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.
31 #include "mraa_internal.h"
32 #include "intel_galileo_rev_d.h"
33 #include "intel_galileo_rev_g.h"
34 #include "intel_edison_fab_c.h"
38 mraa_board_t* plat = NULL;
39 static mraa_platform_t platform_type = MRAA_UNKNOWN_PLATFORM;
40 mraa_adv_func_t* advance_func;
49 mraa_set_log_level(int level)
51 if (level <= 7 && level >= 0) {
52 setlogmask(LOG_UPTO(level));
55 return MRAA_ERROR_INVALID_PARAMETER;
58 mraa_result_t __attribute__((constructor))
62 setlogmask(LOG_UPTO(LOG_DEBUG));
64 setlogmask(LOG_UPTO(LOG_NOTICE));
67 openlog("libmraa", LOG_CONS | LOG_PID | LOG_NDELAY, LOG_LOCAL1);
68 syslog(LOG_DEBUG, "libmraa initialised by user %d", getuid());
71 return MRAA_ERROR_PLATFORM_ALREADY_INITIALISED;
74 // Initialise python threads, this allows use to grab the GIL when we are
79 // detect a galileo gen2 board
81 // let getline allocate memory for *line
83 FILE *fh = fopen("/sys/devices/virtual/dmi/id/board_name", "r");
85 if (getline(&line, &len, fh) != -1) {
86 if (strncmp(line, "GalileoGen2", 10) == 0) {
87 platform_type = MRAA_INTEL_GALILEO_GEN2;
88 } else if (strncmp(line, "BODEGA BAY", 10) == 0) {
89 platform_type = MRAA_INTEL_EDISON_FAB_C;
90 } else if (strncmp(line, "SALT BAY", 7) == 0) {
91 platform_type = MRAA_INTEL_EDISON_FAB_C;
93 platform_type = MRAA_INTEL_GALILEO_GEN1;
100 advance_func = (mraa_adv_func_t*) malloc(sizeof(mraa_adv_func_t));
101 memset(advance_func, 0, sizeof(mraa_adv_func_t));
103 switch(platform_type) {
104 case MRAA_INTEL_GALILEO_GEN2:
105 plat = mraa_intel_galileo_gen2();
107 case MRAA_INTEL_GALILEO_GEN1:
108 plat = mraa_intel_galileo_rev_d();
110 case MRAA_INTEL_EDISON_FAB_C:
111 plat = mraa_intel_edison_fab_c();
114 plat = mraa_intel_galileo_rev_d();
115 syslog(LOG_ERR, "Platform not found, initialising MRAA_INTEL_GALILEO_GEN1");
118 syslog(LOG_NOTICE, "libmraa initialised for platform %d", platform_type);
131 mraa_set_priority(const unsigned int priority)
133 struct sched_param sched_s;
135 memset(&sched_s, 0, sizeof(struct sched_param));
136 if (priority > sched_get_priority_max(SCHED_RR)) {
137 sched_s.sched_priority = sched_get_priority_max(SCHED_RR);
140 sched_s.sched_priority = priority;
143 return sched_setscheduler(0, SCHED_RR, &sched_s);
147 mraa_setup_mux_mapped(mraa_pin_t meta)
150 for (mi = 0; mi < meta.mux_total; mi++) {
151 mraa_gpio_context mux_i;
152 mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
154 return MRAA_ERROR_INVALID_HANDLE;
155 mraa_gpio_dir(mux_i, MRAA_GPIO_OUT);
156 if (mraa_gpio_write(mux_i, meta.mux[mi].value) != MRAA_SUCCESS)
157 return MRAA_ERROR_INVALID_RESOURCE;
163 mraa_setup_gpio(int pin)
166 return MRAA_PLATFORM_NO_INIT;
168 if (pin < 0 || pin > plat->phy_pin_count)
169 return MRAA_NO_SUCH_IO;
171 if(plat->pins[pin].capabilites.gpio != 1)
172 return MRAA_NO_SUCH_IO;
174 if (plat->pins[pin].gpio.mux_total > 0)
175 if (mraa_setup_mux_mapped(plat->pins[pin].gpio) != MRAA_SUCCESS)
176 return MRAA_NO_SUCH_IO;
177 return plat->pins[pin].gpio.pinmap;
181 mraa_setup_aio(int aio)
184 return MRAA_PLATFORM_NO_INIT;
186 if (aio < 0 || aio > plat->aio_count)
187 return MRAA_NO_SUCH_IO;
189 int pin = aio + plat->gpio_count;
191 if (plat->pins[pin].capabilites.aio != 1)
192 return MRAA_NO_SUCH_IO;
194 if (plat->pins[pin].aio.mux_total > 0)
195 if (mraa_setup_mux_mapped(plat->pins[pin].aio) != MRAA_SUCCESS)
196 return MRAA_NO_SUCH_IO;
197 return plat->pins[pin].aio.pinmap;
201 mraa_setup_i2c(int bus)
204 return MRAA_PLATFORM_NO_INIT;
206 if (plat->i2c_bus_count == 0) {
207 syslog(LOG_ERR, "No i2c buses defined in platform");
208 return MRAA_NO_SUCH_IO;
210 if (bus >= plat->i2c_bus_count) {
211 syslog(LOG_ERR, "Above i2c bus count");
212 return MRAA_NO_SUCH_IO;
215 if (plat->i2c_bus[bus].bus_id == -1) {
216 syslog(LOG_ERR, "Platform not currently allowed for mraa use");
217 return MRAA_NO_SUCH_IO;
220 int pos = plat->i2c_bus[bus].sda;
221 if (plat->pins[pos].i2c.mux_total > 0)
222 if (mraa_setup_mux_mapped(plat->pins[pos].i2c) != MRAA_SUCCESS)
223 return MRAA_IO_SETUP_FAILURE;
225 pos = plat->i2c_bus[bus].scl;
226 if (plat->pins[pos].i2c.mux_total > 0)
227 if (mraa_setup_mux_mapped(plat->pins[pos].i2c) != MRAA_SUCCESS)
228 return MRAA_IO_SETUP_FAILURE;
230 return plat->i2c_bus[bus].bus_id;
234 mraa_setup_spi(int bus)
239 if (plat->spi_bus_count >! 0) {
240 syslog(LOG_ERR, "No spi buses defined in platform");
243 if (plat->spi_bus_count == 1) {
244 bus = plat->def_spi_bus;
246 if (bus >= plat->spi_bus_count) {
247 syslog(LOG_ERR, "Above spi bus count");
251 int pos = plat->spi_bus[bus].sclk;
252 if (plat->pins[pos].spi.mux_total > 0)
253 if (mraa_setup_mux_mapped(plat->pins[pos].spi) != MRAA_SUCCESS)
256 pos = plat->spi_bus[bus].mosi;
257 if (plat->pins[pos].spi.mux_total > 0)
258 if (mraa_setup_mux_mapped(plat->pins[pos].spi) != MRAA_SUCCESS)
261 pos = plat->spi_bus[bus].miso;
262 if (plat->pins[pos].spi.mux_total > 0)
263 if (mraa_setup_mux_mapped(plat->pins[pos].spi) != MRAA_SUCCESS)
266 mraa_spi_bus_t *spi = &(plat->spi_bus[bus]);
271 mraa_setup_pwm(int pin)
276 if (plat->pins[pin].capabilites.pwm != 1)
279 if (plat->pins[pin].capabilites.gpio == 1) {
280 mraa_gpio_context mux_i;
281 mux_i = mraa_gpio_init_raw(plat->pins[pin].gpio.pinmap);
284 if (mraa_gpio_dir(mux_i, MRAA_GPIO_OUT) != MRAA_SUCCESS)
286 // Current REV D quirk. //TODO GEN 2
287 if (mraa_gpio_write(mux_i, 1) != MRAA_SUCCESS)
289 if (mraa_gpio_close(mux_i) != MRAA_SUCCESS)
293 if (plat->pins[pin].pwm.mux_total > 0)
294 if (mraa_setup_mux_mapped(plat->pins[pin].pwm) != MRAA_SUCCESS)
298 ret = (mraa_pin_t*) malloc(sizeof(mraa_pin_t));
299 ret->pinmap = plat->pins[pin].pwm.pinmap;
300 ret->parent_id = plat->pins[pin].pwm.parent_id;
305 mraa_result_print(mraa_result_t result)
309 fprintf(stdout, "MRAA: SUCCESS\n");
311 case MRAA_ERROR_FEATURE_NOT_IMPLEMENTED:
312 fprintf(stdout, "MRAA: Feature not implemented.\n");
314 case MRAA_ERROR_FEATURE_NOT_SUPPORTED:
315 fprintf(stdout, "MRAA: Feature not supported by Hardware.\n");
317 case MRAA_ERROR_INVALID_VERBOSITY_LEVEL:
318 fprintf(stdout, "MRAA: Invalid verbosity level.\n");
320 case MRAA_ERROR_INVALID_PARAMETER:
321 fprintf(stdout, "MRAA: Invalid parameter.\n");
323 case MRAA_ERROR_INVALID_HANDLE:
324 fprintf(stdout, "MRAA: Invalid Handle.\n");
326 case MRAA_ERROR_NO_RESOURCES:
327 fprintf(stdout, "MRAA: No resources.\n");
329 case MRAA_ERROR_INVALID_RESOURCE:
330 fprintf(stdout, "MRAA: Invalid resource.\n");
332 case MRAA_ERROR_INVALID_QUEUE_TYPE:
333 fprintf(stdout, "MRAA: Invalid Queue Type.\n");
335 case MRAA_ERROR_NO_DATA_AVAILABLE:
336 fprintf(stdout, "MRAA: No Data available.\n");
338 case MRAA_ERROR_INVALID_PLATFORM:
339 fprintf(stdout, "MRAA: Platform not recognised.\n");
341 case MRAA_ERROR_PLATFORM_NOT_INITIALISED:
342 fprintf(stdout, "MRAA: Platform not initialised.\n");
344 case MRAA_ERROR_PLATFORM_ALREADY_INITIALISED:
345 fprintf(stdout, "MRAA: Platform already initialised.\n");
347 case MRAA_ERROR_UNSPECIFIED:
348 fprintf(stdout, "MRAA: Unspecified Error.\n");
351 fprintf(stdout, "MRAA: Unrecognised error.\n");
357 mraa_pin_mode_test(int pin, mraa_pinmodes_t mode)
364 if (pin > plat->phy_pin_count || pin < 0)
369 if (plat->pins[pin].capabilites.valid == 1)
373 if (plat->pins[pin].capabilites.gpio ==1)
377 if (plat->pins[pin].capabilites.pwm ==1)
380 case MRAA_PIN_FAST_GPIO:
381 if (plat->pins[pin].capabilites.fast_gpio ==1)
385 if (plat->pins[pin].capabilites.spi ==1)
389 if (plat->pins[pin].capabilites.i2c ==1)
393 if (pin < plat->aio_count)
394 pin = pin + plat->gpio_count;
395 if (plat->pins[pin].capabilites.aio ==1)
404 mraa_setup_mmap_gpio(int pin)
409 if (plat->pins[pin].capabilites.fast_gpio != 1)
412 if (plat->pins[pin].mmap.gpio.mux_total > 0)
413 if (mraa_setup_mux_mapped(plat->pins[pin].mmap.gpio) != MRAA_SUCCESS)
416 if (mraa_setup_mux_mapped(plat->pins[pin].mmap.gpio) != MRAA_SUCCESS)
418 mraa_mmap_pin_t *ret = &(plat->pins[pin].mmap);
422 mraa_platform_t mraa_get_platform_type()
424 return platform_type;
433 if (plat->aio_count == 0)
436 return plat->adc_raw;
440 mraa_adc_supported_bits()
445 if (plat->aio_count == 0)
448 return plat->adc_supported;
452 mraa_setup_uart(int index)
455 return MRAA_ERROR_PLATFORM_NOT_INITIALISED;
457 if (plat->uart_dev_count == 0)
458 return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
460 if (plat->uart_dev_count <= index)
461 return MRAA_ERROR_NO_RESOURCES;
463 int pos = plat->uart_dev[index].rx;
465 if (plat->pins[pos].uart.mux_total > 0)
466 if (mraa_setup_mux_mapped(plat->pins[pos].uart) != MRAA_SUCCESS)
467 return MRAA_ERROR_INVALID_RESOURCE;
471 pos = plat->uart_dev[index].tx;
472 if (plat->pins[pos].uart.mux_total > 0)
473 if (mraa_setup_mux_mapped(plat->pins[pos].uart) != MRAA_SUCCESS)
474 return MRAA_ERROR_INVALID_RESOURCE;