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
105 mraa_iio_channel* chan;
106 dev->channels = calloc(chan_num, sizeof(mraa_iio_channel));
108 while ((ent = readdir(dir)) != NULL) {
109 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_index"), "_index") == 0) {
110 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM "/%s", dev->num, ent->d_name);
111 fd = open(buf, O_RDONLY);
113 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
116 chan_num = ((int) strtol(readbuf, NULL, 10));
117 chan = &dev->channels[chan_num];
118 chan->index = chan_num;
121 buf[(strlen(buf) - 5)] = '\0';
122 char* str = strdup(buf);
123 // grab the type of the buffer
124 snprintf(buf, MAX_SIZE, "%stype", str);
125 fd = open(buf, O_RDONLY);
127 read(fd, readbuf, 31 * sizeof(char));
128 ret = sscanf(readbuf, "%ce:%c%u/%u>>%u", &shortbuf, &signchar, &chan->bits_used,
129 &padint, &chan->shift);
130 chan->bytes = padint / 8;
131 if (curr_bytes % chan->bytes == 0) {
132 chan->location = curr_bytes;
134 chan->location = curr_bytes - curr_bytes % chan->bytes + chan->bytes;
136 curr_bytes = chan->location + chan->bytes;
137 // probably should be 5?
142 return MRAA_IO_SETUP_FAILURE;
144 chan->signedd = (signchar == 's');
145 chan->lendian = (shortbuf == 'l');
146 if (chan->bits_used == 64) {
149 chan->mask = (1 << chan->bits_used) - 1;
153 // grab the enable flag of channel
154 snprintf(buf, MAX_SIZE, "%sen", str);
155 fd = open(buf, O_RDONLY);
157 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
158 syslog(LOG_ERR, "iio: Failed to read a sensible value from sysfs");
163 chan->enabled = (int) strtol(readbuf, NULL, 10);
164 // only calculate enable buffer size for trigger buffer extract data
166 dev->datasize += chan->bytes;
181 mraa_iio_get_device_name(mraa_iio_context dev)
187 mraa_iio_get_device_num_by_name(const char* name)
191 if (plat_iio == NULL) {
192 syslog(LOG_ERR, "iio: platform IIO structure is not initialized");
197 syslog(LOG_ERR, "iio: device name is NULL, unable to find its number");
201 for (i = 0; i < plat_iio->iio_device_count; i++) {
203 device = &plat_iio->iio_devices[i];
204 // we want to check for exact match
205 if (strncmp(device->name, name, strlen(device->name) + 1) == 0) {
214 mraa_iio_read_float(mraa_iio_context dev, const char* attr_name, float* data)
217 mraa_result_t result = mraa_iio_read_string(dev, attr_name, buf, MAX_SIZE-1);
218 if (result != MRAA_SUCCESS)
220 int status = sscanf(buf, "%f", data);
221 result = status == 1 ? MRAA_SUCCESS : MRAA_ERROR_UNSPECIFIED;
227 mraa_iio_read_int(mraa_iio_context dev, const char* attr_name, int* data)
230 mraa_result_t result = mraa_iio_read_string(dev, attr_name, buf, MAX_SIZE-1);
231 if (result != MRAA_SUCCESS)
233 int status = sscanf(buf, "%d", data);
234 result = status == 1 ? MRAA_SUCCESS : MRAA_ERROR_UNSPECIFIED;
239 mraa_iio_read_string(mraa_iio_context dev, const char* attr_name, char* data, int max_len)
242 mraa_result_t result = MRAA_ERROR_UNSPECIFIED;
243 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, attr_name);
244 int fd = open(buf, O_RDONLY);
246 ssize_t len = read(fd, data, max_len);
248 result = MRAA_SUCCESS;
256 mraa_iio_write_float(mraa_iio_context dev, const char* attr_name, const float data)
259 snprintf(buf, MAX_SIZE, "%f", data);
260 return mraa_iio_write_string(dev, attr_name, buf);
264 mraa_iio_write_int(mraa_iio_context dev, const char* attr_name, const int data)
267 snprintf(buf, MAX_SIZE, "%d", data);
268 return mraa_iio_write_string(dev, attr_name, buf);
272 mraa_iio_write_string(mraa_iio_context dev, const char* attr_name, const char* data)
275 mraa_result_t result = MRAA_ERROR_UNSPECIFIED;
276 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, attr_name);
277 int fd = open(buf, O_WRONLY);
279 size_t len = strlen(data);
280 ssize_t status = write(fd, data, len);
282 result = MRAA_SUCCESS;
289 mraa_iio_wait_event(int fd, char* data, int* read_size)
294 return MRAA_ERROR_INVALID_RESOURCE;
300 // Wait for it forever or until pthread_cancel
301 // poll is a cancelable point like sleep()
302 int x = poll(&pfd, 1, -1);
304 memset(data, 0, 100);
305 *read_size = read(fd, data, 100);
311 mraa_iio_trigger_handler(void* arg)
313 mraa_iio_context dev = (mraa_iio_context) arg;
315 char data[MAX_SIZE * 100];
319 if (mraa_iio_wait_event(dev->fp, &data[0], &read_size) == MRAA_SUCCESS) {
320 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
321 // only can process if readsize >= enabled channel's datasize
322 for (i = 0; i < (read_size / dev->datasize); i++) {
323 dev->isr((void*)&data);
325 pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
327 // we must have got an error code so die nicely
328 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
335 mraa_iio_trigger_buffer(mraa_iio_context dev, void (*fptr)(char* data), void* args)
338 if (dev->thread_id != 0) {
339 return MRAA_ERROR_NO_RESOURCES;
342 sprintf(bu, IIO_SLASH_DEV "%d", dev->num);
343 dev->fp = open(bu, O_RDONLY | O_NONBLOCK);
345 return MRAA_ERROR_INVALID_RESOURCE;
349 pthread_create(&dev->thread_id, NULL, mraa_iio_trigger_handler, (void*) dev);
355 mraa_iio_get_event_data(mraa_iio_context dev)
357 const struct dirent* ent;
366 char shortbuf, signchar;
367 memset(buf, 0, MAX_SIZE);
368 memset(readbuf, 0, 32);
369 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_EVENTS, dev->num);
372 while ((ent = readdir(dir)) != NULL) {
373 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), "_en") == 0) {
377 dev->event_num = event_num;
378 // no need proceed if no event found
379 if (event_num == 0) {
383 mraa_iio_event* event;
384 dev->events = calloc(event_num, sizeof(mraa_iio_event));
385 if (dev->events == NULL) {
387 return MRAA_ERROR_UNSPECIFIED;
391 while ((ent = readdir(dir)) != NULL) {
392 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), "_en") == 0) {
393 event = &dev->events[event_num];
394 event->name = strdup(ent->d_name);
395 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_EVENTS "/%s", dev->num, ent->d_name);
396 fd = open(buf, O_RDONLY);
398 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
404 event->enabled = ((int) strtol(readbuf, NULL, 10));
405 // Todo, read other event info.
415 mraa_iio_event_poll_nonblock(int fd, struct iio_event_data* data)
420 return MRAA_ERROR_INVALID_RESOURCE;
426 // Wait for it forever or until pthread_cancel
427 // poll is a cancelable point like sleep()
428 int x = poll(&pfd, 1, -1);
430 read(fd, data, sizeof(struct iio_event_data));
436 mraa_iio_event_poll(mraa_iio_context dev, struct iio_event_data* data)
443 sprintf(bu, IIO_SLASH_DEV "%d", dev->num);
445 ret = ioctl(fd, IIO_GET_EVENT_FD_IOCTL, &event_fd);
448 if (ret == -1 || event_fd == -1)
449 return MRAA_ERROR_UNSPECIFIED;
451 ret = read(event_fd, data, sizeof(struct iio_event_data));
458 mraa_iio_event_handler(void* arg)
460 struct iio_event_data data;
461 mraa_iio_context dev = (mraa_iio_context) arg;
464 if (mraa_iio_event_poll_nonblock(dev->fp_event, &data) == MRAA_SUCCESS) {
465 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
466 dev->isr_event(&data, dev->isr_args);
467 pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
469 // we must have got an error code so die nicely
470 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
477 mraa_iio_event_setup_callback(mraa_iio_context dev, void (*fptr)(struct iio_event_data* data, void* args), void* args)
481 if (dev->thread_id != 0) {
482 return MRAA_ERROR_NO_RESOURCES;
485 sprintf(bu, IIO_SLASH_DEV "%d", dev->num);
486 dev->fp = open(bu, O_RDONLY | O_NONBLOCK);
488 return MRAA_ERROR_INVALID_RESOURCE;
490 ret = ioctl(dev->fp, IIO_GET_EVENT_FD_IOCTL, &dev->fp_event);
493 if (ret == -1 || dev->fp_event == -1) {
494 return MRAA_ERROR_UNSPECIFIED;
497 dev->isr_event = fptr;
498 dev->isr_args = args;
499 pthread_create(&dev->thread_id, NULL, mraa_iio_event_handler, (void*) dev);
505 mraa_iio_event_extract_event(struct iio_event_data* event,
514 *chan_type = IIO_EVENT_CODE_EXTRACT_CHAN_TYPE(event->id);
515 *modifier = IIO_EVENT_CODE_EXTRACT_MODIFIER(event->id);
516 *type = IIO_EVENT_CODE_EXTRACT_TYPE(event->id);
517 *direction = IIO_EVENT_CODE_EXTRACT_DIR(event->id);
518 *channel = IIO_EVENT_CODE_EXTRACT_CHAN(event->id);
519 *channel2 = IIO_EVENT_CODE_EXTRACT_CHAN2(event->id);
520 *different = IIO_EVENT_CODE_EXTRACT_DIFF(event->id);
525 mraa_iio_get_mounting_matrix(mraa_iio_context dev, float mm[9])
530 memset(buf, 0, MAX_SIZE);
531 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_MOUNTING_MATRIX, dev->num);
532 fp = fopen(buf, "r");
534 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],
535 &mm[6], &mm[7], &mm[8]);
539 return MRAA_ERROR_UNSPECIFIED;
543 mraa_iio_create_trigger(mraa_iio_context dev, const char* trigger)
545 struct stat configfs_status;
546 struct stat trigger_status;
550 if (stat(IIO_CONFIGFS_TRIGGER, &configfs_status) == 0) {
551 memset(buf, 0, MAX_SIZE);
552 snprintf(buf, MAX_SIZE, IIO_CONFIGFS_TRIGGER "%s", trigger);
553 // we actually don't care if this doesn't succeed, as it just means
554 // it's already been initialised
555 mkdir(buf, configfs_status.st_mode);
558 return MRAA_ERROR_UNSPECIFIED;
562 mraa_iio_update_channels(mraa_iio_context dev)
564 const struct dirent* ent;
570 mraa_iio_channel* chan;
573 memset(buf, 0, MAX_SIZE);
574 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM, dev->num);
577 while ((ent = readdir(dir)) != NULL) {
578 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_index"), "_index") == 0) {
579 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM "/%s", dev->num, ent->d_name);
580 fd = open(buf, O_RDONLY);
582 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
586 chan_num = ((int) strtol(readbuf, NULL, 10));
587 if (chan_num >= 0 && chan_num < dev->chan_num) {
588 chan = &dev->channels[chan_num];
589 chan->index = chan_num;
592 buf[(strlen(buf) - 5)] = '\0';
593 char* str = strdup(buf);
594 // grab the enable flag of channel
595 snprintf(buf, MAX_SIZE, "%sen", str);
596 fd = open(buf, O_RDONLY);
598 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
599 syslog(LOG_ERR, "iio: Failed to read a sensible value from sysfs");
603 chan->enabled = (int) strtol(readbuf, NULL, 10);
604 // only calculate enable buffer size for trigger buffer extract data
606 dev->datasize += chan->bytes;
624 mraa_iio_close(mraa_iio_context dev)