/* * Author: Brendan Le Foll <brendan.le.foll@intel.com> * Author: Thomas Ingleby <thomas.c.ingleby@intel.com> * Copyright (c) 2014-2016 Intel Corporation. * * Permission is hereby granted, free of charge, to any person obtaining * a copy of this software and associated documentation files (the * "Software"), to deal in the Software without restriction, including * without limitation the rights to use, copy, modify, merge, publish, * distribute, sublicense, and/or sell copies of the Software, and to * permit persons to whom the Software is furnished to do so, subject to * the following conditions: * * The above copyright notice and this permission notice shall be * included in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ #define _GNU_SOURCE #if !defined(_XOPEN_SOURCE) || _XOPEN_SOURCE < 600 #define _XOPEN_SOURCE 600 /* Get nftw() and S_IFSOCK declarations */ #endif #include <stddef.h> #include <stdlib.h> #include <sched.h> #include <string.h> #include <pwd.h> #include <glob.h> #include <ftw.h> #include <dirent.h> #include <sys/stat.h> #include <fcntl.h> #include <string.h> #include <stdio.h> #include "mraa_internal.h" #include "gpio.h" #include "version.h" #define IIO_DEVICE_WILDCARD "iio:device*" mraa_board_t* plat = NULL; mraa_iio_info_t* plat_iio = NULL; static char* platform_name = NULL; static char* platform_long_name = NULL; static int num_i2c_devices = 0; static int num_iio_devices = 0; const char* mraa_get_version() { return gVERSION; } mraa_result_t mraa_set_log_level(int level) { if (level <= 7 && level >= 0) { setlogmask(LOG_UPTO(level)); syslog(LOG_DEBUG, "Loglevel %d is set", level); return MRAA_SUCCESS; } syslog(LOG_NOTICE, "Invalid loglevel %d requested", level); return MRAA_ERROR_INVALID_PARAMETER; } #if (defined SWIGPYTHON) || (defined SWIG) mraa_result_t #else mraa_result_t __attribute__((constructor)) #endif mraa_init() { if (plat != NULL) { return MRAA_ERROR_PLATFORM_ALREADY_INITIALISED; } uid_t proc_euid = geteuid(); struct passwd* proc_user = getpwuid(proc_euid); #ifdef DEBUG setlogmask(LOG_UPTO(LOG_DEBUG)); #else setlogmask(LOG_UPTO(LOG_NOTICE)); #endif openlog("libmraa", LOG_CONS | LOG_PID | LOG_NDELAY, LOG_LOCAL1); 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 platform_type = mraa_x86_platform(); #elif defined(ARMPLAT) // Use runtime ARM platform detection platform_type = mraa_arm_platform(); #else #error mraa_ARCH NOTHING #endif if (plat != NULL) { plat->platform_type = platform_type; } else { platform_name = NULL; } #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) { plat->platform_type = MRAA_NULL_PLATFORM; plat->platform_name = "Unknown platform"; } } // Now detect sub platform if (plat != NULL) { mraa_platform_t usb_platform_type = mraa_usb_platform_extender(plat); if (plat->platform_type == MRAA_UNKNOWN_PLATFORM && usb_platform_type != MRAA_UNKNOWN_PLATFORM) { plat->platform_type = usb_platform_type; } else { return MRAA_ERROR_PLATFORM_NOT_INITIALISED; } } if (plat == NULL) { printf("mraa: FATAL error, failed to initialise platform\n"); return MRAA_ERROR_PLATFORM_NOT_INITIALISED; } #endif // Look for IIO devices mraa_iio_detect(); if (plat != NULL) { int length = strlen(plat->platform_name) + 1; if (mraa_has_sub_platform()) { length += strlen(plat->sub_platform->platform_name); } platform_name = calloc(length, sizeof(char)); if (mraa_has_sub_platform()) { snprintf(platform_name, length, "%s + %s", plat->platform_name, plat->sub_platform->platform_name); } else { strncpy(platform_name, plat->platform_name, length); } } syslog(LOG_NOTICE, "libmraa initialised for platform '%s' of type %d", mraa_get_platform_name(), mraa_get_platform_type()); return MRAA_SUCCESS; } void mraa_deinit() { if (plat != NULL) { if (plat->pins != NULL) { free(plat->pins); } mraa_board_t* sub_plat = plat->sub_platform; if (sub_plat != NULL) { if (sub_plat->pins != NULL) { free(sub_plat->pins); } free(sub_plat); } free(plat); } if (plat_iio != NULL) { free(plat_iio); } closelog(); } int mraa_set_priority(const unsigned int priority) { struct sched_param sched_s; memset(&sched_s, 0, sizeof(struct sched_param)); if (priority > sched_get_priority_max(SCHED_RR)) { sched_s.sched_priority = sched_get_priority_max(SCHED_RR); } else { sched_s.sched_priority = priority; } return sched_setscheduler(0, SCHED_RR, &sched_s); } static int mraa_count_iio_devices(const char* path, const struct stat* sb, int flag, struct FTW* ftwb) { // we are only interested in files with specific names if (fnmatch(IIO_DEVICE_WILDCARD, basename(path), 0) == 0) { num_iio_devices++; } return 0; } mraa_result_t mraa_iio_detect() { plat_iio = (mraa_iio_info_t*) calloc(1, sizeof(mraa_iio_info_t)); plat_iio->iio_device_count = num_iio_devices; // Now detect IIO devices, linux only // find how many iio devices we have if we haven't already if (num_iio_devices == 0) { if (nftw("/sys/bus/iio/devices", &mraa_count_iio_devices, 20, FTW_PHYS) == -1) { return MRAA_ERROR_UNSPECIFIED; } } char name[64], filepath[64]; int fd, len, i; plat_iio->iio_device_count = num_iio_devices; plat_iio->iio_devices = calloc(num_iio_devices, sizeof(struct _iio)); struct _iio* device; for (i=0; i < num_iio_devices; i++) { device = &plat_iio->iio_devices[i]; device->num = i; snprintf(filepath, 64, "/sys/bus/iio/devices/iio:device%d/name", i); fd = open(filepath, O_RDONLY); if (fd != -1) { len = read(fd, &name, 64); if (len > 1) { // remove any trailing CR/LF symbols name[strcspn(name, "\r\n")] = '\0'; len = strlen(name); // use strndup device->name = malloc((sizeof(char) * len) + sizeof(char)); strncpy(device->name, name, len+1); } close(fd); } } return MRAA_SUCCESS; } mraa_result_t mraa_setup_mux_mapped(mraa_pin_t meta) { 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); if (mraa_gpio_write(mux_i, meta.mux[mi].value) != MRAA_SUCCESS) { mraa_gpio_close(mux_i); return MRAA_ERROR_INVALID_RESOURCE; } mraa_gpio_close(mux_i); } return MRAA_SUCCESS; } void mraa_result_print(mraa_result_t result) { switch (result) { case MRAA_SUCCESS: fprintf(stdout, "MRAA: SUCCESS\n"); break; case MRAA_ERROR_FEATURE_NOT_IMPLEMENTED: fprintf(stdout, "MRAA: Feature not implemented.\n"); break; case MRAA_ERROR_FEATURE_NOT_SUPPORTED: fprintf(stdout, "MRAA: Feature not supported by Hardware.\n"); break; case MRAA_ERROR_INVALID_VERBOSITY_LEVEL: fprintf(stdout, "MRAA: Invalid verbosity level.\n"); break; case MRAA_ERROR_INVALID_PARAMETER: fprintf(stdout, "MRAA: Invalid parameter.\n"); break; case MRAA_ERROR_INVALID_HANDLE: fprintf(stdout, "MRAA: Invalid Handle.\n"); break; case MRAA_ERROR_NO_RESOURCES: fprintf(stdout, "MRAA: No resources.\n"); break; case MRAA_ERROR_INVALID_RESOURCE: fprintf(stdout, "MRAA: Invalid resource.\n"); break; case MRAA_ERROR_INVALID_QUEUE_TYPE: fprintf(stdout, "MRAA: Invalid Queue Type.\n"); break; case MRAA_ERROR_NO_DATA_AVAILABLE: fprintf(stdout, "MRAA: No Data available.\n"); break; case MRAA_ERROR_INVALID_PLATFORM: fprintf(stdout, "MRAA: Platform not recognised.\n"); break; case MRAA_ERROR_PLATFORM_NOT_INITIALISED: fprintf(stdout, "MRAA: Platform not initialised.\n"); break; case MRAA_ERROR_PLATFORM_ALREADY_INITIALISED: fprintf(stdout, "MRAA: Platform already initialised.\n"); break; case MRAA_ERROR_UNSPECIFIED: fprintf(stdout, "MRAA: Unspecified Error.\n"); break; default: fprintf(stdout, "MRAA: Unrecognised error.\n"); break; } } mraa_boolean_t mraa_has_sub_platform() { return (plat != NULL) && (plat->sub_platform != NULL); } mraa_boolean_t mraa_pin_mode_test(int pin, mraa_pinmodes_t mode) { if (plat == NULL) return 0; mraa_board_t* current_plat = plat; if (mraa_is_sub_platform_id(pin)) { current_plat = plat->sub_platform; if (current_plat == NULL) { syslog(LOG_ERR, "mraa_pin_mode_test: Sub platform Not Initialised"); return 0; } pin = mraa_get_sub_platform_index(pin); } if (current_plat == NULL || current_plat->platform_type == MRAA_UNKNOWN_PLATFORM) { return 0; } if (pin > (current_plat->phy_pin_count - 1) || pin < 0) return 0; switch (mode) { case MRAA_PIN_VALID: if (current_plat->pins[pin].capabilites.valid == 1) return 1; break; case MRAA_PIN_GPIO: if (current_plat->pins[pin].capabilites.gpio == 1) return 1; break; case MRAA_PIN_PWM: if (current_plat->pins[pin].capabilites.pwm == 1) return 1; break; case MRAA_PIN_FAST_GPIO: if (current_plat->pins[pin].capabilites.fast_gpio == 1) return 1; break; case MRAA_PIN_SPI: if (current_plat->pins[pin].capabilites.spi == 1) return 1; break; case MRAA_PIN_I2C: if (current_plat->pins[pin].capabilites.i2c == 1) return 1; break; case MRAA_PIN_AIO: if (current_plat->pins[pin].capabilites.aio == 1) return 1; break; case MRAA_PIN_UART: if (current_plat->pins[pin].capabilites.uart == 1) return 1; break; default: syslog(LOG_NOTICE, "requested pinmode invalid"); break; } return 0; } mraa_platform_t mraa_get_platform_type() { if (plat == NULL) return MRAA_UNKNOWN_PLATFORM; return plat->platform_type; } int mraa_get_platform_combined_type() { int type = mraa_get_platform_type(); int sub_type = mraa_has_sub_platform() ? plat->sub_platform->platform_type : MRAA_UNKNOWN_PLATFORM; return type | (sub_type << 8); } unsigned int mraa_adc_raw_bits() { if (plat == NULL) return 0; if (plat->aio_count == 0) return 0; return plat->adc_raw; } unsigned int mraa_get_platform_adc_raw_bits(uint8_t platform_offset) { if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET) return mraa_adc_raw_bits(); else { if (!mraa_has_sub_platform()) return 0; if (plat->sub_platform->aio_count == 0) return 0; return plat->sub_platform->adc_raw; } } unsigned int mraa_adc_supported_bits() { if (plat == NULL) return 0; if (plat->aio_count == 0) return 0; return plat->adc_supported; } unsigned int mraa_get_platform_adc_supported_bits(int platform_offset) { if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET) return mraa_adc_supported_bits(); else { if (!mraa_has_sub_platform()) return 0; if (plat->sub_platform->aio_count == 0) return 0; return plat->sub_platform->adc_supported; } } const char* mraa_get_platform_name() { return platform_name; } const char* mraa_get_platform_version(int platform_offset) { if (plat == NULL) { return NULL; } if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET) { return plat->platform_version; } else { return plat->sub_platform->platform_version; } } int mraa_get_i2c_bus_count() { if (plat == NULL) { return -1; } return plat->i2c_bus_count; } int mraa_get_i2c_bus_id(unsigned i2c_bus) { if (plat == NULL) { return -1; } if (i2c_bus >= plat->i2c_bus_count) { return -1; } return plat->i2c_bus[i2c_bus].bus_id; } unsigned int mraa_get_pin_count() { if (plat == NULL) { return 0; } return plat->phy_pin_count; } unsigned int mraa_get_platform_pin_count(uint8_t platform_offset) { if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET) return mraa_get_pin_count(); else { if (mraa_has_sub_platform()) return plat->sub_platform->phy_pin_count; else return 0; } } char* mraa_get_pin_name(int pin) { if (plat == NULL) return 0; mraa_board_t* current_plat = plat; if (mraa_is_sub_platform_id(pin)) { current_plat = plat->sub_platform; if (current_plat == NULL) { syslog(LOG_ERR, "mraa_get_pin_name: Sub platform Not Initialised"); return 0; } pin = mraa_get_sub_platform_index(pin); } if (pin > (current_plat->phy_pin_count - 1) || pin < 0) return NULL; return (char*) current_plat->pins[pin].name; } int mraa_get_default_i2c_bus(uint8_t platform_offset) { if (plat == NULL) return -1; if (platform_offset == MRAA_MAIN_PLATFORM_OFFSET) { return plat->def_i2c_bus; } else { if (mraa_has_sub_platform()) return plat->sub_platform->def_i2c_bus; else return -1; } } mraa_boolean_t mraa_file_exist(const char* filename) { glob_t results; results.gl_pathc = 0; glob(filename, 0, NULL, &results); int file_found = results.gl_pathc == 1; globfree(&results); return file_found; } mraa_boolean_t mraa_file_contains(const char* filename, const char* content) { mraa_boolean_t found = 0; if ((filename == NULL) || (content == NULL)) { return 0; } char* file = mraa_file_unglob(filename); if (file != NULL) { size_t len = 1024; char* line = calloc(len, sizeof(char)); if (line == NULL) { free(file); return 0; } FILE* fh = fopen(file, "r"); if (fh == NULL) { free(file); free(line); return 0; } while ((getline(&line, &len, fh) != -1) && (found == 0)) { if (strstr(line, content)) { found = 1; break; } } fclose(fh); free(file); free(line); } return found; } mraa_boolean_t mraa_file_contains_both(const char* filename, const char* content, const char* content2) { mraa_boolean_t found = 0; if ((filename == NULL) || (content == NULL)) { return 0; } char* file = mraa_file_unglob(filename); if (file != NULL) { size_t len = 1024; char* line = calloc(len, sizeof(char)); if (line == NULL) { free(file); return 0; } FILE* fh = fopen(file, "r"); if (fh == NULL) { free(file); free(line); return 0; } while ((getline(&line, &len, fh) != -1) && (found == 0)) { if (strstr(line, content) && strstr(line, content2)) { found = 1; break; } } fclose(fh); free(file); free(line); } return found; } char* mraa_file_unglob(const char* filename) { glob_t results; char* res = NULL; results.gl_pathc = 0; glob(filename, 0, NULL, &results); if (results.gl_pathc == 1) res = strdup(results.gl_pathv[0]); globfree(&results); return res; } mraa_boolean_t mraa_link_targets(const char* filename, const char* targetname) { int size = 100; int nchars = 0; char* buffer = NULL; while (nchars == 0) { buffer = (char*) realloc(buffer, size); if (buffer == NULL) return 0; nchars = readlink(filename, buffer, size); if (nchars < 0) { free(buffer); return 0; } else { buffer[nchars] = '\0'; } if (nchars >= size) { size *= 2; nchars = 0; } } if (strstr(buffer, targetname)) { free(buffer); return 1; } else { free(buffer); return 0; } } static int mraa_count_i2c_files(const char* path, const struct stat* sb, int flag, struct FTW* ftwb) { switch (sb->st_mode & S_IFMT) { case S_IFLNK: num_i2c_devices++; break; } return 0; } int mraa_find_i2c_bus(const char* devname, int startfrom) { char path[64]; int fd; int i = startfrom; int ret = -1; // because feeding mraa_find_i2c_bus result back into the function is // useful treat -1 as 0 if (startfrom < 0) { startfrom = 0; } // find how many i2c buses we have if we haven't already if (num_i2c_devices == 0) { if (nftw("/sys/class/i2c-dev/", &mraa_count_i2c_files, 20, FTW_PHYS) == -1) { return -1; } } // i2c devices are numbered numerically so 0 must exist otherwise there is // no i2c-dev loaded if (mraa_file_exist("/sys/class/i2c-dev/i2c-0")) { for (i; i < num_i2c_devices; i++) { off_t size, err; snprintf(path, 64, "/sys/class/i2c-dev/i2c-%u/name", i); fd = open(path, O_RDONLY); if (fd < 0) { break; } size = lseek(fd, 0, SEEK_END); if (size < 0) { syslog(LOG_WARNING, "mraa: failed to seek i2c filename file"); close(fd); break; } err = lseek(fd, 0, SEEK_SET); if (err < 0) { syslog(LOG_WARNING, "mraa: failed to seek i2c filename file"); close(fd); break; } char* value = malloc(size); if (value == NULL) { syslog(LOG_ERR, "mraa: failed to allocate memory for i2c file"); close(fd); break; } ssize_t r = read(fd, value, size); if (r > 0) { if (strcasestr(value, devname) != NULL) { free(value); close(fd); return i; } } else { syslog(LOG_ERR, "mraa: sysfs i2cdev failed"); } free(value); close(fd); } } else { syslog(LOG_WARNING, "mraa: no i2c-dev detected, load i2c-dev"); } return ret; } mraa_boolean_t mraa_is_sub_platform_id(int pin_or_bus) { return (pin_or_bus & MRAA_SUB_PLATFORM_MASK) != 0; } int mraa_get_sub_platform_id(int pin_or_bus) { return pin_or_bus | MRAA_SUB_PLATFORM_MASK; } int mraa_get_sub_platform_index(int pin_or_bus) { return pin_or_bus & (~MRAA_SUB_PLATFORM_MASK); } int mraa_get_iio_device_count() { return plat_iio->iio_device_count; } int mraa_find_iio_device(const char* devicename) { int i = 0; for (i; i < plat_iio->iio_device_count; i++) { #if 0 // compare with devices array if (!strcmp() { } #endif } return 0; }