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"
35 #include "intel_de3815.h"
39 mraa_board_t* plat = NULL;
40 static mraa_platform_t platform_type = MRAA_UNKNOWN_PLATFORM;
41 mraa_adv_func_t* advance_func;
50 mraa_set_log_level(int level)
52 if (level <= 7 && level >= 0) {
53 setlogmask(LOG_UPTO(level));
56 return MRAA_ERROR_INVALID_PARAMETER;
59 mraa_result_t __attribute__((constructor))
63 setlogmask(LOG_UPTO(LOG_DEBUG));
65 setlogmask(LOG_UPTO(LOG_NOTICE));
68 openlog("libmraa", LOG_CONS | LOG_PID | LOG_NDELAY, LOG_LOCAL1);
69 syslog(LOG_DEBUG, "libmraa initialised by user %d", getuid());
72 return MRAA_ERROR_PLATFORM_ALREADY_INITIALISED;
75 // Initialise python threads, this allows use to grab the GIL when we are
80 // detect a galileo gen2 board
82 // let getline allocate memory for *line
84 FILE *fh = fopen("/sys/devices/virtual/dmi/id/board_name", "r");
86 if (getline(&line, &len, fh) != -1) {
87 if (strncmp(line, "GalileoGen2", 10) == 0) {
88 platform_type = MRAA_INTEL_GALILEO_GEN2;
89 } else if (strncmp(line, "BODEGA BAY", 10) == 0) {
90 platform_type = MRAA_INTEL_EDISON_FAB_C;
91 } else if (strncmp(line, "SALT BAY", 7) == 0) {
92 platform_type = MRAA_INTEL_EDISON_FAB_C;
93 } else if (strncmp(line, "DE3815", 6) == 0) {
94 platform_type = MRAA_INTEL_DE3815;
96 platform_type = MRAA_INTEL_GALILEO_GEN1;
103 advance_func = (mraa_adv_func_t*) malloc(sizeof(mraa_adv_func_t));
104 memset(advance_func, 0, sizeof(mraa_adv_func_t));
106 switch(platform_type) {
107 case MRAA_INTEL_GALILEO_GEN2:
108 plat = mraa_intel_galileo_gen2();
110 case MRAA_INTEL_GALILEO_GEN1:
111 plat = mraa_intel_galileo_rev_d();
113 case MRAA_INTEL_EDISON_FAB_C:
114 plat = mraa_intel_edison_fab_c();
116 case MRAA_INTEL_DE3815:
117 plat = mraa_intel_de3815();
120 plat = mraa_intel_galileo_rev_d();
121 syslog(LOG_ERR, "Platform not found, initialising MRAA_INTEL_GALILEO_GEN1");
124 syslog(LOG_NOTICE, "libmraa initialised for platform %d", platform_type);
137 mraa_set_priority(const unsigned int priority)
139 struct sched_param sched_s;
141 memset(&sched_s, 0, sizeof(struct sched_param));
142 if (priority > sched_get_priority_max(SCHED_RR)) {
143 sched_s.sched_priority = sched_get_priority_max(SCHED_RR);
146 sched_s.sched_priority = priority;
149 return sched_setscheduler(0, SCHED_RR, &sched_s);
153 mraa_setup_mux_mapped(mraa_pin_t meta)
156 for (mi = 0; mi < meta.mux_total; mi++) {
157 mraa_gpio_context mux_i;
158 mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
160 return MRAA_ERROR_INVALID_HANDLE;
161 mraa_gpio_dir(mux_i, MRAA_GPIO_OUT);
162 if (mraa_gpio_write(mux_i, meta.mux[mi].value) != MRAA_SUCCESS)
163 return MRAA_ERROR_INVALID_RESOURCE;
169 mraa_setup_gpio(int pin)
172 return MRAA_PLATFORM_NO_INIT;
174 if (pin < 0 || pin > plat->phy_pin_count)
175 return MRAA_NO_SUCH_IO;
177 if(plat->pins[pin].capabilites.gpio != 1)
178 return MRAA_NO_SUCH_IO;
180 if (plat->pins[pin].gpio.mux_total > 0)
181 if (mraa_setup_mux_mapped(plat->pins[pin].gpio) != MRAA_SUCCESS)
182 return MRAA_NO_SUCH_IO;
183 return plat->pins[pin].gpio.pinmap;
187 mraa_setup_aio(int aio)
190 return MRAA_PLATFORM_NO_INIT;
192 if (aio < 0 || aio > plat->aio_count)
193 return MRAA_NO_SUCH_IO;
195 int pin = aio + plat->gpio_count;
197 if (plat->pins[pin].capabilites.aio != 1)
198 return MRAA_NO_SUCH_IO;
200 if (plat->pins[pin].aio.mux_total > 0)
201 if (mraa_setup_mux_mapped(plat->pins[pin].aio) != MRAA_SUCCESS)
202 return MRAA_NO_SUCH_IO;
203 return plat->pins[pin].aio.pinmap;
207 mraa_setup_i2c(int* bus)
210 return MRAA_PLATFORM_NO_INIT;
212 if (plat->i2c_bus_count == 0) {
213 syslog(LOG_ERR, "No i2c buses defined in platform");
214 return MRAA_NO_SUCH_IO;
216 if (*bus >= plat->i2c_bus_count) {
217 syslog(LOG_ERR, "Above i2c bus count");
218 return MRAA_NO_SUCH_IO;
221 if (plat->i2c_bus[*bus].bus_id == -1) {
222 syslog(LOG_ERR, "Invalid i2c bus, moving to default i2c bus");
223 *bus = plat->def_i2c_bus;
226 int pos = plat->i2c_bus[*bus].sda;
227 if (plat->pins[pos].i2c.mux_total > 0)
228 if (mraa_setup_mux_mapped(plat->pins[pos].i2c) != MRAA_SUCCESS)
229 return MRAA_IO_SETUP_FAILURE;
231 pos = plat->i2c_bus[*bus].scl;
232 if (plat->pins[pos].i2c.mux_total > 0)
233 if (mraa_setup_mux_mapped(plat->pins[pos].i2c) != MRAA_SUCCESS)
234 return MRAA_IO_SETUP_FAILURE;
236 return plat->i2c_bus[*bus].bus_id;
240 mraa_setup_spi(int bus)
245 if (plat->spi_bus_count >! 0) {
246 syslog(LOG_ERR, "No spi buses defined in platform");
249 if (plat->spi_bus_count == 1) {
250 bus = plat->def_spi_bus;
252 if (bus >= plat->spi_bus_count) {
253 syslog(LOG_ERR, "Above spi bus count");
257 int pos = plat->spi_bus[bus].sclk;
258 if (plat->pins[pos].spi.mux_total > 0)
259 if (mraa_setup_mux_mapped(plat->pins[pos].spi) != MRAA_SUCCESS)
262 pos = plat->spi_bus[bus].mosi;
263 if (plat->pins[pos].spi.mux_total > 0)
264 if (mraa_setup_mux_mapped(plat->pins[pos].spi) != MRAA_SUCCESS)
267 pos = plat->spi_bus[bus].miso;
268 if (plat->pins[pos].spi.mux_total > 0)
269 if (mraa_setup_mux_mapped(plat->pins[pos].spi) != MRAA_SUCCESS)
272 mraa_spi_bus_t *spi = &(plat->spi_bus[bus]);
277 mraa_setup_pwm(int pin)
282 if (plat->pins[pin].capabilites.pwm != 1)
285 if (plat->pins[pin].capabilites.gpio == 1) {
286 mraa_gpio_context mux_i;
287 mux_i = mraa_gpio_init_raw(plat->pins[pin].gpio.pinmap);
290 if (mraa_gpio_dir(mux_i, MRAA_GPIO_OUT) != MRAA_SUCCESS)
292 // Current REV D quirk. //TODO GEN 2
293 if (mraa_gpio_write(mux_i, 1) != MRAA_SUCCESS)
295 if (mraa_gpio_close(mux_i) != MRAA_SUCCESS)
299 if (plat->pins[pin].pwm.mux_total > 0)
300 if (mraa_setup_mux_mapped(plat->pins[pin].pwm) != MRAA_SUCCESS)
304 ret = (mraa_pin_t*) malloc(sizeof(mraa_pin_t));
305 ret->pinmap = plat->pins[pin].pwm.pinmap;
306 ret->parent_id = plat->pins[pin].pwm.parent_id;
311 mraa_result_print(mraa_result_t result)
315 fprintf(stdout, "MRAA: SUCCESS\n");
317 case MRAA_ERROR_FEATURE_NOT_IMPLEMENTED:
318 fprintf(stdout, "MRAA: Feature not implemented.\n");
320 case MRAA_ERROR_FEATURE_NOT_SUPPORTED:
321 fprintf(stdout, "MRAA: Feature not supported by Hardware.\n");
323 case MRAA_ERROR_INVALID_VERBOSITY_LEVEL:
324 fprintf(stdout, "MRAA: Invalid verbosity level.\n");
326 case MRAA_ERROR_INVALID_PARAMETER:
327 fprintf(stdout, "MRAA: Invalid parameter.\n");
329 case MRAA_ERROR_INVALID_HANDLE:
330 fprintf(stdout, "MRAA: Invalid Handle.\n");
332 case MRAA_ERROR_NO_RESOURCES:
333 fprintf(stdout, "MRAA: No resources.\n");
335 case MRAA_ERROR_INVALID_RESOURCE:
336 fprintf(stdout, "MRAA: Invalid resource.\n");
338 case MRAA_ERROR_INVALID_QUEUE_TYPE:
339 fprintf(stdout, "MRAA: Invalid Queue Type.\n");
341 case MRAA_ERROR_NO_DATA_AVAILABLE:
342 fprintf(stdout, "MRAA: No Data available.\n");
344 case MRAA_ERROR_INVALID_PLATFORM:
345 fprintf(stdout, "MRAA: Platform not recognised.\n");
347 case MRAA_ERROR_PLATFORM_NOT_INITIALISED:
348 fprintf(stdout, "MRAA: Platform not initialised.\n");
350 case MRAA_ERROR_PLATFORM_ALREADY_INITIALISED:
351 fprintf(stdout, "MRAA: Platform already initialised.\n");
353 case MRAA_ERROR_UNSPECIFIED:
354 fprintf(stdout, "MRAA: Unspecified Error.\n");
357 fprintf(stdout, "MRAA: Unrecognised error.\n");
363 mraa_pin_mode_test(int pin, mraa_pinmodes_t mode)
370 if (pin > plat->phy_pin_count || pin < 0)
375 if (plat->pins[pin].capabilites.valid == 1)
379 if (plat->pins[pin].capabilites.gpio ==1)
383 if (plat->pins[pin].capabilites.pwm ==1)
386 case MRAA_PIN_FAST_GPIO:
387 if (plat->pins[pin].capabilites.fast_gpio ==1)
391 if (plat->pins[pin].capabilites.spi ==1)
395 if (plat->pins[pin].capabilites.i2c ==1)
399 if (pin < plat->aio_count)
400 pin = pin + plat->gpio_count;
401 if (plat->pins[pin].capabilites.aio ==1)
410 mraa_setup_mmap_gpio(int pin)
415 if (plat->pins[pin].capabilites.fast_gpio != 1)
418 if (plat->pins[pin].mmap.gpio.mux_total > 0)
419 if (mraa_setup_mux_mapped(plat->pins[pin].mmap.gpio) != MRAA_SUCCESS)
422 if (mraa_setup_mux_mapped(plat->pins[pin].mmap.gpio) != MRAA_SUCCESS)
424 mraa_mmap_pin_t *ret = &(plat->pins[pin].mmap);
428 mraa_platform_t mraa_get_platform_type()
430 return platform_type;
439 if (plat->aio_count == 0)
442 return plat->adc_raw;
446 mraa_adc_supported_bits()
451 if (plat->aio_count == 0)
454 return plat->adc_supported;
458 mraa_setup_uart(int index)
461 return MRAA_ERROR_PLATFORM_NOT_INITIALISED;
463 if (plat->uart_dev_count == 0)
464 return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
466 if (plat->uart_dev_count <= index)
467 return MRAA_ERROR_NO_RESOURCES;
469 int pos = plat->uart_dev[index].rx;
471 if (plat->pins[pos].uart.mux_total > 0)
472 if (mraa_setup_mux_mapped(plat->pins[pos].uart) != MRAA_SUCCESS)
473 return MRAA_ERROR_INVALID_RESOURCE;
477 pos = plat->uart_dev[index].tx;
478 if (plat->pins[pos].uart.mux_total > 0)
479 if (mraa_setup_mux_mapped(plat->pins[pos].uart) != MRAA_SUCCESS)
480 return MRAA_ERROR_INVALID_RESOURCE;