2 * Author: Brendan Le Foll <brendan.le.foll@intel.com>
3 * Author: Thomas Ingleby <thomas.c.ingleby@intel.com>
4 * Copyright (c) 2014 Intel Corporation.
6 * Permission is hereby granted, free of charge, to any person obtaining
7 * a copy of this software and associated documentation files (the
8 * "Software"), to deal in the Software without restriction, including
9 * without limitation the rights to use, copy, modify, merge, publish,
10 * distribute, sublicense, and/or sell copies of the Software, and to
11 * permit persons to whom the Software is furnished to do so, subject to
12 * the following conditions:
14 * The above copyright notice and this permission notice shall be
15 * included in all copies or substantial portions of the Software.
17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
18 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
19 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
20 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
21 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
22 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
23 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
27 #if !defined(_XOPEN_SOURCE) || _XOPEN_SOURCE < 600
28 #define _XOPEN_SOURCE 600 /* Get nftw() and S_IFSOCK declarations */
44 #include "mraa_internal.h"
48 #define MAX_PLATFORM_NAME_LENGTH 128
49 mraa_board_t* plat = NULL;
50 // static mraa_board_t* current_plat = NULL;
52 static char platform_name[MAX_PLATFORM_NAME_LENGTH];
53 mraa_adv_func_t* advance_func;
55 static int num_i2c_devices = 0;
56 static int num_iio_devices = 0;
65 mraa_set_log_level(int level)
67 if (level <= 7 && level >= 0) {
68 setlogmask(LOG_UPTO(level));
69 syslog(LOG_DEBUG, "Loglevel %d is set", level);
72 syslog(LOG_NOTICE, "Invalid loglevel %d requested", level);
73 return MRAA_ERROR_INVALID_PARAMETER;
77 mraa_count_iio_devices(const char* path, const struct stat* sb, int flag, struct FTW* ftwb)
79 switch (sb->st_mode & S_IFMT) {
87 #if (defined SWIGPYTHON) || (defined SWIG)
90 mraa_result_t __attribute__((constructor))
95 return MRAA_ERROR_PLATFORM_ALREADY_INITIALISED;
98 uid_t proc_euid = geteuid();
99 struct passwd* proc_user = getpwuid(proc_euid);
102 setlogmask(LOG_UPTO(LOG_DEBUG));
104 setlogmask(LOG_UPTO(LOG_NOTICE));
107 openlog("libmraa", LOG_CONS | LOG_PID | LOG_NDELAY, LOG_LOCAL1);
108 syslog(LOG_NOTICE, "libmraa version %s initialised by user '%s' with EUID %d",
109 mraa_get_version(), (proc_user != NULL) ? proc_user->pw_name : "<unknown>", proc_euid);
112 // Initialise python threads, this allows use to grab the GIL when we are
115 PyEval_InitThreads();
118 advance_func = (mraa_adv_func_t*) malloc(sizeof(mraa_adv_func_t));
119 memset(advance_func, 0, sizeof(mraa_adv_func_t));
121 mraa_platform_t platform_type;
123 // Use runtime x86 platform detection
124 platform_type = mraa_x86_platform();
125 #elif defined(ARMPLAT)
126 // Use runtime ARM platform detection
127 platform_type = mraa_arm_platform();
129 #error mraa_ARCH NOTHING
133 plat->platform_type = platform_type;
136 // This is a platform extender so create null base platform if one doesn't already exist
138 plat = (mraa_board_t*) calloc(1, sizeof(mraa_board_t));
140 plat->platform_type = MRAA_NULL_PLATFORM;
141 plat->platform_name = "Null platform";
144 // Now detect sub platform
146 mraa_platform_t usb_platform_type = mraa_usb_platform_extender(plat);
147 if (plat->platform_type == MRAA_UNKNOWN_PLATFORM && usb_platform_type != MRAA_UNKNOWN_PLATFORM) {
148 plat->platform_type = usb_platform_type;
150 return MRAA_ERROR_PLATFORM_NOT_INITIALISED;
154 printf("mraa: FATAL error, failed to initialise platform\n");
155 return MRAA_ERROR_PLATFORM_NOT_INITIALISED;
159 // Now detect IIO devices, linux only
160 // find how many i2c buses we have if we haven't already
161 if (num_iio_devices == 0) {
162 if (nftw("/sys/bus/iio/devices", &mraa_count_iio_devices, 20, FTW_PHYS) == -1) {
163 return MRAA_ERROR_UNSPECIFIED;
166 char name[64], filepath[64];
168 plat->iio_device_count = num_iio_devices;
169 plat->iio_devices = calloc(num_iio_devices, sizeof(struct _iio));
171 for (i=0; i < num_iio_devices; i++) {
172 device = &plat->iio_devices[i];
174 snprintf(filepath, 64, "/sys/bus/iio/devices/iio:device%d/name", i);
175 fd = open(filepath, O_RDONLY);
177 len = read(fd, &name, 64);
179 device->name = malloc((sizeof(char) * len) + sizeof(char));
180 strncpy(device->name, name, len);
185 syslog(LOG_NOTICE, "libmraa initialised for platform '%s' of type %d", mraa_get_platform_name(), mraa_get_platform_type());
193 if (plat->pins != NULL) {
196 mraa_board_t* sub_plat = plat->sub_platform;
197 if (sub_plat != NULL) {
198 if (sub_plat->pins != NULL) {
199 free(sub_plat->pins);
210 mraa_set_priority(const unsigned int priority)
212 struct sched_param sched_s;
214 memset(&sched_s, 0, sizeof(struct sched_param));
215 if (priority > sched_get_priority_max(SCHED_RR)) {
216 sched_s.sched_priority = sched_get_priority_max(SCHED_RR);
218 sched_s.sched_priority = priority;
221 return sched_setscheduler(0, SCHED_RR, &sched_s);
225 mraa_setup_mux_mapped(mraa_pin_t meta)
229 for (mi = 0; mi < meta.mux_total; mi++) {
230 mraa_gpio_context mux_i;
231 mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
233 return MRAA_ERROR_INVALID_HANDLE;
235 // this function will sometimes fail, however this is not critical as
236 // long as the write succeeds - Test case galileo gen2 pin2
237 mraa_gpio_dir(mux_i, MRAA_GPIO_OUT);
238 mraa_gpio_owner(mux_i, 0);
240 if (mraa_gpio_write(mux_i, meta.mux[mi].value) != MRAA_SUCCESS) {
241 mraa_gpio_close(mux_i);
242 return MRAA_ERROR_INVALID_RESOURCE;
244 mraa_gpio_close(mux_i);
251 mraa_result_print(mraa_result_t result)
255 fprintf(stdout, "MRAA: SUCCESS\n");
257 case MRAA_ERROR_FEATURE_NOT_IMPLEMENTED:
258 fprintf(stdout, "MRAA: Feature not implemented.\n");
260 case MRAA_ERROR_FEATURE_NOT_SUPPORTED:
261 fprintf(stdout, "MRAA: Feature not supported by Hardware.\n");
263 case MRAA_ERROR_INVALID_VERBOSITY_LEVEL:
264 fprintf(stdout, "MRAA: Invalid verbosity level.\n");
266 case MRAA_ERROR_INVALID_PARAMETER:
267 fprintf(stdout, "MRAA: Invalid parameter.\n");
269 case MRAA_ERROR_INVALID_HANDLE:
270 fprintf(stdout, "MRAA: Invalid Handle.\n");
272 case MRAA_ERROR_NO_RESOURCES:
273 fprintf(stdout, "MRAA: No resources.\n");
275 case MRAA_ERROR_INVALID_RESOURCE:
276 fprintf(stdout, "MRAA: Invalid resource.\n");
278 case MRAA_ERROR_INVALID_QUEUE_TYPE:
279 fprintf(stdout, "MRAA: Invalid Queue Type.\n");
281 case MRAA_ERROR_NO_DATA_AVAILABLE:
282 fprintf(stdout, "MRAA: No Data available.\n");
284 case MRAA_ERROR_INVALID_PLATFORM:
285 fprintf(stdout, "MRAA: Platform not recognised.\n");
287 case MRAA_ERROR_PLATFORM_NOT_INITIALISED:
288 fprintf(stdout, "MRAA: Platform not initialised.\n");
290 case MRAA_ERROR_PLATFORM_ALREADY_INITIALISED:
291 fprintf(stdout, "MRAA: Platform already initialised.\n");
293 case MRAA_ERROR_UNSPECIFIED:
294 fprintf(stdout, "MRAA: Unspecified Error.\n");
297 fprintf(stdout, "MRAA: Unrecognised error.\n");
304 mraa_has_sub_platform()
306 return (plat != NULL) && (plat->sub_platform != NULL);
310 mraa_pin_mode_test(int pin, mraa_pinmodes_t mode)
315 mraa_board_t* current_plat = plat;
316 if (mraa_is_sub_platform_id(pin)) {
317 current_plat = plat->sub_platform;
318 if (current_plat == NULL) {
319 syslog(LOG_ERR, "mraa_pin_mode_test: Sub platform Not Initialised");
322 pin = mraa_get_sub_platform_index(pin);
325 if (current_plat == NULL || current_plat->platform_type == MRAA_UNKNOWN_PLATFORM) {
328 if (pin > (current_plat->phy_pin_count - 1) || pin < 0)
333 if (current_plat->pins[pin].capabilites.valid == 1)
337 if (current_plat->pins[pin].capabilites.gpio == 1)
341 if (current_plat->pins[pin].capabilites.pwm == 1)
344 case MRAA_PIN_FAST_GPIO:
345 if (current_plat->pins[pin].capabilites.fast_gpio == 1)
349 if (current_plat->pins[pin].capabilites.spi == 1)
353 if (current_plat->pins[pin].capabilites.i2c == 1)
357 if (current_plat->pins[pin].capabilites.aio == 1)
361 if (current_plat->pins[pin].capabilites.uart == 1)
365 syslog(LOG_NOTICE, "requested pinmode invalid");
372 mraa_get_platform_type()
375 return MRAA_UNKNOWN_PLATFORM;
376 return plat->platform_type;
380 mraa_get_platform_combined_type()
382 int type = mraa_get_platform_type();
383 int sub_type = mraa_has_sub_platform() ? plat->sub_platform->platform_type : MRAA_UNKNOWN_PLATFORM;
384 return type | (sub_type << 8);
393 if (plat->aio_count == 0)
396 return plat->adc_raw;
400 mraa_get_platform_adc_raw_bits(uint8_t platform_offset)
402 if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET)
403 return mraa_adc_raw_bits();
405 if (!mraa_has_sub_platform())
408 if (plat->sub_platform->aio_count == 0)
411 return plat->sub_platform->adc_raw;
417 mraa_adc_supported_bits()
422 if (plat->aio_count == 0)
425 return plat->adc_supported;
429 mraa_get_platform_adc_supported_bits(int platform_offset)
431 if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET)
432 return mraa_adc_supported_bits();
434 if (!mraa_has_sub_platform())
437 if (plat->sub_platform->aio_count == 0)
440 return plat->sub_platform->adc_supported;
446 mraa_get_platform_name()
451 if (mraa_has_sub_platform()) {
452 snprintf(platform_name, MAX_PLATFORM_NAME_LENGTH, "%s + %s", plat->platform_name, plat->sub_platform->platform_name);
454 strncpy(platform_name, plat->platform_name, MAX_PLATFORM_NAME_LENGTH-1);
457 return platform_name;
461 mraa_get_i2c_bus_count()
466 return plat->i2c_bus_count;
470 mraa_get_i2c_bus_id(unsigned i2c_bus)
476 if (i2c_bus >= plat->i2c_bus_count) {
480 return plat->i2c_bus[i2c_bus].bus_id;
489 return plat->phy_pin_count;
493 mraa_get_platform_pin_count(uint8_t platform_offset)
495 if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET)
496 return mraa_get_pin_count();
498 if (mraa_has_sub_platform())
499 return plat->sub_platform->phy_pin_count;
507 mraa_get_pin_name(int pin)
512 mraa_board_t* current_plat = plat;
513 if (mraa_is_sub_platform_id(pin)) {
514 current_plat = plat->sub_platform;
515 if (current_plat == NULL) {
516 syslog(LOG_ERR, "mraa_get_pin_name: Sub platform Not Initialised");
519 pin = mraa_get_sub_platform_index(pin);
522 if (pin > (current_plat->phy_pin_count - 1) || pin < 0)
524 return (char*) current_plat->pins[pin].name;
528 mraa_get_default_i2c_bus(uint8_t platform_offset)
532 if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET) {
533 return plat->def_i2c_bus;
535 if (mraa_has_sub_platform())
536 return plat->sub_platform->def_i2c_bus;
544 mraa_file_exist(const char* filename)
547 results.gl_pathc = 0;
548 glob(filename, 0, NULL, &results);
549 int file_found = results.gl_pathc == 1;
555 mraa_file_contains(const char* filename, const char* content)
557 mraa_boolean_t found = 0;
558 if ((filename == NULL) || (content == NULL)) {
562 char* file = mraa_file_unglob(filename);
565 char* line = malloc(len);
570 FILE* fh = fopen(file, "r");
576 while ((getline(&line, &len, fh) != -1) && (found == 0)) {
577 if (strstr(line, content)) {
590 mraa_file_contains_both(const char* filename, const char* content, const char* content2)
592 mraa_boolean_t found = 0;
593 if ((filename == NULL) || (content == NULL)) {
597 char* file = mraa_file_unglob(filename);
600 char* line = malloc(len);
605 FILE* fh = fopen(file, "r");
611 while ((getline(&line, &len, fh) != -1) && (found == 0)) {
612 if (strstr(line, content) && strstr(line, content2)) {
625 mraa_file_unglob(const char* filename)
629 results.gl_pathc = 0;
630 glob(filename, 0, NULL, &results);
631 if (results.gl_pathc == 1)
632 res = strdup(results.gl_pathv[0]);
638 mraa_link_targets(const char* filename, const char* targetname)
643 while (nchars == 0) {
644 buffer = (char*) realloc(buffer, size);
647 nchars = readlink(filename, buffer, size);
652 buffer[nchars] = '\0';
654 if (nchars >= size) {
659 if (strstr(buffer, targetname)) {
669 mraa_count_i2c_files(const char* path, const struct stat* sb, int flag, struct FTW* ftwb)
671 switch (sb->st_mode & S_IFMT) {
680 mraa_find_i2c_bus(const char* devname, int startfrom)
687 // because feeding mraa_find_i2c_bus result back into the function is
688 // useful treat -1 as 0
693 // find how many i2c buses we have if we haven't already
694 if (num_i2c_devices == 0) {
695 if (nftw("/sys/class/i2c-dev/", &mraa_count_i2c_files, 20, FTW_PHYS) == -1) {
700 // i2c devices are numbered numerically so 0 must exist otherwise there is
702 if (mraa_file_exist("/sys/class/i2c-dev/i2c-0")) {
703 for (i; i < num_i2c_devices; i++) {
705 snprintf(path, 64, "/sys/class/i2c-dev/i2c-%u/name", i);
706 fd = open(path, O_RDONLY);
710 size = lseek(fd, 0, SEEK_END);
712 syslog(LOG_WARNING, "mraa: failed to seek i2c filename file");
716 err = lseek(fd, 0, SEEK_SET);
718 syslog(LOG_WARNING, "mraa: failed to seek i2c filename file");
722 char* value = malloc(size);
724 syslog(LOG_ERR, "mraa: failed to allocate memory for i2c file");
728 ssize_t r = read(fd, value, size);
730 if (strcasestr(value, devname) != NULL) {
736 syslog(LOG_ERR, "mraa: sysfs i2cdev failed");
742 syslog(LOG_WARNING, "mraa: no i2c-dev detected, load i2c-dev");
749 mraa_is_sub_platform_id(int pin_or_bus)
751 return (pin_or_bus & MRAA_SUB_PLATFORM_MASK) != 0;
755 mraa_get_sub_platform_id(int pin_or_bus)
757 return pin_or_bus | MRAA_SUB_PLATFORM_MASK;
761 mraa_get_sub_platform_index(int pin_or_bus)
763 return pin_or_bus & (~MRAA_SUB_PLATFORM_MASK);
767 mraa_get_iio_device_count()
769 return plat->iio_device_count;
773 mraa_find_iio_device(const char* devicename)
776 for (i; i < plat->iio_device_count; i++) {