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MAA version 0.2.0 moves to a standard C API

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* Removed all C++ code and renamed all .cxx extensions to .c
* All functions are renamed to maa_ and modules are for example called maa_pwm
* Cmake can now 'make doc' using a Doxyfile.in to create documentation
* examples/ have been updated but swig generated API is untested

Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
This commit is contained in:
Brendan Le Foll
2014-04-27 21:17:54 +01:00
parent 5a270191b5
commit a5a407e4b5
23 changed files with 389 additions and 736 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
CMakeLists.txt
View File

@@ -5,15 +5,15 @@ set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Wall")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Wall")
set(maa_VERSION_MAJOR 0)
set(maa_VERSION_MINOR 1)
set(maa_VERSION_PATCH 1)
set(maa_VERSION_MINOR 2)
set(maa_VERSION_PATCH 0)
set(maa_VERSION_STRING ${maa_VERSION_MAJOR}.${maa_VERSION_MINOR}.${maa_VERSION_PATCH})
set (SWIG_EXECUTABLE /usr/bin/swig)
FIND_PACKAGE (SWIG REQUIRED)
INCLUDE (${SWIG_USE_FILE})
find_package (SWIG REQUIRED)
include (${SWIG_USE_FILE})
SET (CMAKE_SWIG_FLAGS "")
set (CMAKE_SWIG_FLAGS "")
option (test "Build all tests." OFF)
@@ -24,3 +24,14 @@ if (test)
enable_testing ()
add_subdirectory (tests)
endif ()
# add a target to generate API documentation with Doxygen
find_package (Doxygen)
if (DOXYGEN_FOUND)
configure_file (${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
add_custom_target (doc
${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
COMMENT "Generating API documentation with Doxygen" VERBATIM
)
endif (DOXYGEN_FOUND)

5
README
View File

@@ -1,6 +1,6 @@
MAA - Low Level Skeleton Library for Communication on Intel platforms
Library for C/C++ to interface with Galileo & other Intel platforms over:
Library in C/C++ to interface with Galileo & other Intel platforms over:
- I2C
- SPI
@@ -8,7 +8,8 @@ Library for C/C++ to interface with Galileo & other Intel platforms over:
- PWM
- AIO
In a structured and sane API with port nanmes/numbering that match boards.
In a structured and sane API with port nanmes/numbering that match boards &
with bindings to javascript & python.
The intent is to make it easier for developers and sensor manufacturers to map
their sensors & actuators on top of supported hardware and to allow control of

8
api/gpio.h
View File

@@ -20,10 +20,6 @@
#include <stdio.h>
#ifdef __cplusplus
extern "C" {
#endif
typedef struct gpio_struct
{
int pin;
@@ -43,7 +39,3 @@ void gpio_dir(gpio_t *gpio, gpio_dir_t dir);
void gpio_close(gpio_t *gpio);
int gpio_read(gpio_t *gpio);
void gpio_write(gpio_t *gpio, int value);
#ifdef __cplusplus
}
#endif

169
api/i2c.h
View File

@@ -18,119 +18,84 @@
#pragma once
#include <stdlib.h>
#include <stdio.h>
#include <fcntl.h>
#include "gpio.h"
#include "smbus.hpp"
typedef struct {
int hz;
int fh;
int addr;
gpio_t gpio;
} i2c_t;
namespace maa {
int maa_i2c_init(i2c_t* dev);
/** An I2C Master, used for communicating with I2C slave devices
/** Set the frequency of the I2C interface
*
* Example:
* @code
* // Read from I2C slave at address 0x62
*
* #include "maa.h"
*
* I2C i2c(p28, p27);
*
* int main() {
* int address = 0x62;
* char data[2];
* i2c.read(address, data, 2);
* }
* @endcode
* @param hz The bus frequency in hertz
*/
class I2C {
void maa_i2c_frequency(i2c_t* dev, int hz);
public:
enum RxStatus {
NoData,
MasterGeneralCall,
MasterWrite,
MasterRead
};
/** Checks to see if this I2C Slave has been addressed.
*
* @returns
* A status indicating if the device has been addressed, and how
* - NoData - the slave has not been addressed
* - ReadAddressed - the master has requested a read from this slave
* - WriteAddressed - the master is writing to this slave
* - WriteGeneral - the master is writing to all slave
*/
int maa_i2c_receive(i2c_t* dev);
enum Acknowledge {
NoACK = 0,
ACK = 1
};
/** Read from an I2C master.
*
* @param data pointer to the byte array to read data in to
* @param length maximum number of bytes to read
*
* @returns
* 0 on success,
* non-0 otherwise
*/
int maa_i2c_read(i2c_t* dev, char *data, int length);
/** Create an I2C Master interface, connected to the specified pins
*
* @param sda I2C data line pin
* @param scl I2C clock line pin
*/
I2C(unsigned int sda, unsigned int scl);
/** Read a single byte from an I2C master.
*
* @returns
* the byte read
*/
int maa_i2c_read_byte(i2c_t* dev);
/** Set the frequency of the I2C interface
*
* @param hz The bus frequency in hertz
*/
void frequency(int hz);
/** Write to an I2C master.
*
* @param data pointer to the byte array to be transmitted
* @param length the number of bytes to transmite
*
* @returns
* 0 on success,
* non-0 otherwise
*/
int maa_i2c_write(i2c_t* dev, const char *data, int length);
/** Read from an I2C slave
*
* Performs a complete read transaction. The bottom bit of
* the address is forced to 1 to indicate a read.
*
* @param address 8-bit I2C slave address [ addr | 1 ]
* @param data Pointer to the byte-array to read data in to
* @param length Number of bytes to read
* @param repeated Repeated start, true - don't send stop at end
*
* @returns
* 0 on success (ack),
* non-0 on failure (nack)
*/
int read(int address, char *data, int length, bool repeated = false);
/** Write a single byte to an I2C master.
*
* @data the byte to write
*
* @returns
* '1' if an ACK was received,
* '0' otherwise
*/
int maa_i2c_write_byte(i2c_t* dev, int data);
/** Read a single byte from the I2C bus
*
* @param ack indicates if the byte is to be acknowledged (1 = acknowledge)
*
* @returns
* the byte read
*/
int read(int ack);
/** Sets the I2C slave address.
*
* @param address The address to set for the slave (ignoring the least
* signifcant bit). If set to 0, the slave will only respond to the
* general call address.
*/
void maa_i2c_address(i2c_t* dev, int address);
/** Write to an I2C slave
*
* Performs a complete write transaction. The bottom bit of
* the address is forced to 0 to indicate a write.
*
* @param address 8-bit I2C slave address [ addr | 0 ]
* @param data Pointer to the byte-array data to send
* @param length Number of bytes to send
* @param repeated Repeated start, true - do not send stop at end
*
* @returns
* 0 on success (ack),
* non-0 on failure (nack)
*/
int write(int address, const char *data, int length, bool repeated = false);
/** Write single byte out on the I2C bus
* @param data data to write out on bus
*
* @returns
* '1' if an ACK was received,
* '0' otherwise
*/
int write(int data);
/** Creates a start condition on the I2C bus
*/
void start(void);
/** Creates a stop condition on the I2C bus
*/
void stop(void);
protected:
void aquire();
int _hz;
int i2c_handle;
};
}
/** De-inits an i2c_t device
*/
void maa_i2c_stop(i2c_t* dev);

154
api/i2cslave.h
View File

@@ -1,154 +0,0 @@
/*
* Originally from mbed Microcontroller Library
* Copyright (c) 2006-2013 ARM Limited
* Copyright (c) 2014 Intel Corporation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#include <stdio.h>
#include <fcntl.h>
#include "smbus.hpp"
#include "gpio.h"
namespace maa {
/** An I2C Slave, used for communicating with an I2C Master device
*
* Example:
* @code
* // Simple I2C responder
* #include <mbed.h>
*
* I2CSlave slave(p9, p10);
*
* int main() {
* char buf[10];
* char msg[] = "Slave!";
*
* slave.address(0xA0);
* while (1) {
* int i = slave.receive();
* switch (i) {
* case I2CSlave::ReadAddressed:
* slave.write(msg, strlen(msg) + 1); // Includes null char
* break;
* case I2CSlave::WriteGeneral:
* slave.read(buf, 10);
* printf("Read G: %s\n", buf);
* break;
* case I2CSlave::WriteAddressed:
* slave.read(buf, 10);
* printf("Read A: %s\n", buf);
* break;
* }
* for(int i = 0; i < 10; i++) buf[i] = 0; // Clear buffer
* }
* }
* @endcode
*/
class I2CSlave {
public:
enum RxStatus {
NoData = 0,
ReadAddressed = 1,
WriteGeneral = 2,
WriteAddressed = 3
};
/** Create an I2C Slave interface, connected to the specified pins.
*
* @param sda I2C data line pin
* @param scl I2C clock line pin
*/
I2CSlave(unsigned int sda, unsigned int scl);
/** Set the frequency of the I2C interface
*
* @param hz The bus frequency in hertz
*/
void frequency(int hz);
/** Checks to see if this I2C Slave has been addressed.
*
* @returns
* A status indicating if the device has been addressed, and how
* - NoData - the slave has not been addressed
* - ReadAddressed - the master has requested a read from this slave
* - WriteAddressed - the master is writing to this slave
* - WriteGeneral - the master is writing to all slave
*/
int receive(void);
/** Read from an I2C master.
*
* @param data pointer to the byte array to read data in to
* @param length maximum number of bytes to read
*
* @returns
* 0 on success,
* non-0 otherwise
*/
int read(char *data, int length);
/** Read a single byte from an I2C master.
*
* @returns
* the byte read
*/
int read(void);
/** Write to an I2C master.
*
* @param data pointer to the byte array to be transmitted
* @param length the number of bytes to transmite
*
* @returns
* 0 on success,
* non-0 otherwise
*/
int write(const char *data, int length);
/** Write a single byte to an I2C master.
*
* @data the byte to write
*
* @returns
* '1' if an ACK was received,
* '0' otherwise
*/
int write(int data);
/** Sets the I2C slave address.
*
* @param address The address to set for the slave (ignoring the least
* signifcant bit). If set to 0, the slave will only respond to the
* general call address.
*/
void address(int address);
/** Reset the I2C slave back into the known ready receiving state.
*/
void stop(void);
protected:
int _hz;
int i2c_handle;
int _addr;
gpio_t gpio;
};
}

3
api/maa.h
View File

@@ -25,10 +25,9 @@
#pragma once
#include "i2c.h"
#include "i2cslave.h"
#include "gpio.h"
#include "pwm.h"
#define MAA_LIBRARY_VERSION 1
int get_version();
int maa_get_version();

146
api/pwm.h
View File

@@ -21,112 +21,66 @@
#include <stdio.h>
#include <fcntl.h>
namespace maa {
/** A PWM object, used for interacting with PWM output.
*
* Example:
* @code
* // Set up PWM object then cycle percentage 0-100.
*
* #include "maa.h"
*
* PWM pwm(3);
*
* int main() {
* pwm.period_us(7968750i); //Max Galileo Rev D
* pwm.enable(1);
*
* float value = 0;
* while(1) {
* pwm.write(value);
* sleep(0.5);
* if(value == 1.0) {
* value = 0;
* } else {
* value = value +0.1;
* }
* }
* }
* @endcode
*/
class PWM {
private:
typedef struct {
int chipid, pin;
FILE *duty_fp;
} pwm_t;
void write_period(int period);
void write_duty(int duty);
int setup_duty_fp();
int get_period();
int get_duty();
int maa_pwm_init(pwm_t* pwm, int chipin, int pin);
public:
/** Set the ouput duty-cycle percentage, as a float
*
* @param percentage A floating-point value representing percentage of output.
* The value should lie between 0.0f (representing on 0%) and 1.0f
* Values above or below this range will be set at either 0.0f or 1.0f.
*/
void maa_pwm_write(pwm_t* pwm, float percentage);
/** Create an PWM object
*
* @param chipid The chip in which the following pin is on.
* @param pin The PWM channel to operate on
*/
PWM(int chipid, int pin);
/** Read the ouput duty-cycle percentage, as a float
*
* @return percentage A floating-point value representing percentage of output.
* The value should lie between 0.0f (representing on 0%) and 1.0f
* Values above or below this range will be set at either 0.0f or 1.0f.
*/
float maa_pwm_read(pwm_t* pwm);
/** Set the ouput duty-cycle percentage, as a float
*
* @param percentage A floating-point value representing percentage of output.
* The value should lie between 0.0f (representing on 0%) and 1.0f
* Values above or below this range will be set at either 0.0f or 1.0f.
*/
void write(float percentage);
/** Set the PWM period as seconds represented in a float
*
* @param seconds Peroid represented as a float in seconds.
*/
void maa_pwm_period(pwm_t* pwm, float seconds);
/** Read the ouput duty-cycle percentage, as a float
*
* @return percentage A floating-point value representing percentage of output.
* The value should lie between 0.0f (representing on 0%) and 1.0f
* Values above or below this range will be set at either 0.0f or 1.0f.
*/
float read();
/** Set period. milli-oseconds.
* @param ms milli-seconds for period.
*/
void maa_pwm_period_ms(pwm_t* pwm, int ms);
/** Set the PWM period as seconds represented in a float
*
* @param seconds Peroid represented as a float in seconds.
*/
void period(float seconds);
/** Set period. microseconds
* @param ns microseconds as period.
*/
void maa_pwm_period_us(pwm_t* pwm, int us);
/** Set period. milli-oseconds.
* @param ms milli-seconds for period.
*/
void period_ms(int ms);
/** Set pulsewidth, As represnted by seconds in a (float).
* @param seconds The duration of a pulse
*/
void maa_pwm_pulsewidth(pwm_t* pwm, float seconds);
/** Set period. microseconds
* @param ns microseconds as period.
*/
void period_us(int us);
/** Set pulsewidth. Milliseconds
* @param ms milliseconds for pulsewidth.
*/
void maa_pwm_pulsewidth_ms(pwm_t* pwm, int ms);
/** Set pulsewidth, As represnted by seconds in a (float).
* @param seconds The duration of a pulse
*/
void pulsewidth(float seconds);
/** Set pulsewidth, microseconds.
* @param us microseconds for pulsewidth.
*/
void maa_pwm_pulsewidth_us(pwm_t* pwm, int us);
/** Set pulsewidth. Milliseconds
* @param ms milliseconds for pulsewidth.
*/
void pulsewidth_ms(int ms);
/** Set the enable status of the PWM pin. None zero will assume on with output being driven.
* and 0 will disable the output.
* @param enable enable status of pin
*/
void maa_pwm_enable(pwm_t* pwm, int enable);
/** Set pulsewidth, microseconds.
* @param us microseconds for pulsewidth.
*/
void pulsewidth_us(int us);
/** Set the enable status of the PWM pin. None zero will assume on with output being driven.
* and 0 will disable the output.
* @param enable enable status of pin
*/
void enable(int enable);
/** Close and unexport the PWM pin.
*/
void close();
};
}
/** Close and unexport the PWM pin.
*/
void maa_pwm_close(pwm_t* pwm);

8
examples/CMakeLists.txt
View File

@@ -1,9 +1,9 @@
add_executable (i2c_HMC5883L i2c_HMC5883L.cxx)
add_executable (hellomaa hellomaa.cxx)
add_executable (cycle-pwm3 cycle-pwm3.cxx)
add_executable (i2c_HMC5883L i2c_HMC5883L.c)
add_executable (hellomaa hellomaa.c)
add_executable (cycle-pwm3 cycle-pwm3.c)
include_directories(${PROJECT_SOURCE_DIR}/api ${PROJECT_SOURCE_DIR}/include)
target_link_libraries (hellomaa maa)
target_link_libraries (i2c_HMC5883L maa)
target_link_libraries (i2c_HMC5883L maa m)
target_link_libraries (cycle-pwm3 maa)

0
examples/blink-io8.cxx → examples/blink-io8.c
View File

11
examples/cycle-pwm3.cxx → examples/cycle-pwm3.c
View File

@@ -29,20 +29,21 @@
int
main ()
{
maa::PWM pwm(0, 3);
pwm.period_us(200);
pwm.enable(1);
pwm_t pwm;
maa_pwm_init(&pwm, 0, 3);
maa_pwm_period_us(&pwm, 200);
maa_pwm_enable(&pwm, 1);
float value = 0.0f;
while(1) {
value = value + 0.01f;
pwm.write(value);
maa_pwm_write(&pwm, value);
usleep(50000);
if (value >= 1.0f) {
value = 0.0f;
}
float output = pwm.read();
float output = maa_pwm_read(&pwm);
}
return 0;
}

2
examples/hellomaa.cxx → examples/hellomaa.c
View File

@@ -29,6 +29,6 @@
int
main(int argc, char **argv)
{
fprintf(stdout, "hello maa\n Version: %d\n", get_version());
fprintf(stdout, "hello maa\n Version: %d\n", maa_get_version());
return 0;
}

19
examples/i2c_HMC5883L.cxx → examples/i2c_HMC5883L.c
View File

@@ -82,24 +82,25 @@ main ()
int16_t x = 0, y = 0, z = 0;
char rx_tx_buf[MAX_BUFFER_LENGTH];
maa::I2CSlave i2c(26, 27);
i2c_t i2c;
maa_i2c_init(&i2c);
i2c.address(HMC5883L_I2C_ADDR);
maa_i2c_address(&i2c, HMC5883L_I2C_ADDR);
rx_tx_buf[0] = HMC5883L_CONF_REG_B;
rx_tx_buf[1] = GA_1_3_REG;
i2c.write(rx_tx_buf, 2);
maa_i2c_write(&i2c, rx_tx_buf, 2);
i2c.address(HMC5883L_I2C_ADDR);
maa_i2c_address(&i2c, HMC5883L_I2C_ADDR);
rx_tx_buf[0] = HMC5883L_MODE_REG;
rx_tx_buf[1] = HMC5883L_CONT_MODE;
i2c.write(rx_tx_buf, 2);
maa_i2c_write(&i2c, rx_tx_buf, 2);
for(;;) {
i2c.address(HMC5883L_I2C_ADDR);
i2c.write(HMC5883L_DATA_REG);
maa_i2c_address(&i2c, HMC5883L_I2C_ADDR);
maa_i2c_write_byte(&i2c, HMC5883L_DATA_REG);
i2c.address(HMC5883L_I2C_ADDR);
i2c.read(rx_tx_buf, DATA_REG_SIZE);
maa_i2c_address(&i2c, HMC5883L_I2C_ADDR);
maa_i2c_read(&i2c, rx_tx_buf, DATA_REG_SIZE);
x = (rx_tx_buf[HMC5883L_X_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_X_LSB_REG] ;
z = (rx_tx_buf[HMC5883L_Z_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_Z_LSB_REG] ;

8
include/smbus.hpp
View File

@@ -1,8 +0,0 @@
#pragma once
// This header is required to remove the issues with g++ name mangling
extern "C"
{
#include "smbus.h"
}

8
src/CMakeLists.txt
View File

@@ -5,7 +5,6 @@ include_directories(
set (maa_LIB_HEADERS
${PROJECT_SOURCE_DIR}/api/maa.h
${PROJECT_SOURCE_DIR}/api/i2cslave.h
${PROJECT_SOURCE_DIR}/api/i2c.h
${PROJECT_SOURCE_DIR}/api/pwm.h
${PROJECT_SOURCE_DIR}/api/gpio.h
@@ -21,12 +20,11 @@ set (maa_LIB_KERNEL
)
set (maa_LIB_SRCS
${PROJECT_SOURCE_DIR}/src/maa.cxx
${PROJECT_SOURCE_DIR}/src/i2c/i2c.cxx
${PROJECT_SOURCE_DIR}/src/i2c/i2cslave.cxx
${PROJECT_SOURCE_DIR}/src/maa.c
${PROJECT_SOURCE_DIR}/src/i2c/i2c.c
${PROJECT_SOURCE_DIR}/src/i2c/smbus.c
${PROJECT_SOURCE_DIR}/src/gpio/gpio.c
${PROJECT_SOURCE_DIR}/src/pwm/pwm.cxx
${PROJECT_SOURCE_DIR}/src/pwm/pwm.c
)
add_library (maa SHARED ${maa_LIB_SRCS})

45
src/i2c/i2cslave.cxx → src/i2c/i2c.c
View File

@@ -22,55 +22,57 @@
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include "i2cslave.h"
#include "i2c.h"
#include "smbus.h"
using namespace maa;
I2CSlave::I2CSlave(unsigned int sda, unsigned int scl)
int
maa_i2c_init(i2c_t* dev)
{
// maa allocates the memory for *dev
dev = malloc(sizeof *dev);
// Galileo only has one I2C master which should be /dev/i2c-0
// reliability is a fickle friend!
if ((i2c_handle = open("/dev/i2c-0", O_RDWR)) < 1) {
if ((dev->fh = open("/dev/i2c-0", O_RDWR)) < 1) {
fprintf(stderr, "Failed to open requested i2c port");
}
}
void
I2CSlave::frequency(int hz)
maa_i2c_frequency(i2c_t* dev, int hz)
{
_hz = hz;
dev->hz = hz;
}
int
I2CSlave::receive(void)
maa_i2c_receive(i2c_t* dev)
{
return -1;
}
int
I2CSlave::read(char *data, int length)
maa_i2c_read(i2c_t* dev, char *data, int length)
{
// this is the read(3) syscall not I2CSlave::read()
if (::read(i2c_handle, data, length) == length) {
// this is the read(3) syscall not maa_i2c_read()
if (read(dev->fh, data, length) == length) {
return length;
}
return -1;
}
int
I2CSlave::read(void)
maa_i2c_read_byte(i2c_t* dev)
{
int byte;
if (byte = i2c_smbus_read_byte(i2c_handle) < 0) {
if (byte = i2c_smbus_read_byte(dev->fh) < 0) {
return -1;
}
return byte;
}
int
I2CSlave::write(const char *data, int length)
maa_i2c_write(i2c_t* dev, const char* data, int length)
{
if (i2c_smbus_write_i2c_block_data(i2c_handle, data[0], length-1, (uint8_t*) data+1) < 0) {
if (i2c_smbus_write_i2c_block_data(dev->fh, data[0], length-1, (uint8_t*) data+1) < 0) {
fprintf(stderr, "Failed to write to I2CSlave slave\n");
return -1;
}
@@ -78,9 +80,9 @@ I2CSlave::write(const char *data, int length)
}
int
I2CSlave::write(int data)
maa_i2c_write_byte(i2c_t* dev, int data)
{
if (i2c_smbus_write_byte(i2c_handle, data) < 0) {
if (i2c_smbus_write_byte(dev->fh, data) < 0) {
fprintf(stderr, "Failed to write to I2CSlave slave\n");
return -1;
}
@@ -88,15 +90,16 @@ I2CSlave::write(int data)
}
void
I2CSlave::address(int addr)
maa_i2c_address(i2c_t* dev, int addr)
{
_addr = addr;
if (ioctl(i2c_handle, I2C_SLAVE_FORCE, addr) < 0) {
dev->addr = addr;
if (ioctl(dev->fh, I2C_SLAVE_FORCE, addr) < 0) {
fprintf(stderr, "Failed to set slave address %d\n", addr);
}
}
void
I2CSlave::stop()
maa_i2c_stop(i2c_t* dev)
{
free(dev);
}

93
src/i2c/i2c.cxx
View File

@@ -1,93 +0,0 @@
/*
* Author: Brendan Le Foll
* Copyright (c) 2014 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.
*/
#include "i2c.h"
using namespace maa;
I2C::I2C(unsigned int sda, unsigned int scl)
{
// Galileo only has one I2C device which is always /dev/i2c-0
// reliability is a fickle friend!
if (i2c_handle = open("/dev/i2c-0", O_RDWR) < 1) {
fprintf(stderr, "Failed to open requested i2c port");
}
}
void
I2C::frequency(int hz)
{
_hz = hz;
}
int
I2C::read(int address, char *data, int length, bool repeated)
{
return 0;
}
int
I2C::read(int ack)
{
int byte;
if (byte = i2c_smbus_read_byte(i2c_handle) < 0) {
return -1;
}
return byte;
}
int
I2C::write(int address, const char *data, int length, bool repeated)
{
if (i2c_smbus_write_i2c_block_data(i2c_handle, data[0], length, (uint8_t*) data) < 0) {
fprintf(stderr, "Failed to write to I2C slave\n");
return -1;
}
return 0;
}
int
I2C::write(int data)
{
if (i2c_smbus_write_byte(i2c_handle, data) < 0) {
fprintf(stderr, "Failed to write to I2C slave\n");
return -1;
}
return 0;
}
void
I2C::start()
{
}
void
I2C::stop()
{
}
void
I2C::aquire()
{
}

1
src/javascript/CMakeLists.txt
View File

@@ -13,7 +13,6 @@ include_directories(
${CMAKE_CURRENT_SOURCE_DIR}/..
)
SET_SOURCE_FILES_PROPERTIES(maajs.i PROPERTIES CPLUSPLUS ON)
SET_SOURCE_FILES_PROPERTIES(maajs.i PROPERTIES SWIG_FLAGS "-node")
SWIG_ADD_MODULE(maajs javascript ${maa_LIB_SRCS})

13
src/maa.cxx → src/maa.c
View File

@@ -24,19 +24,8 @@
#include "maa.h"
using namespace maa;
int
get_version()
maa_get_version()
{
return MAA_LIBRARY_VERSION;
}
int
make_a_conn()
{
maa::I2C i2c(28, 27);
int addr = 0x62;
char data[2];
i2c.read(addr, data, 2);
}

1
src/maa.i
View File

@@ -4,6 +4,5 @@
%include "maa.h"
%include "i2c.h"
%include "i2cslave.h"
%include "gpio.h"
%include "pwm.h"

2
src/maa.pc.cmake
View File

@@ -8,4 +8,4 @@ Description: Low Level Skeleton Library for Communication
Version: @maa_VERSION_STRING@
Libs: -L${libdir} -lmaa
Cflags: -I${includedir}/maa -lpthread
Cflags: -I${includedir}/maa

202
src/pwm/pwm.c Normal file
View File

@@ -0,0 +1,202 @@
/*
* Author: Thomas Ingleby <thomas.c.ingleby@intel.com>
* Copyright (c) 2014 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.
*/
#include <stdlib.h>
#include "pwm.h"
static int
maa_pwm_setup_duty_fp(pwm_t* dev)
{
char bu[64];
sprintf(bu, "/sys/class/pwm/pwmchip%d/pwm%d/duty_cycle", dev->chipid, dev->pin);
if ((dev->duty_fp = fopen(bu, "r+b")) == NULL) {
return 1;
}
return 0;
}
static void
maa_pwm_write_period(pwm_t* dev, int period)
{
FILE *period_f;
char bu[64];
sprintf(bu, "/sys/class/pwm/pwmchip%d/pwm%d/period", dev->chipid, dev->pin);
if ((period_f = fopen(bu, "r+b")) == NULL) {
fprintf(stderr, "Failed to open period for writing!\n");
}
fprintf(period_f, "%d", period);
fclose(period_f);
}
static void
maa_pwm_write_duty(pwm_t* dev, int duty)
{
if (dev->duty_fp == NULL) {
maa_pwm_setup_duty_fp(dev);
}
fprintf(dev->duty_fp, "%d", duty);
rewind(dev->duty_fp);
fflush(dev->duty_fp);
}
static int
maa_pwm_get_period(pwm_t* dev)
{
FILE *period_f;
char bu[64];
char output[16];
sprintf(bu, "/sys/class/pwm/pwmchip%d/pwm%d/period", dev->chipid, dev->pin);
if ((period_f = fopen(bu, "rb")) == NULL) {
fprintf(stderr, "Failed to open period for reading!\n");
return 0;
}
fgets(output, 16, period_f);
fclose(period_f);
return atoi(output);
}
static int
maa_pwm_get_duty(pwm_t* dev)
{
if (dev->duty_fp == NULL) {
maa_pwm_setup_duty_fp(dev);
}
char output[16];
fgets(output, 16, dev->duty_fp);
fseek(dev->duty_fp, SEEK_SET, 0);
return atoi(output);
}
int
maa_pwm_init(pwm_t* dev, int chipin, int pin)
{
dev = malloc(sizeof *dev);
dev->chipid = chipin;
dev->pin = pin;
FILE *export_f;
char buffer[64];
snprintf(buffer, 64, "/sys/class/pwm/pwmchip%d/export", dev->chipid);
if ((export_f = fopen(buffer, "w")) == NULL) {
fprintf(stderr, "Failed to open export for writing!\n");
} else {
fprintf(export_f, "%d", dev->pin);
fclose(export_f);
maa_pwm_setup_duty_fp(dev);
}
return 0;
}
void
maa_pwm_write(pwm_t* dev, float percentage)
{
maa_pwm_write_duty(dev, percentage * maa_pwm_get_period(dev));
}
float
maa_pwm_read(pwm_t* dev)
{
float output = maa_pwm_get_duty(dev) / (float) maa_pwm_get_period(dev);
return output;
}
void
maa_pwm_period(pwm_t* dev, float seconds)
{
maa_pwm_period_ms(dev, seconds*1000);
}
void
maa_pwm_period_ms(pwm_t* dev, int ms)
{
maa_pwm_period_us(dev, ms*1000);
}
void
maa_pwm_period_us(pwm_t* dev, int us)
{
maa_pwm_write_period(dev, us*1000);
}
void
maa_pwm_pulsewidth(pwm_t* dev, float seconds)
{
maa_pwm_pulsewidth_ms(dev, seconds*1000);
}
void
maa_pwm_pulsewidth_ms(pwm_t* dev, int ms)
{
maa_pwm_pulsewidth_us(dev, ms*1000);
}
void
maa_pwm_pulsewidth_us(pwm_t* dev, int us)
{
maa_pwm_write_duty(dev, us*1000);
}
void
maa_pwm_enable(pwm_t* dev, int enable)
{
int status;
if (enable != 0) {
status = 1;
} else {
status = enable;
}
FILE *enable_f;
char bu[64];
sprintf(bu, "/sys/class/pwm/pwmchip%d/pwm%d/enable", dev->chipid, dev->pin);
if ((enable_f = fopen(bu, "w")) == NULL) {
fprintf(stderr, "Failed to open export for writing!\n");
} else {
fprintf(enable_f, "%d", status);
fclose(enable_f);
}
//Do Something
}
void
maa_pwm_close(pwm_t* dev)
{
maa_pwm_enable(dev, 0);
FILE *unexport_f;
char buffer[64];
snprintf(buffer, 64, "/sys/class/pwm/pwmchip%d/unexport", dev->chipid);
if ((unexport_f = fopen(buffer, "w")) == NULL) {
fprintf(stderr, "Failed to open unexport for writing!\n");
} else {
fprintf(unexport_f, "%d", dev->pin);
fclose(unexport_f);
}
free(dev);
}

204
src/pwm/pwm.cxx
View File

@@ -1,204 +0,0 @@
/*
* Author: Thomas Ingleby <thomas.c.ingleby@intel.com>
* Copyright (c) 2014 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.
*/
#include <stdlib.h>
#include "pwm.h"
using namespace maa;
PWM::PWM(int chipin, int pinin)
{
chipid = chipin;
pin = pinin;
FILE *export_f;
char buffer[64];
snprintf(buffer, 64, "/sys/class/pwm/pwmchip%d/export", chipid);
if((export_f = fopen(buffer, "w")) == NULL) {
fprintf(stderr, "Failed to open export for writing!\n");
} else {
fprintf(export_f, "%d", pin);
fclose(export_f);
setup_duty_fp();
}
}
void
PWM::write(float percentage)
{
write_duty(percentage*get_period());
}
float
PWM::read()
{
float output = get_duty() / (float) get_period();
return output;
}
void
PWM::period(float seconds)
{
period_ms(seconds*1000);
}
void
PWM::period_ms(int ms)
{
period_us(ms*1000);
}
void
PWM::period_us(int us)
{
write_period(us*1000);
}
void
PWM::pulsewidth(float seconds)
{
pulsewidth_ms(seconds*1000);
}
void
PWM::pulsewidth_ms(int ms)
{
pulsewidth_us(ms*1000);
}
void
PWM::pulsewidth_us(int us)
{
write_duty(us*1000);
}
void
PWM::enable(int enable)
{
int status;
if(enable != 0) {
status = 1;
} else {
status = enable;
}
FILE *enable_f;
char bu[64];
sprintf(bu, "/sys/class/pwm/pwmchip%d/pwm%d/enable", chipid, pin);
if((enable_f = fopen(bu, "w")) == NULL) {
fprintf(stderr, "Failed to open export for writing!\n");
} else {
fprintf(enable_f, "%d", status);
fclose(enable_f);
}
//Do Something
}
void
PWM::close()
{
enable(0);
FILE *unexport_f;
char buffer[64];
snprintf(buffer, 64, "/sys/class/pwm/pwmchip%d/unexport", chipid);
if((unexport_f = fopen(buffer, "w")) == NULL) {
fprintf(stderr, "Failed to open unexport for writing!\n");
} else {
fprintf(unexport_f, "%d", pin);
fclose(unexport_f);
}
}
void
PWM::write_period(int period)
{
FILE *period_f;
char bu[64];
sprintf(bu, "/sys/class/pwm/pwmchip%d/pwm%d/period", chipid, pin);
if((period_f = fopen(bu, "r+b")) == NULL) {
fprintf(stderr, "Failed to open period for writing!\n");
} else {
fprintf(period_f, "%d", period);
fclose(period_f);
}
}
void
PWM::write_duty(int duty)
{
if(duty_fp == NULL) {
setup_duty_fp();
}
fprintf(duty_fp, "%d", duty);
rewind(duty_fp);
fflush(duty_fp);
}
int
PWM::setup_duty_fp()
{
char bu[64];
sprintf(bu, "/sys/class/pwm/pwmchip%d/pwm%d/duty_cycle", chipid, pin);
if((duty_fp = fopen(bu, "r+b")) == NULL) {
return 1;
} else {
return 0;
}
return 1;
}
int
PWM::get_period()
{
FILE *period_f;
char bu[64];
char output[16];
sprintf(bu, "/sys/class/pwm/pwmchip%d/pwm%d/period", chipid, pin);
if((period_f = fopen(bu, "rb")) == NULL) {
fprintf(stderr, "Failed to open period for reading!\n");
return 0;
} else {
fgets(output, 16, period_f);
fclose(period_f);
return atoi(output);
}
}
int
PWM::get_duty()
{
if(duty_fp == NULL) {
setup_duty_fp();
}
char output[16];
fgets(output, 16, duty_fp);
fseek(duty_fp, SEEK_SET, 0);
return atoi(output);
}

2
src/python/CMakeLists.txt
View File

@@ -6,7 +6,5 @@ include_directories(
${PYTHON_INCLUDE_DIRS}
)
SET_SOURCE_FILES_PROPERTIES(pymaa.i PROPERTIES CPLUSPLUS ON)
SWIG_ADD_MODULE(pymaa python pymaa.i ${maa_LIB_SRCS})
SWIG_LINK_LIBRARIES(pymaa ${PYTHON_LIBRARIES})