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 #define MAX_PLATFORM_NAME_LENGTH 128
49 mraa_board_t* plat = NULL;
50 // static mraa_board_t* current_plat = NULL;
52 static char platform_name[MAX_PLATFORM_NAME_LENGTH];
53 mraa_adv_func_t* advance_func;
62 mraa_set_log_level(int level)
64 if (level <= 7 && level >= 0) {
65 setlogmask(LOG_UPTO(level));
66 syslog(LOG_DEBUG, "Loglevel %d is set", level);
69 syslog(LOG_NOTICE, "Invalid loglevel %d requested", level);
70 return MRAA_ERROR_INVALID_PARAMETER;
73 #if (defined SWIGPYTHON) || (defined SWIG)
76 mraa_result_t __attribute__((constructor))
81 return MRAA_ERROR_PLATFORM_ALREADY_INITIALISED;
84 uid_t proc_euid = geteuid();
85 struct passwd* proc_user = getpwuid(proc_euid);
88 setlogmask(LOG_UPTO(LOG_DEBUG));
90 setlogmask(LOG_UPTO(LOG_NOTICE));
93 openlog("libmraa", LOG_CONS | LOG_PID | LOG_NDELAY, LOG_LOCAL1);
94 syslog(LOG_NOTICE, "libmraa version %s initialised by user '%s' with EUID %d",
95 mraa_get_version(), (proc_user != NULL) ? proc_user->pw_name : "<unknown>", proc_euid);
98 // Initialise python threads, this allows use to grab the GIL when we are
101 PyEval_InitThreads();
104 advance_func = (mraa_adv_func_t*) malloc(sizeof(mraa_adv_func_t));
105 memset(advance_func, 0, sizeof(mraa_adv_func_t));
107 mraa_platform_t platform_type;
109 // Use runtime x86 platform detection
110 platform_type = mraa_x86_platform();
111 // x86 platforms have advanced_func table in board config structure
114 advance_func = plat->adv_func;
115 #elif defined(ARMPLAT)
116 // Use runtime ARM platform detection
117 platform_type = mraa_arm_platform();
119 #error mraa_ARCH NOTHING
123 plat->platform_type = platform_type;
126 // This is a platform extender so create null base platform if one doesn't already exist
128 plat = (mraa_board_t*) calloc(1, sizeof(mraa_board_t));
130 plat->platform_type = MRAA_NULL_PLATFORM;
131 plat->platform_name = "Null platform";
134 // Now detect sub platform
136 mraa_platform_t usb_platform_type = mraa_usb_platform_extender(plat);
137 if (plat->platform_type == MRAA_UNKNOWN_PLATFORM && usb_platform_type != MRAA_UNKNOWN_PLATFORM) {
138 plat->platform_type = usb_platform_type;
140 return MRAA_ERROR_PLATFORM_NOT_INITIALISED;
144 printf("mraa: FATAL error, failed to initialise platform\n");
145 return MRAA_ERROR_PLATFORM_NOT_INITIALISED;
149 syslog(LOG_NOTICE, "libmraa initialised for platform '%s' of type %d", mraa_get_platform_name(), mraa_get_platform_type());
157 if (plat->pins != NULL) {
160 mraa_board_t* sub_plat = plat->sub_platform;
161 if (sub_plat != NULL) {
162 if (sub_plat->pins != NULL) {
163 free(sub_plat->pins);
174 mraa_set_priority(const unsigned int priority)
176 struct sched_param sched_s;
178 memset(&sched_s, 0, sizeof(struct sched_param));
179 if (priority > sched_get_priority_max(SCHED_RR)) {
180 sched_s.sched_priority = sched_get_priority_max(SCHED_RR);
182 sched_s.sched_priority = priority;
185 return sched_setscheduler(0, SCHED_RR, &sched_s);
189 mraa_setup_mux_mapped(mraa_pin_t meta)
193 for (mi = 0; mi < meta.mux_total; mi++) {
194 mraa_gpio_context mux_i;
195 mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
197 return MRAA_ERROR_INVALID_HANDLE;
199 // this function will sometimes fail, however this is not critical as
200 // long as the write succeeds - Test case galileo gen2 pin2
201 mraa_gpio_dir(mux_i, MRAA_GPIO_OUT);
202 mraa_gpio_owner(mux_i, 0);
204 if (mraa_gpio_write(mux_i, meta.mux[mi].value) != MRAA_SUCCESS) {
205 mraa_gpio_close(mux_i);
206 return MRAA_ERROR_INVALID_RESOURCE;
208 mraa_gpio_close(mux_i);
215 mraa_result_print(mraa_result_t result)
219 fprintf(stdout, "MRAA: SUCCESS\n");
221 case MRAA_ERROR_FEATURE_NOT_IMPLEMENTED:
222 fprintf(stdout, "MRAA: Feature not implemented.\n");
224 case MRAA_ERROR_FEATURE_NOT_SUPPORTED:
225 fprintf(stdout, "MRAA: Feature not supported by Hardware.\n");
227 case MRAA_ERROR_INVALID_VERBOSITY_LEVEL:
228 fprintf(stdout, "MRAA: Invalid verbosity level.\n");
230 case MRAA_ERROR_INVALID_PARAMETER:
231 fprintf(stdout, "MRAA: Invalid parameter.\n");
233 case MRAA_ERROR_INVALID_HANDLE:
234 fprintf(stdout, "MRAA: Invalid Handle.\n");
236 case MRAA_ERROR_NO_RESOURCES:
237 fprintf(stdout, "MRAA: No resources.\n");
239 case MRAA_ERROR_INVALID_RESOURCE:
240 fprintf(stdout, "MRAA: Invalid resource.\n");
242 case MRAA_ERROR_INVALID_QUEUE_TYPE:
243 fprintf(stdout, "MRAA: Invalid Queue Type.\n");
245 case MRAA_ERROR_NO_DATA_AVAILABLE:
246 fprintf(stdout, "MRAA: No Data available.\n");
248 case MRAA_ERROR_INVALID_PLATFORM:
249 fprintf(stdout, "MRAA: Platform not recognised.\n");
251 case MRAA_ERROR_PLATFORM_NOT_INITIALISED:
252 fprintf(stdout, "MRAA: Platform not initialised.\n");
254 case MRAA_ERROR_PLATFORM_ALREADY_INITIALISED:
255 fprintf(stdout, "MRAA: Platform already initialised.\n");
257 case MRAA_ERROR_UNSPECIFIED:
258 fprintf(stdout, "MRAA: Unspecified Error.\n");
261 fprintf(stdout, "MRAA: Unrecognised error.\n");
268 mraa_has_sub_platform()
270 return (plat != NULL) && (plat->sub_platform != NULL);
275 mraa_pin_mode_test(int pin, mraa_pinmodes_t mode)
280 mraa_board_t* current_plat = plat;
281 if (mraa_is_sub_platform_id(pin)) {
282 current_plat = plat->sub_platform;
283 if (current_plat == NULL) {
284 syslog(LOG_ERR, "mraa_pin_mode_test: Sub platform Not Initialised");
287 pin = mraa_get_sub_platform_index(pin);
290 if (current_plat == NULL || current_plat->platform_type == MRAA_UNKNOWN_PLATFORM) {
293 if (pin > (current_plat->phy_pin_count - 1) || pin < 0)
298 if (current_plat->pins[pin].capabilites.valid == 1)
302 if (current_plat->pins[pin].capabilites.gpio == 1)
306 if (current_plat->pins[pin].capabilites.pwm == 1)
309 case MRAA_PIN_FAST_GPIO:
310 if (current_plat->pins[pin].capabilites.fast_gpio == 1)
314 if (current_plat->pins[pin].capabilites.spi == 1)
318 if (current_plat->pins[pin].capabilites.i2c == 1)
322 if (current_plat->pins[pin].capabilites.aio == 1)
326 if (current_plat->pins[pin].capabilites.uart == 1)
330 syslog(LOG_NOTICE, "requested pinmode invalid");
337 mraa_get_platform_type()
340 return MRAA_UNKNOWN_PLATFORM;
341 return plat->platform_type;
345 mraa_get_platform_combined_type()
347 int type = mraa_get_platform_type();
348 int sub_type = mraa_has_sub_platform() ? plat->sub_platform->platform_type : MRAA_UNKNOWN_PLATFORM;
349 return type | (sub_type << 8);
358 if (plat->aio_count == 0)
361 return plat->adc_raw;
365 mraa_get_platform_adc_raw_bits(uint8_t platform_offset)
367 if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET)
368 return mraa_adc_raw_bits();
370 if (!mraa_has_sub_platform())
373 if (plat->sub_platform->aio_count == 0)
376 return plat->sub_platform->adc_raw;
382 mraa_adc_supported_bits()
387 if (plat->aio_count == 0)
390 return plat->adc_supported;
394 mraa_get_platform_adc_supported_bits(int platform_offset)
396 if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET)
397 return mraa_adc_supported_bits();
399 if (!mraa_has_sub_platform())
402 if (plat->sub_platform->aio_count == 0)
405 return plat->sub_platform->adc_supported;
411 mraa_get_platform_name()
416 strncpy(platform_name, plat->platform_name, MAX_PLATFORM_NAME_LENGTH);
417 if (mraa_has_sub_platform()) {
418 strncat(platform_name, " + ", MAX_PLATFORM_NAME_LENGTH);
419 strncat(platform_name, plat->sub_platform->platform_name, MAX_PLATFORM_NAME_LENGTH);
421 return platform_name;
425 mraa_get_i2c_bus_count()
430 return plat->i2c_bus_count;
434 mraa_get_i2c_bus_id(unsigned i2c_bus)
440 if (i2c_bus >= plat->i2c_bus_count) {
444 return plat->i2c_bus[i2c_bus].bus_id;
453 return plat->phy_pin_count;
457 mraa_get_platform_pin_count(uint8_t platform_offset)
459 if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET)
460 return mraa_get_pin_count();
462 if (mraa_has_sub_platform())
463 return plat->sub_platform->phy_pin_count;
471 mraa_get_pin_name(int pin)
476 mraa_board_t* current_plat = plat;
477 if (mraa_is_sub_platform_id(pin)) {
478 current_plat = plat->sub_platform;
479 if (current_plat == NULL) {
480 syslog(LOG_ERR, "mraa_get_pin_name: Sub platform Not Initialised");
483 pin = mraa_get_sub_platform_index(pin);
486 if (pin > (current_plat->phy_pin_count - 1) || pin < 0)
488 return (char*) current_plat->pins[pin].name;
492 mraa_get_default_i2c_bus(uint8_t platform_offset)
496 if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET) {
497 return plat->def_i2c_bus;
499 if (mraa_has_sub_platform())
500 return plat->sub_platform->def_i2c_bus;
508 mraa_file_exist(const char* filename)
511 results.gl_pathc = 0;
512 glob(filename, 0, NULL, &results);
513 int file_found = results.gl_pathc == 1;
519 mraa_file_contains(const char* filename, const char* content)
521 mraa_boolean_t found = 0;
522 if ((filename == NULL) || (content == NULL)) {
526 char* file = mraa_file_unglob(filename);
529 char* line = malloc(len);
534 FILE* fh = fopen(file, "r");
540 while ((getline(&line, &len, fh) != -1) && (found == 0)) {
541 if (strstr(line, content)) {
554 mraa_file_contains_both(const char* filename, const char* content, const char* content2)
556 mraa_boolean_t found = 0;
557 if ((filename == NULL) || (content == NULL)) {
561 char* file = mraa_file_unglob(filename);
564 char* line = malloc(len);
569 FILE* fh = fopen(file, "r");
575 while ((getline(&line, &len, fh) != -1) && (found == 0)) {
576 if (strstr(line, content) && strstr(line, content2)) {
589 mraa_file_unglob(const char* filename)
593 results.gl_pathc = 0;
594 glob(filename, 0, NULL, &results);
595 if (results.gl_pathc == 1)
596 res = strdup(results.gl_pathv[0]);
602 mraa_link_targets(const char* filename, const char* targetname)
607 while (nchars == 0) {
608 buffer = (char*) realloc(buffer, size);
611 nchars = readlink(filename, buffer, size);
616 buffer[nchars] = '\0';
618 if (nchars >= size) {
623 if (strstr(buffer, targetname)) {
632 static int num_i2c_devices = 0;
635 mraa_count_files(const char* path, const struct stat* sb, int flag, struct FTW* ftwb)
637 switch (sb->st_mode & S_IFMT) {
646 mraa_find_i2c_bus(const char* devname, int startfrom)
653 // because feeding mraa_find_i2c_bus result back into the function is
654 // useful treat -1 as 0
659 // find how many i2c buses we have if we haven't already
660 if (num_i2c_devices == 0) {
661 if (nftw("/sys/class/i2c-dev/", &mraa_count_files, 20, FTW_PHYS) == -1) {
666 // i2c devices are numbered numerically so 0 must exist otherwise there is
668 if (mraa_file_exist("/sys/class/i2c-dev/i2c-0")) {
669 for (i; i < num_i2c_devices; i++) {
671 snprintf(path, 64, "/sys/class/i2c-dev/i2c-%u/name", i);
672 fd = open(path, O_RDONLY);
676 size = lseek(fd, 0, SEEK_END);
678 syslog(LOG_WARNING, "mraa: failed to seek i2c filename file");
682 err = lseek(fd, 0, SEEK_SET);
684 syslog(LOG_WARNING, "mraa: failed to seek i2c filename file");
688 char* value = malloc(size);
690 syslog(LOG_ERR, "mraa: failed to allocate memory for i2c file");
694 ssize_t r = read(fd, value, size);
696 if (strcasestr(value, devname) != NULL) {
702 syslog(LOG_ERR, "mraa: sysfs i2cdev failed");
708 syslog(LOG_WARNING, "mraa: no i2c-dev detected, load i2c-dev");
715 mraa_is_sub_platform_id(int pin_or_bus)
717 return (pin_or_bus & MRAA_SUB_PLATFORM_MASK) != 0;
721 mraa_get_sub_platform_id(int pin_or_bus)
723 return pin_or_bus | MRAA_SUB_PLATFORM_MASK;
727 mraa_get_sub_platform_index(int pin_or_bus)
729 return pin_or_bus & (~MRAA_SUB_PLATFORM_MASK);