2 * Author: Brendan Le Foll <brendan.le.foll@intel.com>
3 * Copyright (c) 2015 Intel Corporation.
5 * Permission is hereby granted, free of charge, to any person obtaining
6 * a copy of this software and associated documentation files (the
7 * "Software"), to deal in the Software without restriction, including
8 * without limitation the rights to use, copy, modify, merge, publish,
9 * distribute, sublicense, and/or sell copies of the Software, and to
10 * permit persons to whom the Software is furnished to do so, subject to
11 * the following conditions:
13 * The above copyright notice and this permission notice shall be
14 * included in all copies or substantial portions of the Software.
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
26 #include "mraa_internal.h"
30 #include <sys/ioctl.h>
34 #define IIO_DEVICE "iio:device"
35 #define IIO_SCAN_ELEM "scan_elements"
36 #define IIO_MOUNTING_MATRIX "mounting_matrix"
37 #define IIO_SLASH_DEV "/dev/" IIO_DEVICE
38 #define IIO_SYSFS_DEVICE "/sys/bus/iio/devices/" IIO_DEVICE
39 #define IIO_EVENTS "events"
40 #define IIO_CONFIGFS_TRIGGER "/sys/kernel/config/iio/triggers/"
43 mraa_iio_init(int device)
45 if (plat_iio->iio_device_count == 0 || device >= plat_iio->iio_device_count) {
49 mraa_iio_get_channel_data(&plat_iio->iio_devices[device]);
50 mraa_iio_get_event_data(&plat_iio->iio_devices[device]);
52 return &plat_iio->iio_devices[device];
56 mraa_iio_read_size(mraa_iio_context dev)
62 mraa_iio_get_channels(mraa_iio_context dev)
68 mraa_iio_get_channel_count(mraa_iio_context dev)
74 mraa_iio_get_channel_data(mraa_iio_context dev)
76 const struct dirent* ent;
85 char shortbuf, signchar;
89 memset(buf, 0, MAX_SIZE);
90 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM, dev->num);
93 while ((ent = readdir(dir)) != NULL) {
94 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), "_en") == 0) {
99 dev->chan_num = chan_num;
100 // no need proceed if no channel found
103 mraa_iio_channel* chan;
104 dev->channels = calloc(chan_num, sizeof(mraa_iio_channel));
106 while ((ent = readdir(dir)) != NULL) {
107 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_index"), "_index") == 0) {
108 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM "/%s", dev->num, ent->d_name);
109 fd = open(buf, O_RDONLY);
111 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
114 chan_num = ((int) strtol(readbuf, NULL, 10));
115 chan = &dev->channels[chan_num];
116 chan->index = chan_num;
119 buf[(strlen(buf) - 5)] = '\0';
120 char* str = strdup(buf);
121 // grab the type of the buffer
122 snprintf(buf, MAX_SIZE, "%stype", str);
123 fd = open(buf, O_RDONLY);
125 read(fd, readbuf, 31 * sizeof(char));
126 ret = sscanf(readbuf, "%ce:%c%u/%u>>%u", &shortbuf, &signchar, &chan->bits_used,
127 &padint, &chan->shift);
128 chan->bytes = padint / 8;
129 if (curr_bytes % chan->bytes == 0) {
130 chan->location = curr_bytes;
132 chan->location = curr_bytes - curr_bytes % chan->bytes + chan->bytes;
134 curr_bytes = chan->location + chan->bytes;
135 // probably should be 5?
140 return MRAA_IO_SETUP_FAILURE;
142 chan->signedd = (signchar == 's');
143 chan->lendian = (shortbuf == 'l');
144 if (chan->bits_used == 64) {
147 chan->mask = (1 << chan->bits_used) - 1;
151 // grab the enable flag of channel
152 snprintf(buf, MAX_SIZE, "%sen", str);
153 fd = open(buf, O_RDONLY);
155 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
156 syslog(LOG_ERR, "iio: Failed to read a sensible value from sysfs");
159 chan->enabled = (int) strtol(readbuf, NULL, 10);
160 // only calculate enable buffer size for trigger buffer extract data
162 dev->datasize += chan->bytes;
176 mraa_iio_get_device_name(mraa_iio_context dev)
182 mraa_iio_get_device_num_by_name(const char* name)
186 if (plat_iio == NULL) {
187 syslog(LOG_ERR, "iio: platform IIO structure is not initialized");
192 syslog(LOG_ERR, "iio: device name is NULL, unable to find its number");
196 for (i = 0; i < plat_iio->iio_device_count; i++) {
198 device = &plat_iio->iio_devices[i];
199 // we want to check for exact match
200 if (strncmp(device->name, name, strlen(device->name) + 1) == 0) {
209 mraa_iio_read_float(mraa_iio_context dev, const char* attr_name, float* data)
212 mraa_result_t result = mraa_iio_read_string(dev, attr_name, buf);
213 if (result != MRAA_SUCCESS)
215 int status = sscanf(buf, "%f", data);
216 result = status == 1 ? MRAA_SUCCESS : MRAA_ERROR_UNSPECIFIED;
222 mraa_iio_read_integer(mraa_iio_context dev, const char* attr_name, int* data)
225 mraa_result_t result = mraa_iio_read_string(dev, attr_name, buf);
226 if (result != MRAA_SUCCESS)
228 int status = sscanf(buf, "%d", data);
229 result = status == 1 ? MRAA_SUCCESS : MRAA_ERROR_UNSPECIFIED;
234 mraa_iio_read_string(mraa_iio_context dev, const char* attr_name, char* data)
237 mraa_result_t result = MRAA_ERROR_UNSPECIFIED;
238 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, attr_name);
239 int fd = open(buf, O_RDONLY);
241 ssize_t len = read(fd, data, MAX_SIZE);
243 result = MRAA_SUCCESS;
251 mraa_iio_write_float(mraa_iio_context dev, const char* attr_name, const float data)
254 snprintf(buf, MAX_SIZE, "%f", data);
255 return mraa_iio_write_string(dev, attr_name, buf);
259 mraa_iio_write_integer(mraa_iio_context dev, const char* attr_name, const int data)
262 snprintf(buf, MAX_SIZE, "%d", data);
263 return mraa_iio_write_string(dev, attr_name, buf);
267 mraa_iio_write_string(mraa_iio_context dev, const char* attr_name, const char* data)
270 mraa_result_t result = MRAA_ERROR_UNSPECIFIED;
271 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, attr_name);
272 int fd = open(buf, O_WRONLY);
274 size_t len = strlen(data);
275 ssize_t status = write(fd, data, len);
277 result = MRAA_SUCCESS;
284 mraa_iio_wait_event(int fd, char* data, int* read_size)
289 return MRAA_ERROR_INVALID_RESOURCE;
295 // Wait for it forever or until pthread_cancel
296 // poll is a cancelable point like sleep()
297 int x = poll(&pfd, 1, -1);
299 memset(data, 0, 100);
300 *read_size = read(fd, data, 100);
306 mraa_iio_trigger_handler(void* arg)
308 mraa_iio_context dev = (mraa_iio_context) arg;
310 char data[MAX_SIZE * 100];
314 if (mraa_iio_wait_event(dev->fp, &data[0], &read_size) == MRAA_SUCCESS) {
315 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
316 // only can process if readsize >= enabled channel's datasize
317 for (i = 0; i < (read_size / dev->datasize); i++) {
318 dev->isr((void*)&data);
320 pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
322 // we must have got an error code so die nicely
323 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
330 mraa_iio_trigger_buffer(mraa_iio_context dev, void (*fptr)(char* data), void* args)
333 if (dev->thread_id != 0) {
334 return MRAA_ERROR_NO_RESOURCES;
337 sprintf(bu, IIO_SLASH_DEV "%d", dev->num);
338 dev->fp = open(bu, O_RDONLY | O_NONBLOCK);
340 return MRAA_ERROR_INVALID_RESOURCE;
344 pthread_create(&dev->thread_id, NULL, mraa_iio_trigger_handler, (void*) dev);
350 mraa_iio_get_event_data(mraa_iio_context dev)
352 const struct dirent* ent;
361 char shortbuf, signchar;
362 memset(buf, 0, MAX_SIZE);
363 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_EVENTS, dev->num);
366 while ((ent = readdir(dir)) != NULL) {
367 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), "_en") == 0) {
371 dev->event_num = event_num;
372 // no need proceed if no event found
375 mraa_iio_event* event;
376 dev->events = calloc(event_num, sizeof(mraa_iio_event));
377 if (dev->events == NULL) {
379 return MRAA_ERROR_UNSPECIFIED;
383 while ((ent = readdir(dir)) != NULL) {
384 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), "_en") == 0) {
385 event = &dev->events[event_num];
386 event->name = strdup(ent->d_name);
387 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_EVENTS "/%s", dev->num, ent->d_name);
388 fd = open(buf, O_RDONLY);
390 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
395 event->enabled = ((int) strtol(readbuf, NULL, 10));
396 // Todo, read other event info.
406 mraa_iio_event_poll_nonblock(int fd, struct iio_event_data* data)
411 return MRAA_ERROR_INVALID_RESOURCE;
417 // Wait for it forever or until pthread_cancel
418 // poll is a cancelable point like sleep()
419 int x = poll(&pfd, 1, -1);
421 read(fd, data, sizeof(struct iio_event_data));
427 mraa_iio_event_poll(mraa_iio_context dev, struct iio_event_data* data)
434 sprintf(bu, IIO_SLASH_DEV "%d", dev->num);
436 ret = ioctl(fd, IIO_GET_EVENT_FD_IOCTL, &event_fd);
439 if (ret == -1 || event_fd == -1)
440 return MRAA_ERROR_UNSPECIFIED;
442 ret = read(event_fd, data, sizeof(struct iio_event_data));
449 mraa_iio_event_handler(void* arg)
451 struct iio_event_data data;
452 mraa_iio_context dev = (mraa_iio_context) arg;
455 if (mraa_iio_event_poll_nonblock(dev->fp_event, &data) == MRAA_SUCCESS) {
456 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
457 dev->isr_event(&data);
458 pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
460 // we must have got an error code so die nicely
461 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
468 mraa_iio_event_setup_callback(mraa_iio_context dev, void (*fptr)(struct iio_event_data* data), void* args)
472 if (dev->thread_id != 0) {
473 return MRAA_ERROR_NO_RESOURCES;
476 sprintf(bu, IIO_SLASH_DEV "%d", dev->num);
477 dev->fp = open(bu, O_RDONLY | O_NONBLOCK);
479 return MRAA_ERROR_INVALID_RESOURCE;
481 ret = ioctl(dev->fp, IIO_GET_EVENT_FD_IOCTL, &dev->fp_event);
484 if (ret == -1 || dev->fp_event == -1) {
485 return MRAA_ERROR_UNSPECIFIED;
488 dev->isr_event = fptr;
489 pthread_create(&dev->thread_id, NULL, mraa_iio_event_handler, (void*) dev);
495 mraa_iio_event_extract_event(struct iio_event_data* event,
504 *chan_type = IIO_EVENT_CODE_EXTRACT_CHAN_TYPE(event->id);
505 *modifier = IIO_EVENT_CODE_EXTRACT_MODIFIER(event->id);
506 *type = IIO_EVENT_CODE_EXTRACT_TYPE(event->id);
507 *direction = IIO_EVENT_CODE_EXTRACT_DIR(event->id);
508 *channel = IIO_EVENT_CODE_EXTRACT_CHAN(event->id);
509 *channel2 = IIO_EVENT_CODE_EXTRACT_CHAN2(event->id);
510 *different = IIO_EVENT_CODE_EXTRACT_DIFF(event->id);
515 mraa_iio_get_mounting_matrix(mraa_iio_context dev, float mm[9])
520 memset(buf, 0, MAX_SIZE);
521 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_MOUNTING_MATRIX, dev->num);
522 fp = fopen(buf, "r");
524 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],
525 &mm[6], &mm[7], &mm[8]);
529 return MRAA_ERROR_UNSPECIFIED;
533 mraa_iio_create_trigger(mraa_iio_context dev, const char* trigger)
535 struct stat configfs_status;
536 struct stat trigger_status;
539 if (stat(IIO_CONFIGFS_TRIGGER, &configfs_status) == 0) {
540 memset(buf, 0, MAX_SIZE);
541 snprintf(buf, MAX_SIZE, IIO_CONFIGFS_TRIGGER "%s", trigger);
542 if (stat(buf, &trigger_status) != 0) {
543 if (mkdir(buf, configfs_status.st_mode) == 0)
546 // trigger folder already created
551 return MRAA_ERROR_UNSPECIFIED;
555 mraa_iio_update_channels(mraa_iio_context dev)
557 const struct dirent* ent;
563 mraa_iio_channel* chan;
566 memset(buf, 0, MAX_SIZE);
567 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM, dev->num);
570 while ((ent = readdir(dir)) != NULL) {
571 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_index"), "_index") == 0) {
572 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM "/%s", dev->num, ent->d_name);
573 fd = open(buf, O_RDONLY);
575 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
578 chan_num = ((int) strtol(readbuf, NULL, 10));
579 chan = &dev->channels[chan_num];
580 chan->index = chan_num;
583 buf[(strlen(buf) - 5)] = '\0';
584 char* str = strdup(buf);
585 // grab the enable flag of channel
586 snprintf(buf, MAX_SIZE, "%sen", str);
587 fd = open(buf, O_RDONLY);
589 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
590 syslog(LOG_ERR, "iio: Failed to read a sensible value from sysfs");
593 chan->enabled = (int) strtol(readbuf, NULL, 10);
594 // only calculate enable buffer size for trigger buffer extract data
596 dev->datasize += chan->bytes;
610 mraa_iio_stop(mraa_iio_context dev)