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Diffstat (limited to 'peripheral/libmraa/src/mraa.c')
-rw-r--r--peripheral/libmraa/src/mraa.c500
1 files changed, 35 insertions, 465 deletions
diff --git a/peripheral/libmraa/src/mraa.c b/peripheral/libmraa/src/mraa.c
index 62d97ad..b8bc236 100644
--- a/peripheral/libmraa/src/mraa.c
+++ b/peripheral/libmraa/src/mraa.c
@@ -40,32 +40,14 @@
#include <fcntl.h>
#include <string.h>
#include <stdio.h>
-#include <stdbool.h>
-#include <errno.h>
-#include <ctype.h>
-#include <limits.h>
-
-#if defined(IMRAA)
-#include <json-c/json.h>
-#include <sys/stat.h>
-#include <sys/mman.h>
-#endif
#include "mraa_internal.h"
-#include "firmata/firmata_mraa.h"
#include "gpio.h"
#include "version.h"
-#include "i2c.h"
-#include "pwm.h"
-#include "aio.h"
-#include "spi.h"
-#include "uart.h"
-
#define IIO_DEVICE_WILDCARD "iio:device*"
mraa_board_t* plat = NULL;
mraa_iio_info_t* plat_iio = NULL;
-mraa_lang_func_t* lang_func = NULL;
static char* platform_name = NULL;
static char* platform_long_name = NULL;
@@ -91,15 +73,16 @@ mraa_set_log_level(int level)
return MRAA_ERROR_INVALID_PARAMETER;
}
-/**
- * Whilst the actual mraa init function is now called imraa_init, it's only
- * callable externally if IMRAA is enabled
- */
+
+#if (defined SWIGPYTHON) || (defined SWIG)
mraa_result_t
-imraa_init()
+#else
+mraa_result_t __attribute__((constructor))
+#endif
+mraa_init()
{
if (plat != NULL) {
- return MRAA_SUCCESS;
+ return MRAA_ERROR_PLATFORM_ALREADY_INITIALISED;
}
uid_t proc_euid = geteuid();
@@ -115,6 +98,13 @@ imraa_init()
syslog(LOG_NOTICE, "libmraa version %s initialised by user '%s' with EUID %d",
mraa_get_version(), (proc_user != NULL) ? proc_user->pw_name : "<unknown>", proc_euid);
+#ifdef SWIGPYTHON
+ // Initialise python threads, this allows use to grab the GIL when we are
+ // required to do so
+ Py_InitializeEx(0);
+ PyEval_InitThreads();
+#endif
+
mraa_platform_t platform_type;
#if defined(X86PLAT)
// Use runtime x86 platform detection
@@ -132,7 +122,8 @@ imraa_init()
platform_name = NULL;
}
- // Create null base platform if one doesn't already exist
+#if defined(USBPLAT)
+ // This is a platform extender so create null base platform if one doesn't already exist
if (plat == NULL) {
plat = (mraa_board_t*) calloc(1, sizeof(mraa_board_t));
if (plat != NULL) {
@@ -140,8 +131,6 @@ imraa_init()
plat->platform_name = "Unknown platform";
}
}
-
-#if defined(USBPLAT)
// Now detect sub platform, note this is not an else since we could be in
// an error case and fall through to MRAA_ERROR_PLATFORM_NOT_INITIALISED
if (plat != NULL) {
@@ -157,11 +146,6 @@ imraa_init()
}
#endif
-#if defined(IMRAA)
- const char* subplatform_lockfile = "/tmp/imraa.lock";
- mraa_add_from_lockfile(subplatform_lockfile);
-#endif
-
// Look for IIO devices
mraa_iio_detect();
@@ -179,29 +163,10 @@ imraa_init()
}
}
- lang_func = (mraa_lang_func_t*) calloc(1, sizeof(mraa_lang_func_t));
- if (lang_func == NULL) {
- return MRAA_ERROR_NO_RESOURCES;
- }
-
syslog(LOG_NOTICE, "libmraa initialised for platform '%s' of type %d", mraa_get_platform_name(), mraa_get_platform_type());
return MRAA_SUCCESS;
}
-#if (defined SWIGPYTHON) || (defined SWIG)
-mraa_result_t
-#else
-mraa_result_t __attribute__((constructor))
-#endif
-mraa_init()
-{
- if (plat != NULL) {
- return MRAA_SUCCESS;
- } else {
- return imraa_init();
- }
-}
-
void
mraa_deinit()
{
@@ -226,7 +191,7 @@ mraa_deinit()
}
int
-mraa_set_priority(const int priority)
+mraa_set_priority(const unsigned int priority)
{
struct sched_param sched_s;
@@ -288,168 +253,27 @@ mraa_iio_detect()
return MRAA_SUCCESS;
}
+
mraa_result_t
mraa_setup_mux_mapped(mraa_pin_t meta)
{
- unsigned int mi;
- mraa_result_t ret;
- mraa_gpio_context mux_i = NULL;
- // avoids the unsigned comparison and we should never have a pin that is UINT_MAX!
- unsigned int last_pin = UINT_MAX;
+ int mi;
for (mi = 0; mi < meta.mux_total; mi++) {
+ mraa_gpio_context mux_i;
+ mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
+ if (mux_i == NULL) {
+ return MRAA_ERROR_INVALID_HANDLE;
+ }
+ // this function will sometimes fail, however this is not critical as
+ // long as the write succeeds - Test case galileo gen2 pin2
+ mraa_gpio_dir(mux_i, MRAA_GPIO_OUT);
+ mraa_gpio_owner(mux_i, 0);
- switch(meta.mux[mi].pincmd) {
- case PINCMD_UNDEFINED: // used for backward compatibility
- if(meta.mux[mi].pin != last_pin) {
- if (mux_i != NULL) {
- mraa_gpio_owner(mux_i, 0);
- mraa_gpio_close(mux_i);
- }
- mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
- if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE;
- last_pin = meta.mux[mi].pin;
- }
- // this function will sometimes fail, however this is not critical as
- // long as the write succeeds - Test case galileo gen2 pin2
- mraa_gpio_dir(mux_i, MRAA_GPIO_OUT);
- ret = mraa_gpio_write(mux_i, meta.mux[mi].value);
- if(ret != MRAA_SUCCESS) {
- if (mux_i != NULL) {
- mraa_gpio_owner(mux_i, 0);
- mraa_gpio_close(mux_i);
- }
- return MRAA_ERROR_INVALID_RESOURCE;
- }
- break;
-
- case PINCMD_SET_VALUE:
- if(meta.mux[mi].pin != last_pin) {
- if (mux_i != NULL) {
- mraa_gpio_owner(mux_i, 0);
- mraa_gpio_close(mux_i);
- }
- mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
- if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE;
- last_pin = meta.mux[mi].pin;
- }
-
- ret = mraa_gpio_write(mux_i, meta.mux[mi].value);
-
- if(ret != MRAA_SUCCESS) {
- if (mux_i != NULL) {
- mraa_gpio_owner(mux_i, 0);
- mraa_gpio_close(mux_i);
- }
- return MRAA_ERROR_INVALID_RESOURCE;
- }
- break;
-
- case PINCMD_SET_DIRECTION:
- if(meta.mux[mi].pin != last_pin) {
- if (mux_i != NULL) {
- mraa_gpio_owner(mux_i, 0);
- mraa_gpio_close(mux_i);
- }
- mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
- if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE;
- last_pin = meta.mux[mi].pin;
- }
-
- ret = mraa_gpio_dir(mux_i, meta.mux[mi].value);
-
- if(ret != MRAA_SUCCESS) {
- if (mux_i != NULL) {
- mraa_gpio_owner(mux_i, 0);
- mraa_gpio_close(mux_i);
- }
- return MRAA_ERROR_INVALID_RESOURCE;
- }
- break;
-
- case PINCMD_SET_IN_VALUE:
- if(meta.mux[mi].pin != last_pin) {
- if (mux_i != NULL) {
- mraa_gpio_owner(mux_i, 0);
- mraa_gpio_close(mux_i);
- }
- mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
- if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE;
- last_pin = meta.mux[mi].pin;
- }
-
- ret = mraa_gpio_dir(mux_i, MRAA_GPIO_IN);
-
- if(ret == MRAA_SUCCESS)
- ret = mraa_gpio_write(mux_i, meta.mux[mi].value);
-
- if(ret != MRAA_SUCCESS) {
- if (mux_i != NULL) {
- mraa_gpio_owner(mux_i, 0);
- mraa_gpio_close(mux_i);
- }
- return MRAA_ERROR_INVALID_RESOURCE;
- }
- break;
-
- case PINCMD_SET_OUT_VALUE:
- if(meta.mux[mi].pin != last_pin) {
- if (mux_i != NULL) {
- mraa_gpio_owner(mux_i, 0);
- mraa_gpio_close(mux_i);
- }
- mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
- if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE;
- last_pin = meta.mux[mi].pin;
- }
-
- ret = mraa_gpio_dir(mux_i, MRAA_GPIO_OUT);
-
- if(ret == MRAA_SUCCESS)
- ret = mraa_gpio_write(mux_i, meta.mux[mi].value);
-
- if(ret != MRAA_SUCCESS) {
- if (mux_i != NULL) {
- mraa_gpio_owner(mux_i, 0);
- mraa_gpio_close(mux_i);
- }
- return MRAA_ERROR_INVALID_RESOURCE;
- }
- break;
-
- case PINCMD_SET_MODE:
- if(meta.mux[mi].pin != last_pin) {
- if (mux_i != NULL) {
- mraa_gpio_owner(mux_i, 0);
- mraa_gpio_close(mux_i);
- }
- mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
- if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE;
- last_pin = meta.mux[mi].pin;
- }
-
- ret = mraa_gpio_mode(mux_i, meta.mux[mi].value);
-
- if(ret != MRAA_SUCCESS) {
- if (mux_i != NULL) {
- mraa_gpio_owner(mux_i, 0);
- mraa_gpio_close(mux_i);
- }
- return MRAA_ERROR_INVALID_RESOURCE;
- }
- break;
-
- case PINCMD_SKIP:
- break;
-
- default:
- syslog(LOG_NOTICE, "mraa_setup_mux_mapped: wrong command %d on pin %d with value %d", meta.mux[mi].pincmd, meta.mux[mi].pin, meta.mux[mi].value);
- break;
+ if (mraa_gpio_write(mux_i, meta.mux[mi].value) != MRAA_SUCCESS) {
+ mraa_gpio_close(mux_i);
+ return MRAA_ERROR_INVALID_RESOURCE;
}
- }
-
- if (mux_i != NULL) {
- mraa_gpio_owner(mux_i, 0);
mraa_gpio_close(mux_i);
}
@@ -496,14 +320,8 @@ mraa_result_print(mraa_result_t result)
case MRAA_ERROR_PLATFORM_NOT_INITIALISED:
fprintf(stdout, "MRAA: Platform not initialised.\n");
break;
- case MRAA_ERROR_UART_OW_SHORTED:
- fprintf(stdout, "MRAA: UART OW: Bus short detected.\n");
- break;
- case MRAA_ERROR_UART_OW_NO_DEVICES:
- fprintf(stdout, "MRAA: UART OW: No devices detected on bus.\n");
- break;
- case MRAA_ERROR_UART_OW_DATA_ERROR:
- fprintf(stdout, "MRAA: UART OW: Data or Bus error detected.\n");
+ case MRAA_ERROR_PLATFORM_ALREADY_INITIALISED:
+ fprintf(stdout, "MRAA: Platform already initialised.\n");
break;
case MRAA_ERROR_UNSPECIFIED:
fprintf(stdout, "MRAA: Unspecified Error.\n");
@@ -537,7 +355,7 @@ mraa_pin_mode_test(int pin, mraa_pinmodes_t mode)
pin = mraa_get_sub_platform_index(pin);
}
- if (current_plat == NULL || current_plat->platform_type == MRAA_UNKNOWN_PLATFORM || current_plat->platform_type == MRAA_NULL_PLATFORM) {
+ if (current_plat == NULL || current_plat->platform_type == MRAA_UNKNOWN_PLATFORM) {
return 0;
}
if (pin > (current_plat->phy_pin_count - 1) || pin < 0)
@@ -685,7 +503,7 @@ mraa_get_i2c_bus_count()
}
int
-mraa_get_i2c_bus_id(int i2c_bus)
+mraa_get_i2c_bus_id(unsigned i2c_bus)
{
if (plat == NULL) {
return -1;
@@ -986,251 +804,3 @@ mraa_get_iio_device_count()
{
return plat_iio->iio_device_count;
}
-
-mraa_result_t
-mraa_add_subplatform(mraa_platform_t subplatformtype, const char* uart_dev)
-{
-#if defined(FIRMATA)
- if (subplatformtype == MRAA_GENERIC_FIRMATA) {
- if (plat->sub_platform != NULL) {
- return MRAA_ERROR_INVALID_PARAMETER;
- }
- if (mraa_firmata_platform(plat, uart_dev) == MRAA_GENERIC_FIRMATA) {
- syslog(LOG_NOTICE, "mraa: Added firmata subplatform");
- return MRAA_SUCCESS;
- }
- syslog(LOG_NOTICE, "mraa: Failed to add firmata subplatform");
- }
-#endif
-
- return MRAA_ERROR_INVALID_PARAMETER;
-}
-
-mraa_result_t
-mraa_remove_subplatform(mraa_platform_t subplatformtype)
-{
-#if defined(FIRMATA)
- if (subplatformtype == MRAA_GENERIC_FIRMATA) {
- if (plat == NULL || plat->sub_platform == NULL) {
- return MRAA_ERROR_INVALID_PARAMETER;
- }
- free(plat->sub_platform->adv_func);
- free(plat->sub_platform->pins);
- free(plat->sub_platform);
- }
-#endif
- return MRAA_ERROR_INVALID_PARAMETER;
-}
-
-#if defined(IMRAA)
-mraa_result_t
-mraa_add_from_lockfile(const char* imraa_lock_file)
-{
- mraa_result_t ret = MRAA_SUCCESS;
- mraa_platform_t type = plat->platform_type;
- char* buffer = NULL;
- off_t file_size;
- struct stat st;
- int i = 0;
- uint32_t subplat_num = 0;
- int flock = open(imraa_lock_file, O_RDONLY);
- if (flock == -1) {
- syslog(LOG_ERR, "imraa: Failed to open lock file");
- return MRAA_ERROR_INVALID_RESOURCE;
- }
- if (fstat(flock, &st) != 0 || (!S_ISREG(st.st_mode))) {
- close(flock);
- return MRAA_ERROR_INVALID_RESOURCE;
- }
- buffer = mmap(0, st.st_size, PROT_READ, MAP_SHARED, flock, 0);
- close(flock);
- if (buffer == MAP_FAILED) {
- syslog(LOG_ERR, "imraa: lockfile read error");
- return MRAA_ERROR_INVALID_RESOURCE;
- }
- json_object* jobj_lock = json_tokener_parse(buffer);
-
- struct json_object* ioarray;
- if (json_object_object_get_ex(jobj_lock, "Platform", &ioarray) == true &&
- json_object_is_type(ioarray, json_type_array)) {
- subplat_num = json_object_array_length(ioarray);
- int id = -1;
- const char* uartdev = NULL;
- for (i = 0; i < subplat_num; i++) {
- struct json_object *ioobj = json_object_array_get_idx(ioarray, i);
- json_object_object_foreach(ioobj, key, val) {
- if (strcmp(key, "id") == 0) {
- id = atoi(json_object_get_string(val));
- } else if (strcmp(key, "uart") == 0) {
- uartdev = json_object_get_string(val);
- }
- }
- if (id != -1 && id != MRAA_NULL_PLATFORM && id != MRAA_UNKNOWN_PLATFORM && uartdev != NULL) {
- if (mraa_add_subplatform(id, uartdev) == MRAA_SUCCESS) {
- syslog(LOG_NOTICE, "imraa: automatically added subplatform %d, %s", id, uartdev);
- } else {
- syslog(LOG_ERR, "imraa: Failed to add subplatform (%d on %s) from lockfile", id, uartdev);
- }
- id = -1;
- uartdev = NULL;
- }
- }
- } else {
- ret = MRAA_ERROR_INVALID_RESOURCE;
- }
- json_object_put(jobj_lock);
- munmap(buffer, st.st_size);
- return ret;
-}
-#endif
-
-void
-mraa_to_upper(char* s)
-{
- char* t = s;
- for (; *t; ++t) {
- *t = toupper(*t);
- }
-}
-
-mraa_result_t
-mraa_atoi(char* intStr, int* value)
-{
- char* end;
- // here 10 determines the number base in which strol is to work
- long val = strtol(intStr, &end, 10);
- if (*end != '\0' || errno == ERANGE || end == intStr || val > INT_MAX || val < INT_MIN) {
- *value = 0;
- return MRAA_ERROR_UNSPECIFIED;
- }
- *value = (int) val;
- return MRAA_SUCCESS;
-}
-
-mraa_result_t
-mraa_init_io_helper(char** str, int* value, const char* delim)
-{
- // This function is a result of a repeated pattern within mraa_init_io
- // when determining if a value can be derived from a string
- char* token;
- token = strsep(str, delim);
- // check to see if empty string returned
- if (token == NULL) {
- *value = 0;
- return MRAA_ERROR_NO_DATA_AVAILABLE;
- }
- return mraa_atoi(token, value);
-}
-
-void*
-mraa_init_io(const char* desc)
-{
- const char* delim = "-";
- int length = 0, raw = 0;
- int pin = 0, id = 0;
- // 256 denotes the maximum size of our buffer
- // 8 denotes the maximum size of our type rounded to the nearest power of 2
- // max size is 4 + 1 for the \0 = 5 rounded to 8
- char buffer[256] = { 0 }, type[8] = { 0 };
- char *token = 0, *str = 0;
- if (desc == NULL) {
- return NULL;
- }
- length = strlen(desc);
- // Check to see the length is less than or equal to 255 which means
- // byte 256 is supposed to be \0
- if (length > 255 || length == 0) {
- return NULL;
- }
- strncpy(buffer, desc, length);
-
- str = buffer;
- token = strsep(&str, delim);
- length = strlen(token);
- // Check to see they haven't given us a type whose length is greater than the
- // largest type we know about
- if (length > 4) {
- syslog(LOG_ERR, "mraa_init_io: An invalid IO type was provided");
- return NULL;
- }
- strncpy(type, token, length);
- mraa_to_upper(type);
- token = strsep(&str, delim);
- // Check that they've given us more information than just the type
- if (token == NULL) {
- syslog(LOG_ERR, "mraa_init_io: Missing information after type");
- return NULL;
- }
- // If we cannot convert the pin to a number maybe it says raw?
- if (mraa_atoi(token, &pin) != MRAA_SUCCESS) {
- mraa_to_upper(token);
- if (strncmp(token, "RAW", 3)) {
- syslog(LOG_ERR, "mraa_init_io: Description does not adhere to a known format");
- return NULL;
- }
- raw = 1;
- }
- if (!raw && str != NULL) {
- syslog(LOG_ERR, "mraa_init_io: More information than required was provided");
- return NULL;
- }
-
- if (strncmp(type, "GPIO", 4) == 0) {
- if (raw) {
- if (mraa_init_io_helper(&str, &pin, delim) == MRAA_SUCCESS) {
- return (void*) mraa_gpio_init_raw(pin);
- }
- syslog(LOG_ERR, "mraa_init_io: Invalid Raw description for GPIO");
- return NULL;
- }
- return (void*) mraa_gpio_init(pin);
- } else if (strncmp(type, "I2C", 3) == 0) {
- if (raw) {
- if (mraa_init_io_helper(&str, &pin, delim) == MRAA_SUCCESS) {
- return (void*) mraa_i2c_init_raw(pin);
- }
- syslog(LOG_ERR, "mraa_init_io: Invalid Raw description for I2C");
- return NULL;
- }
- return (void*) mraa_i2c_init(pin);
- } else if (strncmp(type, "AIO", 3) == 0) {
- if (raw) {
- syslog(LOG_ERR, "mraa_init_io: Aio doesn't have a RAW mode");
- return NULL;
- }
- return (void*) mraa_aio_init(pin);
- } else if (strncmp(type, "PWM", 3) == 0) {
- if (raw) {
- if (mraa_init_io_helper(&str, &id, delim) != MRAA_SUCCESS) {
- syslog(LOG_ERR, "mraa_init_io: Pwm, unable to convert the chip id string into a useable Int");
- return NULL;
- }
- if (mraa_init_io_helper(&str, &pin, delim) != MRAA_SUCCESS) {
- syslog(LOG_ERR, "mraa_init_io: Pwm, unable to convert the pin string into a useable Int");
- return NULL;
- }
- return (void*) mraa_pwm_init_raw(id, pin);
- }
- return (void*) mraa_pwm_init(pin);
- } else if (strncmp(type, "SPI", 3) == 0) {
- if (raw) {
- if (mraa_init_io_helper(&str, &id, delim) != MRAA_SUCCESS) {
- syslog(LOG_ERR, "mraa_init_io: Spi, unable to convert the bus string into a useable Int");
- return NULL;
- }
- if (mraa_init_io_helper(&str, &pin, delim) != MRAA_SUCCESS) {
- syslog(LOG_ERR, "mraa_init_io: Spi, unable to convert the cs string into a useable Int");
- return NULL;
- }
- return (void*) mraa_spi_init_raw(id, pin);
- }
- return (void*) mraa_spi_init(pin);
- } else if (strncmp(type, "UART", 4) == 0) {
- if (raw) {
- return (void*) mraa_uart_init_raw(str);
- }
- return (void*) mraa_uart_init(pin);
- }
- syslog(LOG_ERR, "mraa_init_io: Invalid IO type given.");
- return NULL;
-}
generated by cgit v1.2.3 (git 2.25.1) at 2024-05-23 07:45:34 +0000