/*
* 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;
}