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a2f01bee5f0a743c29a35cc8fea167c4aac06276
mraa/src/mraa.c
Noel Eck a2f01bee5f mraa.c: Added pointer to pointer back to find_uart 
Went a bit too far with the previous commit.  Added pointer to pointer
back to mraa_find_uart_bus_pci.

Tested leaks against valgrind and verified dev_path gets set with gdb.

Signed-off-by: Noel Eck <noel.eck@intel.com>
2018-06-14 21:21:37 -07:00

1625 lines
46 KiB
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/*
* 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>
#if !defined(PERIPHERALMAN)
#include <glob.h>
#include <ftw.h>
#endif
#include <dirent.h>
#include <fcntl.h>
#include <stdio.h>
#include <stdbool.h>
#include <errno.h>
#include <unistd.h>
#include <ctype.h>
#include <limits.h>
#include <sys/utsname.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 "grovepi/grovepi.h"
#include "gpio.h"
#include "gpio/gpio_chardev.h"
#include "version.h"
#include "i2c.h"
#include "pwm.h"
#include "aio.h"
#include "spi.h"
#include "uart.h"
#if defined(PERIPHERALMAN)
#include "peripheralmanager/peripheralman.h"
#else
#define IIO_DEVICE_WILDCARD "iio:device*"
mraa_iio_info_t* plat_iio = NULL;
static int num_i2c_devices = 0;
static int num_iio_devices = 0;
#endif
mraa_board_t* plat = NULL;
mraa_lang_func_t* lang_func = NULL;
char* platform_name = NULL;
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;
}
mraa_boolean_t mraa_is_kernel_chardev_interface_compatible()
{
if (mraa_get_number_of_gpio_chips() <= 0) {
syslog(LOG_NOTICE, "gpio: platform supports chardev but kernel doesn't, falling back to sysfs");
return 0;
}
return 1;
}
mraa_boolean_t mraa_is_platform_chardev_interface_capable()
{
if (plat->chardev_capable) {
return mraa_is_kernel_chardev_interface_compatible();
}
syslog(LOG_NOTICE, "gpio: platform doesn't support chardev, falling back to sysfs");
return 0;
}
/**
* Whilst the actual mraa init function is now called imraa_init, it's only
* callable externally if IMRAA is enabled
*/
mraa_result_t
imraa_init()
{
if (plat != NULL) {
return MRAA_SUCCESS;
}
char* env_var;
mraa_platform_t platform_type = MRAA_NULL_PLATFORM;
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);
// Check to see if the enviroment variable has been set
env_var = getenv(MRAA_JSONPLAT_ENV_VAR);
if (env_var != NULL) {
// We only care about success, the init will write to syslog if things went wrong
switch (mraa_init_json_platform(env_var)) {
case MRAA_SUCCESS:
platform_type = plat->platform_type;
break;
default:
syslog(LOG_NOTICE, "libmraa was unable to initialise a platform from json");
}
}
// Not an else because if the env var didn't load what we wanted maybe we can still load something
if (platform_type == MRAA_NULL_PLATFORM) {
#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();
#elif defined(MIPSPLAT)
// Use runtime ARM platform detection
platform_type = mraa_mips_platform();
#elif defined(MOCKPLAT)
// Use mock platform
platform_type = mraa_mock_platform();
#elif defined(PERIPHERALMAN)
// Use peripheralmanager
platform_type = mraa_peripheralman_platform();
#else
#error mraa_ARCH NOTHING
#endif
}
if (plat != NULL) {
plat->platform_type = platform_type;
} else {
platform_name = NULL;
}
// 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";
}
}
#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) {
mraa_platform_t usb_platform_type = mraa_usb_platform_extender(plat);
// if we have no known platform just replace usb platform with platform
if (plat->platform_type == MRAA_UNKNOWN_PLATFORM && usb_platform_type != MRAA_UNKNOWN_PLATFORM) {
plat->platform_type = usb_platform_type;
}
}
if (plat == NULL) {
printf("mraa: FATAL error, failed to initialise platform\n");
return MRAA_ERROR_PLATFORM_NOT_INITIALISED;
}
#endif
#if defined(IMRAA)
const char* subplatform_lockfile = "/tmp/imraa.lock";
mraa_add_from_lockfile(subplatform_lockfile);
#endif
#if !defined(PERIPHERALMAN)
// Look for IIO devices
mraa_iio_detect();
if (plat != NULL) {
int length = strlen(plat->platform_name) + 1;
if (mraa_has_sub_platform()) {
// Account for ' + ' chars
length += strlen(plat->sub_platform->platform_name) + 3;
}
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);
}
}
#endif
lang_func = (mraa_lang_func_t*) calloc(1, sizeof(mraa_lang_func_t));
if (lang_func == NULL) {
return MRAA_ERROR_NO_RESOURCES;
}
plat->chardev_capable = mraa_is_platform_chardev_interface_capable();
if (plat->chardev_capable) {
syslog(LOG_NOTICE, "gpio: support for chardev interface is activated");
}
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()
{
if (plat != NULL) {
if (plat->pins != NULL) {
free(plat->pins);
}
if (plat->adv_func != NULL) {
free(plat->adv_func);
}
mraa_board_t* sub_plat = plat->sub_platform;
if (sub_plat != NULL) {
if (sub_plat->pins != NULL) {
free(sub_plat->pins);
}
if (sub_plat->adv_func != NULL) {
free(sub_plat->adv_func);
}
free(sub_plat);
}
if (plat->platform_type == MRAA_JSON_PLATFORM) {
// Free the platform name
free(plat->platform_name);
plat->platform_name = NULL;
}
int i = 0;
/* Free the UART device path. Note, some platforms dynamically
* allocate space for device_path, others use #defines or consts,
* which means this has to be handled differently per platform
*/
if ((plat->platform_type == MRAA_JSON_PLATFORM) ||
(plat->platform_type == MRAA_UP2) ||
(plat->platform_type == MRAA_IEI_TANK)) {
for (i = 0; i < plat->uart_dev_count; i++) {
if (plat->uart_dev[i].device_path != NULL) {
free(plat->uart_dev[i].device_path);
}
}
}
free(plat);
plat = NULL;
if (lang_func != NULL) {
free(lang_func);
lang_func = NULL;
}
if (platform_name != NULL) {
free(platform_name);
platform_name = NULL;
}
}
#if !defined(PERIPHERALMAN)
if (plat_iio != NULL) {
free(plat_iio);
plat_iio = NULL;
}
#else
pman_mraa_deinit();
#endif
closelog();
}
int
mraa_set_priority(const 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);
}
#if !defined(PERIPHERALMAN)
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)
{
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;
for (mi = 0; mi < meta.mux_total; mi++) {
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 (mux_i != NULL) {
mraa_gpio_owner(mux_i, 0);
mraa_gpio_close(mux_i);
}
return MRAA_SUCCESS;
}
#else
mraa_result_t
mraa_setup_mux_mapped(mraa_pin_t meta)
{
return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED;
}
#endif
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_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");
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 || current_plat->platform_type == MRAA_NULL_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].capabilities.valid == 1)
return 1;
break;
case MRAA_PIN_GPIO:
if (current_plat->pins[pin].capabilities.gpio == 1)
return 1;
break;
case MRAA_PIN_PWM:
if (current_plat->pins[pin].capabilities.pwm == 1)
return 1;
break;
case MRAA_PIN_FAST_GPIO:
if (current_plat->pins[pin].capabilities.fast_gpio == 1)
return 1;
break;
case MRAA_PIN_SPI:
if (current_plat->pins[pin].capabilities.spi == 1)
return 1;
break;
case MRAA_PIN_I2C:
if (current_plat->pins[pin].capabilities.i2c == 1)
return 1;
break;
case MRAA_PIN_AIO:
if (current_plat->pins[pin].capabilities.aio == 1)
return 1;
break;
case MRAA_PIN_UART:
if (current_plat->pins[pin].capabilities.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_uart_count()
{
if (plat == NULL) {
return -1;
}
return plat->uart_dev_count;
}
int
mraa_get_spi_bus_count()
{
if (plat == NULL) {
return -1;
}
return plat->spi_bus_count;
}
int
mraa_get_pwm_count()
{
if (plat == NULL) {
return -1;
}
return plat->pwm_dev_count;
}
int
mraa_get_gpio_count()
{
if (plat == NULL) {
return -1;
}
return plat->gpio_count;
}
int
mraa_get_aio_count()
{
if (plat == NULL) {
return -1;
}
return plat->aio_count;
}
int
mraa_get_i2c_bus_count()
{
if (plat == NULL) {
return -1;
}
return plat->i2c_bus_count;
}
int
mraa_get_i2c_bus_id(int 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_gpio_lookup(const char* pin_name)
{
int i;
if (plat == NULL) {
return -1;
}
if (pin_name == NULL || strlen(pin_name) == 0) {
return -1;
}
for (i = 0; i < plat->gpio_count; i++) {
if (plat->pins[i].name != NULL &&
strncmp(pin_name, plat->pins[i].name, strlen(plat->pins[i].name) + 1) == 0) {
return i;
}
}
return -1;
}
int
mraa_i2c_lookup(const char* i2c_name)
{
int i;
if (plat == NULL) {
return -1;
}
if (i2c_name == NULL || strlen(i2c_name) == 0) {
return -1;
}
for (i = 0; i < plat->i2c_bus_count; i++) {
if (plat->i2c_bus[i].name != NULL &&
strncmp(i2c_name, plat->i2c_bus[i].name, strlen(plat->i2c_bus[i].name) + 1) == 0) {
return plat->i2c_bus[i].bus_id;
}
}
return -1;
}
int
mraa_spi_lookup(const char* spi_name)
{
int i;
if (plat == NULL) {
return -1;
}
if (spi_name == NULL || strlen(spi_name) == 0) {
return -1;
}
for (i = 0; i < plat->spi_bus_count; i++) {
if (plat->spi_bus[i].name != NULL &&
strncmp(spi_name, plat->spi_bus[i].name, strlen(plat->spi_bus[i].name) + 1) == 0) {
return plat->spi_bus[i].bus_id;
}
}
return -1;
}
int
mraa_pwm_lookup(const char* pwm_name)
{
int i;
if (plat == NULL) {
return -1;
}
if (pwm_name == NULL || strlen(pwm_name) == 0) {
return -1;
}
for (i = 0; i < plat->pwm_dev_count; i++) {
if (plat->pwm_dev[i].name != NULL &&
strncmp(pwm_name, plat->pwm_dev[i].name, strlen(plat->pwm_dev[i].name) + 1) == 0) {
return plat->pwm_dev[i].index;
}
}
return -1;
}
int
mraa_uart_lookup(const char* uart_name)
{
int i;
if (plat == NULL) {
return -1;
}
if (uart_name == NULL || strlen(uart_name) == 0) {
return -1;
}
for (i = 0; i < plat->uart_dev_count; i++) {
if (plat->uart_dev[i].name != NULL &&
strncmp(uart_name, plat->uart_dev[i].name, strlen(plat->uart_dev[i].name) + 1) == 0) {
return plat->uart_dev[i].index;
}
}
return -1;
}
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;
}
}
#if !defined(PERIPHERALMAN)
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 = 0;
char* line = NULL;
FILE* fh = fopen(file, "r");
if (fh == NULL) {
free(file);
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 = 0;
char* line = NULL;
FILE* fh = fopen(file, "r");
if (fh == NULL) {
free(file);
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;
}
}
mraa_result_t
mraa_find_uart_bus_pci(const char* pci_dev_path, char** dev_name)
{
char path[PATH_MAX];
const int max_allowable_len = 16;
snprintf(path, PATH_MAX - 1, "%s", pci_dev_path);
if (!mraa_file_exist(path)) {
return MRAA_ERROR_INVALID_PARAMETER;
}
struct dirent** namelist;
int n = scandir(path, &namelist, NULL, alphasort);
if (n <= 0) {
syslog(LOG_ERR, "Failed to find expected UART bus: %s", strerror(errno));
return MRAA_ERROR_INVALID_RESOURCE;
}
*dev_name = (char*) malloc(sizeof(char) * max_allowable_len);
snprintf(*dev_name, max_allowable_len, "/dev/%s", namelist[n - 1]->d_name);
while (n--) {
free(namelist[n]);
}
free(namelist);
syslog(LOG_INFO, "UART device: %s selected for initialization", *dev_name);
return MRAA_SUCCESS;
}
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_pci(const char* pci_device, const char *pci_id, const char* adapter_name)
{
/**
* For example we'd get something like:
* pci0000:00/0000:00:16.3/i2c_desiignware.3
*/
char path[1024];
snprintf(path, 1024-1, "/sys/devices/pci%s/%s/%s/", pci_device, pci_id, adapter_name);
if (mraa_file_exist(path)) {
struct dirent **namelist;
int n;
n = scandir(path, &namelist, NULL, alphasort);
if (n < 0) {
syslog(LOG_ERR, "Failed to get information on i2c");
return -1;
}
else {
while (n--) {
char* dup = strdup(namelist[n]->d_name);
char* orig_dup = dup;
if (dup == NULL) {
syslog(LOG_ERR, "Ran out of memory!");
break;
}
const char delim = '-';
char* token;
token = strsep(&dup, &delim);
if (token != NULL) {
if (strncmp("i2c", token, 3) == 0) {
token = strsep(&dup, &delim);
if (token != NULL) {
int ret = -1;
if (mraa_atoi(token, &ret) == MRAA_SUCCESS) {
free(orig_dup);
free(namelist[n]);
free(namelist);
syslog(LOG_NOTICE, "Adding i2c bus found on i2c-%d on adapter %s", ret, adapter_name);
return ret;
}
free(orig_dup);
free(namelist[n]);
free(namelist);
return -1;
}
}
}
free(orig_dup);
free(namelist[n]);
}
free(namelist);
}
}
return -1;
}
int
mraa_find_i2c_bus(const char* devname, int startfrom)
{
char path[64];
int fd;
// because feeding mraa_find_i2c_bus result back into the function is
// useful treat -1 as 0
int i = (startfrom < 0) ? 0 : startfrom;
int ret = -1;
// 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 < 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;
}
#endif
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()
{
#if defined(PERIPHERALMAN)
return -1;
#else
return plat_iio->iio_device_count;
#endif
}
mraa_result_t
mraa_add_subplatform(mraa_platform_t subplatformtype, const char* dev)
{
#if defined(FIRMATA)
if (subplatformtype == MRAA_GENERIC_FIRMATA) {
if (plat->sub_platform != NULL) {
if (plat->sub_platform->platform_type == subplatformtype) {
syslog(LOG_NOTICE, "mraa: Firmata subplatform already present");
return MRAA_SUCCESS;
}
syslog(LOG_NOTICE, "mraa: We don't support multiple firmata subplatforms!");
return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
}
if (mraa_firmata_platform(plat, dev) == MRAA_GENERIC_FIRMATA) {
syslog(LOG_NOTICE, "mraa: Added firmata subplatform");
return MRAA_SUCCESS;
}
}
#else
if (subplatformtype == MRAA_GENERIC_FIRMATA) {
syslog(LOG_NOTICE, "mraa: Cannot add Firmata platform as support not compiled in");
}
#endif
if (subplatformtype == MRAA_GROVEPI) {
if (plat == NULL || plat->platform_type == MRAA_UNKNOWN_PLATFORM || plat->i2c_bus_count == 0) {
syslog(LOG_NOTICE, "mraa: The GrovePi shield is not supported on this platform!");
return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
}
if (plat->sub_platform != NULL) {
syslog(LOG_NOTICE, "mraa: A subplatform was already added!");
return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
}
int i2c_bus;
if(mraa_atoi(strdup(dev), &i2c_bus) != MRAA_SUCCESS && i2c_bus < plat->i2c_bus_count) {
syslog(LOG_NOTICE, "mraa: Cannot add GrovePi subplatform, invalid i2c bus specified");
return MRAA_ERROR_INVALID_PARAMETER;
}
if (mraa_grovepi_platform(plat, i2c_bus) == MRAA_GROVEPI) {
syslog(LOG_NOTICE, "mraa: Added GrovePi subplatform");
return MRAA_SUCCESS;
}
}
return MRAA_ERROR_INVALID_PARAMETER;
}
mraa_result_t
mraa_remove_subplatform(mraa_platform_t subplatformtype)
{
if (subplatformtype != MRAA_FTDI_FT4222) {
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);
return MRAA_SUCCESS;
}
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;
char* buffer = NULL;
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 (strncmp(key, "id", strlen("id") + 1) == 0) {
if (mraa_atoi(json_object_get_string(val), &id) != MRAA_SUCCESS) {
id = -1;
}
} else if (strncmp(key, "uart", strlen("uart") + 1) == 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;
}
}
if (json_object_object_get_ex(jobj_lock, "IO", &ioarray) == true &&
json_object_is_type(ioarray, json_type_array)) {
/* assume we have declared IO so we are preinitialised and wipe the
* advance func array
*/
memset(plat->adv_func, 0, sizeof(mraa_adv_func_t));
}
}
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", strlen("RAW") + 1)) {
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_KEY, strlen(GPIO_KEY) + 1) == 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_KEY, strlen(I2C_KEY) + 1) == 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_KEY, strlen(AIO_KEY) + 1) == 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_KEY, strlen(PWM_KEY) + 1) == 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_KEY, strlen(SPI_KEY) + 1) == 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_KEY, strlen(UART_KEY) + 1) == 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;
}
#ifndef JSONPLAT
mraa_result_t
mraa_init_json_platform(const char* desc)
{
return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
}
#endif
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