2 * Author: Brendan Le Foll <brendan.le.foll@intel.com>
3 * Author: Thomas Ingleby <thomas.c.ingleby@intel.com>
4 * Copyright (c) 2014 Intel Corporation.
6 * Permission is hereby granted, free of charge, to any person obtaining
7 * a copy of this software and associated documentation files (the
8 * "Software"), to deal in the Software without restriction, including
9 * without limitation the rights to use, copy, modify, merge, publish,
10 * distribute, sublicense, and/or sell copies of the Software, and to
11 * permit persons to whom the Software is furnished to do so, subject to
12 * the following conditions:
14 * The above copyright notice and this permission notice shall be
15 * included in all copies or substantial portions of the Software.
17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
18 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
19 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
20 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
21 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
22 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
23 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
27 #if !defined(_XOPEN_SOURCE) || _XOPEN_SOURCE < 600
28 #define _XOPEN_SOURCE 600 /* Get nftw() and S_IFSOCK declarations */
44 #include "mraa_internal.h"
48 mraa_board_t* plat = NULL;
49 static mraa_board_t* current_plat = NULL;
50 mraa_adv_func_t* advance_func;
59 mraa_set_log_level(int level)
61 if (level <= 7 && level >= 0) {
62 setlogmask(LOG_UPTO(level));
63 syslog(LOG_DEBUG, "Loglevel %d is set", level);
66 syslog(LOG_NOTICE, "Invalid loglevel %d requested", level);
67 return MRAA_ERROR_INVALID_PARAMETER;
70 #if (defined SWIGPYTHON) || (defined SWIG)
73 mraa_result_t __attribute__((constructor))
78 return MRAA_ERROR_PLATFORM_ALREADY_INITIALISED;
81 uid_t proc_euid = geteuid();
82 struct passwd* proc_user = getpwuid(proc_euid);
85 setlogmask(LOG_UPTO(LOG_DEBUG));
87 setlogmask(LOG_UPTO(LOG_NOTICE));
90 openlog("libmraa", LOG_CONS | LOG_PID | LOG_NDELAY, LOG_LOCAL1);
91 syslog(LOG_NOTICE, "libmraa version %s initialised by user '%s' with EUID %d",
92 mraa_get_version(), (proc_user != NULL) ? proc_user->pw_name : "<unknown>", proc_euid);
95 // Initialise python threads, this allows use to grab the GIL when we are
101 advance_func = (mraa_adv_func_t*) malloc(sizeof(mraa_adv_func_t));
102 memset(advance_func, 0, sizeof(mraa_adv_func_t));
104 mraa_platform_t platform_type;
106 // Use runtime x86 platform detection
107 platform_type = mraa_x86_platform();
108 // x86 platforms have advanced_func table in board config structure
111 advance_func = plat->adv_func;
112 #elif defined(ARMPLAT)
113 // Use runtime ARM platform detection
114 platform_type = mraa_arm_platform();
116 #error mraa_ARCH NOTHING
120 plat->platform_type = platform_type;
123 // This is a platform extender so create null base platform if one doesn't already exist
125 plat = (mraa_board_t*) calloc(1, sizeof(mraa_board_t));
127 plat->platform_type = MRAA_UNKNOWN_PLATFORM;
128 plat->platform_name = "Unknown platform";
131 // Now detect sub platform
133 mraa_platform_t usb_platform_type = mraa_usb_platform_extender(plat);
134 if (plat->platform_type == MRAA_UNKNOWN_PLATFORM) {
135 plat->platform_type = usb_platform_type;
139 printf("mraa: FATAL error, failed to initialise platform\n");
140 return MRAA_ERROR_PLATFORM_NOT_INITIALISED;
145 syslog(LOG_NOTICE, "libmraa initialised for platform '%s' of type %d", mraa_get_platform_name(), mraa_get_platform_type());
146 if (mraa_has_sub_platform()) {
147 mraa_select_sub_platform();
148 syslog(LOG_NOTICE, "libmraa initialised for sub-platform '%s' of type %d", mraa_get_platform_name(), mraa_get_platform_type());
149 mraa_select_main_platform();
158 if (plat->pins != NULL) {
161 mraa_board_t* sub_plat = plat->sub_platform;
162 if (sub_plat != NULL) {
163 if (sub_plat->pins != NULL) {
164 free(sub_plat->pins);
175 mraa_set_priority(const unsigned int priority)
177 struct sched_param sched_s;
179 memset(&sched_s, 0, sizeof(struct sched_param));
180 if (priority > sched_get_priority_max(SCHED_RR)) {
181 sched_s.sched_priority = sched_get_priority_max(SCHED_RR);
183 sched_s.sched_priority = priority;
186 return sched_setscheduler(0, SCHED_RR, &sched_s);
190 mraa_setup_mux_mapped(mraa_pin_t meta)
194 for (mi = 0; mi < meta.mux_total; mi++) {
195 mraa_gpio_context mux_i;
196 mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
198 return MRAA_ERROR_INVALID_HANDLE;
200 // this function will sometimes fail, however this is not critical as
201 // long as the write succeeds - Test case galileo gen2 pin2
202 mraa_gpio_dir(mux_i, MRAA_GPIO_OUT);
203 mraa_gpio_owner(mux_i, 0);
205 if (mraa_gpio_write(mux_i, meta.mux[mi].value) != MRAA_SUCCESS) {
206 mraa_gpio_close(mux_i);
207 return MRAA_ERROR_INVALID_RESOURCE;
209 mraa_gpio_close(mux_i);
216 mraa_result_print(mraa_result_t result)
220 fprintf(stdout, "MRAA: SUCCESS\n");
222 case MRAA_ERROR_FEATURE_NOT_IMPLEMENTED:
223 fprintf(stdout, "MRAA: Feature not implemented.\n");
225 case MRAA_ERROR_FEATURE_NOT_SUPPORTED:
226 fprintf(stdout, "MRAA: Feature not supported by Hardware.\n");
228 case MRAA_ERROR_INVALID_VERBOSITY_LEVEL:
229 fprintf(stdout, "MRAA: Invalid verbosity level.\n");
231 case MRAA_ERROR_INVALID_PARAMETER:
232 fprintf(stdout, "MRAA: Invalid parameter.\n");
234 case MRAA_ERROR_INVALID_HANDLE:
235 fprintf(stdout, "MRAA: Invalid Handle.\n");
237 case MRAA_ERROR_NO_RESOURCES:
238 fprintf(stdout, "MRAA: No resources.\n");
240 case MRAA_ERROR_INVALID_RESOURCE:
241 fprintf(stdout, "MRAA: Invalid resource.\n");
243 case MRAA_ERROR_INVALID_QUEUE_TYPE:
244 fprintf(stdout, "MRAA: Invalid Queue Type.\n");
246 case MRAA_ERROR_NO_DATA_AVAILABLE:
247 fprintf(stdout, "MRAA: No Data available.\n");
249 case MRAA_ERROR_INVALID_PLATFORM:
250 fprintf(stdout, "MRAA: Platform not recognised.\n");
252 case MRAA_ERROR_PLATFORM_NOT_INITIALISED:
253 fprintf(stdout, "MRAA: Platform not initialised.\n");
255 case MRAA_ERROR_PLATFORM_ALREADY_INITIALISED:
256 fprintf(stdout, "MRAA: Platform already initialised.\n");
258 case MRAA_ERROR_UNSPECIFIED:
259 fprintf(stdout, "MRAA: Unspecified Error.\n");
262 fprintf(stdout, "MRAA: Unrecognised error.\n");
269 mraa_has_sub_platform()
271 return (plat != NULL) && (plat->sub_platform != NULL);
276 mraa_select_main_platform()
286 mraa_select_sub_platform()
288 if (plat->sub_platform != NULL) {
289 current_plat = plat->sub_platform;
296 mraa_is_sub_platform_selected()
298 return (plat->sub_platform != NULL) && (current_plat == plat->sub_platform);
304 mraa_pin_mode_test(int pin, mraa_pinmodes_t mode)
306 if (current_plat == NULL) {
309 if (pin > (current_plat->phy_pin_count - 1) || pin < 0)
314 if (current_plat->pins[pin].capabilites.valid == 1)
318 if (current_plat->pins[pin].capabilites.gpio == 1)
322 if (current_plat->pins[pin].capabilites.pwm == 1)
325 case MRAA_PIN_FAST_GPIO:
326 if (current_plat->pins[pin].capabilites.fast_gpio == 1)
330 if (current_plat->pins[pin].capabilites.spi == 1)
334 if (current_plat->pins[pin].capabilites.i2c == 1)
338 if (current_plat->pins[pin].capabilites.aio == 1)
342 if (current_plat->pins[pin].capabilites.uart == 1)
346 syslog(LOG_NOTICE, "requested pinmode invalid");
353 mraa_get_platform_type()
355 if (current_plat == NULL)
356 return MRAA_UNKNOWN_PLATFORM;
357 return current_plat->platform_type;
365 if (current_plat == NULL)
368 if (current_plat->aio_count == 0)
371 return current_plat->adc_raw;
375 mraa_adc_supported_bits()
377 if (current_plat == NULL)
380 if (current_plat->aio_count == 0)
383 return current_plat->adc_supported;
387 mraa_get_platform_name()
389 if (current_plat == NULL) {
392 return (char*) current_plat->platform_name;
396 mraa_get_i2c_bus_count()
401 return plat->i2c_bus_count;
405 mraa_get_i2c_bus_id(unsigned i2c_bus)
411 if (i2c_bus >= plat->i2c_bus_count) {
415 return plat->i2c_bus[i2c_bus].bus_id;
421 if (current_plat == NULL) {
424 return current_plat->phy_pin_count;
428 mraa_get_pin_name(int pin)
430 if (current_plat == NULL) {
433 if (pin > (current_plat->phy_pin_count - 1) || pin < 0)
435 return (char*) current_plat->pins[pin].name;
439 mraa_get_default_i2c_bus()
441 if (current_plat == NULL) {
444 return current_plat->def_i2c_bus;
450 mraa_file_exist(const char* filename)
453 results.gl_pathc = 0;
454 glob(filename, 0, NULL, &results);
455 int file_found = results.gl_pathc == 1;
461 mraa_file_contains(const char* filename, const char* content)
463 mraa_boolean_t found = 0;
464 if ((filename == NULL) || (content == NULL)) {
468 char* file = mraa_file_unglob(filename);
471 char* line = malloc(len);
476 FILE* fh = fopen(file, "r");
482 while ((getline(&line, &len, fh) != -1) && (found == 0)) {
483 if (strstr(line, content)) {
496 mraa_file_contains_both(const char* filename, const char* content, const char* content2)
498 mraa_boolean_t found = 0;
499 if ((filename == NULL) || (content == NULL)) {
503 char* file = mraa_file_unglob(filename);
506 char* line = malloc(len);
511 FILE* fh = fopen(file, "r");
517 while ((getline(&line, &len, fh) != -1) && (found == 0)) {
518 if (strstr(line, content) && strstr(line, content2)) {
531 mraa_file_unglob(const char* filename)
535 results.gl_pathc = 0;
536 glob(filename, 0, NULL, &results);
537 if (results.gl_pathc == 1)
538 res = strdup(results.gl_pathv[0]);
544 mraa_link_targets(const char* filename, const char* targetname)
549 while (nchars == 0) {
550 buffer = (char*) realloc(buffer, size);
553 nchars = readlink(filename, buffer, size);
558 buffer[nchars] = '\0';
560 if (nchars >= size) {
565 if (strstr(buffer, targetname)) {
574 static int num_i2c_devices = 0;
577 mraa_count_files(const char* path, const struct stat* sb, int flag, struct FTW* ftwb)
579 switch (sb->st_mode & S_IFMT) {
588 mraa_find_i2c_bus(const char* devname, int startfrom)
595 // because feeding mraa_find_i2c_bus result back into the function is
596 // useful treat -1 as 0
601 // find how many i2c buses we have if we haven't already
602 if (num_i2c_devices == 0) {
603 if (nftw("/sys/class/i2c-dev/", &mraa_count_files, 20, FTW_PHYS) == -1) {
608 // i2c devices are numbered numerically so 0 must exist otherwise there is
610 if (mraa_file_exist("/sys/class/i2c-dev/i2c-0")) {
611 for (i; i < num_i2c_devices; i++) {
613 snprintf(path, 64, "/sys/class/i2c-dev/i2c-%u/name", i);
614 fd = open(path, O_RDONLY);
618 size = lseek(fd, 0, SEEK_END);
620 syslog(LOG_WARNING, "mraa: failed to seek i2c filename file");
624 err = lseek(fd, 0, SEEK_SET);
626 syslog(LOG_WARNING, "mraa: failed to seek i2c filename file");
630 char* value = malloc(size);
632 syslog(LOG_ERR, "mraa: failed to allocate memory for i2c file");
636 ssize_t r = read(fd, value, size);
638 if (strcasestr(value, devname) != NULL) {
644 syslog(LOG_ERR, "mraa: sysfs i2cdev failed");
650 syslog(LOG_WARNING, "mraa: no i2c-dev detected, load i2c-dev");
657 mraa_is_on_sub_platform(int pin_or_bus)
659 return (pin_or_bus & MRAA_SUB_PLATFORM_MASK) != 0;
663 mraa_use_sub_platform(int pin_or_bus)
665 return pin_or_bus | MRAA_SUB_PLATFORM_MASK;
669 mraa_get_sub_platform_index(int pin_or_bus)
671 return pin_or_bus & (~MRAA_SUB_PLATFORM_MASK);