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) {
117 chan_num = ((int) strtol(readbuf, NULL, 10));
118 chan = &dev->channels[chan_num];
119 chan->index = chan_num;
122 buf[(strlen(buf) - 5)] = '\0';
123 char* str = strdup(buf);
124 // grab the type of the buffer
125 snprintf(buf, MAX_SIZE, "%stype", str);
126 fd = open(buf, O_RDONLY);
128 read(fd, readbuf, 31 * sizeof(char));
129 ret = sscanf(readbuf, "%ce:%c%u/%u>>%u", &shortbuf, &signchar, &chan->bits_used,
130 &padint, &chan->shift);
131 chan->bytes = padint / 8;
132 if (curr_bytes % chan->bytes == 0) {
133 chan->location = curr_bytes;
135 chan->location = curr_bytes - curr_bytes % chan->bytes + chan->bytes;
137 curr_bytes = chan->location + chan->bytes;
138 // probably should be 5?
143 return MRAA_IO_SETUP_FAILURE;
145 chan->signedd = (signchar == 's');
146 chan->lendian = (shortbuf == 'l');
147 if (chan->bits_used == 64) {
150 chan->mask = (1 << chan->bits_used) - 1;
154 // grab the enable flag of channel
155 snprintf(buf, MAX_SIZE, "%sen", str);
156 fd = open(buf, O_RDONLY);
158 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
159 syslog(LOG_ERR, "iio: Failed to read a sensible value from sysfs");
164 chan->enabled = (int) strtol(readbuf, NULL, 10);
165 // only calculate enable buffer size for trigger buffer extract data
167 dev->datasize += chan->bytes;
182 mraa_iio_get_device_name(mraa_iio_context dev)
188 mraa_iio_get_device_num_by_name(const char* name)
192 if (plat_iio == NULL) {
193 syslog(LOG_ERR, "iio: platform IIO structure is not initialized");
198 syslog(LOG_ERR, "iio: device name is NULL, unable to find its number");
202 for (i = 0; i < plat_iio->iio_device_count; i++) {
204 device = &plat_iio->iio_devices[i];
205 // we want to check for exact match
206 if (strncmp(device->name, name, strlen(device->name) + 1) == 0) {
215 mraa_iio_read_float(mraa_iio_context dev, const char* attr_name, float* data)
218 mraa_result_t result = mraa_iio_read_string(dev, attr_name, buf, MAX_SIZE-1);
219 if (result != MRAA_SUCCESS)
221 int status = sscanf(buf, "%f", data);
222 result = status == 1 ? MRAA_SUCCESS : MRAA_ERROR_UNSPECIFIED;
228 mraa_iio_read_int(mraa_iio_context dev, const char* attr_name, int* data)
231 mraa_result_t result = mraa_iio_read_string(dev, attr_name, buf, MAX_SIZE-1);
232 if (result != MRAA_SUCCESS)
234 int status = sscanf(buf, "%d", data);
235 result = status == 1 ? MRAA_SUCCESS : MRAA_ERROR_UNSPECIFIED;
240 mraa_iio_read_string(mraa_iio_context dev, const char* attr_name, char* data, int max_len)
243 mraa_result_t result = MRAA_ERROR_UNSPECIFIED;
244 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, attr_name);
245 int fd = open(buf, O_RDONLY);
247 ssize_t len = read(fd, data, max_len);
249 result = MRAA_SUCCESS;
257 mraa_iio_write_float(mraa_iio_context dev, const char* attr_name, const float data)
260 snprintf(buf, MAX_SIZE, "%f", data);
261 return mraa_iio_write_string(dev, attr_name, buf);
265 mraa_iio_write_int(mraa_iio_context dev, const char* attr_name, const int data)
268 snprintf(buf, MAX_SIZE, "%d", data);
269 return mraa_iio_write_string(dev, attr_name, buf);
273 mraa_iio_write_string(mraa_iio_context dev, const char* attr_name, const char* data)
276 mraa_result_t result = MRAA_ERROR_UNSPECIFIED;
277 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, attr_name);
278 int fd = open(buf, O_WRONLY);
280 size_t len = strlen(data);
281 ssize_t status = write(fd, data, len);
283 result = MRAA_SUCCESS;
290 mraa_iio_wait_event(int fd, char* data, int* read_size)
295 return MRAA_ERROR_INVALID_RESOURCE;
301 // Wait for it forever or until pthread_cancel
302 // poll is a cancelable point like sleep()
303 int x = poll(&pfd, 1, -1);
305 memset(data, 0, 100);
306 *read_size = read(fd, data, 100);
312 mraa_iio_trigger_handler(void* arg)
314 mraa_iio_context dev = (mraa_iio_context) arg;
316 char data[MAX_SIZE * 100];
320 if (mraa_iio_wait_event(dev->fp, &data[0], &read_size) == MRAA_SUCCESS) {
321 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
322 // only can process if readsize >= enabled channel's datasize
323 for (i = 0; i < (read_size / dev->datasize); i++) {
324 dev->isr((void*)&data);
326 pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
328 // we must have got an error code so die nicely
329 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
336 mraa_iio_trigger_buffer(mraa_iio_context dev, void (*fptr)(char* data), void* args)
339 if (dev->thread_id != 0) {
340 return MRAA_ERROR_NO_RESOURCES;
343 sprintf(bu, IIO_SLASH_DEV "%d", dev->num);
344 dev->fp = open(bu, O_RDONLY | O_NONBLOCK);
346 return MRAA_ERROR_INVALID_RESOURCE;
350 pthread_create(&dev->thread_id, NULL, mraa_iio_trigger_handler, (void*) dev);
356 mraa_iio_get_event_data(mraa_iio_context dev)
358 const struct dirent* ent;
367 char shortbuf, signchar;
368 memset(buf, 0, MAX_SIZE);
369 memset(readbuf, 0, 32);
370 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_EVENTS, dev->num);
373 while ((ent = readdir(dir)) != NULL) {
374 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), "_en") == 0) {
378 dev->event_num = event_num;
379 // no need proceed if no event found
380 if (event_num == 0) {
384 mraa_iio_event* event;
385 dev->events = calloc(event_num, sizeof(mraa_iio_event));
386 if (dev->events == NULL) {
388 return MRAA_ERROR_UNSPECIFIED;
392 while ((ent = readdir(dir)) != NULL) {
393 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), "_en") == 0) {
394 event = &dev->events[event_num];
395 event->name = strdup(ent->d_name);
396 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_EVENTS "/%s", dev->num, ent->d_name);
397 fd = open(buf, O_RDONLY);
399 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
405 event->enabled = ((int) strtol(readbuf, NULL, 10));
406 // Todo, read other event info.
416 mraa_iio_event_poll_nonblock(int fd, struct iio_event_data* data)
421 return MRAA_ERROR_INVALID_RESOURCE;
427 // Wait for it forever or until pthread_cancel
428 // poll is a cancelable point like sleep()
429 int x = poll(&pfd, 1, -1);
431 read(fd, data, sizeof(struct iio_event_data));
437 mraa_iio_event_poll(mraa_iio_context dev, struct iio_event_data* data)
444 sprintf(bu, IIO_SLASH_DEV "%d", dev->num);
446 ret = ioctl(fd, IIO_GET_EVENT_FD_IOCTL, &event_fd);
449 if (ret == -1 || event_fd == -1)
450 return MRAA_ERROR_UNSPECIFIED;
452 ret = read(event_fd, data, sizeof(struct iio_event_data));
459 mraa_iio_event_handler(void* arg)
461 struct iio_event_data data;
462 mraa_iio_context dev = (mraa_iio_context) arg;
465 if (mraa_iio_event_poll_nonblock(dev->fp_event, &data) == MRAA_SUCCESS) {
466 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
467 dev->isr_event(&data, dev->isr_args);
468 pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
470 // we must have got an error code so die nicely
471 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
478 mraa_iio_event_setup_callback(mraa_iio_context dev, void (*fptr)(struct iio_event_data* data, void* args), void* args)
482 if (dev->thread_id != 0) {
483 return MRAA_ERROR_NO_RESOURCES;
486 sprintf(bu, IIO_SLASH_DEV "%d", dev->num);
487 dev->fp = open(bu, O_RDONLY | O_NONBLOCK);
489 return MRAA_ERROR_INVALID_RESOURCE;
491 ret = ioctl(dev->fp, IIO_GET_EVENT_FD_IOCTL, &dev->fp_event);
494 if (ret == -1 || dev->fp_event == -1) {
495 return MRAA_ERROR_UNSPECIFIED;
498 dev->isr_event = fptr;
499 dev->isr_args = args;
500 pthread_create(&dev->thread_id, NULL, mraa_iio_event_handler, (void*) dev);
506 mraa_iio_event_extract_event(struct iio_event_data* event,
515 *chan_type = IIO_EVENT_CODE_EXTRACT_CHAN_TYPE(event->id);
516 *modifier = IIO_EVENT_CODE_EXTRACT_MODIFIER(event->id);
517 *type = IIO_EVENT_CODE_EXTRACT_TYPE(event->id);
518 *direction = IIO_EVENT_CODE_EXTRACT_DIR(event->id);
519 *channel = IIO_EVENT_CODE_EXTRACT_CHAN(event->id);
520 *channel2 = IIO_EVENT_CODE_EXTRACT_CHAN2(event->id);
521 *different = IIO_EVENT_CODE_EXTRACT_DIFF(event->id);
526 mraa_iio_get_mounting_matrix(mraa_iio_context dev, float mm[9])
531 memset(buf, 0, MAX_SIZE);
532 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_MOUNTING_MATRIX, dev->num);
533 fp = fopen(buf, "r");
535 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],
536 &mm[6], &mm[7], &mm[8]);
540 return MRAA_ERROR_UNSPECIFIED;
544 mraa_iio_create_trigger(mraa_iio_context dev, const char* trigger)
546 struct stat configfs_status;
547 struct stat trigger_status;
551 if (stat(IIO_CONFIGFS_TRIGGER, &configfs_status) == 0) {
552 memset(buf, 0, MAX_SIZE);
553 snprintf(buf, MAX_SIZE, IIO_CONFIGFS_TRIGGER "%s", trigger);
554 // we actually don't care if this doesn't succeed, as it just means
555 // it's already been initialised
556 mkdir(buf, configfs_status.st_mode);
559 return MRAA_ERROR_UNSPECIFIED;
563 mraa_iio_update_channels(mraa_iio_context dev)
565 const struct dirent* ent;
571 mraa_iio_channel* chan;
574 memset(buf, 0, MAX_SIZE);
575 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM, dev->num);
578 while ((ent = readdir(dir)) != NULL) {
579 if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_index"), "_index") == 0) {
580 snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/" IIO_SCAN_ELEM "/%s", dev->num, ent->d_name);
581 fd = open(buf, O_RDONLY);
583 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
587 chan_num = ((int) strtol(readbuf, NULL, 10));
588 if (chan_num >= 0 && chan_num < dev->chan_num) {
589 chan = &dev->channels[chan_num];
590 chan->index = chan_num;
593 buf[(strlen(buf) - 5)] = '\0';
594 char* str = strdup(buf);
595 // grab the enable flag of channel
596 snprintf(buf, MAX_SIZE, "%sen", str);
597 fd = open(buf, O_RDONLY);
599 if (read(fd, readbuf, 2 * sizeof(char)) != 2) {
600 syslog(LOG_ERR, "iio: Failed to read a sensible value from sysfs");
606 chan->enabled = (int) strtol(readbuf, NULL, 10);
607 // only calculate enable buffer size for trigger buffer extract data
609 dev->datasize += chan->bytes;
626 return MRAA_ERROR_INVALID_HANDLE;
630 mraa_iio_close(mraa_iio_context dev)