/*
* Author: Thomas Ingleby <thomas.c.ingleby@intel.com>
* Author: Brendan Le Foll <brendan.le.foll@intel.com>
- * Copyright (c) 2014 Intel Corporation.
+ * Copyright (c) 2014, 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
return MRAA_SUCCESS;
}
-mraa_gpio_context
-mraa_gpio_init(int pin)
-{
- if (plat == NULL) {
- syslog(LOG_ERR, "gpio: platform not initialised");
- return NULL;
- }
- if (pin < 0 || pin > plat->phy_pin_count) {
- syslog(LOG_ERR, "gpio: pin %i beyond platform definition", pin);
- return NULL;
- }
- if (plat->pins[pin].capabilites.gpio != 1) {
- syslog(LOG_ERR, "gpio: pin %i not capable of gpio", pin);
- return NULL;
- }
- if (plat->pins[pin].gpio.mux_total > 0) {
- if (mraa_setup_mux_mapped(plat->pins[pin].gpio) != MRAA_SUCCESS) {
- syslog(LOG_ERR, "gpio: unable to setup muxes");
- return NULL;
- }
- }
-
- mraa_gpio_context r = mraa_gpio_init_raw(plat->pins[pin].gpio.pinmap);
- if (r == NULL) {
- syslog(LOG_CRIT, "gpio: mraa_gpio_init_raw(%d) returned error", pin);
- return NULL;
- }
- r->phy_pin = pin;
-
- if (advance_func->gpio_init_post != NULL) {
- mraa_result_t ret = advance_func->gpio_init_post(r);
- if (ret != MRAA_SUCCESS) {
- free(r);
- return NULL;
- }
- }
- return r;
-}
-
-mraa_gpio_context
-mraa_gpio_init_raw(int pin)
+static mraa_gpio_context
+mraa_gpio_init_internal(mraa_adv_func_t* func_table, int pin)
{
- if (advance_func->gpio_init_pre != NULL) {
- if (advance_func->gpio_init_pre(pin) != MRAA_SUCCESS)
- return NULL;
- }
-
if (pin < 0)
return NULL;
+ mraa_result_t status = MRAA_SUCCESS;
char bu[MAX_SIZE];
int length;
- mraa_gpio_context dev = (mraa_gpio_context) malloc(sizeof(struct _gpio));
+ mraa_gpio_context dev = (mraa_gpio_context) calloc(1, sizeof(struct _gpio));
if (dev == NULL) {
syslog(LOG_CRIT, "gpio: Failed to allocate memory for context");
return NULL;
}
- memset(dev, 0, sizeof(struct _gpio));
+ dev->advance_func = func_table;
+ dev->pin = pin;
+
+ if (IS_FUNC_DEFINED(dev, gpio_init_internal_replace)) {
+ status = dev->advance_func->gpio_init_internal_replace(pin);
+ if (status == MRAA_SUCCESS)
+ return dev;
+ else
+ goto init_internal_cleanup;
+ }
+
+ if (IS_FUNC_DEFINED(dev, gpio_init_pre)) {
+ status = dev->advance_func->gpio_init_pre(pin);
+ if (status != MRAA_SUCCESS)
+ goto init_internal_cleanup;
+ }
+
dev->value_fp = -1;
dev->isr_value_fp = -1;
- dev->pin = pin;
+#ifndef HAVE_PTHREAD_CANCEL
+ dev->isr_control_pipe[0] = dev->isr_control_pipe[1] = -1;
+#endif
+ dev->isr_thread_terminating = 0;
dev->phy_pin = -1;
// then check to make sure the pin is exported.
int export = open(SYSFS_CLASS_GPIO "/export", O_WRONLY);
if (export == -1) {
syslog(LOG_ERR, "gpio: Failed to open export for writing");
- free(dev);
- return NULL;
+ status = MRAA_ERROR_NO_RESOURCES;
+ goto init_internal_cleanup;
}
length = snprintf(bu, sizeof(bu), "%d", dev->pin);
if (write(export, bu, length * sizeof(char)) == -1) {
syslog(LOG_ERR, "gpio: Failed to write %d to export", dev->pin);
close(export);
- free(dev);
- return NULL;
+ status = MRAA_ERROR_NO_RESOURCES;
+ goto init_internal_cleanup;
}
dev->owner = 1;
close(export);
}
+init_internal_cleanup:
+ if (status != MRAA_SUCCESS) {
+ if (dev != NULL)
+ free(dev);
+ return NULL;
+ }
return dev;
}
+mraa_gpio_context
+mraa_gpio_init(int pin)
+{
+ mraa_board_t* board = plat;
+ if (board == NULL) {
+ syslog(LOG_ERR, "gpio: platform not initialised");
+ return NULL;
+ }
+
+ if (mraa_is_sub_platform_id(pin)) {
+ syslog(LOG_NOTICE, "gpio: Using sub platform");
+ board = board->sub_platform;
+ if (board == NULL) {
+ syslog(LOG_ERR, "gpio: Sub platform Not Initialised");
+ return NULL;
+ }
+ pin = mraa_get_sub_platform_index(pin);
+ }
+
+ if (pin < 0 || pin > board->phy_pin_count) {
+ syslog(LOG_ERR, "gpio: pin %i beyond platform definition", pin);
+ return NULL;
+ }
+ if (board->pins[pin].capabilites.gpio != 1) {
+ syslog(LOG_ERR, "gpio: pin %i not capable of gpio", pin);
+ return NULL;
+ }
+ if (board->pins[pin].gpio.mux_total > 0) {
+ if (mraa_setup_mux_mapped(board->pins[pin].gpio) != MRAA_SUCCESS) {
+ syslog(LOG_ERR, "gpio: unable to setup muxes");
+ return NULL;
+ }
+ }
+
+ mraa_gpio_context r = mraa_gpio_init_internal(board->adv_func, board->pins[pin].gpio.pinmap);
+ if (r == NULL) {
+ syslog(LOG_CRIT, "gpio: mraa_gpio_init_raw(%d) returned error", pin);
+ return NULL;
+ }
+ r->phy_pin = pin;
+
+ if (IS_FUNC_DEFINED(r, gpio_init_post)) {
+ mraa_result_t ret = r->advance_func->gpio_init_post(r);
+ if (ret != MRAA_SUCCESS) {
+ free(r);
+ return NULL;
+ }
+ }
+ return r;
+}
+
+mraa_gpio_context
+mraa_gpio_init_raw(int pin)
+{
+ return mraa_gpio_init_internal(plat == NULL ? NULL : plat->adv_func , pin);
+}
+
static mraa_result_t
-mraa_gpio_wait_interrupt(int fd)
+mraa_gpio_wait_interrupt(int fd
+#ifndef HAVE_PTHREAD_CANCEL
+ , int control_fd
+#endif
+ )
{
unsigned char c;
- struct pollfd pfd;
+#ifdef HAVE_PTHREAD_CANCEL
+ struct pollfd pfd[1];
+#else
+ struct pollfd pfd[2];
+
+ if (control_fd < 0) {
+ return MRAA_ERROR_INVALID_RESOURCE;
+ }
+#endif
if (fd < 0) {
return MRAA_ERROR_INVALID_RESOURCE;
}
// setup poll on POLLPRI
- pfd.fd = fd;
- pfd.events = POLLPRI;
+ pfd[0].fd = fd;
+ pfd[0].events = POLLPRI;
// do an initial read to clear interrupt
lseek(fd, 0, SEEK_SET);
read(fd, &c, 1);
+#ifdef HAVE_PTHREAD_CANCEL
// Wait for it forever or until pthread_cancel
// poll is a cancelable point like sleep()
- int x = poll(&pfd, 1, -1);
+ int x = poll(pfd, 1, -1);
+#else
+ // setup poll on the controling fd
+ pfd[1].fd = control_fd;
+ pfd[1].events = 0; // POLLHUP, POLLERR, and POLLNVAL
+
+ // Wait for it forever or until control fd is closed
+ int x = poll(pfd, 2, -1);
+#endif
// do a final read to clear interrupt
read(fd, &c, 1);
mraa_gpio_interrupt_handler(void* arg)
{
mraa_gpio_context dev = (mraa_gpio_context) arg;
+ if (IS_FUNC_DEFINED(dev, gpio_interrupt_handler_replace))
+ return dev->advance_func->gpio_interrupt_handler_replace(dev);
+
mraa_result_t ret;
// open gpio value with open(3)
syslog(LOG_ERR, "gpio: failed to open gpio%d/value", dev->pin);
return NULL;
}
+
+#ifndef HAVE_PTHREAD_CANCEL
+ if (pipe(dev->isr_control_pipe)) {
+ syslog(LOG_ERR, "gpio: failed to create isr control pipe");
+ close(fp);
+ return NULL;
+ }
+#endif
+
dev->isr_value_fp = fp;
for (;;) {
- ret = mraa_gpio_wait_interrupt(dev->isr_value_fp);
- if (ret == MRAA_SUCCESS) {
+ ret = mraa_gpio_wait_interrupt(dev->isr_value_fp
+#ifndef HAVE_PTHREAD_CANCEL
+ , dev->isr_control_pipe[0]
+#endif
+ );
+ if (ret == MRAA_SUCCESS && !dev->isr_thread_terminating) {
+#ifdef HAVE_PTHREAD_CANCEL
pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
+#endif
#ifdef SWIGPYTHON
// In order to call a python object (all python functions are objects) we
// need to aquire the GIL (Global Interpreter Lock). This may not always be
- // nessecary but especially if doing IO (like print()) python will segfault
+ // necessary but especially if doing IO (like print()) python will segfault
// if we do not hold a lock on the GIL
PyGILState_STATE gilstate = PyGILState_Ensure();
PyObject* arglist;
PyObject* ret;
- arglist = Py_BuildValue("(i)", dev->isr_args);
+ arglist = Py_BuildValue("(O)", dev->isr_args);
if (arglist == NULL) {
syslog(LOG_ERR, "gpio: Py_BuildValue NULL");
} else {
ret = PyEval_CallObject((PyObject*) dev->isr, arglist);
if (ret == NULL) {
syslog(LOG_ERR, "gpio: PyEval_CallObject failed");
+ PyObject *pvalue, *ptype, *ptraceback;
+ PyObject *pvalue_pystr, *ptype_pystr, *ptraceback_pystr;
+ char *pvalue_cstr, *ptype_cstr, *ptraceback_cstr;
+ PyErr_Fetch(&pvalue, &ptype, &ptraceback);
+ pvalue_pystr = PyObject_Str(pvalue);
+ ptype_pystr = PyObject_Str(ptype);
+ ptraceback_pystr = PyObject_Str(ptraceback);
+// Python2
+#if PY_VERSION_HEX < 0x03000000
+ pvalue_cstr = PyString_AsString(pvalue_pystr);
+ ptype_cstr = PyString_AsString(ptype_pystr);
+ ptraceback_cstr = PyString_AsString(ptraceback_pystr);
+// Python 3 and up
+#elif PY_VERSION_HEX >= 0x03000000
+ // In Python 3 we need one extra conversion
+ PyObject *pvalue_ustr, *ptype_ustr, *ptraceback_ustr;
+ pvalue_ustr = PyUnicode_AsUTF8String(pvalue_pystr);
+ pvalue_cstr = PyBytes_AsString(pvalue_ustr);
+ ptype_ustr = PyUnicode_AsUTF8String(ptype_pystr);
+ ptype_cstr = PyBytes_AsString(ptype_ustr);
+ ptraceback_ustr = PyUnicode_AsUTF8String(ptraceback_pystr);
+ ptraceback_cstr = PyBytes_AsString(ptraceback_ustr);
+#endif // PY_VERSION_HEX
+ syslog(LOG_ERR, "gpio: the error was %s:%s:%s",
+ pvalue_cstr,
+ ptype_cstr,
+ ptraceback_cstr
+ );
+ Py_XDECREF(pvalue);
+ Py_XDECREF(ptype);
+ Py_XDECREF(ptraceback);
+ Py_XDECREF(pvalue_pystr);
+ Py_XDECREF(ptype_pystr);
+ Py_XDECREF(ptraceback_pystr);
+// Python 3 and up
+#if PY_VERSION_HEX >= 0x03000000
+ Py_XDECREF(pvalue_ustr);
+ Py_XDECREF(ptype_ustr);
+ Py_XDECREF(ptraceback_ustr);
+#endif // PY_VERSION_HEX
} else {
Py_DECREF(ret);
}
#else
dev->isr(dev->isr_args);
#endif
+#ifdef HAVE_PTHREAD_CANCEL
pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
+#endif
} else {
- // we must have got an error code so die nicely
+ // we must have got an error code or exit request so die nicely
+#ifdef HAVE_PTHREAD_CANCEL
pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
+#endif
close(dev->isr_value_fp);
dev->isr_value_fp = -1;
return NULL;
mraa_result_t
mraa_gpio_edge_mode(mraa_gpio_context dev, mraa_gpio_edge_t mode)
{
+ if (IS_FUNC_DEFINED(dev, gpio_edge_mode_replace))
+ return dev->advance_func->gpio_edge_mode_replace(dev, mode);
+
if (dev->value_fp != -1) {
close(dev->value_fp);
dev->value_fp = -1;
if (dev->thread_id == 0 && dev->isr_value_fp == -1) {
return ret;
}
+ // mark the beginning of the thread termination process for interested parties
+ dev->isr_thread_terminating = 1;
// stop isr being useful
ret = mraa_gpio_edge_mode(dev, MRAA_GPIO_EDGE_NONE);
if ((dev->thread_id != 0)) {
+#ifdef HAVE_PTHREAD_CANCEL
if ((pthread_cancel(dev->thread_id) != 0) || (pthread_join(dev->thread_id, NULL) != 0)) {
ret = MRAA_ERROR_INVALID_HANDLE;
}
+#else
+ close(dev->isr_control_pipe[1]);
+ if (pthread_join(dev->thread_id, NULL) != 0)
+ ret = MRAA_ERROR_INVALID_HANDLE;
+
+ close(dev->isr_control_pipe[0]);
+ dev->isr_control_pipe[0] = dev->isr_control_pipe[1] = -1;
+#endif
}
// close the filehandle in case it's still open
}
}
-#ifdef SWIGPYTHON
- // Dereference our Python call back function
- Py_DECREF(dev->isr);
-#endif
-
// assume our thread will exit either way we just lost it's handle
dev->thread_id = 0;
dev->isr_value_fp = -1;
+ dev->isr_thread_terminating = 0;
return ret;
}
mraa_result_t
mraa_gpio_mode(mraa_gpio_context dev, mraa_gpio_mode_t mode)
{
- if (advance_func->gpio_mode_replace != NULL)
- return advance_func->gpio_mode_replace(dev, mode);
+ if (IS_FUNC_DEFINED(dev, gpio_mode_replace))
+ return dev->advance_func->gpio_mode_replace(dev, mode);
- if (advance_func->gpio_mode_pre != NULL) {
- mraa_result_t pre_ret = (advance_func->gpio_mode_pre(dev, mode));
+ if (IS_FUNC_DEFINED(dev, gpio_mode_pre)) {
+ mraa_result_t pre_ret = (dev->advance_func->gpio_mode_pre(dev, mode));
if (pre_ret != MRAA_SUCCESS)
return pre_ret;
}
}
close(drive);
- if (advance_func->gpio_mode_post != NULL)
- return advance_func->gpio_mode_post(dev, mode);
+ if (IS_FUNC_DEFINED(dev, gpio_mode_post))
+ return dev->advance_func->gpio_mode_post(dev, mode);
return MRAA_SUCCESS;
}
mraa_result_t
mraa_gpio_dir(mraa_gpio_context dev, mraa_gpio_dir_t dir)
{
- if (advance_func->gpio_dir_replace != NULL) {
- return advance_func->gpio_dir_replace(dev, dir);
+ if (IS_FUNC_DEFINED(dev, gpio_dir_replace)) {
+ return dev->advance_func->gpio_dir_replace(dev, dir);
}
- if (advance_func->gpio_dir_pre != NULL) {
- mraa_result_t pre_ret = (advance_func->gpio_dir_pre(dev, dir));
+
+ if (IS_FUNC_DEFINED(dev, gpio_dir_pre)) {
+ mraa_result_t pre_ret = (dev->advance_func->gpio_dir_pre(dev, dir));
if (pre_ret != MRAA_SUCCESS) {
return pre_ret;
}
}
close(direction);
- if (advance_func->gpio_dir_post != NULL)
- return advance_func->gpio_dir_post(dev, dir);
+ if (IS_FUNC_DEFINED(dev, gpio_dir_post))
+ return dev->advance_func->gpio_dir_post(dev, dir);
return MRAA_SUCCESS;
}
if (dev == NULL)
return -1;
+ if (IS_FUNC_DEFINED(dev, gpio_read_replace))
+ return dev->advance_func->gpio_read_replace(dev);
+
if (dev->mmap_read != NULL)
return dev->mmap_read(dev);
if (dev->mmap_write != NULL)
return dev->mmap_write(dev, value);
- if (advance_func->gpio_write_pre != NULL) {
- mraa_result_t pre_ret = (advance_func->gpio_write_pre(dev, value));
+ if (IS_FUNC_DEFINED(dev, gpio_write_pre)) {
+ mraa_result_t pre_ret = (dev->advance_func->gpio_write_pre(dev, value));
if (pre_ret != MRAA_SUCCESS)
return pre_ret;
}
+ if (IS_FUNC_DEFINED(dev, gpio_write_replace)) {
+ return dev->advance_func->gpio_write_replace(dev, value);
+ }
+
if (dev->value_fp == -1) {
if (mraa_gpio_get_valfp(dev) != MRAA_SUCCESS) {
return MRAA_ERROR_INVALID_RESOURCE;
return MRAA_ERROR_INVALID_HANDLE;
}
- if (advance_func->gpio_write_post != NULL)
- return advance_func->gpio_write_post(dev, value);
+ if (IS_FUNC_DEFINED(dev, gpio_write_post))
+ return dev->advance_func->gpio_write_post(dev, value);
return MRAA_SUCCESS;
}
{
mraa_result_t result = MRAA_SUCCESS;
- if (advance_func->gpio_close_pre != NULL) {
- result = advance_func->gpio_close_pre(dev);
+ if (IS_FUNC_DEFINED(dev, gpio_close_pre)) {
+ result = dev->advance_func->gpio_close_pre(dev);
}
if (dev->value_fp != -1) {
mraa_result_t
mraa_gpio_use_mmaped(mraa_gpio_context dev, mraa_boolean_t mmap_en)
{
- if (advance_func->gpio_mmap_setup != NULL) {
- return advance_func->gpio_mmap_setup(dev, mmap_en);
+ if (IS_FUNC_DEFINED(dev, gpio_mmap_setup)) {
+ return dev->advance_func->gpio_mmap_setup(dev, mmap_en);
}
syslog(LOG_ERR, "gpio: mmap not implemented on this platform");
projects / contrib / mraa.git / blobdiff