#include "dirent.h"
#include <string.h>
#include <poll.h>
+#include <sys/ioctl.h>
+#include <sys/stat.h>
#define MAX_SIZE 128
#define IIO_DEVICE "iio:device"
#define IIO_SCAN_ELEM "scan_elements"
-#define IIO_SLASH_DEV "/dev/"IIO_DEVICE
-#define IIO_SYSFS_DEVICE "/sys/bus/iio/devices/"IIO_DEVICE
+#define IIO_MOUNTING_MATRIX "mounting_matrix"
+#define IIO_SLASH_DEV "/dev/" IIO_DEVICE
+#define IIO_SYSFS_DEVICE "/sys/bus/iio/devices/" IIO_DEVICE
+#define IIO_EVENTS "events"
+#define IIO_CONFIGFS_TRIGGER "/sys/kernel/config/iio/triggers/"
mraa_iio_context
mraa_iio_init(int device)
{
- if (device > plat->iio_device_count) {
+ if (plat_iio->iio_device_count == 0 || device >= plat_iio->iio_device_count) {
return NULL;
}
- mraa_iio_get_channel_data(&plat->iio_devices[device]);
- return &plat->iio_devices[device];
+ mraa_iio_get_channel_data(&plat_iio->iio_devices[device]);
+ mraa_iio_get_event_data(&plat_iio->iio_devices[device]);
+
+ return &plat_iio->iio_devices[device];
}
int
mraa_result_t
mraa_iio_get_channel_data(mraa_iio_context dev)
{
- const struct dirent *ent;
+ const struct dirent* ent;
DIR* dir;
int chan_num = 0;
char buf[MAX_SIZE];
int padint = 0;
int curr_bytes = 0;
char shortbuf, signchar;
+
+ dev->datasize = 0;
+
memset(buf, 0, MAX_SIZE);
snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM, dev->num);
dir = opendir(buf);
if (dir != NULL) {
while ((ent = readdir(dir)) != NULL) {
if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), "_en") == 0) {
- chan_num++;
+ chan_num++;
}
}
}
dev->chan_num = chan_num;
+ // no need proceed if no channel found
+ if (chan_num == 0) {
+ closedir(dir);
+ return MRAA_SUCCESS;
+ }
mraa_iio_channel* chan;
dev->channels = calloc(chan_num, sizeof(mraa_iio_channel));
seekdir(dir, 0);
if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_index"), "_index") == 0) {
snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM "/%s", dev->num, ent->d_name);
fd = open(buf, O_RDONLY);
- if (fd > 0) {
+ if (fd != -1) {
if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
+ close(fd);
break;
}
chan_num = ((int) strtol(readbuf, NULL, 10));
chan->index = chan_num;
close(fd);
- buf[(strlen(buf)-5)] = '\0';
+ buf[(strlen(buf) - 5)] = '\0';
char* str = strdup(buf);
+ // grab the type of the buffer
snprintf(buf, MAX_SIZE, "%stype", str);
fd = open(buf, O_RDONLY);
- if (fd > 0) {
+ if (fd != -1) {
read(fd, readbuf, 31 * sizeof(char));
- ret = sscanf(readbuf, "%ce:%c%u/%u>>%u", &shortbuf,
- &signchar, &chan->bits_used,
- &padint, &chan->shift);
+ ret = sscanf(readbuf, "%ce:%c%u/%u>>%u", &shortbuf, &signchar, &chan->bits_used,
+ &padint, &chan->shift);
chan->bytes = padint / 8;
if (curr_bytes % chan->bytes == 0) {
chan->location = curr_bytes;
} else {
- chan->location = curr_bytes - curr_bytes%chan->bytes + chan->bytes;
+ chan->location = curr_bytes - curr_bytes % chan->bytes + chan->bytes;
}
curr_bytes = chan->location + chan->bytes;
+ // probably should be 5?
if (ret < 0) {
- // probably should be 5?
+ // cleanup
+ free(str);
+ close(fd);
return MRAA_IO_SETUP_FAILURE;
}
chan->signedd = (signchar == 's');
} else {
chan->mask = (1 << chan->bits_used) - 1;
}
-
close(fd);
}
- // todo - read scale & _en attributes
+ // grab the enable flag of channel
+ snprintf(buf, MAX_SIZE, "%sen", str);
+ fd = open(buf, O_RDONLY);
+ if (fd != -1) {
+ if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
+ syslog(LOG_ERR, "iio: Failed to read a sensible value from sysfs");
+ free(str);
+ close(fd);
+ return -1;
+ }
+ chan->enabled = (int) strtol(readbuf, NULL, 10);
+ // only calculate enable buffer size for trigger buffer extract data
+ if (chan->enabled) {
+ dev->datasize += chan->bytes;
+ }
+ close(fd);
+ }
+ // clean up str var
+ free(str);
}
}
}
- dev->datasize = curr_bytes;
+ closedir(dir);
return MRAA_SUCCESS;
}
return dev->name;
}
+int
+mraa_iio_get_device_num_by_name(const char* name)
+{
+ int i;
+
+ if (plat_iio == NULL) {
+ syslog(LOG_ERR, "iio: platform IIO structure is not initialized");
+ return -1;
+ }
+
+ if (name == NULL) {
+ syslog(LOG_ERR, "iio: device name is NULL, unable to find its number");
+ return -1;
+ }
+
+ for (i = 0; i < plat_iio->iio_device_count; i++) {
+ struct _iio* device;
+ device = &plat_iio->iio_devices[i];
+ // we want to check for exact match
+ if (strncmp(device->name, name, strlen(device->name) + 1) == 0) {
+ return device->num;
+ }
+ }
+
+ return -1;
+}
+
mraa_result_t
-mraa_iio_read(mraa_iio_context dev, const char* attr_chan, float* data)
+mraa_iio_read_float(mraa_iio_context dev, const char* attr_name, float* data)
{
- char buf[64];
- snprintf(buf, 64, IIO_SYSFS_DEVICE "%d/%s", dev->num, attr_chan);
+ char buf[MAX_SIZE];
+ mraa_result_t result = mraa_iio_read_string(dev, attr_name, buf, MAX_SIZE-1);
+ if (result != MRAA_SUCCESS)
+ return result;
+ int status = sscanf(buf, "%f", data);
+ result = status == 1 ? MRAA_SUCCESS : MRAA_ERROR_UNSPECIFIED;
+ return result;
+}
+
+
+mraa_result_t
+mraa_iio_read_int(mraa_iio_context dev, const char* attr_name, int* data)
+{
+ char buf[MAX_SIZE];
+ mraa_result_t result = mraa_iio_read_string(dev, attr_name, buf, MAX_SIZE-1);
+ if (result != MRAA_SUCCESS)
+ return result;
+ int status = sscanf(buf, "%d", data);
+ result = status == 1 ? MRAA_SUCCESS : MRAA_ERROR_UNSPECIFIED;
+ return result;
+}
+
+mraa_result_t
+mraa_iio_read_string(mraa_iio_context dev, const char* attr_name, char* data, int max_len)
+{
+ char buf[MAX_SIZE];
+ mraa_result_t result = MRAA_ERROR_UNSPECIFIED;
+ snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, attr_name);
int fd = open(buf, O_RDONLY);
if (fd != -1) {
- int len = read(fd, &buf, 64);
- *data = strtol(buf, NULL, 10);
- return MRAA_SUCCESS;
+ ssize_t len = read(fd, data, max_len);
+ if (len > 0)
+ result = MRAA_SUCCESS;
+ close(fd);
}
- return MRAA_ERROR_UNSPECIFIED;
+ return result;
+
}
mraa_result_t
-mraa_iio_write(mraa_iio_context dev, const char* attr_chan)
+mraa_iio_write_float(mraa_iio_context dev, const char* attr_name, const float data)
{
- return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED;
+ char buf[MAX_SIZE];
+ snprintf(buf, MAX_SIZE, "%f", data);
+ return mraa_iio_write_string(dev, attr_name, buf);
+}
+
+mraa_result_t
+mraa_iio_write_int(mraa_iio_context dev, const char* attr_name, const int data)
+{
+ char buf[MAX_SIZE];
+ snprintf(buf, MAX_SIZE, "%d", data);
+ return mraa_iio_write_string(dev, attr_name, buf);
+}
+
+mraa_result_t
+mraa_iio_write_string(mraa_iio_context dev, const char* attr_name, const char* data)
+{
+ char buf[MAX_SIZE];
+ mraa_result_t result = MRAA_ERROR_UNSPECIFIED;
+ snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, attr_name);
+ int fd = open(buf, O_WRONLY);
+ if (fd != -1) {
+ size_t len = strlen(data);
+ ssize_t status = write(fd, data, len);
+ if (status == len)
+ result = MRAA_SUCCESS;
+ close(fd);
+ }
+ return result;
}
static mraa_result_t
-mraa_iio_wait_event(int fd, char* data)
+mraa_iio_wait_event(int fd, char* data, int* read_size)
{
struct pollfd pfd;
int x = poll(&pfd, 1, -1);
memset(data, 0, 100);
- read(fd, data, 100);
+ *read_size = read(fd, data, 100);
return MRAA_SUCCESS;
}
mraa_iio_trigger_handler(void* arg)
{
mraa_iio_context dev = (mraa_iio_context) arg;
- char data[MAX_SIZE*100];
+ int i;
+ char data[MAX_SIZE * 100];
+ int read_size;
for (;;) {
- if (mraa_iio_wait_event(dev->fp, &data[0]) == MRAA_SUCCESS) {
+ if (mraa_iio_wait_event(dev->fp, &data[0], &read_size) == MRAA_SUCCESS) {
pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
- dev->isr(&data);
+ // only can process if readsize >= enabled channel's datasize
+ for (i = 0; i < (read_size / dev->datasize); i++) {
+ dev->isr((void*)&data);
+ }
pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
} else {
// we must have got an error code so die nicely
return MRAA_SUCCESS;
}
-#if 0
-// does stop make any sense on iio devices?
mraa_result_t
-mraa_iio_stop(mraa_iio_context dev)
+mraa_iio_get_event_data(mraa_iio_context dev)
+{
+ const struct dirent* ent;
+ DIR* dir;
+ int event_num = 0;
+ char buf[MAX_SIZE];
+ char readbuf[32];
+ int fd;
+ int ret = 0;
+ int padint = 0;
+ int curr_bytes = 0;
+ char shortbuf, signchar;
+ memset(buf, 0, MAX_SIZE);
+ memset(readbuf, 0, 32);
+ snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_EVENTS, dev->num);
+ dir = opendir(buf);
+ if (dir != NULL) {
+ while ((ent = readdir(dir)) != NULL) {
+ if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), "_en") == 0) {
+ event_num++;
+ }
+ }
+ dev->event_num = event_num;
+ // no need proceed if no event found
+ if (event_num == 0) {
+ closedir(dir);
+ return MRAA_SUCCESS;
+ }
+ mraa_iio_event* event;
+ dev->events = calloc(event_num, sizeof(mraa_iio_event));
+ if (dev->events == NULL) {
+ closedir(dir);
+ return MRAA_ERROR_UNSPECIFIED;
+ }
+ rewinddir(dir);
+ event_num = 0;
+ while ((ent = readdir(dir)) != NULL) {
+ if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), "_en") == 0) {
+ event = &dev->events[event_num];
+ event->name = strdup(ent->d_name);
+ snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_EVENTS "/%s", dev->num, ent->d_name);
+ fd = open(buf, O_RDONLY);
+ if (fd != -1) {
+ if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
+ close(fd);
+ break;
+ }
+ close(fd);
+ }
+ event->enabled = ((int) strtol(readbuf, NULL, 10));
+ // Todo, read other event info.
+ event_num++;
+ }
+ }
+ closedir(dir);
+ }
+ return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_iio_event_poll_nonblock(int fd, struct iio_event_data* data)
{
+ struct pollfd pfd;
+
+ if (fd < 0) {
+ return MRAA_ERROR_INVALID_RESOURCE;
+ }
+
+ pfd.fd = fd;
+ pfd.events = POLLIN;
+
+ // Wait for it forever or until pthread_cancel
+ // poll is a cancelable point like sleep()
+ int x = poll(&pfd, 1, -1);
+
+ read(fd, data, sizeof(struct iio_event_data));
+
return MRAA_SUCCESS;
}
-#endif
+mraa_result_t
+mraa_iio_event_poll(mraa_iio_context dev, struct iio_event_data* data)
+{
+ char bu[MAX_SIZE];
+ int ret;
+ int event_fd;
+ int fd;
+
+ snprintf(bu, MAX_SIZE, IIO_SLASH_DEV "%d", dev->num);
+ fd = open(bu, 0);
+ if (fd != -1) {
+ ret = ioctl(fd, IIO_GET_EVENT_FD_IOCTL, &event_fd);
+ close(fd);
+ } else {
+ return MRAA_ERROR_UNSPECIFIED;
+ }
+
+ if (ret == -1 || event_fd == -1)
+ return MRAA_ERROR_UNSPECIFIED;
+
+ ret = read(event_fd, data, sizeof(struct iio_event_data));
+
+ close(event_fd);
+ return MRAA_SUCCESS;
+}
+
+static void*
+mraa_iio_event_handler(void* arg)
+{
+ struct iio_event_data data;
+ mraa_iio_context dev = (mraa_iio_context) arg;
+
+ for (;;) {
+ if (mraa_iio_event_poll_nonblock(dev->fp_event, &data) == MRAA_SUCCESS) {
+ pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
+ dev->isr_event(&data, dev->isr_args);
+ pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
+ } else {
+ // we must have got an error code so die nicely
+ pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
+ return NULL;
+ }
+ }
+}
+
+mraa_result_t
+mraa_iio_event_setup_callback(mraa_iio_context dev, void (*fptr)(struct iio_event_data* data, void* args), void* args)
+{
+ int ret;
+ char bu[MAX_SIZE];
+ if (dev->thread_id != 0) {
+ return MRAA_ERROR_NO_RESOURCES;
+ }
+
+ sprintf(bu, IIO_SLASH_DEV "%d", dev->num);
+ dev->fp = open(bu, O_RDONLY | O_NONBLOCK);
+ if (dev->fp == -1) {
+ return MRAA_ERROR_INVALID_RESOURCE;
+ }
+ ret = ioctl(dev->fp, IIO_GET_EVENT_FD_IOCTL, &dev->fp_event);
+ close(dev->fp);
+
+ if (ret == -1 || dev->fp_event == -1) {
+ return MRAA_ERROR_UNSPECIFIED;
+ }
+
+ dev->isr_event = fptr;
+ dev->isr_args = args;
+ pthread_create(&dev->thread_id, NULL, mraa_iio_event_handler, (void*) dev);
+
+ return MRAA_SUCCESS;
+}
+
+mraa_result_t
+mraa_iio_event_extract_event(struct iio_event_data* event,
+ int* chan_type,
+ int* modifier,
+ int* type,
+ int* direction,
+ int* channel,
+ int* channel2,
+ int* different)
+{
+ *chan_type = IIO_EVENT_CODE_EXTRACT_CHAN_TYPE(event->id);
+ *modifier = IIO_EVENT_CODE_EXTRACT_MODIFIER(event->id);
+ *type = IIO_EVENT_CODE_EXTRACT_TYPE(event->id);
+ *direction = IIO_EVENT_CODE_EXTRACT_DIR(event->id);
+ *channel = IIO_EVENT_CODE_EXTRACT_CHAN(event->id);
+ *channel2 = IIO_EVENT_CODE_EXTRACT_CHAN2(event->id);
+ *different = IIO_EVENT_CODE_EXTRACT_DIFF(event->id);
+ return MRAA_SUCCESS;
+}
+
+mraa_result_t
+mraa_iio_get_mounting_matrix(mraa_iio_context dev, float mm[9])
+{
+ char buf[MAX_SIZE];
+ FILE* fp;
+ int ret;
+
+ memset(buf, 0, MAX_SIZE);
+ snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_MOUNTING_MATRIX, dev->num);
+ fp = fopen(buf, "r");
+ if (fp != NULL) {
+ ret = fscanf(fp, "%f %f %f\n%f %f %f\n%f %f %f\n", &mm[0], &mm[1], &mm[2], &mm[3], &mm[4], &mm[5],
+ &mm[6], &mm[7], &mm[8]);
+ fclose(fp);
+ if (ret != 9) {
+ return MRAA_ERROR_UNSPECIFIED;
+ }
+ return MRAA_SUCCESS;
+ }
+ return MRAA_ERROR_UNSPECIFIED;
+}
+
+mraa_result_t
+mraa_iio_create_trigger(mraa_iio_context dev, const char* trigger)
+{
+ struct stat configfs_status;
+ struct stat trigger_status;
+ char buf[MAX_SIZE];
+ int ret;
+
+ if (stat(IIO_CONFIGFS_TRIGGER, &configfs_status) == 0) {
+ memset(buf, 0, MAX_SIZE);
+ snprintf(buf, MAX_SIZE, IIO_CONFIGFS_TRIGGER "%s", trigger);
+ // we actually don't care if this doesn't succeed, as it just means
+ // it's already been initialised
+ mkdir(buf, configfs_status.st_mode);
+ }
+
+ return MRAA_ERROR_UNSPECIFIED;
+}
+
+mraa_result_t
+mraa_iio_update_channels(mraa_iio_context dev)
+{
+ const struct dirent* ent;
+ DIR* dir;
+ int chan_num = 0;
+ char buf[MAX_SIZE];
+ char readbuf[32];
+ int fd;
+ mraa_iio_channel* chan;
+
+ dev->datasize = 0;
+ memset(buf, 0, MAX_SIZE);
+ snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM, dev->num);
+ dir = opendir(buf);
+ if (dir != NULL) {
+ while ((ent = readdir(dir)) != NULL) {
+ if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_index"), "_index") == 0) {
+ snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM "/%s", dev->num, ent->d_name);
+ fd = open(buf, O_RDONLY);
+ if (fd != -1) {
+ if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
+ close(fd);
+ break;
+ }
+ chan_num = ((int) strtol(readbuf, NULL, 10));
+ if (chan_num >= 0 && chan_num < dev->chan_num) {
+ chan = &dev->channels[chan_num];
+ chan->index = chan_num;
+ close(fd);
+
+ buf[(strlen(buf) - 5)] = '\0';
+ char* str = strdup(buf);
+ // grab the enable flag of channel
+ snprintf(buf, MAX_SIZE, "%sen", str);
+ fd = open(buf, O_RDONLY);
+ if (fd != -1) {
+ if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
+ syslog(LOG_ERR, "iio: Failed to read a sensible value from sysfs");
+ free(str);
+ close(fd);
+ closedir(dir);
+ return -1;
+ }
+ chan->enabled = (int) strtol(readbuf, NULL, 10);
+ // only calculate enable buffer size for trigger buffer extract data
+ if (chan->enabled) {
+ dev->datasize += chan->bytes;
+ }
+ close(fd);
+ }
+ // clean up str var
+ free(str);
+ }
+ else {
+ close(fd);
+ }
+ }
+ }
+ }
+ closedir(dir);
+ return MRAA_SUCCESS;
+ }
+
+ return MRAA_ERROR_INVALID_HANDLE;
+}
+
+mraa_result_t
+mraa_iio_close(mraa_iio_context dev)
+{
+ free(dev->channels);
+ return MRAA_SUCCESS;
+}
projects / contrib / mraa.git / blobdiff