| /* |
| * Author: Brendan Le Foll <brendan.le.foll@intel.com> |
| * Author: Thomas Ingleby <thomas.c.ingleby@intel.com> |
| * Copyright (c) 2014-2016 Intel Corporation. |
| * |
| * Permission is hereby granted, free of charge, to any person obtaining |
| * a copy of this software and associated documentation files (the |
| * "Software"), to deal in the Software without restriction, including |
| * without limitation the rights to use, copy, modify, merge, publish, |
| * distribute, sublicense, and/or sell copies of the Software, and to |
| * permit persons to whom the Software is furnished to do so, subject to |
| * the following conditions: |
| * |
| * The above copyright notice and this permission notice shall be |
| * included in all copies or substantial portions of the Software. |
| * |
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
| * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
| * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
| * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE |
| * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION |
| * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION |
| * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
| */ |
| |
| #define _GNU_SOURCE |
| #if !defined(_XOPEN_SOURCE) || _XOPEN_SOURCE < 600 |
| #define _XOPEN_SOURCE 600 /* Get nftw() and S_IFSOCK declarations */ |
| #endif |
| |
| #include <stddef.h> |
| #include <stdlib.h> |
| #include <sched.h> |
| #include <string.h> |
| #include <pwd.h> |
| #include <glob.h> |
| #include <ftw.h> |
| #include <dirent.h> |
| #include <sys/stat.h> |
| #include <fcntl.h> |
| #include <string.h> |
| #include <stdio.h> |
| #include <stdbool.h> |
| #include <errno.h> |
| #include <ctype.h> |
| #include <limits.h> |
| |
| #if defined(IMRAA) |
| #include <json-c/json.h> |
| #include <sys/stat.h> |
| #include <sys/mman.h> |
| #endif |
| |
| #include "mraa_internal.h" |
| #include "firmata/firmata_mraa.h" |
| #include "gpio.h" |
| #include "version.h" |
| #include "i2c.h" |
| #include "pwm.h" |
| #include "aio.h" |
| #include "spi.h" |
| #include "uart.h" |
| |
| |
| #define IIO_DEVICE_WILDCARD "iio:device*" |
| mraa_board_t* plat = NULL; |
| mraa_iio_info_t* plat_iio = NULL; |
| mraa_lang_func_t* lang_func = NULL; |
| |
| static char* platform_name = NULL; |
| static char* platform_long_name = NULL; |
| |
| static int num_i2c_devices = 0; |
| static int num_iio_devices = 0; |
| |
| const char* |
| mraa_get_version() |
| { |
| return gVERSION; |
| } |
| |
| mraa_result_t |
| mraa_set_log_level(int level) |
| { |
| if (level <= 7 && level >= 0) { |
| setlogmask(LOG_UPTO(level)); |
| syslog(LOG_DEBUG, "Loglevel %d is set", level); |
| return MRAA_SUCCESS; |
| } |
| syslog(LOG_NOTICE, "Invalid loglevel %d requested", level); |
| return MRAA_ERROR_INVALID_PARAMETER; |
| } |
| |
| /** |
| * Whilst the actual mraa init function is now called imraa_init, it's only |
| * callable externally if IMRAA is enabled |
| */ |
| mraa_result_t |
| imraa_init() |
| { |
| if (plat != NULL) { |
| return MRAA_SUCCESS; |
| } |
| |
| uid_t proc_euid = geteuid(); |
| struct passwd* proc_user = getpwuid(proc_euid); |
| |
| #ifdef DEBUG |
| setlogmask(LOG_UPTO(LOG_DEBUG)); |
| #else |
| setlogmask(LOG_UPTO(LOG_NOTICE)); |
| #endif |
| |
| openlog("libmraa", LOG_CONS | LOG_PID | LOG_NDELAY, LOG_LOCAL1); |
| syslog(LOG_NOTICE, "libmraa version %s initialised by user '%s' with EUID %d", |
| mraa_get_version(), (proc_user != NULL) ? proc_user->pw_name : "<unknown>", proc_euid); |
| |
| mraa_platform_t platform_type; |
| #if defined(X86PLAT) |
| // Use runtime x86 platform detection |
| platform_type = mraa_x86_platform(); |
| #elif defined(ARMPLAT) |
| // Use runtime ARM platform detection |
| platform_type = mraa_arm_platform(); |
| #else |
| #error mraa_ARCH NOTHING |
| #endif |
| |
| if (plat != NULL) { |
| plat->platform_type = platform_type; |
| } else { |
| platform_name = NULL; |
| } |
| |
| // Create null base platform if one doesn't already exist |
| if (plat == NULL) { |
| plat = (mraa_board_t*) calloc(1, sizeof(mraa_board_t)); |
| if (plat != NULL) { |
| plat->platform_type = MRAA_NULL_PLATFORM; |
| plat->platform_name = "Unknown platform"; |
| } |
| } |
| |
| #if defined(USBPLAT) |
| // Now detect sub platform, note this is not an else since we could be in |
| // an error case and fall through to MRAA_ERROR_PLATFORM_NOT_INITIALISED |
| if (plat != NULL) { |
| mraa_platform_t usb_platform_type = mraa_usb_platform_extender(plat); |
| // if we have no known platform just replace usb platform with platform |
| if (plat->platform_type == MRAA_UNKNOWN_PLATFORM && usb_platform_type != MRAA_UNKNOWN_PLATFORM) { |
| plat->platform_type = usb_platform_type; |
| } |
| } |
| if (plat == NULL) { |
| printf("mraa: FATAL error, failed to initialise platform\n"); |
| return MRAA_ERROR_PLATFORM_NOT_INITIALISED; |
| } |
| #endif |
| |
| #if defined(IMRAA) |
| const char* subplatform_lockfile = "/tmp/imraa.lock"; |
| mraa_add_from_lockfile(subplatform_lockfile); |
| #endif |
| |
| // Look for IIO devices |
| mraa_iio_detect(); |
| |
| if (plat != NULL) { |
| int length = strlen(plat->platform_name) + 1; |
| if (mraa_has_sub_platform()) { |
| // Account for ' + ' chars |
| length += strlen(plat->sub_platform->platform_name) + 3; |
| } |
| platform_name = calloc(length, sizeof(char)); |
| if (mraa_has_sub_platform()) { |
| snprintf(platform_name, length, "%s + %s", plat->platform_name, plat->sub_platform->platform_name); |
| } else { |
| strncpy(platform_name, plat->platform_name, length); |
| } |
| } |
| |
| lang_func = (mraa_lang_func_t*) calloc(1, sizeof(mraa_lang_func_t)); |
| if (lang_func == NULL) { |
| return MRAA_ERROR_NO_RESOURCES; |
| } |
| |
| syslog(LOG_NOTICE, "libmraa initialised for platform '%s' of type %d", mraa_get_platform_name(), mraa_get_platform_type()); |
| return MRAA_SUCCESS; |
| } |
| |
| #if (defined SWIGPYTHON) || (defined SWIG) |
| mraa_result_t |
| #else |
| mraa_result_t __attribute__((constructor)) |
| #endif |
| mraa_init() |
| { |
| if (plat != NULL) { |
| return MRAA_SUCCESS; |
| } else { |
| return imraa_init(); |
| } |
| } |
| |
| void |
| mraa_deinit() |
| { |
| if (plat != NULL) { |
| if (plat->pins != NULL) { |
| free(plat->pins); |
| } |
| mraa_board_t* sub_plat = plat->sub_platform; |
| if (sub_plat != NULL) { |
| if (sub_plat->pins != NULL) { |
| free(sub_plat->pins); |
| } |
| free(sub_plat); |
| } |
| free(plat); |
| |
| } |
| if (plat_iio != NULL) { |
| free(plat_iio); |
| } |
| closelog(); |
| } |
| |
| int |
| mraa_set_priority(const int priority) |
| { |
| struct sched_param sched_s; |
| |
| memset(&sched_s, 0, sizeof(struct sched_param)); |
| if (priority > sched_get_priority_max(SCHED_RR)) { |
| sched_s.sched_priority = sched_get_priority_max(SCHED_RR); |
| } else { |
| sched_s.sched_priority = priority; |
| } |
| |
| return sched_setscheduler(0, SCHED_RR, &sched_s); |
| } |
| |
| static int |
| mraa_count_iio_devices(const char* path, const struct stat* sb, int flag, struct FTW* ftwb) |
| { |
| // we are only interested in files with specific names |
| if (fnmatch(IIO_DEVICE_WILDCARD, basename(path), 0) == 0) { |
| num_iio_devices++; |
| } |
| return 0; |
| } |
| |
| mraa_result_t |
| mraa_iio_detect() |
| { |
| plat_iio = (mraa_iio_info_t*) calloc(1, sizeof(mraa_iio_info_t)); |
| plat_iio->iio_device_count = num_iio_devices; |
| // Now detect IIO devices, linux only |
| // find how many iio devices we have if we haven't already |
| if (num_iio_devices == 0) { |
| if (nftw("/sys/bus/iio/devices", &mraa_count_iio_devices, 20, FTW_PHYS) == -1) { |
| return MRAA_ERROR_UNSPECIFIED; |
| } |
| } |
| char name[64], filepath[64]; |
| int fd, len, i; |
| plat_iio->iio_device_count = num_iio_devices; |
| plat_iio->iio_devices = calloc(num_iio_devices, sizeof(struct _iio)); |
| struct _iio* device; |
| for (i=0; i < num_iio_devices; i++) { |
| device = &plat_iio->iio_devices[i]; |
| device->num = i; |
| snprintf(filepath, 64, "/sys/bus/iio/devices/iio:device%d/name", i); |
| fd = open(filepath, O_RDONLY); |
| if (fd != -1) { |
| len = read(fd, &name, 64); |
| if (len > 1) { |
| // remove any trailing CR/LF symbols |
| name[strcspn(name, "\r\n")] = '\0'; |
| len = strlen(name); |
| // use strndup |
| device->name = malloc((sizeof(char) * len) + sizeof(char)); |
| strncpy(device->name, name, len+1); |
| } |
| close(fd); |
| } |
| } |
| return MRAA_SUCCESS; |
| } |
| |
| mraa_result_t |
| mraa_setup_mux_mapped(mraa_pin_t meta) |
| { |
| unsigned int mi; |
| mraa_result_t ret; |
| mraa_gpio_context mux_i = NULL; |
| // avoids the unsigned comparison and we should never have a pin that is UINT_MAX! |
| unsigned int last_pin = UINT_MAX; |
| |
| for (mi = 0; mi < meta.mux_total; mi++) { |
| |
| switch(meta.mux[mi].pincmd) { |
| case PINCMD_UNDEFINED: // used for backward compatibility |
| if(meta.mux[mi].pin != last_pin) { |
| if (mux_i != NULL) { |
| mraa_gpio_owner(mux_i, 0); |
| mraa_gpio_close(mux_i); |
| } |
| mux_i = mraa_gpio_init_raw(meta.mux[mi].pin); |
| if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE; |
| last_pin = meta.mux[mi].pin; |
| } |
| // this function will sometimes fail, however this is not critical as |
| // long as the write succeeds - Test case galileo gen2 pin2 |
| mraa_gpio_dir(mux_i, MRAA_GPIO_OUT); |
| ret = mraa_gpio_write(mux_i, meta.mux[mi].value); |
| if(ret != MRAA_SUCCESS) { |
| if (mux_i != NULL) { |
| mraa_gpio_owner(mux_i, 0); |
| mraa_gpio_close(mux_i); |
| } |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| break; |
| |
| case PINCMD_SET_VALUE: |
| if(meta.mux[mi].pin != last_pin) { |
| if (mux_i != NULL) { |
| mraa_gpio_owner(mux_i, 0); |
| mraa_gpio_close(mux_i); |
| } |
| mux_i = mraa_gpio_init_raw(meta.mux[mi].pin); |
| if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE; |
| last_pin = meta.mux[mi].pin; |
| } |
| |
| ret = mraa_gpio_write(mux_i, meta.mux[mi].value); |
| |
| if(ret != MRAA_SUCCESS) { |
| if (mux_i != NULL) { |
| mraa_gpio_owner(mux_i, 0); |
| mraa_gpio_close(mux_i); |
| } |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| break; |
| |
| case PINCMD_SET_DIRECTION: |
| if(meta.mux[mi].pin != last_pin) { |
| if (mux_i != NULL) { |
| mraa_gpio_owner(mux_i, 0); |
| mraa_gpio_close(mux_i); |
| } |
| mux_i = mraa_gpio_init_raw(meta.mux[mi].pin); |
| if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE; |
| last_pin = meta.mux[mi].pin; |
| } |
| |
| ret = mraa_gpio_dir(mux_i, meta.mux[mi].value); |
| |
| if(ret != MRAA_SUCCESS) { |
| if (mux_i != NULL) { |
| mraa_gpio_owner(mux_i, 0); |
| mraa_gpio_close(mux_i); |
| } |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| break; |
| |
| case PINCMD_SET_IN_VALUE: |
| if(meta.mux[mi].pin != last_pin) { |
| if (mux_i != NULL) { |
| mraa_gpio_owner(mux_i, 0); |
| mraa_gpio_close(mux_i); |
| } |
| mux_i = mraa_gpio_init_raw(meta.mux[mi].pin); |
| if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE; |
| last_pin = meta.mux[mi].pin; |
| } |
| |
| ret = mraa_gpio_dir(mux_i, MRAA_GPIO_IN); |
| |
| if(ret == MRAA_SUCCESS) |
| ret = mraa_gpio_write(mux_i, meta.mux[mi].value); |
| |
| if(ret != MRAA_SUCCESS) { |
| if (mux_i != NULL) { |
| mraa_gpio_owner(mux_i, 0); |
| mraa_gpio_close(mux_i); |
| } |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| break; |
| |
| case PINCMD_SET_OUT_VALUE: |
| if(meta.mux[mi].pin != last_pin) { |
| if (mux_i != NULL) { |
| mraa_gpio_owner(mux_i, 0); |
| mraa_gpio_close(mux_i); |
| } |
| mux_i = mraa_gpio_init_raw(meta.mux[mi].pin); |
| if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE; |
| last_pin = meta.mux[mi].pin; |
| } |
| |
| ret = mraa_gpio_dir(mux_i, MRAA_GPIO_OUT); |
| |
| if(ret == MRAA_SUCCESS) |
| ret = mraa_gpio_write(mux_i, meta.mux[mi].value); |
| |
| if(ret != MRAA_SUCCESS) { |
| if (mux_i != NULL) { |
| mraa_gpio_owner(mux_i, 0); |
| mraa_gpio_close(mux_i); |
| } |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| break; |
| |
| case PINCMD_SET_MODE: |
| if(meta.mux[mi].pin != last_pin) { |
| if (mux_i != NULL) { |
| mraa_gpio_owner(mux_i, 0); |
| mraa_gpio_close(mux_i); |
| } |
| mux_i = mraa_gpio_init_raw(meta.mux[mi].pin); |
| if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE; |
| last_pin = meta.mux[mi].pin; |
| } |
| |
| ret = mraa_gpio_mode(mux_i, meta.mux[mi].value); |
| |
| if(ret != MRAA_SUCCESS) { |
| if (mux_i != NULL) { |
| mraa_gpio_owner(mux_i, 0); |
| mraa_gpio_close(mux_i); |
| } |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| break; |
| |
| case PINCMD_SKIP: |
| break; |
| |
| default: |
| syslog(LOG_NOTICE, "mraa_setup_mux_mapped: wrong command %d on pin %d with value %d", meta.mux[mi].pincmd, meta.mux[mi].pin, meta.mux[mi].value); |
| break; |
| } |
| } |
| |
| if (mux_i != NULL) { |
| mraa_gpio_owner(mux_i, 0); |
| mraa_gpio_close(mux_i); |
| } |
| |
| return MRAA_SUCCESS; |
| } |
| |
| void |
| mraa_result_print(mraa_result_t result) |
| { |
| switch (result) { |
| case MRAA_SUCCESS: |
| fprintf(stdout, "MRAA: SUCCESS\n"); |
| break; |
| case MRAA_ERROR_FEATURE_NOT_IMPLEMENTED: |
| fprintf(stdout, "MRAA: Feature not implemented.\n"); |
| break; |
| case MRAA_ERROR_FEATURE_NOT_SUPPORTED: |
| fprintf(stdout, "MRAA: Feature not supported by Hardware.\n"); |
| break; |
| case MRAA_ERROR_INVALID_VERBOSITY_LEVEL: |
| fprintf(stdout, "MRAA: Invalid verbosity level.\n"); |
| break; |
| case MRAA_ERROR_INVALID_PARAMETER: |
| fprintf(stdout, "MRAA: Invalid parameter.\n"); |
| break; |
| case MRAA_ERROR_INVALID_HANDLE: |
| fprintf(stdout, "MRAA: Invalid Handle.\n"); |
| break; |
| case MRAA_ERROR_NO_RESOURCES: |
| fprintf(stdout, "MRAA: No resources.\n"); |
| break; |
| case MRAA_ERROR_INVALID_RESOURCE: |
| fprintf(stdout, "MRAA: Invalid resource.\n"); |
| break; |
| case MRAA_ERROR_INVALID_QUEUE_TYPE: |
| fprintf(stdout, "MRAA: Invalid Queue Type.\n"); |
| break; |
| case MRAA_ERROR_NO_DATA_AVAILABLE: |
| fprintf(stdout, "MRAA: No Data available.\n"); |
| break; |
| case MRAA_ERROR_INVALID_PLATFORM: |
| fprintf(stdout, "MRAA: Platform not recognised.\n"); |
| break; |
| case MRAA_ERROR_PLATFORM_NOT_INITIALISED: |
| fprintf(stdout, "MRAA: Platform not initialised.\n"); |
| break; |
| case MRAA_ERROR_UART_OW_SHORTED: |
| fprintf(stdout, "MRAA: UART OW: Bus short detected.\n"); |
| break; |
| case MRAA_ERROR_UART_OW_NO_DEVICES: |
| fprintf(stdout, "MRAA: UART OW: No devices detected on bus.\n"); |
| break; |
| case MRAA_ERROR_UART_OW_DATA_ERROR: |
| fprintf(stdout, "MRAA: UART OW: Data or Bus error detected.\n"); |
| break; |
| case MRAA_ERROR_UNSPECIFIED: |
| fprintf(stdout, "MRAA: Unspecified Error.\n"); |
| break; |
| default: |
| fprintf(stdout, "MRAA: Unrecognised error.\n"); |
| break; |
| } |
| } |
| |
| |
| mraa_boolean_t |
| mraa_has_sub_platform() |
| { |
| return (plat != NULL) && (plat->sub_platform != NULL); |
| } |
| |
| mraa_boolean_t |
| mraa_pin_mode_test(int pin, mraa_pinmodes_t mode) |
| { |
| if (plat == NULL) |
| return 0; |
| |
| mraa_board_t* current_plat = plat; |
| if (mraa_is_sub_platform_id(pin)) { |
| current_plat = plat->sub_platform; |
| if (current_plat == NULL) { |
| syslog(LOG_ERR, "mraa_pin_mode_test: Sub platform Not Initialised"); |
| return 0; |
| } |
| pin = mraa_get_sub_platform_index(pin); |
| } |
| |
| if (current_plat == NULL || current_plat->platform_type == MRAA_UNKNOWN_PLATFORM || current_plat->platform_type == MRAA_NULL_PLATFORM) { |
| return 0; |
| } |
| if (pin > (current_plat->phy_pin_count - 1) || pin < 0) |
| return 0; |
| |
| switch (mode) { |
| case MRAA_PIN_VALID: |
| if (current_plat->pins[pin].capabilites.valid == 1) |
| return 1; |
| break; |
| case MRAA_PIN_GPIO: |
| if (current_plat->pins[pin].capabilites.gpio == 1) |
| return 1; |
| break; |
| case MRAA_PIN_PWM: |
| if (current_plat->pins[pin].capabilites.pwm == 1) |
| return 1; |
| break; |
| case MRAA_PIN_FAST_GPIO: |
| if (current_plat->pins[pin].capabilites.fast_gpio == 1) |
| return 1; |
| break; |
| case MRAA_PIN_SPI: |
| if (current_plat->pins[pin].capabilites.spi == 1) |
| return 1; |
| break; |
| case MRAA_PIN_I2C: |
| if (current_plat->pins[pin].capabilites.i2c == 1) |
| return 1; |
| break; |
| case MRAA_PIN_AIO: |
| if (current_plat->pins[pin].capabilites.aio == 1) |
| return 1; |
| break; |
| case MRAA_PIN_UART: |
| if (current_plat->pins[pin].capabilites.uart == 1) |
| return 1; |
| break; |
| default: |
| syslog(LOG_NOTICE, "requested pinmode invalid"); |
| break; |
| } |
| return 0; |
| } |
| |
| mraa_platform_t |
| mraa_get_platform_type() |
| { |
| if (plat == NULL) |
| return MRAA_UNKNOWN_PLATFORM; |
| return plat->platform_type; |
| } |
| |
| int |
| mraa_get_platform_combined_type() |
| { |
| int type = mraa_get_platform_type(); |
| int sub_type = mraa_has_sub_platform() ? plat->sub_platform->platform_type : MRAA_UNKNOWN_PLATFORM; |
| return type | (sub_type << 8); |
| } |
| |
| unsigned int |
| mraa_adc_raw_bits() |
| { |
| if (plat == NULL) |
| return 0; |
| |
| if (plat->aio_count == 0) |
| return 0; |
| |
| return plat->adc_raw; |
| } |
| |
| unsigned int |
| mraa_get_platform_adc_raw_bits(uint8_t platform_offset) |
| { |
| if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET) |
| return mraa_adc_raw_bits(); |
| else { |
| if (!mraa_has_sub_platform()) |
| return 0; |
| |
| if (plat->sub_platform->aio_count == 0) |
| return 0; |
| |
| return plat->sub_platform->adc_raw; |
| } |
| } |
| |
| |
| unsigned int |
| mraa_adc_supported_bits() |
| { |
| if (plat == NULL) |
| return 0; |
| |
| if (plat->aio_count == 0) |
| return 0; |
| |
| return plat->adc_supported; |
| } |
| |
| unsigned int |
| mraa_get_platform_adc_supported_bits(int platform_offset) |
| { |
| if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET) |
| return mraa_adc_supported_bits(); |
| else { |
| if (!mraa_has_sub_platform()) |
| return 0; |
| |
| if (plat->sub_platform->aio_count == 0) |
| return 0; |
| |
| return plat->sub_platform->adc_supported; |
| } |
| } |
| |
| const char* |
| mraa_get_platform_name() |
| { |
| return platform_name; |
| } |
| |
| const char* |
| mraa_get_platform_version(int platform_offset) |
| { |
| if (plat == NULL) { |
| return NULL; |
| } |
| if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET) { |
| return plat->platform_version; |
| } else { |
| return plat->sub_platform->platform_version; |
| } |
| } |
| |
| int |
| mraa_get_i2c_bus_count() |
| { |
| if (plat == NULL) { |
| return -1; |
| } |
| return plat->i2c_bus_count; |
| } |
| |
| int |
| mraa_get_i2c_bus_id(int i2c_bus) |
| { |
| if (plat == NULL) { |
| return -1; |
| } |
| |
| if (i2c_bus >= plat->i2c_bus_count) { |
| return -1; |
| } |
| |
| return plat->i2c_bus[i2c_bus].bus_id; |
| } |
| |
| unsigned int |
| mraa_get_pin_count() |
| { |
| if (plat == NULL) { |
| return 0; |
| } |
| return plat->phy_pin_count; |
| } |
| |
| unsigned int |
| mraa_get_platform_pin_count(uint8_t platform_offset) |
| { |
| if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET) |
| return mraa_get_pin_count(); |
| else { |
| if (mraa_has_sub_platform()) |
| return plat->sub_platform->phy_pin_count; |
| else |
| return 0; |
| } |
| } |
| |
| |
| char* |
| mraa_get_pin_name(int pin) |
| { |
| if (plat == NULL) |
| return 0; |
| |
| mraa_board_t* current_plat = plat; |
| if (mraa_is_sub_platform_id(pin)) { |
| current_plat = plat->sub_platform; |
| if (current_plat == NULL) { |
| syslog(LOG_ERR, "mraa_get_pin_name: Sub platform Not Initialised"); |
| return 0; |
| } |
| pin = mraa_get_sub_platform_index(pin); |
| } |
| |
| if (pin > (current_plat->phy_pin_count - 1) || pin < 0) |
| return NULL; |
| return (char*) current_plat->pins[pin].name; |
| } |
| |
| int |
| mraa_get_default_i2c_bus(uint8_t platform_offset) |
| { |
| if (plat == NULL) |
| return -1; |
| if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET) { |
| return plat->def_i2c_bus; |
| } else { |
| if (mraa_has_sub_platform()) |
| return plat->sub_platform->def_i2c_bus; |
| else |
| return -1; |
| } |
| } |
| |
| |
| mraa_boolean_t |
| mraa_file_exist(const char* filename) |
| { |
| glob_t results; |
| results.gl_pathc = 0; |
| glob(filename, 0, NULL, &results); |
| int file_found = results.gl_pathc == 1; |
| globfree(&results); |
| return file_found; |
| } |
| |
| mraa_boolean_t |
| mraa_file_contains(const char* filename, const char* content) |
| { |
| mraa_boolean_t found = 0; |
| if ((filename == NULL) || (content == NULL)) { |
| return 0; |
| } |
| |
| char* file = mraa_file_unglob(filename); |
| if (file != NULL) { |
| size_t len = 1024; |
| char* line = calloc(len, sizeof(char)); |
| if (line == NULL) { |
| free(file); |
| return 0; |
| } |
| FILE* fh = fopen(file, "r"); |
| if (fh == NULL) { |
| free(file); |
| free(line); |
| return 0; |
| } |
| while ((getline(&line, &len, fh) != -1) && (found == 0)) { |
| if (strstr(line, content)) { |
| found = 1; |
| break; |
| } |
| } |
| fclose(fh); |
| free(file); |
| free(line); |
| } |
| return found; |
| } |
| |
| mraa_boolean_t |
| mraa_file_contains_both(const char* filename, const char* content, const char* content2) |
| { |
| mraa_boolean_t found = 0; |
| if ((filename == NULL) || (content == NULL)) { |
| return 0; |
| } |
| |
| char* file = mraa_file_unglob(filename); |
| if (file != NULL) { |
| size_t len = 1024; |
| char* line = calloc(len, sizeof(char)); |
| if (line == NULL) { |
| free(file); |
| return 0; |
| } |
| FILE* fh = fopen(file, "r"); |
| if (fh == NULL) { |
| free(file); |
| free(line); |
| return 0; |
| } |
| while ((getline(&line, &len, fh) != -1) && (found == 0)) { |
| if (strstr(line, content) && strstr(line, content2)) { |
| found = 1; |
| break; |
| } |
| } |
| fclose(fh); |
| free(file); |
| free(line); |
| } |
| return found; |
| } |
| |
| char* |
| mraa_file_unglob(const char* filename) |
| { |
| glob_t results; |
| char* res = NULL; |
| results.gl_pathc = 0; |
| glob(filename, 0, NULL, &results); |
| if (results.gl_pathc == 1) |
| res = strdup(results.gl_pathv[0]); |
| globfree(&results); |
| return res; |
| } |
| |
| mraa_boolean_t |
| mraa_link_targets(const char* filename, const char* targetname) |
| { |
| int size = 100; |
| int nchars = 0; |
| char* buffer = NULL; |
| while (nchars == 0) { |
| buffer = (char*) realloc(buffer, size); |
| if (buffer == NULL) |
| return 0; |
| nchars = readlink(filename, buffer, size); |
| if (nchars < 0) { |
| free(buffer); |
| return 0; |
| } else { |
| buffer[nchars] = '\0'; |
| } |
| if (nchars >= size) { |
| size *= 2; |
| nchars = 0; |
| } |
| } |
| if (strstr(buffer, targetname)) { |
| free(buffer); |
| return 1; |
| } else { |
| free(buffer); |
| return 0; |
| } |
| } |
| |
| static int |
| mraa_count_i2c_files(const char* path, const struct stat* sb, int flag, struct FTW* ftwb) |
| { |
| switch (sb->st_mode & S_IFMT) { |
| case S_IFLNK: |
| num_i2c_devices++; |
| break; |
| } |
| return 0; |
| } |
| |
| int |
| mraa_find_i2c_bus(const char* devname, int startfrom) |
| { |
| char path[64]; |
| int fd; |
| int i = startfrom; |
| int ret = -1; |
| |
| // because feeding mraa_find_i2c_bus result back into the function is |
| // useful treat -1 as 0 |
| if (startfrom < 0) { |
| startfrom = 0; |
| } |
| |
| // find how many i2c buses we have if we haven't already |
| if (num_i2c_devices == 0) { |
| if (nftw("/sys/class/i2c-dev/", &mraa_count_i2c_files, 20, FTW_PHYS) == -1) { |
| return -1; |
| } |
| } |
| |
| // i2c devices are numbered numerically so 0 must exist otherwise there is |
| // no i2c-dev loaded |
| if (mraa_file_exist("/sys/class/i2c-dev/i2c-0")) { |
| for (i; i < num_i2c_devices; i++) { |
| off_t size, err; |
| snprintf(path, 64, "/sys/class/i2c-dev/i2c-%u/name", i); |
| fd = open(path, O_RDONLY); |
| if (fd < 0) { |
| break; |
| } |
| size = lseek(fd, 0, SEEK_END); |
| if (size < 0) { |
| syslog(LOG_WARNING, "mraa: failed to seek i2c filename file"); |
| close(fd); |
| break; |
| } |
| err = lseek(fd, 0, SEEK_SET); |
| if (err < 0) { |
| syslog(LOG_WARNING, "mraa: failed to seek i2c filename file"); |
| close(fd); |
| break; |
| } |
| char* value = malloc(size); |
| if (value == NULL) { |
| syslog(LOG_ERR, "mraa: failed to allocate memory for i2c file"); |
| close(fd); |
| break; |
| } |
| ssize_t r = read(fd, value, size); |
| if (r > 0) { |
| if (strcasestr(value, devname) != NULL) { |
| free(value); |
| close(fd); |
| return i; |
| } |
| } else { |
| syslog(LOG_ERR, "mraa: sysfs i2cdev failed"); |
| } |
| free(value); |
| close(fd); |
| } |
| } else { |
| syslog(LOG_WARNING, "mraa: no i2c-dev detected, load i2c-dev"); |
| } |
| |
| return ret; |
| } |
| |
| mraa_boolean_t |
| mraa_is_sub_platform_id(int pin_or_bus) |
| { |
| return (pin_or_bus & MRAA_SUB_PLATFORM_MASK) != 0; |
| } |
| |
| int |
| mraa_get_sub_platform_id(int pin_or_bus) |
| { |
| return pin_or_bus | MRAA_SUB_PLATFORM_MASK; |
| } |
| |
| int |
| mraa_get_sub_platform_index(int pin_or_bus) |
| { |
| return pin_or_bus & (~MRAA_SUB_PLATFORM_MASK); |
| } |
| |
| int |
| mraa_get_iio_device_count() |
| { |
| return plat_iio->iio_device_count; |
| } |
| |
| mraa_result_t |
| mraa_add_subplatform(mraa_platform_t subplatformtype, const char* uart_dev) |
| { |
| #if defined(FIRMATA) |
| if (subplatformtype == MRAA_GENERIC_FIRMATA) { |
| if (plat->sub_platform != NULL) { |
| return MRAA_ERROR_INVALID_PARAMETER; |
| } |
| if (mraa_firmata_platform(plat, uart_dev) == MRAA_GENERIC_FIRMATA) { |
| syslog(LOG_NOTICE, "mraa: Added firmata subplatform"); |
| return MRAA_SUCCESS; |
| } |
| syslog(LOG_NOTICE, "mraa: Failed to add firmata subplatform"); |
| } |
| #endif |
| |
| return MRAA_ERROR_INVALID_PARAMETER; |
| } |
| |
| mraa_result_t |
| mraa_remove_subplatform(mraa_platform_t subplatformtype) |
| { |
| #if defined(FIRMATA) |
| if (subplatformtype == MRAA_GENERIC_FIRMATA) { |
| if (plat == NULL || plat->sub_platform == NULL) { |
| return MRAA_ERROR_INVALID_PARAMETER; |
| } |
| free(plat->sub_platform->adv_func); |
| free(plat->sub_platform->pins); |
| free(plat->sub_platform); |
| } |
| #endif |
| return MRAA_ERROR_INVALID_PARAMETER; |
| } |
| |
| #if defined(IMRAA) |
| mraa_result_t |
| mraa_add_from_lockfile(const char* imraa_lock_file) |
| { |
| mraa_result_t ret = MRAA_SUCCESS; |
| mraa_platform_t type = plat->platform_type; |
| char* buffer = NULL; |
| off_t file_size; |
| struct stat st; |
| int i = 0; |
| uint32_t subplat_num = 0; |
| int flock = open(imraa_lock_file, O_RDONLY); |
| if (flock == -1) { |
| syslog(LOG_ERR, "imraa: Failed to open lock file"); |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| if (fstat(flock, &st) != 0 || (!S_ISREG(st.st_mode))) { |
| close(flock); |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| buffer = mmap(0, st.st_size, PROT_READ, MAP_SHARED, flock, 0); |
| close(flock); |
| if (buffer == MAP_FAILED) { |
| syslog(LOG_ERR, "imraa: lockfile read error"); |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| json_object* jobj_lock = json_tokener_parse(buffer); |
| |
| struct json_object* ioarray; |
| if (json_object_object_get_ex(jobj_lock, "Platform", &ioarray) == true && |
| json_object_is_type(ioarray, json_type_array)) { |
| subplat_num = json_object_array_length(ioarray); |
| int id = -1; |
| const char* uartdev = NULL; |
| for (i = 0; i < subplat_num; i++) { |
| struct json_object *ioobj = json_object_array_get_idx(ioarray, i); |
| json_object_object_foreach(ioobj, key, val) { |
| if (strcmp(key, "id") == 0) { |
| id = atoi(json_object_get_string(val)); |
| } else if (strcmp(key, "uart") == 0) { |
| uartdev = json_object_get_string(val); |
| } |
| } |
| if (id != -1 && id != MRAA_NULL_PLATFORM && id != MRAA_UNKNOWN_PLATFORM && uartdev != NULL) { |
| if (mraa_add_subplatform(id, uartdev) == MRAA_SUCCESS) { |
| syslog(LOG_NOTICE, "imraa: automatically added subplatform %d, %s", id, uartdev); |
| } else { |
| syslog(LOG_ERR, "imraa: Failed to add subplatform (%d on %s) from lockfile", id, uartdev); |
| } |
| id = -1; |
| uartdev = NULL; |
| } |
| } |
| } else { |
| ret = MRAA_ERROR_INVALID_RESOURCE; |
| } |
| json_object_put(jobj_lock); |
| munmap(buffer, st.st_size); |
| return ret; |
| } |
| #endif |
| |
| void |
| mraa_to_upper(char* s) |
| { |
| char* t = s; |
| for (; *t; ++t) { |
| *t = toupper(*t); |
| } |
| } |
| |
| mraa_result_t |
| mraa_atoi(char* intStr, int* value) |
| { |
| char* end; |
| // here 10 determines the number base in which strol is to work |
| long val = strtol(intStr, &end, 10); |
| if (*end != '\0' || errno == ERANGE || end == intStr || val > INT_MAX || val < INT_MIN) { |
| *value = 0; |
| return MRAA_ERROR_UNSPECIFIED; |
| } |
| *value = (int) val; |
| return MRAA_SUCCESS; |
| } |
| |
| mraa_result_t |
| mraa_init_io_helper(char** str, int* value, const char* delim) |
| { |
| // This function is a result of a repeated pattern within mraa_init_io |
| // when determining if a value can be derived from a string |
| char* token; |
| token = strsep(str, delim); |
| // check to see if empty string returned |
| if (token == NULL) { |
| *value = 0; |
| return MRAA_ERROR_NO_DATA_AVAILABLE; |
| } |
| return mraa_atoi(token, value); |
| } |
| |
| void* |
| mraa_init_io(const char* desc) |
| { |
| const char* delim = "-"; |
| int length = 0, raw = 0; |
| int pin = 0, id = 0; |
| // 256 denotes the maximum size of our buffer |
| // 8 denotes the maximum size of our type rounded to the nearest power of 2 |
| // max size is 4 + 1 for the \0 = 5 rounded to 8 |
| char buffer[256] = { 0 }, type[8] = { 0 }; |
| char *token = 0, *str = 0; |
| if (desc == NULL) { |
| return NULL; |
| } |
| length = strlen(desc); |
| // Check to see the length is less than or equal to 255 which means |
| // byte 256 is supposed to be \0 |
| if (length > 255 || length == 0) { |
| return NULL; |
| } |
| strncpy(buffer, desc, length); |
| |
| str = buffer; |
| token = strsep(&str, delim); |
| length = strlen(token); |
| // Check to see they haven't given us a type whose length is greater than the |
| // largest type we know about |
| if (length > 4) { |
| syslog(LOG_ERR, "mraa_init_io: An invalid IO type was provided"); |
| return NULL; |
| } |
| strncpy(type, token, length); |
| mraa_to_upper(type); |
| token = strsep(&str, delim); |
| // Check that they've given us more information than just the type |
| if (token == NULL) { |
| syslog(LOG_ERR, "mraa_init_io: Missing information after type"); |
| return NULL; |
| } |
| // If we cannot convert the pin to a number maybe it says raw? |
| if (mraa_atoi(token, &pin) != MRAA_SUCCESS) { |
| mraa_to_upper(token); |
| if (strncmp(token, "RAW", 3)) { |
| syslog(LOG_ERR, "mraa_init_io: Description does not adhere to a known format"); |
| return NULL; |
| } |
| raw = 1; |
| } |
| if (!raw && str != NULL) { |
| syslog(LOG_ERR, "mraa_init_io: More information than required was provided"); |
| return NULL; |
| } |
| |
| if (strncmp(type, "GPIO", 4) == 0) { |
| if (raw) { |
| if (mraa_init_io_helper(&str, &pin, delim) == MRAA_SUCCESS) { |
| return (void*) mraa_gpio_init_raw(pin); |
| } |
| syslog(LOG_ERR, "mraa_init_io: Invalid Raw description for GPIO"); |
| return NULL; |
| } |
| return (void*) mraa_gpio_init(pin); |
| } else if (strncmp(type, "I2C", 3) == 0) { |
| if (raw) { |
| if (mraa_init_io_helper(&str, &pin, delim) == MRAA_SUCCESS) { |
| return (void*) mraa_i2c_init_raw(pin); |
| } |
| syslog(LOG_ERR, "mraa_init_io: Invalid Raw description for I2C"); |
| return NULL; |
| } |
| return (void*) mraa_i2c_init(pin); |
| } else if (strncmp(type, "AIO", 3) == 0) { |
| if (raw) { |
| syslog(LOG_ERR, "mraa_init_io: Aio doesn't have a RAW mode"); |
| return NULL; |
| } |
| return (void*) mraa_aio_init(pin); |
| } else if (strncmp(type, "PWM", 3) == 0) { |
| if (raw) { |
| if (mraa_init_io_helper(&str, &id, delim) != MRAA_SUCCESS) { |
| syslog(LOG_ERR, "mraa_init_io: Pwm, unable to convert the chip id string into a useable Int"); |
| return NULL; |
| } |
| if (mraa_init_io_helper(&str, &pin, delim) != MRAA_SUCCESS) { |
| syslog(LOG_ERR, "mraa_init_io: Pwm, unable to convert the pin string into a useable Int"); |
| return NULL; |
| } |
| return (void*) mraa_pwm_init_raw(id, pin); |
| } |
| return (void*) mraa_pwm_init(pin); |
| } else if (strncmp(type, "SPI", 3) == 0) { |
| if (raw) { |
| if (mraa_init_io_helper(&str, &id, delim) != MRAA_SUCCESS) { |
| syslog(LOG_ERR, "mraa_init_io: Spi, unable to convert the bus string into a useable Int"); |
| return NULL; |
| } |
| if (mraa_init_io_helper(&str, &pin, delim) != MRAA_SUCCESS) { |
| syslog(LOG_ERR, "mraa_init_io: Spi, unable to convert the cs string into a useable Int"); |
| return NULL; |
| } |
| return (void*) mraa_spi_init_raw(id, pin); |
| } |
| return (void*) mraa_spi_init(pin); |
| } else if (strncmp(type, "UART", 4) == 0) { |
| if (raw) { |
| return (void*) mraa_uart_init_raw(str); |
| } |
| return (void*) mraa_uart_init(pin); |
| } |
| syslog(LOG_ERR, "mraa_init_io: Invalid IO type given."); |
| return NULL; |
| } |
