2 * Author: Brendan Le Foll <brendan.le.foll@intel.com>
3 * Copyright (c) 2015 Intel Corporation.
5 * Permission is hereby granted, free of charge, to any person obtaining
6 * a copy of this software and associated documentation files (the
7 * "Software"), to deal in the Software without restriction, including
8 * without limitation the rights to use, copy, modify, merge, publish,
9 * distribute, sublicense, and/or sell copies of the Software, and to
10 * permit persons to whom the Software is furnished to do so, subject to
11 * the following conditions:
13 * The above copyright notice and this permission notice shall be
14 * included in all copies or substantial portions of the Software.
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
26 #include "mraa_internal.h"
33 #define IIO_DEVICE "iio:device"
34 #define IIO_SCAN_ELEM "scan_elements"
35 #define IIO_MOUNTING_MATRIX "mounting_matrix"
36 #define IIO_SLASH_DEV "/dev/" IIO_DEVICE
37 #define IIO_SYSFS_DEVICE "/sys/bus/iio/devices/" IIO_DEVICE
38 #define IIO_EVENTS "events"
41 mraa_iio_init(int device)
43 if (device > plat_iio->iio_device_count) {
47 mraa_iio_get_channel_data(&plat_iio->iio_devices[device]);
48 mraa_iio_get_event_data(&plat_iio->iio_devices[device]);
50 return &plat_iio->iio_devices[device];
54 mraa_iio_read_size(mraa_iio_context dev)
60 mraa_iio_get_channels(mraa_iio_context dev)
66 mraa_iio_get_channel_count(mraa_iio_context dev)
72 mraa_iio_get_channel_data(mraa_iio_context dev)
74 const struct dirent* ent;
83 char shortbuf, signchar;
87 memset(buf, 0, MAX_SIZE);
88 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM, dev->num);
91 while ((ent = readdir(dir)) != NULL) {
92 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), "_en") == 0) {
97 dev->chan_num = chan_num;
98 // no need proceed if no channel found
101 mraa_iio_channel* chan;
102 dev->channels = calloc(chan_num, sizeof(mraa_iio_channel));
104 while ((ent = readdir(dir)) != NULL) {
105 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_index"), "_index") == 0) {
106 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM "/%s", dev->num, ent->d_name);
107 fd = open(buf, O_RDONLY);
109 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
112 chan_num = ((int) strtol(readbuf, NULL, 10));
113 chan = &dev->channels[chan_num];
114 chan->index = chan_num;
117 buf[(strlen(buf) - 5)] = '\0';
118 char* str = strdup(buf);
119 // grab the type of the buffer
120 snprintf(buf, MAX_SIZE, "%stype", str);
121 fd = open(buf, O_RDONLY);
123 read(fd, readbuf, 31 * sizeof(char));
124 ret = sscanf(readbuf, "%ce:%c%u/%u>>%u", &shortbuf, &signchar, &chan->bits_used,
125 &padint, &chan->shift);
126 chan->bytes = padint / 8;
127 if (curr_bytes % chan->bytes == 0) {
128 chan->location = curr_bytes;
130 chan->location = curr_bytes - curr_bytes % chan->bytes + chan->bytes;
132 curr_bytes = chan->location + chan->bytes;
133 // probably should be 5?
138 return MRAA_IO_SETUP_FAILURE;
140 chan->signedd = (signchar == 's');
141 chan->lendian = (shortbuf == 'l');
142 if (chan->bits_used == 64) {
145 chan->mask = (1 << chan->bits_used) - 1;
149 // grab the enable flag of channel
150 snprintf(buf, MAX_SIZE, "%sen", str);
151 fd = open(buf, O_RDONLY);
153 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
154 syslog(LOG_ERR, "iio: Failed to read a sensible value from sysfs");
157 chan->enabled = (int) strtol(readbuf, NULL, 10);
158 // only calculate enable buffer size for trigger buffer extract data
160 dev->datasize += chan->bytes;
174 mraa_iio_get_device_name(mraa_iio_context dev)
180 mraa_iio_get_device_num_by_name(const char* name)
184 if (plat_iio == NULL) {
185 syslog(LOG_ERR, "iio: platform IIO structure is not initialized");
190 syslog(LOG_ERR, "iio: device name is NULL, unable to find its number");
194 for (i = 0; i < plat_iio->iio_device_count; i++) {
196 device = &plat_iio->iio_devices[i];
197 // we want to check for exact match
198 if (strncmp(device->name, name, strlen(device->name) + 1) == 0) {
207 mraa_iio_read_float(mraa_iio_context dev, const char* filename, float* data)
210 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, filename);
211 FILE* fp = fopen(buf, "r");
213 fscanf(fp, "%f\n", data);
217 return MRAA_ERROR_UNSPECIFIED;
221 mraa_iio_read_integer(mraa_iio_context dev, const char* filename, int* data)
224 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, filename);
225 FILE* fp = fopen(buf, "r");
227 fscanf(fp, "%d\n", data);
231 return MRAA_ERROR_UNSPECIFIED;
235 mraa_iio_read_string(mraa_iio_context dev, const char* filename, char* data)
238 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, filename);
239 FILE* fp = fopen(buf, "r");
241 fscanf(fp, "%s\n", data);
245 return MRAA_ERROR_UNSPECIFIED;
249 mraa_iio_write_float(mraa_iio_context dev, const char* filename, const float data)
252 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, filename);
253 FILE* fp = fopen(buf, "w");
255 fprintf(fp, "%f", data);
259 return MRAA_ERROR_UNSPECIFIED;
263 mraa_iio_write_integer(mraa_iio_context dev, const char* filename, const int data)
266 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, filename);
267 FILE* fp = fopen(buf, "w");
269 fprintf(fp, "%d", data);
273 return MRAA_ERROR_UNSPECIFIED;
277 mraa_iio_write_string(mraa_iio_context dev, const char* filename, const char* data)
280 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, filename);
281 FILE* fp = fopen(buf, "w");
283 fprintf(fp, "%s", data);
287 return MRAA_ERROR_UNSPECIFIED;
291 mraa_iio_wait_event(int fd, char* data, int* read_size)
296 return MRAA_ERROR_INVALID_RESOURCE;
302 // Wait for it forever or until pthread_cancel
303 // poll is a cancelable point like sleep()
304 int x = poll(&pfd, 1, -1);
306 memset(data, 0, 100);
307 *read_size = read(fd, data, 100);
313 mraa_iio_trigger_handler(void* arg)
315 mraa_iio_context dev = (mraa_iio_context) arg;
317 char data[MAX_SIZE * 100];
321 if (mraa_iio_wait_event(dev->fp, &data[0], &read_size) == MRAA_SUCCESS) {
322 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
323 // only can process if readsize >= enabled channel's datasize
324 for (i = 0; i < (read_size / dev->datasize); i++) {
327 pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
329 // we must have got an error code so die nicely
330 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
337 mraa_iio_trigger_buffer(mraa_iio_context dev, void (*fptr)(char* data), void* args)
340 if (dev->thread_id != 0) {
341 return MRAA_ERROR_NO_RESOURCES;
344 sprintf(bu, IIO_SLASH_DEV "%d", dev->num);
345 dev->fp = open(bu, O_RDONLY | O_NONBLOCK);
347 return MRAA_ERROR_INVALID_RESOURCE;
351 pthread_create(&dev->thread_id, NULL, mraa_iio_trigger_handler, (void*) dev);
357 mraa_iio_get_event_data(mraa_iio_context dev)
359 const struct dirent* ent;
368 char shortbuf, signchar;
369 memset(buf, 0, MAX_SIZE);
370 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_EVENTS, dev->num);
373 while ((ent = readdir(dir)) != NULL) {
374 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), "_en") == 0) {
378 dev->event_num = event_num;
379 // no need proceed if no event found
382 mraa_iio_event* event;
383 dev->events = calloc(event_num, sizeof(mraa_iio_event));
384 if (dev->events == NULL) {
386 return MRAA_ERROR_UNSPECIFIED;
390 while ((ent = readdir(dir)) != NULL) {
391 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), "_en") == 0) {
392 event = &dev->events[event_num];
393 event->name = strdup(ent->d_name);
394 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_EVENTS "/%s", dev->num, ent->d_name);
395 fd = open(buf, O_RDONLY);
397 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
402 event->enabled = ((int) strtol(readbuf, NULL, 10));
403 // Todo, read other event info.
413 mraa_iio_event_poll_nonblock(int fd, struct iio_event_data* data)
418 return MRAA_ERROR_INVALID_RESOURCE;
424 // Wait for it forever or until pthread_cancel
425 // poll is a cancelable point like sleep()
426 int x = poll(&pfd, 1, -1);
428 read(fd, data, sizeof(struct iio_event_data));
434 mraa_iio_event_poll(mraa_iio_context dev, struct iio_event_data* data)
441 sprintf(bu, IIO_SLASH_DEV "%d", dev->num);
443 ret = ioctl(fd, IIO_GET_EVENT_FD_IOCTL, &event_fd);
446 if (ret == -1 || event_fd == -1)
447 return MRAA_ERROR_UNSPECIFIED;
449 ret = read(event_fd, data, sizeof(struct iio_event_data));
456 mraa_iio_event_handler(void* arg)
458 struct iio_event_data data;
459 mraa_iio_context dev = (mraa_iio_context) arg;
462 if (mraa_iio_event_poll_nonblock(dev->fp_event, &data) == MRAA_SUCCESS) {
463 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
464 dev->isr_event(&data);
465 pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
467 // we must have got an error code so die nicely
468 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
475 mraa_iio_event_setup_callback(mraa_iio_context dev, void (*fptr)(struct iio_event_data* data), void* args)
479 if (dev->thread_id != 0) {
480 return MRAA_ERROR_NO_RESOURCES;
483 sprintf(bu, IIO_SLASH_DEV "%d", dev->num);
484 dev->fp = open(bu, O_RDONLY | O_NONBLOCK);
486 return MRAA_ERROR_INVALID_RESOURCE;
488 ret = ioctl(dev->fp, IIO_GET_EVENT_FD_IOCTL, &dev->fp_event);
491 if (ret == -1 || dev->fp_event == -1) {
492 return MRAA_ERROR_UNSPECIFIED;
495 dev->isr_event = fptr;
496 pthread_create(&dev->thread_id, NULL, mraa_iio_event_handler, (void*) dev);
502 mraa_iio_event_extract_event(struct iio_event_data* event,
511 *chan_type = IIO_EVENT_CODE_EXTRACT_CHAN_TYPE(event->id);
512 *modifier = IIO_EVENT_CODE_EXTRACT_MODIFIER(event->id);
513 *type = IIO_EVENT_CODE_EXTRACT_TYPE(event->id);
514 *direction = IIO_EVENT_CODE_EXTRACT_DIR(event->id);
515 *channel = IIO_EVENT_CODE_EXTRACT_CHAN(event->id);
516 *channel2 = IIO_EVENT_CODE_EXTRACT_CHAN2(event->id);
517 *different = IIO_EVENT_CODE_EXTRACT_DIFF(event->id);
522 mraa_iio_get_mounting_matrix(mraa_iio_context dev, float mm[9])
527 memset(buf, 0, MAX_SIZE);
528 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_MOUNTING_MATRIX, dev->num);
529 fp = fopen(buf, "r");
531 fscanf(fp, "%f %f %f\n%f %f %f\n%f %f %f\n", &mm[0], &mm[1], &mm[2], &mm[3], &mm[4], &mm[5],
532 &mm[6], &mm[7], &mm[8]);
536 return MRAA_ERROR_UNSPECIFIED;
540 // does stop make any sense on iio devices?
542 mraa_iio_stop(mraa_iio_context dev)