GPIO_X2_END:
+ return (GPIO_X2_CON_OFFSET >> 2);
+ case GPIO_X3_START...GPIO_X3_END:
+ return (GPIO_X3_CON_OFFSET >> 2);
+ case GPIO_A0_START...GPIO_A0_END:
+ return (GPIO_A0_CON_OFFSET >> 2);
+ case GPIO_A2_START...GPIO_A2_END:
+ return (GPIO_A2_CON_OFFSET >> 2);
+ case GPIO_B3_START...GPIO_B3_END:
+ return (GPIO_B3_CON_OFFSET >> 2);
+ default:
+ break;
+ }
+ }
+ else if (piModel == PI_MODEL_ODROIDC2) {
+ if(pin >= C2_GPIOX_PIN_START && pin <= C2_GPIOX_PIN_END)
+ return C2_GPIOX_FSEL_REG_OFFSET;
+ if(pin >= C2_GPIOY_PIN_START && pin <= C2_GPIOY_PIN_END)
+ return C2_GPIOY_FSEL_REG_OFFSET;
+ }
+ else {
+ if(pin >= GPIOX_PIN_START && pin <= GPIOX_PIN_END)
+ return GPIOX_FSEL_REG_OFFSET;
+ if(pin >= GPIOY_PIN_START && pin <= GPIOY_PIN_END)
+ return GPIOY_FSEL_REG_OFFSET;
+ }
+
+ return -1;
+}
+
+//
+// pinToGpio:
+// Take a Wiring pin (0 through X) and re-map it to the ODROID_GPIO pin
+//
+static int pinToGpioOdroidC [64] = {
+ 88, 87, 116, 115, 104, 102, 103, 83, // 0..7
+ -1, -1, 117, 118, 107, 106, 105, -1, // 8..16
+ -1, -1, -1, -1, -1, 101, 100, 108, // 16..23
+ 97, -1, 99, 98, -1, -1, -1, -1, // 24..31
+// Padding:
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 47
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 63
+};
+
+//
+// physToGpio:
+// Take a physical pin (1 through 40) and re-map it to the ODROID_GPIO pin
+//
+static int physToGpioOdroidC [64] =
+{
+ -1, // 0
+ -1, -1, // 1, 2
+ -1, -1,
+ -1, -1,
+ 83, -1,
+ -1, -1,
+ 88, 87,
+ 116, -1,
+ 115, 104,
+ -1, 102,
+ 107, -1,
+ 106, 103,
+ 105, 117,
+ -1, 118, // 25, 26
+
+ -1, -1,
+ 101, -1,
+ 100, 99,
+ 108, -1,
+ 97, 98,
+ -1, -1,
+ -1, -1, // 39, 40
+
+// Not used
+ -1, -1, -1, -1, -1, -1, -1, -1,
+ -1, -1, -1, -1, -1, -1, -1, -1,
+ -1, -1, -1, -1, -1, -1,
+} ;
+
+//
+// pinToGpio:
+// Take a Wiring pin (0 through X) and re-map it to the ODROIDC2_GPIO pin
+//
+static int pinToGpioOdroidC2_Rev1_1 [64] = {
+ 247, 238, 239, 237, 236, 233, 231, 249, // 0..7
+ -1, -1, 229, 225, 235, 232, 230, -1, // 8..15
+ -1, -1, -1, -1, -1, 228, 219, 234, // 16..23
+ 214, -1, 224, 218, -1, -1, -1, -1, // 24..31
+// Padding:
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 47
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 63
+};
+
+
+static int pinToGpioOdroidC2_Rev1_0 [64] = {
+ 219, 218, 247, -1, 235, 233, 234, 214, // 0..7
+ -1, -1, 248, 249, 238, 237, 236, -1, // 8..15
+ -1, -1, -1, -1, -1, 232, 231, 239, // 16..23
+ 228, -1, 230, 229, -1, -1, -1, -1, // 24..31
+// Padding:
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 47
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // ... 63
+};
+
+//
+// physToGpio:
+// Take a physical pin (1 through 40) and re-map it to the ODROIDC2_GPIO pin
+//
+static int physToGpioOdroidC2_Rev1_1 [64] =
+{
+ -1, // 0
+ -1, -1, // 1, 2
+ -1, -1,
+ -1, -1,
+ 249, -1,
+ -1, -1,
+ 247, 238,
+ 239, -1,
+ 237, 236,
+ -1, 233,
+ 235, -1,
+ 232, 231,
+ 230, 229,
+ -1, 225, // 25, 26
+
+ -1, -1,
+ 228, -1,
+ 219, 224,
+ 234, -1,
+ 214, 218,
+ -1, -1,
+ -1, -1, // 39, 40
+
+// Not used
+ -1, -1, -1, -1, -1, -1, -1, -1,
+ -1, -1, -1, -1, -1, -1, -1, -1,
+ -1, -1, -1, -1, -1, -1,
+} ;
+
+
+static int physToGpioOdroidC2_Rev1_0 [64] =
+{
+ -1, // 0
+ -1, -1, // 1, 2
+ -1, -1,
+ -1, -1,
+ 214, -1,
+ -1, -1,
+ 219, 218,
+ 247, -1,
+ -1, 235,
+ -1, 233,
+ 238, -1,
+ 237, 234,
+ 236, 248,
+ -1, 249, // 25, 26
+
+ -1, -1,
+ 232, -1,
+ 231, 230,
+ 239, -1,
+ 228, 229,
+ -1, -1,
+ -1, -1, // 39, 40
+
+// Not used
+ -1, -1, -1, -1, -1, -1, -1, -1,
+ -1, -1, -1, -1, -1, -1, -1, -1,
+ -1, -1, -1, -1, -1, -1,
+} ;
+
+//
+// pinToGpio:
+// Take a Wiring pin (0 through X) and re-map it to the ODROIDXU_GPIO pin
+//
+static int pinToGpioOdroidXU [64] = {
+ 174, 173, // 0 | 1 : GPA0.3(UART_0.CTSN), GPA0.2(UART_0.RTSN)
+ 21, 22, // 2 | 3 : GPX1.5, GPX1.6
+ 19, 23, // 4 | 5 : GPX1.3, GPX1.7
+ 24, 18, // 6 | 7 : GPX2.0, GPX1.2
+
+ 209, 210, // 8 | 9 : GPB3.2(I2C_1.SDA), GPB3.3(I2C_1.SCL)
+ 190, 25, // 10 | 11 : GPA2.5(SPI_1.CSN), GPX2.1
+ 192, 191, // 12 | 13 : GPA2.7(SPI_1.MOSI), GPA2.6(SPI_1.MISO)
+ 189, 172, // 14 | 15 : GPA2.4(SPI_1.SCLK), GPA0.1(UART_0.TXD)
+ 171, -1, // 16 | 17 : GPA0.0(UART_0.RXD),
+ -1, -1, // 18 | 19
+ -1, 28, // 20 | 21 : , GPX2.4
+ 30, 31, // 22 | 23 : GPX2.6, GPX2.7
+ -1, -1, // 24 | 25 PWR_ON(INPUT), ADC_0.AIN0
+ 29, 33, // 26 | 27 : GPX2.5, GPX3.1
+ -1, -1, // 28 | 29 : REF1.8V OUT, ADC_0.AIN3
+ 187, 188, // 30 | 31 : GPA2.2(I2C_5.SDA), GPA2.3(I2C_5.SCL)
+
+ // Padding:
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // 32...47
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, // 48...63
+};
+
+//
+// physToGpio:
+// Take a physical pin (1 through 40) and re-map it to the ODROIDXU_GPIO pin
+//
+static int physToGpioOdroidXU [64] =
+{
+ -1, // 0
+ -1, -1, // 1 | 2 : 3.3V, 5.0V
+ 209, -1, // 3 | 4 : GPB3.2(I2C_1.SDA), 5.0V
+ 210, -1, // 5 | 6 : GPB3.3(I2C_1.SCL), GND
+ 18, 172, // 7 | 8 : GPX1.2, GPA0.1(UART_0.TXD)
+ -1, 171, // 9 | 10 : GND, GPA0.0(UART_0.RXD)
+ 174, 173, // 11 | 12 : GPA0.3(UART_0.CTSN), GPA0.2(UART_0.RTSN)
+ 21, -1, // 13 | 14 : GPX1.5, GND
+ 22, 19, // 15 | 16 : GPX1.6, GPX1.3
+ -1, 23, // 17 | 18 : 3.3V, GPX1.7
+ 192, -1, // 19 | 20 : GPA2.7(SPI_1.MOSI), GND
+ 191, 24, // 21 | 22 : GPA2.6(SPI_1.MISO), GPX2.0
+ 189, 190, // 23 | 24 : GPA2.4(SPI_1.SCLK), GPA2.5(SPI_1.CSN)
+ -1, 25, // 25 | 26 : GND, GPX2.1
+ 187, 188, // 27 | 28 : GPA2.2(I2C_5.SDA), GPA2.4(I2C_5.SCL)
+ 28, -1, // 29 | 30 : GPX2.4, GND
+ 30, 29, // 31 | 32 : GPX2.6, GPX2.5
+ 31, -1, // 33 | 34 : GPX2.7, GND
+ -1, 33, // 35 | 36 : PWR_ON(INPUT), GPX3.1
+ -1, -1, // 37 | 38 : ADC_0.AIN0, 1.8V REF OUT
+ -1, -1, // 39 | 40 : GND, AADC_0.AIN3
+
+ // Not used
+ -1, -1, -1, -1, -1, -1, -1, -1, // 41...48
+ -1, -1, -1, -1, -1, -1, -1, -1, // 49...56
+ -1, -1, -1, -1, -1, -1, -1 // 57...63
+} ;
+
+
+/*
+ * Functions
+ *********************************************************************************
+ */
+
+
+/*
+ * wiringPiFailure:
+ * Fail. Or not.
+ *********************************************************************************
+ */
+
+int wiringPiFailure (int fatal, const char *message, ...)
+{
+ va_list argp ;
+ char buffer [1024] ;
+
+ if (!fatal && wiringPiReturnCodes)
+ return -1 ;
+
+ va_start (argp, message) ;
+ vsnprintf (buffer, 1023, message, argp) ;
+ va_end (argp) ;
+
+ fprintf (stderr, "%s", buffer) ;
+ exit (EXIT_FAILURE) ;
+
+ return 0 ;
+}
+
+const char wpi_mode_str[4][20] = {
+ "WPI_MODE_PINS",
+ "WPI_MODE_GPIO",
+ "WPI_MODE_GPIO_SYS",
+ "WPI_MODE_PHYS",
+};
+
+void wiringPiGpioCheck (const char *call_func, int origPin, int pin)
+{
+ if (wiringPiMode == WPI_MODE_PINS || wiringPiMode == WPI_MODE_PHYS)
+ {
+ // maybe pin is not gpio.
+ if ( pin < 0 ) {
+ (void)wiringPiFailure (WPI_FATAL,
+ "\n**************** %s ****************\n" \
+ "\nCall Function = %s, wiringPiMode = %s\n" \
+ "\nError gpio control (OrigPin = %d, pin = %d)\n\n",
+ __func__, call_func, wpi_mode_str[wiringPiMode],
+ origPin, pin);
+ }
+ }
+ else {
+ int i;
+ for(i = 0; i < 64; i++) {
+ if (origPin == pinToGpio[i]) break;
+ }
+ if (i == 64) {
+ (void)wiringPiFailure (WPI_FATAL,
+ "\n**************** %s ****************\n" \
+ "\nCall Function = %s, wiringPiMode = %s\n" \
+ "\nCannot found gpio pin! (OrigPin = %d)\n\n",
+ __func__, call_func, wpi_mode_str[wiringPiMode],
+ origPin);
+ }
+ }
+}
+
+/*
+ * piBoardRev:
+ * Return a number representing the hardware revision of the board.
+ *
+ * Revision 1 really means the early Model B's.
+ * Revision 2 is everything else - it covers the B, B+ and CM.
+ *
+ * Seems there are some boards with 0000 in them (mistake in manufacture)
+ * So the distinction between boards that I can see is:
+ * 0000 - Error
+ * 0001 - Not used
+ * 0002 - Model B, Rev 1, 256MB, Egoman
+ * 0003 - Model B, Rev 1.1, 256MB, Egoman, Fuses/D14 removed.
+ * 0004 - Model B, Rev 2, 256MB, Sony
+ * 0005 - Model B, Rev 2, 256MB, Qisda
+ * 0006 - Model B, Rev 2, 256MB, Egoman
+ * 0007 - Model A, Rev 2, 256MB, Egoman
+ * 0008 - Model A, Rev 2, 256MB, Sony
+ * 0009 - Model A, Rev 2, 256MB, Qisda
+ * 000d - Model B, Rev 2, 512MB, Egoman
+ * 000e - Model B, Rev 2, 512MB, Sony
+ * 000f - Model B, Rev 2, 512MB, Qisda
+ * 0010 - Model B+, Rev 1.2, 512MB, Sony
+ * 0011 - Pi CM, Rev 1.2, 512MB, Sony
+ * 0012 - Model A+ Rev 1.2, 256MB, Sony
+ *
+ * added :
+ * 000a - Model ODROID C1/C1+, Rev 1.0, 1024M, Hardkernel
+ * added :
+ * 0100 - Model ODROID XU3/4, Rev 1.0, 2048M, Hardkernel
+ * added :
+ * 02xx - Model ODROID C2, 2048M, Hardkernel
+ * Rev 1.0 : /sys/class/odroid/boardrev value is 0 (Dev board)
+ * Rev 1.1 : /sys/class/odroid/boardrev value is 1 (Mass board)
+ *
+ * A small thorn is the olde style overvolting - that will add in
+ * 1000000
+ *
+ * The Pi compute module has an revision of 0011 - since we only check the
+ * last digit, then it's 1, therefore it'll default to not 2 or 3 for a
+ * Rev 1, so will appear as a Rev 2. This is fine for the most part, but
+ * we'll properly detect the Compute Module later and adjust accordingly.
+ *
+ *********************************************************************************
+ */
+
+static void piBoardRevOops (const char *why)
+{
+ fprintf (stderr, "piBoardRev: Unable to determine board revision from /proc/cpuinfo\n") ;
+ fprintf (stderr, " -> %s\n", why) ;
+ fprintf (stderr, " -> You may want to check:\n") ;
+ fprintf (stderr, " -> http://www.raspberrypi.org/phpBB3/viewtopic.php?p=184410#p184410\n") ;
+ exit (EXIT_FAILURE) ;
+}
+
+int piBoardRev (void)
+{
+ FILE *cpuFd ;
+ char line [120] ;
+ char *c ;
+ static int boardRev = -1 ;
+
+ if (boardRev != -1) // No point checking twice
+ return boardRev ;
+
+ if ((cpuFd = fopen ("/proc/cpuinfo", "r")) == NULL)
+ piBoardRevOops ("Unable to open /proc/cpuinfo") ;
+
+ while (fgets (line, 120, cpuFd) != NULL)
+ if (strncmp (line, "Revision", 8) == 0)
+ break ;
+
+ fclose (cpuFd) ;
+
+ if (strncmp (line, "Revision", 8) != 0)
+ piBoardRevOops ("No \"Revision\" line") ;
+
+// Chomp trailing CR/NL
+
+ for (c = &line [strlen (line) - 1] ; (*c == '\n') || (*c == '\r') ; --c)
+ *c = 0 ;
+
+ if (wiringPiDebug)
+ printf ("piboardRev: Revision string: %s\n", line) ;
+
+// Scan to first digit
+
+ for (c = line ; *c ; ++c)
+ if (isdigit (*c))
+ break ;
+
+ if (!isdigit (*c))
+ piBoardRevOops ("No numeric revision string") ;
+
+// Make sure its long enough
+
+ if (strlen (c) < 4)
+ piBoardRevOops ("Bogus \"Revision\" line (too small)") ;
+
+// If you have overvolted the Pi, then it appears that the revision
+// has 100000 added to it!
+// The actual condition for it being set is:
+// (force_turbo || current_limit_override || temp_limit>85) && over_voltage>0
+
+ if (wiringPiDebug)
+ if (strlen (c) != 4)
+ printf ("piboardRev: This Pi has/is (force_turbo || current_limit_override || temp_limit>85) && over_voltage>0\n") ;
+
+// Isolate last 4 characters:
+
+ c = c + strlen (c) - 4 ;
+
+ if (wiringPiDebug)
+ printf ("piboardRev: last4Chars are: \"%s\"\n", c) ;
+
+ if ( (strcmp (c, "0002") == 0) || (strcmp (c, "0003") == 0) ||
+ (strcmp (c, "000a") == 0) || (strcmp (c, "0100") == 0) )
+ boardRev = 1;
+ else
+ boardRev = 2;
+
+ if (strncmp (c, "02", 2) == 0) {
+ int fd = 0;
+ char buf[2];
+
+ if ((fd = open ("/sys/class/odroid/boardrev", O_RDONLY)) < 0) {
+ printf ("ERROR : file not found.(boardrev)\n");
+ boardRev = 1;
+ }
+ else {
+ read (fd, buf, sizeof(buf));
+ close(fd);
+ boardRev = atoi(buf) + 1;
+ }
+ }
+
+ if (wiringPiDebug)
+ printf ("piBoardRev: Returning revision: %d\n", boardRev) ;
+
+ return boardRev ;
+}
+
+
+/*
+ * piBoardId:
+ * Do more digging into the board revision string as above, but return
+ * as much details as we can.
+ * This is undocumented and really only intended for the GPIO command.
+ * Use at your own risk!
+ *********************************************************************************
+ */
+
+void piBoardId (int *model, int *rev, int *mem, int *maker, int *overVolted)
+{
+ FILE *cpuFd ;
+ char line [120] ;
+ char *c ;
+
+ (void)piBoardRev () ; // Call this first to make sure all's OK. Don't care about the result.
+
+ if ((cpuFd = fopen ("/proc/cpuinfo", "r")) == NULL)
+ piBoardRevOops ("Unable to open /proc/cpuinfo") ;
+
+ while (fgets (line, 120, cpuFd) != NULL)
+ if (strncmp (line, "Revision", 8) == 0)
+ break ;
+
+ fclose (cpuFd) ;
+
+ if (strncmp (line, "Revision", 8) != 0)
+ piBoardRevOops ("No \"Revision\" line") ;
+
+// Chomp trailing CR/NL
+
+ for (c = &line [strlen (line) - 1] ; (*c == '\n') || (*c == '\r') ; --c)
+ *c = 0 ;
+
+ if (wiringPiDebug)
+ printf ("piboardId: Revision string: %s\n", line) ;
+
+// Scan to first digit
+
+ for (c = line ; *c ; ++c)
+ if (isdigit (*c))
+ break ;
+
+// Make sure its long enough
+
+ if (strlen (c) < 4)
+ piBoardRevOops ("Bogus \"Revision\" line") ;
+
+// If longer than 4, we'll assume it's been overvolted
+
+ *overVolted = strlen (c) > 4 ;
+
+// Extract last 4 characters:
+
+ c = c + strlen (c) - 4 ;
+
+// Fill out the replys as appropriate
+
+ /**/ if (strcmp (c, "0002") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_1 ; *mem = 256 ; *maker = PI_MAKER_EGOMAN ; }
+ else if (strcmp (c, "0003") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_1_1 ; *mem = 256 ; *maker = PI_MAKER_EGOMAN ; }
+ else if (strcmp (c, "0004") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_2 ; *mem = 256 ; *maker = PI_MAKER_SONY ; }
+ else if (strcmp (c, "0005") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_2 ; *mem = 256 ; *maker = PI_MAKER_QISDA ; }
+ else if (strcmp (c, "0006") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_2 ; *mem = 256 ; *maker = PI_MAKER_EGOMAN ; }
+ else if (strcmp (c, "0007") == 0) { *model = PI_MODEL_A ; *rev = PI_VERSION_2 ; *mem = 256 ; *maker = PI_MAKER_EGOMAN ; }
+ else if (strcmp (c, "0008") == 0) { *model = PI_MODEL_A ; *rev = PI_VERSION_2 ; *mem = 256 ; *maker = PI_MAKER_SONY ; ; }
+ else if (strcmp (c, "0009") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_2 ; *mem = 256 ; *maker = PI_MAKER_QISDA ; }
+ else if (strcmp (c, "000d") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_2 ; *mem = 512 ; *maker = PI_MAKER_EGOMAN ; }
+ else if (strcmp (c, "000e") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_2 ; *mem = 512 ; *maker = PI_MAKER_SONY ; }
+ else if (strcmp (c, "000f") == 0) { *model = PI_MODEL_B ; *rev = PI_VERSION_2 ; *mem = 512 ; *maker = PI_MAKER_EGOMAN ; }
+ else if (strcmp (c, "0010") == 0) { *model = PI_MODEL_BP ; *rev = PI_VERSION_1_2 ; *mem = 512 ; *maker = PI_MAKER_SONY ; }
+ else if (strcmp (c, "0011") == 0) { *model = PI_MODEL_CM ; *rev = PI_VERSION_1_2 ; *mem = 512 ; *maker = PI_MAKER_SONY ; }
+ else if (strcmp (c, "0012") == 0) { *model = PI_MODEL_AP ; *rev = PI_VERSION_1_2 ; *mem = 256 ; *maker = PI_MAKER_SONY ; }
+ else if (strcmp (c, "000a") == 0) {
+ *model = PI_MODEL_ODROIDC; *rev = PI_VERSION_1; *mem = 1024; *maker = PI_MAKER_HARDKERNEL;
+ }
+ else if (strcmp (c, "0100") == 0) {
+ *model = PI_MODEL_ODROIDXU_34; *rev = PI_VERSION_1; *mem = 2048; *maker = PI_MAKER_HARDKERNEL;
+ }
+ else if (strncmp (c, "02", 2) == 0) {
+ *model = PI_MODEL_ODROIDC2; *mem = 2048; *maker = PI_MAKER_HARDKERNEL;
+ *rev = piBoardRev ();
+ }
+ else {
+ *model = 0; *rev = 0; *mem = 0; *maker = 0 ;
+ }
+ piModel = *model;
+}
+
+
+/*
+ * wpiPinToGpio:
+ * Translate a wiringPi Pin number to native GPIO pin number.
+ * Provided for external support.
+ *********************************************************************************
+ */
+
+int wpiPinToGpio (int wpiPin)
+{
+ return pinToGpio [wpiPin & 63] ;
+}
+
+
+/*
+ * physPinToGpio:
+ * Translate a physical Pin number to native GPIO pin number.
+ * Provided for external support.
+ *********************************************************************************
+ */
+
+int physPinToGpio (int physPin)
+{
+ return physToGpio [physPin & 63] ;
+}
+
+
+/*
+ * setPadDrive:
+ * Set the PAD driver value
+ *********************************************************************************
+ */
+
+void setPadDrive (int group, int value)
+{
+ uint32_t wrVal ;
+
+ if ( piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34) {
+ fprintf (stderr, "%s : Unsupport function on %s model\n",
+ __func__, piModelNames [piModel]);
+ exit (EXIT_FAILURE) ;
+ }
+
+ if ((wiringPiMode == WPI_MODE_PINS) || (wiringPiMode == WPI_MODE_PHYS) || (wiringPiMode == WPI_MODE_GPIO))
+ {
+ if ((group < 0) || (group > 2))
+ return ;
+
+ wrVal = BCM_PASSWORD | 0x18 | (value & 7) ;
+ *(pads + group + 11) = wrVal ;
+
+ if (wiringPiDebug)
+ {
+ printf ("setPadDrive: Group: %d, value: %d (%08X)\n", group, value, wrVal) ;
+ printf ("Read : %08X\n", *(pads + group + 11)) ;
+ }
+ }
+}
+
+
+/*
+ * getAlt:
+ * Returns the ALT bits for a given port. Only really of-use
+ * for the gpio readall command (I think)
+ *********************************************************************************
+ */
+
+int getAlt (int pin)
+{
+ int fSel, shift, alt ;
+
+ if ( piModel == PI_MODEL_ODROIDC )
+ pin &= 0x7F;
+ else if( piModel == PI_MODEL_ODROIDXU_34 || piModel == PI_MODEL_ODROIDC2 )
+ pin &= 0xFF;
+ else
+ pin &= 63 ;
+
+ /**/ if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return 0 ;
+
+ if ( piModel == PI_MODEL_ODROIDC || piModel == PI_MODEL_ODROIDC2 ) {
+
+ if(pin < 0) return 2; // ALT
+
+ return (*(gpio + gpioToGPFSELReg(pin)) & (1 << gpioToShiftReg(pin))) ? 0 : 1;
+ }
+ else if ( piModel == PI_MODEL_ODROIDXU_34 ) {
+
+ if(pin < 0) return 2; // ALT
+
+ shift = (gpioToShiftReg(pin) * 4);
+
+ if(pin < 100) // GPX0,1,2,3
+ fSel = (*(gpio + gpioToGPFSELReg(pin)) & (0xF << shift));
+ else // GPA0,1,2, GPB0,1,2,3,4
+ fSel = (*(gpio1 + gpioToGPFSELReg(pin)) & (0xF << shift));
+
+ if(fSel & (0xE << shift)) return 2;
+
+ return (fSel & (0x1 << shift)) ? 1 : 0;
+ }
+ else {
+ fSel = gpioToGPFSEL [pin] ;
+ shift = gpioToShift [pin] ;
+
+ alt = (*(gpio + fSel) >> shift) & 7 ;
+
+ return alt ;
+ }
+}
+
+
+/*
+ * pwmSetMode:
+ * Select the native "balanced" mode, or standard mark:space mode
+ *********************************************************************************
+ */
+
+void pwmSetMode (int mode)
+{
+ if ( piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34) {
+ fprintf (stderr, "%s : Unsupport function on %s model\n",
+ __func__, piModelNames [piModel]);
+ exit (EXIT_FAILURE) ;
+ }
+
+ if ((wiringPiMode == WPI_MODE_PINS) || (wiringPiMode == WPI_MODE_PHYS) || (wiringPiMode == WPI_MODE_GPIO))
+ {
+ if (mode == PWM_MODE_MS)
+ *(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE | PWM0_MS_MODE | PWM1_MS_MODE ;
+ else
+ *(pwm + PWM_CONTROL) = PWM0_ENABLE | PWM1_ENABLE ;
+ }
+}
+
+
+/*
+ * pwmSetRange:
+ * Set the PWM range register. We set both range registers to the same
+ * value. If you want different in your own code, then write your own.
+ *********************************************************************************
+ */
+
+void pwmSetRange (unsigned int range)
+{
+ if ( piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34) {
+ fprintf (stderr, "%s : Unsupport function on %s model\n",
+ __func__, piModelNames [piModel]);
+ exit (EXIT_FAILURE) ;
+ }
+
+ if ((wiringPiMode == WPI_MODE_PINS) || (wiringPiMode == WPI_MODE_PHYS) || (wiringPiMode == WPI_MODE_GPIO))
+ {
+ *(pwm + PWM0_RANGE) = range ; delayMicroseconds (10) ;
+ *(pwm + PWM1_RANGE) = range ; delayMicroseconds (10) ;
+ }
+}
+
+
+/*
+ * pwmSetClock:
+ * Set/Change the PWM clock. Originally my code, but changed
+ * (for the better!) by Chris Hall, <chris@kchall.plus.com>
+ * after further study of the manual and testing with a 'scope
+ *********************************************************************************
+ */
+
+void pwmSetClock (int divisor)
+{
+ uint32_t pwm_control ;
+ divisor &= 4095 ;
+
+ if ( piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34) {
+ fprintf (stderr, "%s : Unsupport function on %s model\n",
+ __func__, piModelNames [piModel]);
+ exit (EXIT_FAILURE) ;
+ }
+
+ if ((wiringPiMode == WPI_MODE_PINS) || (wiringPiMode == WPI_MODE_PHYS) || (wiringPiMode == WPI_MODE_GPIO))
+ {
+ if (wiringPiDebug)
+ printf ("Setting to: %d. Current: 0x%08X\n", divisor, *(clk + PWMCLK_DIV));
+
+ pwm_control = *(pwm + PWM_CONTROL) ; // preserve PWM_CONTROL
+
+// We need to stop PWM prior to stopping PWM clock in MS mode otherwise BUSY
+// stays high.
+
+ *(pwm + PWM_CONTROL) = 0 ; // Stop PWM
+
+// Stop PWM clock before changing divisor. The delay after this does need to
+// this big (95uS occasionally fails, 100uS OK), it's almost as though the BUSY
+// flag is not working properly in balanced mode. Without the delay when DIV is
+// adjusted the clock sometimes switches to very slow, once slow further DIV
+// adjustments do nothing and it's difficult to get out of this mode.
+
+ *(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x01 ; // Stop PWM Clock
+ delayMicroseconds (110) ; // prevents clock going sloooow
+
+ while ((*(clk + PWMCLK_CNTL) & 0x80) != 0) // Wait for clock to be !BUSY
+ delayMicroseconds (1) ;
+
+ *(clk + PWMCLK_DIV) = BCM_PASSWORD | (divisor << 12) ;
+
+ *(clk + PWMCLK_CNTL) = BCM_PASSWORD | 0x11 ; // Start PWM clock
+ *(pwm + PWM_CONTROL) = pwm_control ; // restore PWM_CONTROL
+
+ if (wiringPiDebug)
+ printf ("Set to: %d. Now : 0x%08X\n", divisor, *(clk + PWMCLK_DIV));
+ }
+}
+
+
+/*
+ * gpioClockSet:
+ * Set the freuency on a GPIO clock pin
+ *********************************************************************************
+ */
+
+void gpioClockSet (int pin, int freq)
+{
+ int divi, divr, divf ;
+
+ if ( piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34) {
+ fprintf (stderr, "%s : Unsupport function on %s model\n",
+ __func__, piModelNames [piModel]);
+ exit (EXIT_FAILURE) ;
+ }
+
+ pin &= 63 ;
+
+ /**/ if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return ;
+
+ divi = 19200000 / freq ;
+ divr = 19200000 % freq ;
+ divf = (int)((double)divr * 4096.0 / 19200000.0) ;
+
+ if (divi > 4095)
+ divi = 4095 ;
+
+ *(clk + gpioToClkCon [pin]) = BCM_PASSWORD | GPIO_CLOCK_SOURCE ; // Stop GPIO Clock
+ while ((*(clk + gpioToClkCon [pin]) & 0x80) != 0) // ... and wait
+ ;
+
+ *(clk + gpioToClkDiv [pin]) = BCM_PASSWORD | (divi << 12) | divf ; // Set dividers
+ *(clk + gpioToClkCon [pin]) = BCM_PASSWORD | 0x10 | GPIO_CLOCK_SOURCE ; // Start Clock
+}
+
+
+/*
+ * wiringPiFindNode:
+ * Locate our device node
+ *********************************************************************************
+ */
+
+struct wiringPiNodeStruct *wiringPiFindNode (int pin)
+{
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+
+ while (node != NULL)
+ if ((pin >= node->pinBase) && (pin <= node->pinMax))
+ return node ;
+ else
+ node = node->next ;
+
+ return NULL ;
+}
+
+
+/*
+ * wiringPiNewNode:
+ * Create a new GPIO node into the wiringPi handling system
+ *********************************************************************************
+ */
+
+static void pinModeDummy (struct wiringPiNodeStruct *node, int pin, int mode) { return ; }
+static void pullUpDnControlDummy (struct wiringPiNodeStruct *node, int pin, int pud) { return ; }
+static int digitalReadDummy (struct wiringPiNodeStruct *node, int pin) { return LOW ; }
+static void digitalWriteDummy (struct wiringPiNodeStruct *node, int pin, int value) { return ; }
+static void pwmWriteDummy (struct wiringPiNodeStruct *node, int pin, int value) { return ; }
+static int analogReadDummy (struct wiringPiNodeStruct *node, int pin) { return 0 ; }
+static void analogWriteDummy (struct wiringPiNodeStruct *node, int pin, int value) { return ; }
+
+struct wiringPiNodeStruct *wiringPiNewNode (int pinBase, int numPins)
+{
+ int pin ;
+ struct wiringPiNodeStruct *node ;
+
+ if ( piModel == PI_MODEL_ODROIDC ) {
+ // Minimum pin base is 128
+ if (pinBase < 128)
+ (void)wiringPiFailure (WPI_FATAL, "wiringPiNewNode: pinBase of %d is < 128\n", pinBase) ;
+ }
+ else if ( piModel == PI_MODEL_ODROIDXU_34 || piModel == PI_MODEL_ODROIDC2 ) {
+ // Minimum pin base is 256
+ if (pinBase < 256)
+ (void)wiringPiFailure (WPI_FATAL, "wiringPiNewNode: pinBase of %d is < 256\n", pinBase) ;
+ }
+ else {
+ // Minimum pin base is 64
+ if (pinBase < 64)
+ (void)wiringPiFailure (WPI_FATAL, "wiringPiNewNode: pinBase of %d is < 64\n", pinBase) ;
+ }
+
+// Check all pins in-case there is overlap:
+ for (pin = pinBase ; pin < (pinBase + numPins) ; ++pin)
+ if (wiringPiFindNode (pin) != NULL)
+ (void)wiringPiFailure (WPI_FATAL, "wiringPiNewNode: Pin %d overlaps with existing definition\n", pin) ;
+
+ node = (struct wiringPiNodeStruct *)calloc (sizeof (struct wiringPiNodeStruct), 1) ; // calloc zeros
+ if (node == NULL)
+ (void)wiringPiFailure (WPI_FATAL, "wiringPiNewNode: Unable to allocate memory: %s\n", strerror (errno)) ;
+
+ node->pinBase = pinBase ;
+ node->pinMax = pinBase + numPins - 1 ;
+ node->pinMode = pinModeDummy ;
+ node->pullUpDnControl = pullUpDnControlDummy ;
+ node->digitalRead = digitalReadDummy ;
+ node->digitalWrite = digitalWriteDummy ;
+ node->pwmWrite = pwmWriteDummy ;
+ node->analogRead = analogReadDummy ;
+ node->analogWrite = analogWriteDummy ;
+ node->next = wiringPiNodes ;
+ wiringPiNodes = node ;
+
+ return node ;
+}
+
+
+#ifdef notYetReady
+/*
+ * pinED01:
+ * pinED10:
+ * Enables edge-detect mode on a pin - from a 0 to a 1 or 1 to 0
+ * Pin must already be in input mode with appropriate pull up/downs set.
+ *********************************************************************************
+ */
+
+void pinEnableED01Pi (int pin)
+{
+ pin = pinToGpio [pin & 63] ;
+}
+#endif
+
+
+/*
+ *********************************************************************************
+ * Core Functions
+ *********************************************************************************
+ */
+
+/*
+ * pinModeAlt:
+ * This is an un-documented special to let you set any pin to any mode
+ *********************************************************************************
+ */
+
+void pinModeAlt (int pin, int mode)
+{
+ int fSel, shift ;
+
+ if ( piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34) {
+ fprintf (stderr, "%s : Unsupport function on %s model\n",
+ __func__, piModelNames [piModel]);
+ exit (EXIT_FAILURE) ;
+ }
+
+ if ((pin & PI_GPIO_MASK) == 0) // On-board pin
+ {
+ /**/ if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return ;
+
+ fSel = gpioToGPFSEL [pin] ;
+ shift = gpioToShift [pin] ;
+
+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | ((mode & 0x7) << shift) ;
+ }
+}
+
+
+/*
+ * pinMode:
+ * Sets the mode of a pin to be input, output or PWM output
+ *********************************************************************************
+ */
+
+void pinMode (int pin, int mode)
+{
+ int fSel, shift, alt ;
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+ int origPin = pin ;
+ unsigned int gpio_mask = PI_GPIO_MASK;
+
+ if ( piModel == PI_MODEL_ODROIDC ) gpio_mask = ODROIDC_GPIO_MASK;
+ if ( piModel == PI_MODEL_ODROIDC2 ) gpio_mask = ODROIDC2_GPIO_MASK;
+ if ( piModel == PI_MODEL_ODROIDXU_34 ) gpio_mask = ODROIDXU_GPIO_MASK;
+
+ if ((pin & gpio_mask) == 0) // On-board pin
+ {
+ /**/ if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return ;
+
+ wiringPiGpioCheck (__func__, origPin, pin);
+
+ softPwmStop (origPin) ;
+ softToneStop (origPin) ;
+
+ fSel = gpioToGPFSEL [pin] ;
+ shift = gpioToShift [pin] ;
+
+ if (mode == INPUT) {
+ if ( piModel == PI_MODEL_ODROIDC || piModel == PI_MODEL_ODROIDC2 )
+ *(gpio + gpioToGPFSELReg(pin)) = (*(gpio + gpioToGPFSELReg(pin)) | (1 << gpioToShiftReg(pin)));
+ else if ( piModel == PI_MODEL_ODROIDXU_34 ) {
+ shift = (gpioToShiftReg(pin) * 4);
+ if(pin < 100)
+ *(gpio + gpioToGPFSELReg(pin)) &= ~(0xF << shift);
+ else
+ *(gpio1 + gpioToGPFSELReg(pin)) &= ~(0xF << shift);
+ }
+ else
+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)); // Sets bits to zero = input
+ }
+ else if (mode == OUTPUT) {
+ if ( piModel == PI_MODEL_ODROIDC || piModel == PI_MODEL_ODROIDC2 )
+ *(gpio + gpioToGPFSELReg(pin)) = (*(gpio + gpioToGPFSELReg(pin)) & ~(1 << gpioToShiftReg(pin)));
+ else if ( piModel == PI_MODEL_ODROIDXU_34 ) {
+ shift = (gpioToShiftReg(pin) * 4);
+ if(pin < 100) {
+ *(gpio + gpioToGPFSELReg(pin)) &= ~(0xF << shift);
+ *(gpio + gpioToGPFSELReg(pin)) |= (0x1 << shift);
+ }
+ else {
+ *(gpio1 + gpioToGPFSELReg(pin)) &= ~(0xF << shift);
+ *(gpio1 + gpioToGPFSELReg(pin)) |= (0x1 << shift);
+ }
+ }
+ else
+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (1 << shift);
+ }
+ else if (mode == SOFT_PWM_OUTPUT) {
+ if (piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34 )
+ softPwmCreate (pin, 0, 100);
+ else
+ softPwmCreate (origPin, 0, 100);
+ }
+ else if (mode == SOFT_TONE_OUTPUT) {
+ if (piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34 )
+ softToneCreate (pin);
+ else
+ softToneCreate (origPin);
+ }
+ else if (mode == PWM_TONE_OUTPUT)
+ {
+ if (piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34 )
+ return;
+
+ pinMode (origPin, PWM_OUTPUT) ; // Call myself to enable PWM mode
+ pwmSetMode (PWM_MODE_MS) ;
+ }
+ else if (mode == PWM_OUTPUT)
+ {
+ if (piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34 )
+ return;
+
+ if ((alt = gpioToPwmALT [pin]) == 0) // Not a hardware capable PWM pin
+ return ;
+
+// Set pin to PWM mode
+
+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
+ delayMicroseconds (110) ; // See comments in pwmSetClockWPi
+
+ pwmSetMode (PWM_MODE_BAL) ; // Pi default mode
+ pwmSetRange (1024) ; // Default range of 1024
+ pwmSetClock (32) ; // 19.2 / 32 = 600KHz - Also starts the PWM
+ }
+ else if (mode == GPIO_CLOCK)
+ {
+ if (piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34 )
+ return;
+
+ if ((alt = gpioToGpClkALT0 [pin]) == 0) // Not a GPIO_CLOCK pin
+ return ;
+
+// Set pin to GPIO_CLOCK mode and set the clock frequency to 100KHz
+
+ *(gpio + fSel) = (*(gpio + fSel) & ~(7 << shift)) | (alt << shift) ;
+ delayMicroseconds (110) ;
+ gpioClockSet (pin, 100000) ;
+ }
+ }
+ else
+ {
+ if ((node = wiringPiFindNode (pin)) != NULL)
+ node->pinMode (node, pin, mode) ;
+ return ;
+ }
+}
+
+
+/*
+ * pullUpDownCtrl:
+ * Control the internal pull-up/down resistors on a GPIO pin
+ * The Arduino only has pull-ups and these are enabled by writing 1
+ * to a port when in input mode - this paradigm doesn't quite apply
+ * here though.
+ *********************************************************************************
+ */
+
+void pullUpDnControl (int pin, int pud)
+{
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+ unsigned int gpio_mask = PI_GPIO_MASK;
+ int origPin = pin;
+
+ if ( piModel == PI_MODEL_ODROIDC ) gpio_mask = ODROIDC_GPIO_MASK;
+ if ( piModel == PI_MODEL_ODROIDC2 ) gpio_mask = ODROIDC2_GPIO_MASK;
+ if ( piModel == PI_MODEL_ODROIDXU_34 ) gpio_mask = ODROIDXU_GPIO_MASK;
+
+ if ((pin & gpio_mask) == 0) // On-Board Pin
+ {
+ /**/ if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return ;
+
+ wiringPiGpioCheck (__func__, origPin, pin);
+
+ if( piModel == PI_MODEL_ODROIDC || piModel == PI_MODEL_ODROIDC2 ) {
+
+ if(pud) {
+ // Enable Pull/Pull-down resister
+ *(gpio + gpioToPUENReg(pin)) = (*(gpio + gpioToPUENReg(pin)) | (1 << gpioToShiftReg(pin)));
+
+ if(pud == PUD_UP)
+ *(gpio + gpioToPUPDReg(pin)) = (*(gpio + gpioToPUPDReg(pin)) | (1 << gpioToShiftReg(pin)));
+ else
+ *(gpio + gpioToPUPDReg(pin)) = (*(gpio + gpioToPUPDReg(pin)) & ~(1 << gpioToShiftReg(pin)));
+ }
+ else // Disable Pull/Pull-down resister
+ *(gpio + gpioToPUENReg(pin)) = (*(gpio + gpioToPUENReg(pin)) & ~(1 << gpioToShiftReg(pin)));
+ }
+ else if ( piModel == PI_MODEL_ODROIDXU_34) {
+ int shift = 0;
+
+ shift = (gpioToShiftReg(pin) * 2);
+
+ if(pud) {
+ if(pin < 100) {
+ *(gpio + gpioToPUPDReg(pin)) &= ~(0x3 << shift);
+ if(pud == PUD_UP)
+ *(gpio + gpioToPUPDReg(pin)) |= (0x3 << shift);
+ else
+ *(gpio + gpioToPUPDReg(pin)) |= (0x1 << shift);
+ }
+ else {
+ *(gpio1 + gpioToPUPDReg(pin)) &= ~(0x3 << shift);
+ if(pud == PUD_UP)
+ *(gpio1 + gpioToPUPDReg(pin)) |= (0x3 << shift);
+ else
+ *(gpio1 + gpioToPUPDReg(pin)) |= (0x1 << shift);
+ }
+ }
+ else {
+ // Disable Pull/Pull-down resister
+ if(pin < 100)
+ *(gpio + gpioToPUPDReg(pin)) &= ~(0x3 << shift);
+ else
+ *(gpio1 + gpioToPUPDReg(pin)) &= ~(0x3 << shift);
+ }
+ }
+ else {
+ *(gpio + GPPUD) = pud & 3; delayMicroseconds (5) ;
+ *(gpio + gpioToPUDCLK [pin]) = 1 << (pin & 31); delayMicroseconds (5) ;
+
+ *(gpio + GPPUD) = 0 ; delayMicroseconds (5) ;
+ *(gpio + gpioToPUDCLK [pin]) = 0 ; delayMicroseconds (5) ;
+ }
+ }
+ else // Extension module
+ {
+ if ((node = wiringPiFindNode (pin)) != NULL)
+ node->pullUpDnControl (node, pin, pud) ;
+ return ;
+ }
+}
+
+
+/*
+ * digitalRead:
+ * Read the value of a given Pin, returning HIGH or LOW
+ *********************************************************************************
+ */
+
+int digitalRead (int pin)
+{
+ char c ;
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+ unsigned int gpio_mask = PI_GPIO_MASK;
+ int origPin = pin;
+
+ if ( piModel == PI_MODEL_ODROIDC ) gpio_mask = ODROIDC_GPIO_MASK;
+ if ( piModel == PI_MODEL_ODROIDC2 ) gpio_mask = ODROIDC2_GPIO_MASK;
+ if ( piModel == PI_MODEL_ODROIDXU_34 ) gpio_mask = ODROIDXU_GPIO_MASK;
+
+ if ((pin & gpio_mask) == 0) // On-Board Pin
+ {
+ /**/ if (wiringPiMode == WPI_MODE_GPIO_SYS) // Sys mode
+ {
+ int fd_pos = gpioToPin(pin);
+
+ if ( sysFds [fd_pos] == -1)
+ return LOW ;
+
+ lseek (sysFds [fd_pos], 0L, SEEK_SET) ;
+ read (sysFds [fd_pos], &c, 1) ;
+ return (c == '0') ? LOW : HIGH ;
+ }
+ else if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return LOW ;
+
+ wiringPiGpioCheck (__func__, origPin, pin);
+
+ if ( piModel == PI_MODEL_ODROIDC || piModel == PI_MODEL_ODROIDC2 ) {
+ if ((*(gpio + gpioToGPLEVReg(pin)) & (1 << gpioToShiftReg(pin))) != 0)
+ return HIGH ;
+ else
+ return LOW ;
+ }
+ else if ( piModel == PI_MODEL_ODROIDXU_34 ) {
+ if (pin < 100)
+ return *(gpio + gpioToGPLEVReg(pin)) & (1 << gpioToShiftReg(pin)) ? HIGH : LOW;
+ else
+ return *(gpio1 + gpioToGPLEVReg(pin)) & (1 << gpioToShiftReg(pin)) ? HIGH : LOW;
+ }
+ else {
+ if ((*(gpio + gpioToGPLEV [pin]) & (1 << (pin & 31))) != 0)
+ return HIGH ;
+ else
+ return LOW ;
+ }
+ }
+ else
+ {
+ if ((node = wiringPiFindNode (pin)) == NULL)
+ return LOW ;
+ return node->digitalRead (node, pin) ;
+ }
+}
+
+
+/*
+ * digitalWrite:
+ * Set an output bit
+ *********************************************************************************
+ */
+
+void digitalWrite (int pin, int value)
+{
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+ unsigned int gpio_mask = PI_GPIO_MASK;
+ int origPin = pin;
+
+ if ( piModel == PI_MODEL_ODROIDC ) gpio_mask = ODROIDC_GPIO_MASK;
+ if ( piModel == PI_MODEL_ODROIDC2 ) gpio_mask = ODROIDC2_GPIO_MASK;
+ if ( piModel == PI_MODEL_ODROIDXU_34 ) gpio_mask = ODROIDXU_GPIO_MASK;
+
+ if ((pin & gpio_mask) == 0) // On-Board Pin
+ {
+ /**/ if (wiringPiMode == WPI_MODE_GPIO_SYS) // Sys mode
+ {
+ int fd_pos = gpioToPin(pin);
+
+ if (sysFds [fd_pos] != -1)
+ {
+ if (value == LOW)
+ write (sysFds [fd_pos], "0\n", 2) ;
+ else
+ write (sysFds [fd_pos], "1\n", 2) ;
+ }
+ return ;
+ }
+ else if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return ;
+
+ wiringPiGpioCheck (__func__, origPin, pin);
+
+ if ( piModel == PI_MODEL_ODROIDC || piModel == PI_MODEL_ODROIDC2 ) {
+ if (value == LOW)
+ *(gpio + gpioToGPSETReg(pin)) &= ~(1 << gpioToShiftReg(pin));
+ else
+ *(gpio + gpioToGPSETReg(pin)) |= (1 << gpioToShiftReg(pin));
+ }
+ else if ( piModel == PI_MODEL_ODROIDXU_34 ) {
+ if (pin < 100) {
+ if (value == LOW)
+ *(gpio + gpioToGPLEVReg(pin)) &= ~(1 << gpioToShiftReg(pin));
+ else
+ *(gpio + gpioToGPLEVReg(pin)) |= (1 << gpioToShiftReg(pin));
+ }
+ else {
+ if (value == LOW)
+ *(gpio1 + gpioToGPLEVReg(pin)) &= ~(1 << gpioToShiftReg(pin));
+ else
+ *(gpio1 + gpioToGPLEVReg(pin)) |= (1 << gpioToShiftReg(pin));
+ }
+ }
+ }
+ else
+ {
+ if ((node = wiringPiFindNode (pin)) != NULL)
+ node->digitalWrite (node, pin, value) ;
+ }
+}
+
+
+/*
+ * pwmWrite:
+ * Set an output PWM value
+ *********************************************************************************
+ */
+
+void pwmWrite (int pin, int value)
+{
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+ unsigned int gpio_mask = PI_GPIO_MASK;
+
+ if ( piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34) {
+ fprintf (stderr, "%s : Unsupport function on %s model\n",
+ __func__, piModelNames [piModel]);
+ exit (EXIT_FAILURE) ;
+ }
+
+ if ((pin & gpio_mask) == 0) // On-Board Pin
+ {
+ /**/ if (wiringPiMode == WPI_MODE_PINS)
+ pin = pinToGpio [pin] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ pin = physToGpio [pin] ;
+ else if (wiringPiMode != WPI_MODE_GPIO)
+ return ;
+
+ *(pwm + gpioToPwmPort [pin]) = value ;
+ }
+ else
+ {
+ if ((node = wiringPiFindNode (pin)) != NULL)
+ node->pwmWrite (node, pin, value) ;
+ }
+}
+
+
+/*
+ * analogRead:
+ * Read the analog value of a given Pin.
+ * There is no on-board Pi analog hardware,
+ * so this needs to go to a new node.
+ *********************************************************************************
+ */
+
+int analogRead (int pin)
+{
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+ unsigned char value[5] = {0,};
+
+ if ( piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34 ) {
+ if(pin < 2) {
+ if (adcFds [pin] == -1)
+ return 0;
+ lseek (adcFds [pin], 0L, SEEK_SET);
+ read (adcFds [pin], &value[0], 4);
+ return atoi(value);
+ }
+ }
+
+ if ((node = wiringPiFindNode (pin)) == NULL)
+ return 0 ;
+ else
+ return node->analogRead (node, pin) ;
+}
+
+
+/*
+ * analogWrite:
+ * Write the analog value to the given Pin.
+ * There is no on-board Pi analog hardware,
+ * so this needs to go to a new node.
+ *********************************************************************************
+ */
+
+void analogWrite (int pin, int value)
+{
+ struct wiringPiNodeStruct *node = wiringPiNodes ;
+
+ if ((node = wiringPiFindNode (pin)) == NULL)
+ return ;
+
+ node->analogWrite (node, pin, value) ;
+}
+
+
+/*
+ * pwmToneWrite:
+ * Pi Specific.
+ * Output the given frequency on the Pi's PWM pin
+ *********************************************************************************
+ */
+
+void pwmToneWrite (int pin, int freq)
+{
+ int range ;
+
+ if ( piModel == PI_MODEL_ODROIDC ||
+ piModel == PI_MODEL_ODROIDC2 ||
+ piModel == PI_MODEL_ODROIDXU_34) {
+ fprintf (stderr, "%s : Unsupport function on %s model\n",
+ __func__, piModelNames [piModel]);
+ exit (EXIT_FAILURE) ;
+ }
+
+ if (freq == 0)
+ pwmWrite (pin, 0) ; // Off
+ else
+ {
+ range = 600000 / freq ;
+ pwmSetRange (range) ;
+ pwmWrite (pin, freq / 2) ;
+ }
+}
+
+
+
+/*
+ * digitalWriteByte:
+ * Pi Specific
+ * Write an 8-bit byte to the first 8 GPIO pins - try to do it as
+ * fast as possible.
+ * However it still needs 2 operations to set the bits, so any external
+ * hardware must not rely on seeing a change as there will be a change
+ * to set the outputs bits to zero, then another change to set the 1's
+ *********************************************************************************
+ */
+
+union reg_bitfield {
+ unsigned int wvalue;
+ struct {
+ unsigned int bit0 : 1;
+ unsigned int bit1 : 1;
+ unsigned int bit2 : 1;
+ unsigned int bit3 : 1;
+ unsigned int bit4 : 1;
+ unsigned int bit5 : 1;
+ unsigned int bit6 : 1;
+ unsigned int bit7 : 1;
+ unsigned int bit8 : 1;
+ unsigned int bit9 : 1;
+ unsigned int bit10 : 1;
+ unsigned int bit11 : 1;
+ unsigned int bit12 : 1;
+ unsigned int bit13 : 1;
+ unsigned int bit14 : 1;
+ unsigned int bit15 : 1;
+ unsigned int bit16 : 1;
+ unsigned int bit17 : 1;
+ unsigned int bit18 : 1;
+ unsigned int bit19 : 1;
+ unsigned int bit20 : 1;
+ unsigned int bit21 : 1;
+ unsigned int bit22 : 1;
+ unsigned int bit23 : 1;
+ unsigned int bit24 : 1;
+ unsigned int bit25 : 1;
+ unsigned int bit26 : 1;
+ unsigned int bit27 : 1;
+ unsigned int bit28 : 1;
+ unsigned int bit29 : 1;
+ unsigned int bit30 : 1;
+ unsigned int bit31 : 1;
+ } bits;
+};
+
+void digitalWriteByte_XU(int value)
+{
+ union reg_bitfield gpx1, gpx2, gpa0;
+
+ /* Read data register */
+ gpx1.wvalue = *(gpio + (GPIO_X1_DAT_OFFSET >> 2));
+ gpx2.wvalue = *(gpio + (GPIO_X2_DAT_OFFSET >> 2));
+ gpa0.wvalue = *(gpio1 + (GPIO_A0_DAT_OFFSET >> 2));
+
+ /* Wiring PI GPIO0 = XU3/4 GPA0.3 */
+ gpa0.bits.bit3 = (value & 0x01);
+ /* Wiring PI GPIO1 = XU3/4 GPA0.2 */
+ gpa0.bits.bit2 = (value & 0x02);
+ /* Wiring PI GPIO2 = XU3/4 GPX1.5 */
+ gpx1.bits.bit5 = (value & 0x04);
+ /* Wiring PI GPIO3 = XU3/4 GPX1.6 */
+ gpx1.bits.bit6 = (value & 0x08);
+ /* Wiring PI GPIO4 = XU3/4 GPX1.3 */
+ gpx1.bits.bit3 = (value & 0x10);
+ /* Wiring PI GPIO5 = XU3/4 GPX1.7 */
+ gpx1.bits.bit7 = (value & 0x20);
+ /* Wiring PI GPIO6 = XU3/4 GPX2.0 */
+ gpx2.bits.bit0 = (value & 0x40);
+ /* Wiring PI GPIO7 = XU3/4 GPX1.2 */
+ gpx1.bits.bit2 = (value & 0x80);
+
+ /* update data register */
+ *(gpio + (GPIO_X1_DAT_OFFSET >> 2)) = gpx1.wvalue;
+ *(gpio + (GPIO_X2_DAT_OFFSET >> 2)) = gpx2.wvalue;
+ *(gpio1 + (GPIO_A0_DAT_OFFSET >> 2)) = gpa0.wvalue;
+}
+
+void digitalWriteByte_C(int value)
+{
+ union reg_bitfield gpiox, gpioy;
+
+ gpiox.wvalue = *(gpio + GPIOX_INP_REG_OFFSET);
+ gpioy.wvalue = *(gpio + GPIOY_INP_REG_OFFSET);
+
+ /* Wiring PI GPIO0 = C1 GPIOY.8 */
+ gpioy.bits.bit8 = (value & 0x01);
+ /* Wiring PI GPIO1 = C1 GPIOY.7 */
+ gpioy.bits.bit7 = (value & 0x02);
+ /* Wiring PI GPIO2 = C1 GPIOX.19 */
+ gpiox.bits.bit19 = (value & 0x04);
+ /* Wiring PI GPIO3 = C1 GPIOX.18 */
+ gpiox.bits.bit18 = (value & 0x08);
+ /* Wiring PI GPIO4 = C1 GPIOX.7 */
+ gpiox.bits.bit7 = (value & 0x10);
+ /* Wiring PI GPIO5 = C1 GPIOX.5 */
+ gpiox.bits.bit5 = (value & 0x20);
+ /* Wiring PI GPIO6 = C1 GPIOX.6 */
+ gpiox.bits.bit6 = (value & 0x40);
+ /* Wiring PI GPIO7 = C1 GPIOY.3 */
+ gpioy.bits.bit3 = (value & 0x80);
+
+ *(gpio + GPIOX_OUTP_REG_OFFSET) = gpiox.wvalue;
+ *(gpio + GPIOY_OUTP_REG_OFFSET) = gpioy.wvalue;
+}
+
+void digitalWriteByte_C2(int value)
+{
+ union reg_bitfield gpiox;
+
+ gpiox.wvalue = *(gpio + C2_GPIOX_INP_REG_OFFSET);
+
+ /* Wiring PI GPIO0 = C1 GPIOX.19 */
+ gpiox.bits.bit19 = (value & 0x01);
+ /* Wiring PI GPIO1 = C1 GPIOX.10 */
+ gpiox.bits.bit10 = (value & 0x02);
+ /* Wiring PI GPIO2 = C1 GPIOX.11 */
+ gpiox.bits.bit11 = (value & 0x04);
+ /* Wiring PI GPIO3 = C1 GPIOX.9 */
+ gpiox.bits.bit9 = (value & 0x08);
+ /* Wiring PI GPIO4 = C1 GPIOX.8 */
+ gpiox.bits.bit8 = (value & 0x10);
+ /* Wiring PI GPIO5 = C1 GPIOX.5 */
+ gpiox.bits.bit5 = (value & 0x20);
+ /* Wiring PI GPIO6 = C1 GPIOX.3 */
+ gpiox.bits.bit3 = (value & 0x40);
+ /* Wiring PI GPIO7 = C1 GPIOX.21 */
+ gpiox.bits.bit21 = (value & 0x80);
+
+ *(gpio + C2_GPIOX_OUTP_REG_OFFSET) = gpiox.wvalue;
+}
+
+void digitalWriteByte (int value)
+{
+ uint32_t pinSet = 0 ;
+ uint32_t pinClr = 0 ;
+ int mask = 1 ;
+ int pin ;
+
+ /**/ if (wiringPiMode == WPI_MODE_GPIO_SYS)
+ {
+ for (pin = 0 ; pin < 8 ; ++pin)
+ {
+ digitalWrite (pinToGpio[pin], value & mask) ;
+ mask <<= 1 ;
+ }
+ return ;
+ }
+ else
+ {
+ switch(piModel) {
+ case PI_MODEL_ODROIDC:
+ digitalWriteByte_C(value);
+ return;
+ case PI_MODEL_ODROIDC2:
+ digitalWriteByte_C2(value);
+ return;
+ case PI_MODEL_ODROIDXU_34:
+ digitalWriteByte_XU(value);
+ return;
+ default :
+ break;
+ }
+ for (pin = 0 ; pin < 8 ; ++pin)
+ {
+ if ((value & mask) == 0)
+ pinClr |= (1 << pinToGpio [pin]) ;
+ else
+ pinSet |= (1 << pinToGpio [pin]) ;
+
+ mask <<= 1 ;
+ }
+
+ *(gpio + gpioToGPCLR [0]) = pinClr ;
+ *(gpio + gpioToGPSET [0]) = pinSet ;
+ }
+}
+
+
+/*
+ * waitForInterrupt:
+ * Pi Specific.
+ * Wait for Interrupt on a GPIO pin.
+ * This is actually done via the /sys/class/gpio interface regardless of
+ * the wiringPi access mode in-use. Maybe sometime it might get a better
+ * way for a bit more efficiency.
+ *********************************************************************************
+ */
+
+
+int waitForInterrupt (int pin, int mS)
+{
+ int fd, x ;
+ uint8_t c ;
+ struct pollfd polls ;
+
+ if ((fd = sysFds [pin]) == -1)
+ return -2 ;
+
+ // Setup poll structure
+ polls.fd = fd ;
+ polls.events = POLLPRI ; // Urgent data!
+
+
+// Wait for it ...
+wait:
+ x = poll (&polls, 1, mS) ;
+
+// Do a dummy read to clear the interrupt
+// A one character read appars to be enough.
+// Followed by a seek to reset it.
+
+ (void)read (fd, &c, 1) ;
+ lseek (fd, 0, SEEK_SET) ;
+
+ return x ;
+}
+
+
+/*
+ * interruptHandler:
+ * This is a thread and gets started to wait for the interrupt we're
+ * hoping to catch. It will call the user-function when the interrupt
+ * fires.
+ *********************************************************************************
+ */
+
+static void *interruptHandler (void *arg)
+{
+ int myPin ;
+
+ (void)piHiPri (55) ; // Only effective if we run as root
+
+ myPin = pinPass ;
+ pinPass = -1 ;
+
+ for (;;)
+ if (waitForInterrupt (myPin, -1) > 0)
+ isrFunctions [myPin] () ;
+
+ return NULL ;
+}
+
+
+/*
+ * wiringPiISR:
+ * Pi Specific.
+ * Take the details and create an interrupt handler that will do a call-
+ * back to the user supplied function.
+ *********************************************************************************
+ */
+
+int wiringPiISR (int pin, int mode, void (*function)(void))
+{
+ pthread_t threadId ;
+ const char *modeS ;
+ char fName [64] ;
+ char pinS [8] ;
+ pid_t pid ;
+ int count, i ;
+ char c ;
+ int bcmGpioPin ;
+
+ /**/ if (wiringPiMode == WPI_MODE_UNINITIALISED)
+ return wiringPiFailure (WPI_FATAL, "wiringPiISR: wiringPi has not been initialised. Unable to continue.\n") ;
+ else if (wiringPiMode == WPI_MODE_PINS)
+ bcmGpioPin = pinToGpio [pin & 63] ;
+ else if (wiringPiMode == WPI_MODE_PHYS)
+ bcmGpioPin = physToGpio [pin & 63] ;
+ else
+ bcmGpioPin = pin ;
+
+ if ( piModel == PI_MODEL_ODROIDC ) {
+ if ((pin < 0) || (pin > 128))
+ return wiringPiFailure (WPI_FATAL, "wiringPiISR: pin must be 0-128 (%d)\n", pin) ;
+ }
+ else if ( piModel == PI_MODEL_ODROIDXU_34 || piModel == PI_MODEL_ODROIDC2 ) {
+ if ((pin < 0) || (pin > 256))
+ return wiringPiFailure (WPI_FATAL, "wiringPiISR: pin must be 0-256 (%d)\n", pin) ;
+ }
+ else {
+ if ((pin < 0) || (pin > 63))
+ return wiringPiFailure (WPI_FATAL, "wiringPiISR: pin must be 0-63 (%d)\n", pin) ;
+ }
+
+// Now export the pin and set the right edge
+// We're going to use the gpio program to do this, so it assumes
+// a full installation of wiringPi. It's a bit 'clunky', but it
+// is a way that will work when we're running in "Sys" mode, as
+// a non-root user. (without sudo)
+
+ if (mode != INT_EDGE_SETUP)
+ {
+ /**/ if (mode == INT_EDGE_FALLING)
+ modeS = "falling" ;
+ else if (mode == INT_EDGE_RISING)
+ modeS = "rising" ;
+ else
+ modeS = "both" ;
+
+ sprintf (pinS, "%d", bcmGpioPin) ;
+
+ if ((pid = fork ()) < 0) // Fail
+ return wiringPiFailure (WPI_FATAL, "wiringPiISR: fork failed: %s\n", strerror (errno)) ;
+
+ if (pid == 0) // Child, exec
+ {
+ /**/ if (access ("/usr/local/bin/gpio", X_OK) == 0)
+ {
+ execl ("/usr/local/bin/gpio", "gpio", "edge", pinS, modeS, (char *)NULL) ;
+ return wiringPiFailure (WPI_FATAL, "wiringPiISR: execl failed: %s\n", strerror (errno)) ;
+ }
+ else if (access ("/usr/bin/gpio", X_OK) == 0)
+ {
+ execl ("/usr/bin/gpio", "gpio", "edge", pinS, modeS, (char *)NULL) ;
+ return wiringPiFailure (WPI_FATAL, "wiringPiISR: execl failed: %s\n", strerror (errno)) ;
+ }
+ else
+ return wiringPiFailure (WPI_FATAL, "wiringPiISR: Can't find gpio program\n") ;
+ }
+ else // Parent, wait
+ wait (NULL) ;
+ }
+
+// Now pre-open the /sys/class node - but it may already be open if
+// we are in Sys mode...
+
+ if (sysFds [pin] == -1)
+ {
+ sprintf (fName, "/sys/class/gpio/gpio%d/value", bcmGpioPin) ;
+
+ if ((sysFds [pin] = open (fName, O_RDWR)) < 0)
+ return wiringPiFailure (WPI_FATAL, "wiringPiISR: unable to open %s: %s\n", fName, strerror (errno)) ;
+ sysFdIrqType [pin] = mode;
+ }
+
+ // Clear any initial pending interrupt
+
+ ioctl (sysFds [pin], FIONREAD, &count) ;
+ for (i = 0 ; i < count ; ++i)
+ read (sysFds [pin], &c, 1) ;
+
+ isrFunctions [pin] = function ;
+
+ pthread_mutex_lock (&pinMutex) ;
+ pinPass = pin ;
+ pthread_create (&threadId, NULL, interruptHandler, NULL) ;
+ while (pinPass != -1)
+ delay (1) ;
+ pthread_mutex_unlock (&pinMutex) ;
+
+ return 0 ;
+}
+
+
+/*
+ * initialiseEpoch:
+ * Initialise our start-of-time variable to be the current unix
+ * time in milliseconds and microseconds.
+ *********************************************************************************
+ */
+
+static void initialiseEpoch (void)
+{
+ struct timeval tv ;
+
+ gettimeofday (&tv, NULL) ;
+ epochMilli = (uint64_t)tv.tv_sec * (uint64_t)1000 + (uint64_t)(tv.tv_usec / 1000) ;
+ epochMicro = (uint64_t)tv.tv_sec * (uint64_t)1000000 + (uint64_t)(tv.tv_usec) ;
+}
+
+
+/*
+ * delay:
+ * Wait for some number of milliseconds
+ *********************************************************************************
+ */
+
+void delay (unsigned int howLong)
+{
+ struct timespec sleeper, dummy ;
+
+ sleeper.tv_sec = (time_t)(howLong / 1000) ;
+ sleeper.tv_nsec = (long)(howLong % 1000) * 1000000 ;
+
+ nanosleep (&sleeper, &dummy) ;
+}
+
+
+/*
+ * delayMicroseconds:
+ * This is somewhat intersting. It seems that on the Pi, a single call
+ * to nanosleep takes some 80 to 130 microseconds anyway, so while
+ * obeying the standards (may take longer), it's not always what we
+ * want!
+ *
+ * So what I'll do now is if the delay is less than 100uS we'll do it
+ * in a hard loop, watching a built-in counter on the ARM chip. This is
+ * somewhat sub-optimal in that it uses 100% CPU, something not an issue
+ * in a microcontroller, but under a multi-tasking, multi-user OS, it's
+ * wastefull, however we've no real choice )-:
+ *
+ * Plan B: It seems all might not be well with that plan, so changing it
+ * to use gettimeofday () and poll on that instead...
+ *********************************************************************************
+ */
+
+void delayMicrosecondsHard (unsigned int howLong)
+{
+ struct timeval tNow, tLong, tEnd ;
+
+ gettimeofday (&tNow, NULL) ;
+ tLong.tv_sec = howLong / 1000000 ;
+ tLong.tv_usec = howLong % 1000000 ;
+ timeradd (&tNow, &tLong, &tEnd) ;
+
+ while (timercmp (&tNow, &tEnd, <))
+ gettimeofday (&tNow, NULL) ;
+}
+
+void delayMicroseconds (unsigned int howLong)
+{
+ struct timespec sleeper ;
+ unsigned int uSecs = howLong % 1000000 ;
+ unsigned int wSecs = howLong / 1000000 ;
+
+ /**/ if (howLong == 0)
+ return ;
+ else if (howLong < 100)
+ delayMicrosecondsHard (howLong) ;
+ else
+ {
+ sleeper.tv_sec = wSecs ;
+ sleeper.tv_nsec = (long)(uSecs * 1000L) ;
+ nanosleep (&sleeper, NULL) ;
+ }
+}
+
+
+/*
+ * millis:
+ * Return a number of milliseconds as an unsigned int.
+ *********************************************************************************
+ */
+
+unsigned int millis (void)
+{
+ struct timeval tv ;
+ uint64_t now ;
+
+ gettimeofday (&tv, NULL) ;
+ now = (uint64_t)tv.tv_sec * (uint64_t)1000 + (uint64_t)(tv.tv_usec / 1000) ;
+
+ return (uint32_t)(now - epochMilli) ;
+}
+
+
+/*
+ * micros:
+ * Return a number of microseconds as an unsigned int.
+ *********************************************************************************
+ */
+
+unsigned int micros (void)
+{
+ struct timeval tv ;
+ uint64_t now ;
+
+ gettimeofday (&tv, NULL) ;
+ now = (uint64_t)tv.tv_sec * (uint64_t)1000000 + (uint64_t)tv.tv_usec ;
+
+ return (uint32_t)(now - epochMicro) ;
+}
+
+
+/*
+ * wiringPiSetup:
+ * Must be called once at the start of your program execution.
+ *
+ * Default setup: Initialises the system into wiringPi Pin mode and uses the
+ * memory mapped hardware directly.
+ *
+ * Changed now to revert to "gpio" mode if we're running on a Compute Module.
+ *********************************************************************************
+ */
+
+int wiringPiSetup (void)
+{
+ int fd ;
+ int boardRev ;
+ int model, rev, mem, maker, overVolted ;
+
+ if (getenv (ENV_DEBUG) != NULL)
+ wiringPiDebug = TRUE ;
+
+ if (getenv (ENV_CODES) != NULL)
+ wiringPiReturnCodes = TRUE ;
+
+ // Open the master /dev/memory device
+ if (access("/dev/gpiomem",0) == 0) {
+ if ((fd = open ("/dev/gpiomem", O_RDWR | O_SYNC | O_CLOEXEC) ) < 0)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: Unable to open /dev/gpiomem: %s\n", strerror (errno)) ;
+ }
+ else {
+ if (geteuid () != 0)
+ (void)wiringPiFailure (WPI_FATAL, "wiringPiSetup: Must be root. (Did you forget sudo?)\n") ;
+
+ if ((fd = open ("/dev/mem", O_RDWR | O_SYNC | O_CLOEXEC) ) < 0)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: Unable to open /dev/mem: %s\n", strerror (errno)) ;
+ }
+
+ if (wiringPiDebug)
+ printf ("wiringPi: wiringPiSetup called\n") ;
+
+ piBoardId (&model, &rev, &mem, &maker, &overVolted) ;
+
+ if ( model == PI_MODEL_ODROIDC ) {
+
+ pinToGpio = pinToGpioOdroidC;
+ pin_array_count = ARRAY_SIZE(pinToGpioOdroidC);
+ physToGpio = physToGpioOdroidC;
+
+ // GPIO:
+
+ gpio = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, ODROID_GPIO_BASE) ;
+ if ((int32_t)gpio == -1)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (GPIO) failed: %s\n", strerror (errno)) ;
+
+ // ADC
+ // ADC sysfs open (/sys/class/saradc/saradc_ch0, ch1)
+ adcFds [0] = open (piAinNode0, O_RDONLY) ;
+ adcFds [1] = open (piAinNode1, O_RDONLY) ;
+ }
+ else if ( model == PI_MODEL_ODROIDC2 ) {
+
+ if(rev == PI_VERSION_1) {
+ pinToGpio = pinToGpioOdroidC2_Rev1_0;
+ pin_array_count = ARRAY_SIZE(pinToGpioOdroidC2_Rev1_0);
+ physToGpio = physToGpioOdroidC2_Rev1_0;
+ }
+ else {
+ pinToGpio = pinToGpioOdroidC2_Rev1_1;
+ pin_array_count = ARRAY_SIZE(pinToGpioOdroidC2_Rev1_1);
+ physToGpio = physToGpioOdroidC2_Rev1_1;
+ }
+
+ // GPIO:
+ gpio = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, ODROIDC2_GPIO_BASE) ;
+ if ((int32_t)gpio == -1)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (GPIO) failed: %s\n", strerror (errno)) ;
+
+ // ADC
+ // ADC sysfs open (/sys/class/saradc/saradc_ch0, ch1)
+ adcFds [0] = open (C2_piAinNode0, O_RDONLY) ;
+ adcFds [1] = open (C2_piAinNode1, O_RDONLY) ;
+ }
+ else if ( model == PI_MODEL_ODROIDXU_34 ) {
+ // Check the kernel version and then set the ADC files
+ struct utsname uname_buf;
+
+ uname(&uname_buf);
+ if (strncmp(uname_buf.release, "4.14", 4) == 0) {
+ piAinNode0_xu = "/sys/devices/platform/soc/12d10000.adc/iio:device0/in_voltage0_raw";
+ piAinNode1_xu = "/sys/devices/platform/soc/12d10000.adc/iio:device0/in_voltage3_raw";
+ } else if (strncmp(uname_buf.release, "4.9", 3) == 0) {
+ piAinNode0_xu = "/sys/devices/platform/soc:/12d10000.adc:/iio:device0/in_voltage0_raw";
+ piAinNode1_xu = "/sys/devices/platform/soc:/12d10000.adc:/iio:device0/in_voltage3_raw";
+ } else { // 3.10 kernel
+ piAinNode0_xu = "/sys/devices/12d10000.adc/iio:device0/in_voltage0_raw";
+ piAinNode1_xu = "/sys/devices/12d10000.adc/iio:device0/in_voltage3_raw";
+ }
+
+ pinToGpio = pinToGpioOdroidXU;
+ pin_array_count = ARRAY_SIZE(pinToGpioOdroidXU);
+ physToGpio = physToGpioOdroidXU;
+
+ // GPIO:
+ //#define ODROIDXU_GPX_BASE 0x13400000 // GPX0,1,2,3
+ gpio = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, ODROIDXU_GPX_BASE) ;
+ if ((int32_t)gpio == -1)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (GPIO) failed: %s\n", strerror (errno)) ;
+
+ //#define ODROIDXU_GPA_BASE 0x14010000 // GPA0,1,2, GPB0,1,2,3,4
+ gpio1 = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, ODROIDXU_GPA_BASE) ;
+ if ((int32_t)gpio1 == -1)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (GPIO) failed: %s\n", strerror (errno)) ;
+
+ // ADC
+ // ADC Fds[0] = ("/sys/devices/12d10000.adc/iio:device0/in_voltage0_raw")
+ // ADC Fds[1] = ("/sys/devices/12d10000.adc/iio:device0/in_voltage3_raw")
+ adcFds [0] = open (piAinNode0_xu, O_RDONLY) ;
+ adcFds [1] = open (piAinNode1_xu, O_RDONLY) ;
+ }
+ else {
+ // GPIO:
+ boardRev = piBoardRev () ;
+
+ /**/ if (boardRev == 1) // A, B, Rev 1, 1.1
+ {
+ pinToGpio = pinToGpioR1 ;
+ physToGpio = physToGpioR1 ;
+ }
+ else // A, B, Rev 2, B+, CM
+ {
+ pinToGpio = pinToGpioR2 ;
+ physToGpio = physToGpioR2 ;
+ }
+
+ gpio = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_BASE) ;
+ if ((int32_t)gpio == -1)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (GPIO) failed: %s\n", strerror (errno)) ;
+
+ // PWM
+
+ pwm = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_PWM) ;
+ if ((int32_t)pwm == -1)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (PWM) failed: %s\n", strerror (errno)) ;
+
+ // Clock control (needed for PWM)
+
+ clk = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, CLOCK_BASE) ;
+ if ((int32_t)clk == -1)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (CLOCK) failed: %s\n", strerror (errno)) ;
+
+ // The drive pads
+
+ pads = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_PADS) ;
+ if ((int32_t)pads == -1)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (PADS) failed: %s\n", strerror (errno)) ;
+ }
+
+#ifdef USE_TIMER
+// The system timer
+
+ timer = (uint32_t *)mmap(0, BLOCK_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, fd, GPIO_TIMER) ;
+ if ((int32_t)timer == -1)
+ return wiringPiFailure (WPI_ALMOST, "wiringPiSetup: mmap (TIMER) failed: %s\n", strerror (errno)) ;
+
+// Set the timer to free-running, 1MHz.
+// 0xF9 is 249, the timer divide is base clock / (divide+1)
+// so base clock is 250MHz / 250 = 1MHz.
+
+ *(timer + TIMER_CONTROL) = 0x0000280 ;
+ *(timer + TIMER_PRE_DIV) = 0x00000F9 ;
+ timerIrqRaw = timer + TIMER_IRQ_RAW ;
+#endif
+
+ initialiseEpoch () ;
+
+// If we're running on a compute module, then wiringPi pin numbers don't really many anything...
+
+ if (model == PI_MODEL_CM)
+ wiringPiMode = WPI_MODE_GPIO ;
+ else
+ wiringPiMode = WPI_MODE_PINS ;
+
+ return 0 ;
+}
+
+
+/*
+ * wiringPiSetupGpio:
+ * Must be called once at the start of your program execution.
+ *
+ * GPIO setup: Initialises the system into GPIO Pin mode and uses the
+ * memory mapped hardware directly.
+ *********************************************************************************
+ */
+
+int wiringPiSetupGpio (void)
+{
+ (void)wiringPiSetup () ;
+
+ if (wiringPiDebug)
+ printf ("wiringPi: wiringPiSetupGpio called\n") ;
+
+ wiringPiMode = WPI_MODE_GPIO ;
+
+ return 0 ;
+}
+
+
+/*
+ * wiringPiSetupPhys:
+ * Must be called once at the start of your program execution.
+ *
+ * Phys setup: Initialises the system into Physical Pin mode and uses the
+ * memory mapped hardware directly.
+ *********************************************************************************
+ */
+
+int wiringPiSetupPhys (void)
+{
+ (void)wiringPiSetup () ;
+
+ if (wiringPiDebug)
+ printf ("wiringPi: wiringPiSetupPhys called\n") ;
+
+ wiringPiMode = WPI_MODE_PHYS ;
+
+ return 0 ;
+}
+
+
+/*
+ * wiringPiSetupSys:
+ * Must be called once at the start of your program execution.
+ *
+ * Initialisation (again), however this time we are using the /sys/class/gpio
+ * interface to the GPIO systems - slightly slower, but always usable as
+ * a non-root user, assuming the devices are already exported and setup correctly.
+ */
+
+int wiringPiSetupSys (void)
+{
+ int boardRev ;
+ int model, rev, mem, maker, overVolted ;
+ int pin, offset;
+ char fName [128] ;
+
+ if (getenv (ENV_DEBUG) != NULL)
+ wiringPiDebug = TRUE ;
+
+ if (getenv (ENV_CODES) != NULL)
+ wiringPiReturnCodes = TRUE ;
+
+ if (wiringPiDebug)
+ printf ("wiringPi: wiringPiSetupSys called\n") ;
+
+ piBoardId (&model, &rev, &mem, &maker, &overVolted) ;
+
+ if ( model == PI_MODEL_ODROIDC ) {
+ pinToGpio = pinToGpioOdroidC ;
+ pin_array_count = ARRAY_SIZE(pinToGpioOdroidC);
+ physToGpio = physToGpioOdroidC ;
+
+ // ADC sysfs open (/sys/class/saradc/saradc_ch0, ch1)
+
+ adcFds [0] = open (piAinNode0, O_RDONLY) ;
+ adcFds [1] = open (piAinNode1, O_RDONLY) ;
+ }
+ else if ( model == PI_MODEL_ODROIDC2 ) {
+ if(rev == PI_VERSION_1) {
+ pinToGpio = pinToGpioOdroidC2_Rev1_0;
+ pin_array_count = ARRAY_SIZE(pinToGpioOdroidC2_Rev1_0);
+ physToGpio = physToGpioOdroidC2_Rev1_0;
+ }
+ else {
+ pinToGpio = pinToGpioOdroidC2_Rev1_1;
+ pin_array_count = ARRAY_SIZE(pinToGpioOdroidC2_Rev1_1);
+ physToGpio = physToGpioOdroidC2_Rev1_1;
+ }
+
+ // ADC sysfs open (/sys/class/saradc/saradc_ch0, ch1)
+
+ adcFds [0] = open (C2_piAinNode0, O_RDONLY) ;
+ adcFds [1] = open (C2_piAinNode1, O_RDONLY) ;
+ }
+ else if ( model == PI_MODEL_ODROIDXU_34 ) {
+ // Check the kernel version and then set the ADC files
+ struct utsname uname_buf;
+
+ uname(&uname_buf);
+ if (strncmp(uname_buf.release, "4.14", 4) == 0) {
+ piAinNode0_xu = "/sys/devices/platform/soc/12d10000.adc/iio:device0/in_voltage0_raw";
+ piAinNode1_xu = "/sys/devices/platform/soc/12d10000.adc/iio:device0/in_voltage3_raw";
+ } else if (strncmp(uname_buf.release, "4.9", 3) == 0) {
+ piAinNode0_xu = "/sys/devices/platform/soc:/12d10000.adc:/iio:device0/in_voltage0_raw";
+ piAinNode1_xu = "/sys/devices/platform/soc:/12d10000.adc:/iio:device0/in_voltage3_raw";
+ } else { // 3.10 kernel
+ piAinNode0_xu = "/sys/devices/12d10000.adc/iio:device0/in_voltage0_raw";
+ piAinNode1_xu = "/sys/devices/12d10000.adc/iio:device0/in_voltage3_raw";
+ }
+
+ pinToGpio = pinToGpioOdroidXU ;
+ pin_array_count = ARRAY_SIZE(pinToGpioOdroidXU);
+ physToGpio = physToGpioOdroidXU ;
+
+ // ADC
+ // ADC Fds[0] = ("/sys/devices/12d10000.adc/iio:device0/in_voltage0_raw")
+ // ADC Fds[1] = ("/sys/devices/12d10000.adc/iio:device0/in_voltage3_raw")
+ adcFds [0] = open (piAinNode0_xu, O_RDONLY) ;
+ adcFds [1] = open (piAinNode1_xu, O_RDONLY) ;
+ }
+
+// Open and scan the directory, looking for exported GPIOs, and pre-open
+// the 'value' interface to speed things up for later
+ for (pin = 0 ; pin < 64 ; ++pin)
+ {
+ sprintf (fName, "/sys/class/gpio/gpio%d/value", pinToGpio[pin]) ;
+ sysFds [pin] = open (fName, O_RDWR) ;
+ }
+
+ initialiseEpoch () ;
+
+ wiringPiMode = WPI_MODE_GPIO_SYS ;
+
+ return 0 ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringPi.h b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPi.h
new file mode 100755
index 0000000000000000000000000000000000000000..634615469116d5f7dc4d20f46e89afc021d4b4c7
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPi.h
@@ -0,0 +1,229 @@
+/*
+ * wiringPi:
+ * Arduino compatable (ish) Wiring library for the Raspberry Pi
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifndef __WIRING_PI_H__
+#define __WIRING_PI_H__
+
+// Handy defines
+
+// Deprecated
+#define NUM_PINS 17
+
+#define WPI_MODE_PINS 0
+#define WPI_MODE_GPIO 1
+#define WPI_MODE_GPIO_SYS 2
+#define WPI_MODE_PHYS 3
+#define WPI_MODE_PIFACE 4
+#define WPI_MODE_UNINITIALISED -1
+
+// Pin modes
+
+#define INPUT 0
+#define OUTPUT 1
+#define PWM_OUTPUT 2
+#define GPIO_CLOCK 3
+#define SOFT_PWM_OUTPUT 4
+#define SOFT_TONE_OUTPUT 5
+#define PWM_TONE_OUTPUT 6
+
+#define LOW 0
+#define HIGH 1
+
+// Pull up/down/none
+
+#define PUD_OFF 0
+#define PUD_DOWN 1
+#define PUD_UP 2
+
+// PWM
+
+#define PWM_MODE_MS 0
+#define PWM_MODE_BAL 1
+
+// Interrupt levels
+
+#define INT_EDGE_SETUP 0
+#define INT_EDGE_FALLING 1
+#define INT_EDGE_RISING 2
+#define INT_EDGE_BOTH 3
+
+// Pi model types and version numbers
+// Intended for the GPIO program Use at your own risk.
+
+#define PI_MODEL_UNKNOWN 0
+#define PI_MODEL_A 1
+#define PI_MODEL_B 2
+#define PI_MODEL_BP 3
+#define PI_MODEL_CM 4
+#define PI_MODEL_AP 5
+#define PI_MODEL_ODROIDC 6
+#define PI_MODEL_ODROIDXU_34 7
+#define PI_MODEL_ODROIDC2 8
+
+#define PI_VERSION_UNKNOWN 0
+#define PI_VERSION_1 1
+#define PI_VERSION_1_1 2
+#define PI_VERSION_1_2 3
+#define PI_VERSION_2 4
+
+#define PI_MAKER_UNKNOWN 0
+#define PI_MAKER_EGOMAN 1
+#define PI_MAKER_SONY 2
+#define PI_MAKER_QISDA 3
+#define PI_MAKER_HARDKERNEL 4
+
+extern const char *piModelNames [9] ;
+extern const char *piRevisionNames [5] ;
+extern const char *piMakerNames [5] ;
+
+
+// Intended for the GPIO program Use at your own risk.
+
+// Threads
+
+#define PI_THREAD(X) void *X (void *dummy)
+
+// Failure modes
+
+#define WPI_FATAL (1==1)
+#define WPI_ALMOST (1==2)
+
+
+// wiringPiNodeStruct:
+// This describes additional device nodes in the extended wiringPi
+// 2.0 scheme of things.
+// It's a simple linked list for now, but will hopefully migrate to
+// a binary tree for efficiency reasons - but then again, the chances
+// of more than 1 or 2 devices being added are fairly slim, so who
+// knows....
+
+struct wiringPiNodeStruct
+{
+ int pinBase ;
+ int pinMax ;
+
+ int fd ; // Node specific
+ unsigned int data0 ; // ditto
+ unsigned int data1 ; // ditto
+ unsigned int data2 ; // ditto
+ unsigned int data3 ; // ditto
+
+ void (*pinMode) (struct wiringPiNodeStruct *node, int pin, int mode) ;
+ void (*pullUpDnControl) (struct wiringPiNodeStruct *node, int pin, int mode) ;
+ int (*digitalRead) (struct wiringPiNodeStruct *node, int pin) ;
+ void (*digitalWrite) (struct wiringPiNodeStruct *node, int pin, int value) ;
+ void (*pwmWrite) (struct wiringPiNodeStruct *node, int pin, int value) ;
+ int (*analogRead) (struct wiringPiNodeStruct *node, int pin) ;
+ void (*analogWrite) (struct wiringPiNodeStruct *node, int pin, int value) ;
+
+ struct wiringPiNodeStruct *next ;
+} ;
+
+extern struct wiringPiNodeStruct *wiringPiNodes ;
+
+
+// Function prototypes
+// c++ wrappers thanks to a comment by Nick Lott
+// (and others on the Raspberry Pi forums)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// Data
+
+//extern const char *piModelNames [] ;
+//extern const char *piRevisionNames[] ;
+
+// Internal
+
+extern int wiringPiFailure (int fatal, const char *message, ...) ;
+
+// Core wiringPi functions
+
+extern struct wiringPiNodeStruct *wiringPiFindNode (int pin) ;
+extern struct wiringPiNodeStruct *wiringPiNewNode (int pinBase, int numPins) ;
+
+extern int wiringPiSetup (void) ;
+extern int wiringPiSetupSys (void) ;
+extern int wiringPiSetupGpio (void) ;
+extern int wiringPiSetupPhys (void) ;
+
+extern void pinModeAlt (int pin, int mode) ;
+extern void pinMode (int pin, int mode) ;
+extern void pullUpDnControl (int pin, int pud) ;
+extern int digitalRead (int pin) ;
+extern void digitalWrite (int pin, int value) ;
+extern void pwmWrite (int pin, int value) ;
+extern int analogRead (int pin) ;
+extern void analogWrite (int pin, int value) ;
+
+// PiFace specifics
+// (Deprecated)
+
+extern int wiringPiSetupPiFace (void) ;
+extern int wiringPiSetupPiFaceForGpioProg (void) ; // Don't use this - for gpio program only
+
+// On-Board Raspberry Pi hardware specific stuff
+
+extern int piBoardRev (void) ;
+extern void piBoardId (int *model, int *rev, int *mem, int *maker, int *overVolted) ;
+extern int wpiPinToGpio (int wpiPin) ;
+extern int physPinToGpio (int physPin) ;
+extern void setPadDrive (int group, int value) ;
+extern int getAlt (int pin) ;
+extern void pwmToneWrite (int pin, int freq) ;
+extern void digitalWriteByte (int value) ;
+extern void pwmSetMode (int mode) ;
+extern void pwmSetRange (unsigned int range) ;
+extern void pwmSetClock (int divisor) ;
+extern void gpioClockSet (int pin, int freq) ;
+
+// Interrupts
+// (Also Pi hardware specific)
+
+extern int waitForInterrupt (int pin, int mS) ;
+extern int wiringPiISR (int pin, int mode, void (*function)(void)) ;
+
+// Threads
+
+extern int piThreadCreate (void *(*fn)(void *)) ;
+extern void piLock (int key) ;
+extern void piUnlock (int key) ;
+
+// Schedulling priority
+
+extern int piHiPri (const int pri) ;
+
+// Extras from arduino land
+
+extern void delay (unsigned int howLong) ;
+extern void delayMicroseconds (unsigned int howLong) ;
+extern unsigned int millis (void) ;
+extern unsigned int micros (void) ;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringPi.o b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPi.o
new file mode 100644
index 0000000000000000000000000000000000000000..6cabfb0928e2a5a3bcc12437b7e42a0ff5c2d40a
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPi.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiI2C.c b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiI2C.c
new file mode 100755
index 0000000000000000000000000000000000000000..2a12116597362ed93acddaa32c5078ab783ea022
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiI2C.c
@@ -0,0 +1,240 @@
+/*
+ * wiringPiI2C.c:
+ * Simplified I2C access routines
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+/*
+ * Notes:
+ * The Linux I2C code is actually the same (almost) as the SMBus code.
+ * SMBus is System Management Bus - and in essentially I2C with some
+ * additional functionality added, and stricter controls on the electrical
+ * specifications, etc. however I2C does work well with it and the
+ * protocols work over both.
+ *
+ * I'm directly including the SMBus functions here as some Linux distros
+ * lack the correct header files, and also some header files are GPLv2
+ * rather than the LGPL that wiringPi is released under - presumably because
+ * originally no-one expected I2C/SMBus to be used outside the kernel -
+ * however enter the Raspberry Pi with people now taking directly to I2C
+ * devices without going via the kernel...
+ *
+ * This may ultimately reduce the flexibility of this code, but it won't be
+ * hard to maintain it and keep it current, should things change.
+ *
+ * Information here gained from: kernel/Documentation/i2c/dev-interface
+ * as well as other online resources.
+ *********************************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <errno.h>
+#include <string.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+
+#include "wiringPi.h"
+#include "wiringPiI2C.h"
+
+// I2C definitions
+
+#define I2C_SLAVE 0x0703
+#define I2C_SMBUS 0x0720 /* SMBus-level access */
+
+#define I2C_SMBUS_READ 1
+#define I2C_SMBUS_WRITE 0
+
+// SMBus transaction types
+
+#define I2C_SMBUS_QUICK 0
+#define I2C_SMBUS_BYTE 1
+#define I2C_SMBUS_BYTE_DATA 2
+#define I2C_SMBUS_WORD_DATA 3
+#define I2C_SMBUS_PROC_CALL 4
+#define I2C_SMBUS_BLOCK_DATA 5
+#define I2C_SMBUS_I2C_BLOCK_BROKEN 6
+#define I2C_SMBUS_BLOCK_PROC_CALL 7 /* SMBus 2.0 */
+#define I2C_SMBUS_I2C_BLOCK_DATA 8
+
+// SMBus messages
+
+#define I2C_SMBUS_BLOCK_MAX 32 /* As specified in SMBus standard */
+#define I2C_SMBUS_I2C_BLOCK_MAX 32 /* Not specified but we use same structure */
+
+// Structures used in the ioctl() calls
+
+union i2c_smbus_data
+{
+ uint8_t byte ;
+ uint16_t word ;
+ uint8_t block [I2C_SMBUS_BLOCK_MAX + 2] ; // block [0] is used for length + one more for PEC
+} ;
+
+struct i2c_smbus_ioctl_data
+{
+ char read_write ;
+ uint8_t command ;
+ int size ;
+ union i2c_smbus_data *data ;
+} ;
+
+static inline int i2c_smbus_access (int fd, char rw, uint8_t command, int size, union i2c_smbus_data *data)
+{
+ struct i2c_smbus_ioctl_data args ;
+
+ args.read_write = rw ;
+ args.command = command ;
+ args.size = size ;
+ args.data = data ;
+ return ioctl (fd, I2C_SMBUS, &args) ;
+}
+
+
+/*
+ * wiringPiI2CRead:
+ * Simple device read
+ *********************************************************************************
+ */
+
+int wiringPiI2CRead (int fd)
+{
+ union i2c_smbus_data data ;
+
+ if (i2c_smbus_access (fd, I2C_SMBUS_READ, 0, I2C_SMBUS_BYTE, &data))
+ return -1 ;
+ else
+ return data.byte & 0xFF ;
+}
+
+
+/*
+ * wiringPiI2CReadReg8: wiringPiI2CReadReg16:
+ * Read an 8 or 16-bit value from a regsiter on the device
+ *********************************************************************************
+ */
+
+int wiringPiI2CReadReg8 (int fd, int reg)
+{
+ union i2c_smbus_data data;
+
+ if (i2c_smbus_access (fd, I2C_SMBUS_READ, reg, I2C_SMBUS_BYTE_DATA, &data))
+ return -1 ;
+ else
+ return data.byte & 0xFF ;
+}
+
+int wiringPiI2CReadReg16 (int fd, int reg)
+{
+ union i2c_smbus_data data;
+
+ if (i2c_smbus_access (fd, I2C_SMBUS_READ, reg, I2C_SMBUS_WORD_DATA, &data))
+ return -1 ;
+ else
+ return data.word & 0xFFFF ;
+}
+
+
+/*
+ * wiringPiI2CWrite:
+ * Simple device write
+ *********************************************************************************
+ */
+
+int wiringPiI2CWrite (int fd, int data)
+{
+ return i2c_smbus_access (fd, I2C_SMBUS_WRITE, data, I2C_SMBUS_BYTE, NULL) ;
+}
+
+
+/*
+ * wiringPiI2CWriteReg8: wiringPiI2CWriteReg16:
+ * Write an 8 or 16-bit value to the given register
+ *********************************************************************************
+ */
+
+int wiringPiI2CWriteReg8 (int fd, int reg, int value)
+{
+ union i2c_smbus_data data ;
+
+ data.byte = value ;
+ return i2c_smbus_access (fd, I2C_SMBUS_WRITE, reg, I2C_SMBUS_BYTE_DATA, &data) ;
+}
+
+int wiringPiI2CWriteReg16 (int fd, int reg, int value)
+{
+ union i2c_smbus_data data ;
+
+ data.word = value ;
+ return i2c_smbus_access (fd, I2C_SMBUS_WRITE, reg, I2C_SMBUS_WORD_DATA, &data) ;
+}
+
+
+/*
+ * wiringPiI2CSetupInterface:
+ * Undocumented access to set the interface explicitly - might be used
+ * for the Pi's 2nd I2C interface...
+ *********************************************************************************
+ */
+
+int wiringPiI2CSetupInterface (const char *device, int devId)
+{
+ int fd ;
+
+ if ((fd = open (device, O_RDWR)) < 0)
+ return wiringPiFailure (WPI_ALMOST, "Unable to open I2C device: %s\n", strerror (errno)) ;
+
+ if (ioctl (fd, I2C_SLAVE, devId) < 0)
+ return wiringPiFailure (WPI_ALMOST, "Unable to select I2C device: %s\n", strerror (errno)) ;
+
+ return fd ;
+}
+
+
+/*
+ * wiringPiI2CSetup:
+ * Open the I2C device, and regsiter the target device
+ *********************************************************************************
+ */
+
+int wiringPiI2CSetup (const int devId)
+{
+ const char *device ;
+ int model, rev, mem, maker, overVolted ;
+
+ piBoardId (&model, &rev, &mem, &maker, &overVolted) ;
+
+ if ( model == PI_MODEL_ODROIDC || model == PI_MODEL_ODROIDC2 )
+ device = "/dev/i2c-1" ;
+ else if ( model == PI_MODEL_ODROIDXU_34 )
+ device = "/dev/i2c-4" ; /* update 2016/feb/12 Linux */
+ else {
+ rev = piBoardRev () ;
+
+ if (rev == 1)
+ device = "/dev/i2c-0" ;
+ else
+ device = "/dev/i2c-1" ;
+ }
+
+ return wiringPiI2CSetupInterface (device, devId) ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiI2C.h b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiI2C.h
new file mode 100644
index 0000000000000000000000000000000000000000..6db8c688e49575f31d919ab841f8762576eefbfb
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiI2C.h
@@ -0,0 +1,42 @@
+/*
+ * wiringPiI2C.h:
+ * Simplified I2C access routines
+ * Copyright (c) 2013 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int wiringPiI2CRead (int fd) ;
+extern int wiringPiI2CReadReg8 (int fd, int reg) ;
+extern int wiringPiI2CReadReg16 (int fd, int reg) ;
+
+extern int wiringPiI2CWrite (int fd, int data) ;
+extern int wiringPiI2CWriteReg8 (int fd, int reg, int data) ;
+extern int wiringPiI2CWriteReg16 (int fd, int reg, int data) ;
+
+extern int wiringPiI2CSetupInterface (const char *device, int devId) ;
+extern int wiringPiI2CSetup (const int devId) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiI2C.o b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiI2C.o
new file mode 100644
index 0000000000000000000000000000000000000000..a46271c7aa58b14656a1a82a36e900c20ca04174
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiI2C.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiSPI.c b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiSPI.c
new file mode 100755
index 0000000000000000000000000000000000000000..749045cdd0893cf1982322cf21f96228f043e336
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiSPI.c
@@ -0,0 +1,144 @@
+/*
+ * wiringPiSPI.c:
+ * Simplified SPI access routines
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <linux/spi/spidev.h>
+
+#include "wiringPi.h"
+
+#include "wiringPiSPI.h"
+
+
+// The SPI bus parameters
+// Variables as they need to be passed as pointers later on
+
+const static char *spiDev0 = "/dev/spidev0.0" ;
+const static char *spiDev1 = "/dev/spidev0.1" ;
+const static char *spiDev0_XU = "/dev/spidev1.0";
+const static uint8_t spiMode = 0 ;
+const static uint8_t spiBPW = 8 ;
+const static uint16_t spiDelay = 0 ;
+
+static uint32_t spiSpeeds [2] ;
+static int spiFds [2] ;
+
+
+/*
+ * wiringPiSPIGetFd:
+ * Return the file-descriptor for the given channel
+ *********************************************************************************
+ */
+
+int wiringPiSPIGetFd (int channel)
+{
+ return spiFds [channel & 1] ;
+}
+
+
+/*
+ * wiringPiSPIDataRW:
+ * Write and Read a block of data over the SPI bus.
+ * Note the data ia being read into the transmit buffer, so will
+ * overwrite it!
+ * This is also a full-duplex operation.
+ *********************************************************************************
+ */
+
+int wiringPiSPIDataRW (int channel, unsigned char *data, int len)
+{
+ struct spi_ioc_transfer spi ;
+
+ channel &= 1 ;
+
+ spi.tx_buf = (unsigned long)data ;
+ spi.rx_buf = (unsigned long)data ;
+ spi.len = len ;
+ spi.delay_usecs = spiDelay ;
+ spi.speed_hz = spiSpeeds [channel] ;
+ spi.bits_per_word = spiBPW ;
+
+ return ioctl (spiFds [channel], SPI_IOC_MESSAGE(1), &spi) ;
+}
+
+
+/*
+ * wiringPiSPISetup:
+ * Open the SPI device, and set it up, etc.
+ *********************************************************************************
+ */
+
+int wiringPiSPISetup (int channel, int speed)
+{
+ int fd ;
+ int model, rev, mem, maker, overVolted ;
+
+ piBoardId (&model, &rev, &mem, &maker, &overVolted) ;
+
+ channel &= 1 ;
+
+ if (model == PI_MODEL_ODROIDXU_34) {
+ if (channel)
+ return wiringPiFailure (WPI_ALMOST, "ODROID-XU3/4 cannot support spi-channel 1.\n") ;
+
+ if ((fd = open (spiDev0_XU, O_RDWR)) < 0)
+ return wiringPiFailure (WPI_ALMOST, "Unable to open SPI device: %s\n", strerror (errno)) ;
+ }
+ else if (model == PI_MODEL_ODROIDC) {
+ if (channel)
+ return wiringPiFailure (WPI_ALMOST, "ODROID-C1/C1+ cannot support spi-channel 1.\n") ;
+
+ if ((fd = open (spiDev0, O_RDWR)) < 0)
+ return wiringPiFailure (WPI_ALMOST, "Unable to open SPI device: %s\n", strerror (errno)) ;
+ }
+ else if (model == PI_MODEL_ODROIDC2) {
+ return wiringPiFailure (WPI_ALMOST, "ODROID-C2 cannot support spi-channel\n") ;
+ }
+ else {
+ if ((fd = open (channel == 0 ? spiDev0 : spiDev1, O_RDWR)) < 0)
+ return wiringPiFailure (WPI_ALMOST, "Unable to open SPI device: %s\n", strerror (errno)) ;
+ }
+
+ spiSpeeds [channel] = speed ;
+ spiFds [channel] = fd ;
+
+// Set SPI parameters.
+// Why are we reading it afterwriting it? I've no idea, but for now I'm blindly
+// copying example code I've seen online...
+
+ if (ioctl (fd, SPI_IOC_WR_MODE, &spiMode) < 0)
+ return wiringPiFailure (WPI_ALMOST, "SPI Mode Change failure: %s\n", strerror (errno)) ;
+
+ if (ioctl (fd, SPI_IOC_WR_BITS_PER_WORD, &spiBPW) < 0)
+ return wiringPiFailure (WPI_ALMOST, "SPI BPW Change failure: %s\n", strerror (errno)) ;
+
+ if (ioctl (fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed) < 0)
+ return wiringPiFailure (WPI_ALMOST, "SPI Speed Change failure: %s\n", strerror (errno)) ;
+
+ return fd ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiSPI.h b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiSPI.h
new file mode 100644
index 0000000000000000000000000000000000000000..f53697d1ad52ccf9fb06643b965d87056d3d165d
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiSPI.h
@@ -0,0 +1,35 @@
+/*
+ * wiringPiSPI.h:
+ * Simplified SPI access routines
+ * Copyright (c) 2012 Gordon Henderson
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with wiringPi.
+ * If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int wiringPiSPIGetFd (int channel) ;
+int wiringPiSPIDataRW (int channel, unsigned char *data, int len) ;
+int wiringPiSPISetup (int channel, int speed) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiSPI.o b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiSPI.o
new file mode 100644
index 0000000000000000000000000000000000000000..73772d7ad792ef86508a25dfff54c2e6db1059b3
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/wiringPiSPI.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringSerial.c b/modules/catkin_ws/src/wiringPi/wiringPi/wiringSerial.c
new file mode 100644
index 0000000000000000000000000000000000000000..ca976a996ffb06c89473dde21e6c3b6db0d384c0
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/wiringSerial.c
@@ -0,0 +1,213 @@
+/*
+ * wiringSerial.c:
+ * Handle a serial port
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <stdarg.h>
+#include <string.h>
+#include <termios.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+
+#include "wiringSerial.h"
+
+/*
+ * serialOpen:
+ * Open and initialise the serial port, setting all the right
+ * port parameters - or as many as are required - hopefully!
+ *********************************************************************************
+ */
+
+int serialOpen (const char *device, const int baud)
+{
+ struct termios options ;
+ speed_t myBaud ;
+ int status, fd ;
+
+ switch (baud)
+ {
+ case 50: myBaud = B50 ; break ;
+ case 75: myBaud = B75 ; break ;
+ case 110: myBaud = B110 ; break ;
+ case 134: myBaud = B134 ; break ;
+ case 150: myBaud = B150 ; break ;
+ case 200: myBaud = B200 ; break ;
+ case 300: myBaud = B300 ; break ;
+ case 600: myBaud = B600 ; break ;
+ case 1200: myBaud = B1200 ; break ;
+ case 1800: myBaud = B1800 ; break ;
+ case 2400: myBaud = B2400 ; break ;
+ case 4800: myBaud = B4800 ; break ;
+ case 9600: myBaud = B9600 ; break ;
+ case 19200: myBaud = B19200 ; break ;
+ case 38400: myBaud = B38400 ; break ;
+ case 57600: myBaud = B57600 ; break ;
+ case 115200: myBaud = B115200 ; break ;
+ case 230400: myBaud = B230400 ; break ;
+
+ default:
+ return -2 ;
+ }
+
+ if ((fd = open (device, O_RDWR | O_NOCTTY | O_NDELAY | O_NONBLOCK)) == -1)
+ return -1 ;
+
+ fcntl (fd, F_SETFL, O_RDWR) ;
+
+// Get and modify current options:
+
+ tcgetattr (fd, &options) ;
+
+ cfmakeraw (&options) ;
+ cfsetispeed (&options, myBaud) ;
+ cfsetospeed (&options, myBaud) ;
+
+ options.c_cflag |= (CLOCAL | CREAD) ;
+ options.c_cflag &= ~PARENB ;
+ options.c_cflag &= ~CSTOPB ;
+ options.c_cflag &= ~CSIZE ;
+ options.c_cflag |= CS8 ;
+ options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG) ;
+ options.c_oflag &= ~OPOST ;
+
+ options.c_cc [VMIN] = 0 ;
+ options.c_cc [VTIME] = 100 ; // Ten seconds (100 deciseconds)
+
+ tcsetattr (fd, TCSANOW | TCSAFLUSH, &options) ;
+
+ ioctl (fd, TIOCMGET, &status);
+
+ status |= TIOCM_DTR ;
+ status |= TIOCM_RTS ;
+
+ ioctl (fd, TIOCMSET, &status);
+
+ usleep (10000) ; // 10mS
+
+ return fd ;
+}
+
+
+/*
+ * serialFlush:
+ * Flush the serial buffers (both tx & rx)
+ *********************************************************************************
+ */
+
+void serialFlush (const int fd)
+{
+ tcflush (fd, TCIOFLUSH) ;
+}
+
+
+/*
+ * serialClose:
+ * Release the serial port
+ *********************************************************************************
+ */
+
+void serialClose (const int fd)
+{
+ close (fd) ;
+}
+
+
+/*
+ * serialPutchar:
+ * Send a single character to the serial port
+ *********************************************************************************
+ */
+
+void serialPutchar (const int fd, const unsigned char c)
+{
+ write (fd, &c, 1) ;
+}
+
+
+/*
+ * serialPuts:
+ * Send a string to the serial port
+ *********************************************************************************
+ */
+
+void serialPuts (const int fd, const char *s)
+{
+ write (fd, s, strlen (s)) ;
+}
+
+/*
+ * serialPrintf:
+ * Printf over Serial
+ *********************************************************************************
+ */
+
+void serialPrintf (const int fd, const char *message, ...)
+{
+ va_list argp ;
+ char buffer [1024] ;
+
+ va_start (argp, message) ;
+ vsnprintf (buffer, 1023, message, argp) ;
+ va_end (argp) ;
+
+ serialPuts (fd, buffer) ;
+}
+
+
+/*
+ * serialDataAvail:
+ * Return the number of bytes of data avalable to be read in the serial port
+ *********************************************************************************
+ */
+
+int serialDataAvail (const int fd)
+{
+ int result ;
+
+ if (ioctl (fd, FIONREAD, &result) == -1)
+ return -1 ;
+
+ return result ;
+}
+
+
+/*
+ * serialGetchar:
+ * Get a single character from the serial device.
+ * Note: Zero is a valid character and this function will time-out after
+ * 10 seconds.
+ *********************************************************************************
+ */
+
+int serialGetchar (const int fd)
+{
+ uint8_t x ;
+
+ if (read (fd, &x, 1) != 1)
+ return -1 ;
+
+ return ((int)x) & 0xFF ;
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringSerial.h b/modules/catkin_ws/src/wiringPi/wiringPi/wiringSerial.h
new file mode 100644
index 0000000000000000000000000000000000000000..430dc73118a36c3310bac400b4ff7d7af466c36c
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/wiringSerial.h
@@ -0,0 +1,38 @@
+/*
+ * wiringSerial.h:
+ * Handle a serial port
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern int serialOpen (const char *device, const int baud) ;
+extern void serialClose (const int fd) ;
+extern void serialFlush (const int fd) ;
+extern void serialPutchar (const int fd, const unsigned char c) ;
+extern void serialPuts (const int fd, const char *s) ;
+extern void serialPrintf (const int fd, const char *message, ...) ;
+extern int serialDataAvail (const int fd) ;
+extern int serialGetchar (const int fd) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringSerial.o b/modules/catkin_ws/src/wiringPi/wiringPi/wiringSerial.o
new file mode 100644
index 0000000000000000000000000000000000000000..e7cad0a25271a775178c20858327c8aa15f620b5
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/wiringSerial.o differ
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringShift.c b/modules/catkin_ws/src/wiringPi/wiringPi/wiringShift.c
new file mode 100644
index 0000000000000000000000000000000000000000..3df94e8ae03017f2e6f9438dfdc6b15cf96ab7d3
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/wiringShift.c
@@ -0,0 +1,83 @@
+/*
+ * wiringShift.c:
+ * Emulate some of the Arduino wiring functionality.
+ *
+ * Copyright (c) 2009-2012 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#include <stdint.h>
+
+#include "wiringPi.h"
+#include "wiringShift.h"
+
+/*
+ * shiftIn:
+ * Shift data in from a clocked source
+ *********************************************************************************
+ */
+
+uint8_t shiftIn (uint8_t dPin, uint8_t cPin, uint8_t order)
+{
+ uint8_t value = 0 ;
+ int8_t i ;
+
+ if (order == MSBFIRST)
+ for (i = 7 ; i >= 0 ; --i)
+ {
+ digitalWrite (cPin, HIGH) ;
+ value |= digitalRead (dPin) << i ;
+ digitalWrite (cPin, LOW) ;
+ }
+ else
+ for (i = 0 ; i < 8 ; ++i)
+ {
+ digitalWrite (cPin, HIGH) ;
+ value |= digitalRead (dPin) << i ;
+ digitalWrite (cPin, LOW) ;
+ }
+
+ return value;
+}
+
+/*
+ * shiftOut:
+ * Shift data out to a clocked source
+ *********************************************************************************
+ */
+
+void shiftOut (uint8_t dPin, uint8_t cPin, uint8_t order, uint8_t val)
+{
+ int8_t i;
+
+ if (order == MSBFIRST)
+ for (i = 7 ; i >= 0 ; --i)
+ {
+ digitalWrite (dPin, val & (1 << i)) ;
+ digitalWrite (cPin, HIGH) ;
+ digitalWrite (cPin, LOW) ;
+ }
+ else
+ for (i = 0 ; i < 8 ; ++i)
+ {
+ digitalWrite (dPin, val & (1 << i)) ;
+ digitalWrite (cPin, HIGH) ;
+ digitalWrite (cPin, LOW) ;
+ }
+}
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringShift.h b/modules/catkin_ws/src/wiringPi/wiringPi/wiringShift.h
new file mode 100644
index 0000000000000000000000000000000000000000..419ade411f408b09e91fa451dfb0e82922aa4275
--- /dev/null
+++ b/modules/catkin_ws/src/wiringPi/wiringPi/wiringShift.h
@@ -0,0 +1,41 @@
+/*
+ * wiringShift.h:
+ * Emulate some of the Arduino wiring functionality.
+ *
+ * Copyright (c) 2009-2012 Gordon Henderson.
+ ***********************************************************************
+ * This file is part of wiringPi:
+ * https://projects.drogon.net/raspberry-pi/wiringpi/
+ *
+ * wiringPi is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * wiringPi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with wiringPi. If not, see <http://www.gnu.org/licenses/>.
+ ***********************************************************************
+ */
+
+#define LSBFIRST 0
+#define MSBFIRST 1
+
+#ifndef _STDINT_H
+# include <stdint.h>
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern uint8_t shiftIn (uint8_t dPin, uint8_t cPin, uint8_t order) ;
+extern void shiftOut (uint8_t dPin, uint8_t cPin, uint8_t order, uint8_t val) ;
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/modules/catkin_ws/src/wiringPi/wiringPi/wiringShift.o b/modules/catkin_ws/src/wiringPi/wiringPi/wiringShift.o
new file mode 100644
index 0000000000000000000000000000000000000000..5f83a176a82e8accfc7468ff19e0627daf10c387
Binary files /dev/null and b/modules/catkin_ws/src/wiringPi/wiringPi/wiringShift.o differ