cmake_minimum_required (VERSION 2.8)
project (maa)
+FIND_PACKAGE (Threads)
+
set (CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Wall")
set (CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Wall")
#endif
#include <stdio.h>
+#include <pthread.h>
#include "maa.h"
/**
* A strucutre representing a gpio pin.
*/
+
typedef struct {
/*@{*/
int pin; /**< the pin number, as known to the os. */
FILE *value_fp; /**< the file pointer to the value of the gpio */
+ void (* isr)(); /**< the interupt service request */
+ pthread_t thread_id; /**< the isr handler thread id */
+ int isr_value_fp; /**< the isr file pointer on the value */
/*@}*/
} maa_gpio_context;
MAA_GPIO_IN = 1 /**< Input. */
} gpio_dir_t;
+typedef enum {
+ MAA_GPIO_EDGE_NONE = 0, /**< No interrupt on GPIO */
+ MAA_GPIO_EDGE_BOTH = 1, /**< Interupt on rising & falling */
+ MAA_GPIO_EDGE_RISING = 2, /**< Interupt on rising only */
+ MAA_GPIO_EDGE_FALLING = 3 /**< Interupt on falling only */
+} gpio_edge_t;
+
/** Initialise gpio_context, based on board number
*
* @param pin pin number read from the board, i.e IO3 is 3.
*/
maa_gpio_context* maa_gpio_init_raw(int gpiopin);
+/** Set the edge mode on the gpio
+ *
+ * @param dev The GPIO context
+ * @param mode The edge mode to set the gpio into
+ *
+ * @return maa result type.
+ */
+maa_result_t maa_gpio_edge_mode(maa_gpio_context *dev, gpio_edge_t mode);
+
+/** Set an interupt on pin
+ *
+ * @param dev The GPIO context
+ * @param mode The edge mode to set the gpio into
+ * @param fptr Function pointer to function to be called when interupt is
+ * triggered
+ *
+ * @return maa result type.
+ */
+maa_result_t
+maa_gpio_isr(maa_gpio_context *dev, gpio_edge_t edge, void (*fptr)(void));
+
+/** Stop the current interupt watcher on this GPIO, and set the GPIO edge mode
+ * to MAA_GPIO_EDGE_NONE.
+ *
+ * @param dev The GPIO context.
+ *
+ * @return maa result type.
+ */
+maa_result_t
+maa_gpio_isr_exit(maa_gpio_context *dev);
+
/** Set GPIO Output Mode,
*
* @param dev The GPIO context
add_executable (cycle-pwm3 cycle-pwm3.c)
add_executable (blink-io8 blink-io8.c)
add_executable (analogin_a0 analogin_a0.c)
+add_executable (isr_pin6 isr_pin6.c)
include_directories(${PROJECT_SOURCE_DIR}/api ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries (hellomaa maa)
-target_link_libraries (i2c_HMC5883L maa m)
-target_link_libraries (cycle-pwm3 maa)
-target_link_libraries (blink-io8 maa)
-target_link_libraries (analogin_a0 maa)
+target_link_libraries (hellomaa maa ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (i2c_HMC5883L maa m ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (cycle-pwm3 maa ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (blink-io8 maa ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (analogin_a0 maa ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (isr_pin6 maa ${CMAKE_THREAD_LIBS_INIT})
--- /dev/null
+/*
+ * Author: Brendan Le Foll
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+
+#include "gpio.h"
+
+static volatile int counter = 0;
+static volatile int oldcounter = 0;
+
+void interrupt (void) {
+ ++counter;
+}
+
+int main ()
+{
+ maa_init();
+ maa_gpio_context* x;
+
+ x = maa_gpio_init(6);
+ if (x == NULL) {
+ return 1;
+ }
+
+ maa_gpio_dir(x, MAA_GPIO_IN);
+
+ gpio_edge_t edge = MAA_GPIO_EDGE_BOTH;
+
+ maa_gpio_isr(x, edge, &interrupt);
+
+ for(;;) {
+ if(counter != oldcounter) {
+ fprintf(stdout, "timeout counter == %d\n", counter);
+ oldcounter = counter;
+ }
+ // got to relieve our poor CPU!
+ sleep(1);
+ }
+
+ maa_gpio_close(x);
+
+ return MAA_SUCCESS;
+}
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
+#include "gpio.h"
#include <stdlib.h>
#include <fcntl.h>
-#include <stdio.h>
+#include <string.h>
#include <unistd.h>
-
-#include "gpio.h"
+#include <poll.h>
#define SYSFS_CLASS_GPIO "/sys/class/gpio"
#define MAX_SIZE 64
+#define POLL_TIMEOUT
-static int
+static maa_result_t
maa_gpio_get_valfp(maa_gpio_context *dev)
{
char bu[MAX_SIZE];
sprintf(bu, SYSFS_CLASS_GPIO "/gpio%d/value", dev->pin);
if ((dev->value_fp = fopen(bu, "r+b")) == NULL) {
- return 1;
+ return MAA_ERROR_INVALID_RESOURCE;
}
- return 0;
+ return MAA_SUCCESS;
}
maa_gpio_context*
int length;
maa_gpio_context* dev = (maa_gpio_context*) malloc(sizeof(maa_gpio_context));
+ memset(dev, 0, sizeof(maa_gpio_context));
dev->pin = pin;
if ((export_f = fopen(SYSFS_CLASS_GPIO "/export", "w")) == NULL) {
return dev;
}
+static maa_result_t
+maa_gpio_wait_interrupt(int fd)
+{
+ unsigned char c;
+ struct pollfd pfd;
+
+ // setup poll on POLLPRI
+ pfd.fd = fd;
+ pfd.events = POLLPRI;
+
+ // do an initial read to clear interupt
+ read (fd, &c, 1);
+
+ if (fd <= 0) {
+ return MAA_ERROR_INVALID_RESOURCE;
+ }
+
+ // Wait for it forever
+ int x = poll (&pfd, 1, -1);
+
+ // do a final read to clear interupt
+ read (fd, &c, 1);
+
+ return MAA_SUCCESS;
+}
+
+static void*
+maa_gpio_interrupt_handler(void* arg)
+{
+ maa_gpio_context* dev = (maa_gpio_context*) arg;
+ maa_result_t ret;
+
+ // open gpio value with open(3)
+ char bu[MAX_SIZE];
+ sprintf(bu, SYSFS_CLASS_GPIO "/gpio%d/value", dev->pin);
+ dev->isr_value_fp = open(bu, O_RDONLY);
+
+ for (;;) {
+ ret = maa_gpio_wait_interrupt(dev->isr_value_fp);
+ if (ret == MAA_SUCCESS) {
+ dev->isr();
+ } else {
+ // we must have got an error code so die nicely
+ close(dev->isr_value_fp);
+ return;
+ }
+ }
+}
+
+maa_result_t
+maa_gpio_edge_mode(maa_gpio_context *dev, gpio_edge_t mode)
+{
+ if (dev->value_fp != NULL) {
+ dev->value_fp = NULL;
+ }
+
+ char filepath[MAX_SIZE];
+ snprintf(filepath, MAX_SIZE, SYSFS_CLASS_GPIO "/gpio%d/edge", dev->pin);
+
+ FILE *edge;
+ if ((edge= fopen(filepath, "w")) == NULL) {
+ fprintf(stderr, "Failed to open edge for writing!\n");
+ return MAA_ERROR_INVALID_RESOURCE;
+ }
+
+ char bu[MAX_SIZE];
+ int length;
+ switch(mode) {
+ case MAA_GPIO_EDGE_NONE:
+ length = snprintf(bu, sizeof(bu), "none");
+ break;
+ case MAA_GPIO_EDGE_BOTH:
+ length = snprintf(bu, sizeof(bu), "both");
+ break;
+ case MAA_GPIO_EDGE_RISING:
+ length = snprintf(bu, sizeof(bu), "rising");
+ break;
+ case MAA_GPIO_EDGE_FALLING:
+ length = snprintf(bu, sizeof(bu), "falling");
+ break;
+ default:
+ fclose(edge);
+ return MAA_ERROR_FEATURE_NOT_IMPLEMENTED;
+ }
+ fwrite(bu, sizeof(char), length, edge);
+
+ fclose(edge);
+ dev->value_fp = NULL;
+ return MAA_SUCCESS;
+}
+
+maa_result_t
+maa_gpio_isr(maa_gpio_context *dev, gpio_edge_t mode, void (*fptr)(void))
+{
+ maa_gpio_edge_mode(dev, mode);
+ dev->isr = fptr;
+ pthread_create (&dev->thread_id, NULL, maa_gpio_interrupt_handler, (void *) dev);
+
+ return MAA_SUCCESS;
+}
+
+maa_result_t
+maa_gpio_isr_exit(maa_gpio_context *dev)
+{
+ maa_result_t ret = MAA_SUCCESS;
+ maa_gpio_edge_mode(dev, MAA_GPIO_EDGE_NONE);
+
+ if (pthread_kill(dev->thread_id) != 0) {
+ ret = MAA_ERROR_INVALID_HANDLE;
+ }
+ if (close(dev->isr_value_fp) != 0) {
+ ret = MAA_ERROR_INVALID_PARAMETER;
+ }
+
+ return ret;
+}
+
maa_result_t
maa_gpio_mode(maa_gpio_context *dev, gpio_mode_t mode)
{
fwrite(bu, sizeof(char), length, unexport_f);
fclose(unexport_f);
+ maa_gpio_isr_exit(dev);
+
return MAA_SUCCESS;
}
projects / contrib / mraa.git / commitdiff