Separate files to improve clarity and speed of comilation

CMakeLists.txt

@@ -16,7 +16,7 @@ project(raspinobo)
 find_package(blc_channel REQUIRED)
 find_package(blc_program REQUIRED)
 
-add_definitions(${BL_DEFINITIONS} -pg -std=c++14 -Wall -W -fdiagnostics-color=always -march=native)
+add_definitions(${BL_DEFINITIONS} -std=c++14 -Wall -W -fdiagnostics-color=always -march=native)
 include_directories(${BL_INCLUDE_DIRS})
 add_executable(raspinobo raspinobo.cpp  bl_raspi.cpp bl_raspi_core.cpp)
 target_link_libraries(raspinobo ${BL_LIBRARIES})

bl_raspi.cpp

@@ -24,7 +24,7 @@
 using namespace  std;
 uint32_t it_since_clock=0;
 uint32_t current_ns, previous_ns;
-//float ns_per_it=1;
+float ns_per_it=1;
 uint32_t min_ns_per_it=1000;
 bl_raspi raspi;
 vector <Ohm_input> ohm_inputs;
@@ -43,19 +43,19 @@ inline void update_time(){
     delta_ns=DELTA_NS(current_ns, previous_ns);
     
     if (it_since_clock){
-        min_ns_per_it=min(min_ns_per_it, (delta_ns+1)/it_since_clock);
+        ns_per_it=(float)delta_ns/(float)it_since_clock;
        // ns_per_it+=(((float)delta_ns/(float)it_since_clock)-ns_per_it)/100.f;
         it_since_clock=0;
     }
     previous_ns=current_ns;
 
-    /*
     for( auto &input : ohm_inputs){
         if (input.activated){
-            if (input.stop_ns - current_ns> 0) input.activated = (float)(input.stop_ns - current_ns)/ns_per_it;
-            else input.activated=1;
+            delta_ns=DELTA_NS(current_ns, input.spike_ns);
+            if (delta_ns > input.tau) input.activated=1;
+            else input.activated=(input.tau-delta_ns)/ns_per_it;
         }
-    }*/
+    }
   //  fprintf(stderr, "%d %f\n", delta_ns, ns_per_it);
 
 }
@@ -74,14 +74,13 @@ inline void Ohm_input::rest(){
 }
 inline  void Ohm_input::spike(){
     raspi.set_pin_dir(pin, raspi.OUTPUT);
-    tau=50;
+    tau=50000;
     update_time();
     spike_ns=current_ns;
     buffer[index]=DELTA_NS(current_ns, rest_ns);
     index++;
     if (index==buffer_size) index=0;
-  //  stop_ns=current_ns + tau*1000;
-    activated=(tau*1000+1)/min_ns_per_it+1;
+    activated=tau/ns_per_it;;
     
 }
 
@@ -173,7 +172,7 @@ void *thread_loop(void*){
         }*/
         bl_raspi_iterations_nb++;
         it_since_clock++;
-        if (it_since_clock == (1<<16)) update_time();
+        if (it_since_clock == 1024) update_time();
     }
     //Stop voltages before living for security
     for(auto &output : volt_outputs) raspi.set_pin_dir(output.pin, raspi.INPUT);

bl_raspi_core.cpp

+#include "bl_raspi_core.h"
+#include "blc_core.h"
+//#include "mmapGpio.h"
+#include <sys/ioctl.h> //ioctl
+#include <sys/mman.h>
+#include <fcntl.h> //O_RDWR, ...
+
+#include <unistd.h> //read getpid
+#include <libgen.h> //basename
+#include <string.h>
+#include <pthread.h>
+#include <time.h>
+#include <math.h>
+
+#define GPIO_MAX 32
+#define FLAG(pos) (1<<pos)
+
+using namespace  std;
+
+
+volatile uint32_t *map_memory(uint32_t base_addr, size_t size){
+    int mem_fd;
+    volatile uint32_t *mapped_addr;
+    
+    SYSTEM_ERROR_CHECK(mem_fd = open("/dev/mem", O_RDWR|O_SYNC), 0, "Maybe you need to be sudo or use set_cap on the binary" );
+    
+    /* mmap IO */
+    SYSTEM_ERROR_CHECK(mapped_addr = (volatile unsigned *)mmap(NULL,             //Any adddress in our space will do
+                                                               size,       //Map length
+                                                               PROT_READ|PROT_WRITE|PROT_EXEC,// Enable reading & writting to mapped memory
+#ifdef MAP_LOCKED
+                                                               MAP_SHARED | MAP_LOCKED,//Shared with other processes
+#else
+                                                               MAP_SHARED, // Darwin (OSX) misses MAP_LOCKED
+#endif
+                                                               mem_fd,           //File to map
+                                                               base_addr         //Offset to base address
+                                                               ), MAP_FAILED, "Mapping physical memory. You are not on raspberry or you do not have the rights. ( use setcap or sudo).");
+    
+    SYSTEM_SUCCESS_CHECK(close(mem_fd), 0, "We cannot close fd_meme (i.e. we can close /dev/mem)");
+    return mapped_addr;
+}
+
+
+bl_raspi::bl_raspi(){
+    //maps timers
+    system_timers_map=map_memory(system_timers_base_addr, 0x1C);
+    ptime_us=system_timers_map+1; //+1 is 4bytes because ptimes is 32(4*8)bits step
+    
+    //map gpio
+    gpio_map=map_memory(gpio_base_addr, 0xB4);
+    gpfsels=gpio_map;
+    gpfset0=gpio_map+7; // 1C/4 because 32(4*8)bits step
+    gpclr0=gpio_map+10;
+    gplev0=gpio_map+13;
+    gppud=gpio_map+37;//To select Off/PullUp/PullDown
+    gppudclk0=gpio_map+38;//To update pulling value
+}
+
+bl_raspi::~bl_raspi(){
+    SYSTEM_SUCCESS_CHECK(munmap((void*)system_timers_map, 0x1C), 0, "unmap system_timers_base_addr");
+    SYSTEM_SUCCESS_CHECK(munmap((void*)gpio_map, 0xB4), 0, "unmap gpio_base_addr");
+}
+
+void bl_raspi::set_pin_mode(int pinnum, int mode){
+    *gppud = mode;
+    usleep(20); //See the broadcom 2835 documentation
+    *gppudclk0 = FLAG(pinnum); //We select which pins will be affected
+    usleep(20);
+    *gppud = 0;
+    *gppudclk0 = 0;
+}
+
+void bl_raspi::set_pin_dir(int pinnum, int dir){
+    volatile uint32_t *gpfsel=gpfsels+pinnum/10;
+    if (dir == OUTPUT){
+        *gpfsel&=~(unsigned int)(7<<((pinnum%10)*3));
+        *gpfsel |=  (1<<((pinnum%10)*3));
+    }
+    else{
+        *gpfsel &= ~(unsigned int)(7<<((pinnum%10)*3));
+    }
+}

bl_raspi_core.h

+#ifndef BL_RASPI_CORE_H
+#define BL_RASPI_CORE_H
+
+#include <stdint.h>
+
+typedef struct bl_raspi{
+    static const unsigned int system_timers_base_addr = 0x3F003000;
+    static const unsigned int gpio_base_addr = 0x3F200000;// gpio registers base address for raspberry 2 et 3 0x20200000 sinon
+    
+    //Three pulling resistor (~50KOhm modes in input direction
+    static const unsigned int PULL_OFF  = 0;
+    static const unsigned int PULL_DOWN = 1;
+    static const unsigned int PULL_UP   = 2;
+    // two possible states for pin direction
+    static const unsigned int INPUT = 0;
+    static const unsigned int OUTPUT = 1;
+    // two possible states for output pins
+    static const unsigned int LOW = 0;
+    static const unsigned int HIGH = 1;
+    
+    volatile uint32_t *system_timers_map, *gpio_map;
+    volatile uint32_t *ptime_us;
+    volatile uint32_t *gpfsels, *gpfset0, *gpclr0, *gplev0, *gppud, *gppudclk0; //1 could be used if more than 32 pins
+    
+    bl_raspi();
+    ~bl_raspi();
+    void set_pin_dir(int pin, int dir); //input or output
+    void set_pin_mode(int pin, int mode); //pulling resistance
+    
+}bl_raspi;
+
+#endif