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_platform_t platform_type = MRAA_UNKNOWN_PLATFORM;
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));
105 // Use runtime x86 platform detection
106 platform_type = mraa_x86_platform();
108 // This is a platform extender so create null base platform if one doesn't already exist
110 plat = (mraa_board_t*) calloc(1, sizeof(mraa_board_t));
111 plat->platform_name = "Null platform";
113 int usb_platform_type = mraa_usb_platform_extender(plat);
114 if (platform_type == MRAA_UNKNOWN_PLATFORM)
115 platform_type = usb_platform_type;
121 // Use runtime ARM platform detection
122 platform_type = mraa_arm_platform();
126 printf("mraa: FATAL error, failed to initialise platform\n");
127 return MRAA_ERROR_PLATFORM_NOT_INITIALISED;
130 syslog(LOG_NOTICE, "libmraa initialised for platform '%s' of type %d", mraa_get_platform_name(), platform_type);
138 if (plat->pins != NULL) {
147 mraa_set_priority(const unsigned int priority)
149 struct sched_param sched_s;
151 memset(&sched_s, 0, sizeof(struct sched_param));
152 if (priority > sched_get_priority_max(SCHED_RR)) {
153 sched_s.sched_priority = sched_get_priority_max(SCHED_RR);
155 sched_s.sched_priority = priority;
158 return sched_setscheduler(0, SCHED_RR, &sched_s);
162 mraa_setup_mux_mapped(mraa_pin_t meta)
166 for (mi = 0; mi < meta.mux_total; mi++) {
167 mraa_gpio_context mux_i;
168 mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
170 return MRAA_ERROR_INVALID_HANDLE;
172 // this function will sometimes fail, however this is not critical as
173 // long as the write succeeds - Test case galileo gen2 pin2
174 mraa_gpio_dir(mux_i, MRAA_GPIO_OUT);
175 mraa_gpio_owner(mux_i, 0);
177 if (mraa_gpio_write(mux_i, meta.mux[mi].value) != MRAA_SUCCESS) {
178 mraa_gpio_close(mux_i);
179 return MRAA_ERROR_INVALID_RESOURCE;
181 mraa_gpio_close(mux_i);
188 mraa_result_print(mraa_result_t result)
192 fprintf(stdout, "MRAA: SUCCESS\n");
194 case MRAA_ERROR_FEATURE_NOT_IMPLEMENTED:
195 fprintf(stdout, "MRAA: Feature not implemented.\n");
197 case MRAA_ERROR_FEATURE_NOT_SUPPORTED:
198 fprintf(stdout, "MRAA: Feature not supported by Hardware.\n");
200 case MRAA_ERROR_INVALID_VERBOSITY_LEVEL:
201 fprintf(stdout, "MRAA: Invalid verbosity level.\n");
203 case MRAA_ERROR_INVALID_PARAMETER:
204 fprintf(stdout, "MRAA: Invalid parameter.\n");
206 case MRAA_ERROR_INVALID_HANDLE:
207 fprintf(stdout, "MRAA: Invalid Handle.\n");
209 case MRAA_ERROR_NO_RESOURCES:
210 fprintf(stdout, "MRAA: No resources.\n");
212 case MRAA_ERROR_INVALID_RESOURCE:
213 fprintf(stdout, "MRAA: Invalid resource.\n");
215 case MRAA_ERROR_INVALID_QUEUE_TYPE:
216 fprintf(stdout, "MRAA: Invalid Queue Type.\n");
218 case MRAA_ERROR_NO_DATA_AVAILABLE:
219 fprintf(stdout, "MRAA: No Data available.\n");
221 case MRAA_ERROR_INVALID_PLATFORM:
222 fprintf(stdout, "MRAA: Platform not recognised.\n");
224 case MRAA_ERROR_PLATFORM_NOT_INITIALISED:
225 fprintf(stdout, "MRAA: Platform not initialised.\n");
227 case MRAA_ERROR_PLATFORM_ALREADY_INITIALISED:
228 fprintf(stdout, "MRAA: Platform already initialised.\n");
230 case MRAA_ERROR_UNSPECIFIED:
231 fprintf(stdout, "MRAA: Unspecified Error.\n");
234 fprintf(stdout, "MRAA: Unrecognised error.\n");
240 mraa_pin_mode_test(int pin, mraa_pinmodes_t mode)
245 if (pin > (plat->phy_pin_count - 1) || pin < 0)
250 if (plat->pins[pin].capabilites.valid == 1)
254 if (plat->pins[pin].capabilites.gpio == 1)
258 if (plat->pins[pin].capabilites.pwm == 1)
261 case MRAA_PIN_FAST_GPIO:
262 if (plat->pins[pin].capabilites.fast_gpio == 1)
266 if (plat->pins[pin].capabilites.spi == 1)
270 if (plat->pins[pin].capabilites.i2c == 1)
274 if (plat->pins[pin].capabilites.aio == 1)
278 if (plat->pins[pin].capabilites.uart == 1)
282 syslog(LOG_NOTICE, "requested pinmode invalid");
289 mraa_get_platform_type()
291 return platform_type;
300 if (plat->aio_count == 0)
303 return plat->adc_raw;
307 mraa_adc_supported_bits()
312 if (plat->aio_count == 0)
315 return plat->adc_supported;
319 mraa_get_platform_name()
324 return (char*) plat->platform_name;
328 mraa_get_i2c_bus_count()
333 return plat->i2c_bus_count;
337 mraa_get_i2c_bus_id(unsigned i2c_bus)
343 if (i2c_bus >= plat->i2c_bus_count) {
347 return plat->i2c_bus[i2c_bus].bus_id;
356 return plat->phy_pin_count;
360 mraa_get_pin_name(int pin)
365 if (pin > (plat->phy_pin_count - 1) || pin < 0)
367 return (char*) plat->pins[pin].name;
371 mraa_get_default_i2c_bus()
376 return plat->def_i2c_bus;
382 mraa_file_exist(const char* filename)
385 results.gl_pathc = 0;
386 glob(filename, 0, NULL, &results);
387 int file_found = results.gl_pathc == 1;
393 mraa_file_contains(const char* filename, const char* content)
395 mraa_boolean_t found = 0;
396 if ((filename == NULL) || (content == NULL)) {
400 char* file = mraa_file_unglob(filename);
403 char* line = malloc(len);
408 FILE* fh = fopen(file, "r");
414 while ((getline(&line, &len, fh) != -1) && (found == 0)) {
415 if (strstr(line, content)) {
428 mraa_file_contains_both(const char* filename, const char* content, const char* content2)
430 mraa_boolean_t found = 0;
431 if ((filename == NULL) || (content == NULL)) {
435 char* file = mraa_file_unglob(filename);
438 char* line = malloc(len);
443 FILE* fh = fopen(file, "r");
449 while ((getline(&line, &len, fh) != -1) && (found == 0)) {
450 if (strstr(line, content) && strstr(line, content2)) {
463 mraa_file_unglob(const char* filename)
467 results.gl_pathc = 0;
468 glob(filename, 0, NULL, &results);
469 if (results.gl_pathc == 1)
470 res = strdup(results.gl_pathv[0]);
476 mraa_link_targets(const char* filename, const char* targetname)
481 while (nchars == 0) {
482 buffer = (char*) realloc(buffer, size);
485 nchars = readlink(filename, buffer, size);
490 buffer[nchars] = '\0';
492 if (nchars >= size) {
497 if (strstr(buffer, targetname)) {
506 static int num_i2c_devices = 0;
509 mraa_count_files(const char* path, const struct stat* sb, int flag, struct FTW* ftwb)
511 switch (sb->st_mode & S_IFMT) {
520 mraa_find_i2c_bus(const char* devname, int startfrom)
527 // because feeding mraa_find_i2c_bus result back into the function is
528 // useful treat -1 as 0
533 // find how many i2c buses we have if we haven't already
534 if (num_i2c_devices == 0) {
535 if (nftw("/sys/class/i2c-dev/", &mraa_count_files, 20, FTW_PHYS) == -1) {
540 // i2c devices are numbered numerically so 0 must exist otherwise there is
542 if (mraa_file_exist("/sys/class/i2c-dev/i2c-0")) {
543 for (i; i < num_i2c_devices; i++) {
545 snprintf(path, 64, "/sys/class/i2c-dev/i2c-%u/name", i);
546 fd = open(path, O_RDONLY);
550 size = lseek(fd, 0, SEEK_END);
552 syslog(LOG_WARNING, "mraa: failed to seek i2c filename file");
556 err = lseek(fd, 0, SEEK_SET);
558 syslog(LOG_WARNING, "mraa: failed to seek i2c filename file");
562 char* value = malloc(size);
564 syslog(LOG_ERR, "mraa: failed to allocate memory for i2c file");
568 ssize_t r = read(fd, value, size);
570 if (strcasestr(value, devname) != NULL) {
576 syslog(LOG_ERR, "mraa: sysfs i2cdev failed");
582 syslog(LOG_WARNING, "mraa: no i2c-dev detected, load i2c-dev");