481 lines
14 KiB
C
481 lines
14 KiB
C
/*
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* Author: Brendan Le Foll <brendan.le.foll@intel.com>
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* Author: Thomas Ingleby <thomas.c.ingleby@intel.com>
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* Copyright (c) 2014 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <stddef.h>
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#include <stdlib.h>
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#include <sched.h>
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#include <string.h>
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#include "mraa_internal.h"
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#include "intel_galileo_rev_d.h"
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#include "intel_galileo_rev_g.h"
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#include "gpio.h"
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#include "version.h"
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//static mraa_pininfo_t* pindata;
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static mraa_board_t* plat = NULL;
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static mraa_platform_t platform_type = MRAA_UNKNOWN_PLATFORM;
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mraa_adv_func_t* advance_func;
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const char *
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mraa_get_version()
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{
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return gVERSION;
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}
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mraa_result_t __attribute__((constructor))
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mraa_init()
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{
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/** Once more board definitions have been added,
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* A method for detecting them will need to be devised.
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*/
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if (plat != NULL) {
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return MRAA_ERROR_PLATFORM_ALREADY_INITIALISED;
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}
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#ifdef SWIGPYTHON
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// Initialise python threads, this allows use to grab the GIL when we are
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// required to do so
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Py_InitializeEx(0);
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PyEval_InitThreads();
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#endif
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// detect a galileo gen2 board
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char *line = NULL;
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// let getline allocate memory for *line
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size_t len = 0;
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FILE *fh = fopen("/sys/devices/virtual/dmi/id/board_name", "r");
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if (fh != NULL) {
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if (getline(&line, &len, fh) != -1) {
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if (strncmp(line, "GalileoGen2", 10) == 0) {
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platform_type = MRAA_INTEL_GALILEO_GEN2;
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} else {
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platform_type = MRAA_INTEL_GALILEO_GEN1;
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}
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}
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}
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free(line);
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fclose(fh);
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advance_func = (mraa_adv_func_t*) malloc(sizeof(mraa_adv_func_t));
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memset(advance_func, 0, sizeof(mraa_adv_func_t));
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switch(platform_type) {
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case MRAA_INTEL_GALILEO_GEN2:
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plat = mraa_intel_galileo_gen2();
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break;
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case MRAA_INTEL_GALILEO_GEN1:
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plat = mraa_intel_galileo_rev_d();
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break;
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default:
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plat = mraa_intel_galileo_rev_d();
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fprintf(stderr, "Platform not found, initialising MRAA_INTEL_GALILEO_GEN1\n");
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}
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return MRAA_SUCCESS;
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}
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void
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mraa_deinit()
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{
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free(plat->pins);
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free(plat);
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}
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int
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mraa_set_priority(const unsigned int priority)
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{
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struct sched_param sched_s;
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memset(&sched_s, 0, sizeof(struct sched_param));
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if (priority > sched_get_priority_max(SCHED_RR)) {
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sched_s.sched_priority = sched_get_priority_max(SCHED_RR);
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}
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else {
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sched_s.sched_priority = priority;
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}
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return sched_setscheduler(0, SCHED_RR, &sched_s);
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}
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static mraa_result_t
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mraa_setup_mux_mapped(mraa_pin_t meta)
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{
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int mi;
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for (mi = 0; mi < meta.mux_total; mi++) {
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mraa_gpio_context mux_i;
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mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
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if (mux_i == NULL)
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return MRAA_ERROR_INVALID_HANDLE;
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mraa_gpio_dir(mux_i, MRAA_GPIO_OUT);
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if (mraa_gpio_write(mux_i, meta.mux[mi].value) != MRAA_SUCCESS)
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return MRAA_ERROR_INVALID_RESOURCE;
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}
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return MRAA_SUCCESS;
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}
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unsigned int
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mraa_setup_gpio(int pin)
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{
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if (plat == NULL)
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return -1;
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if (pin < 0 || pin > plat->phy_pin_count)
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return -1;
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if(plat->pins[pin].capabilites.gpio != 1)
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return -1;
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if (plat->pins[pin].gpio.mux_total > 0)
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if (mraa_setup_mux_mapped(plat->pins[pin].gpio) != MRAA_SUCCESS)
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return -1;
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return plat->pins[pin].gpio.pinmap;
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}
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unsigned int
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mraa_setup_aio(int aio)
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{
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if (plat == NULL)
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return -3;
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if (aio < 0 || aio > plat->aio_count)
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return -1;
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int pin = aio + plat->gpio_count;
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if (plat->pins[pin].capabilites.aio != 1)
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return -1;
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if (plat->pins[pin].aio.mux_total > 0)
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if (mraa_setup_mux_mapped(plat->pins[pin].aio) != MRAA_SUCCESS)
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return -1;
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return plat->pins[pin].aio.pinmap;
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}
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unsigned int
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mraa_setup_i2c(int bus)
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{
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if (plat == NULL)
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return -3;
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if (plat->i2c_bus_count >! 0) {
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fprintf(stderr, "No i2c buses defined in platform");
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return -1;
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}
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if (bus >= plat->i2c_bus_count) {
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fprintf(stderr, "Above i2c bus count");
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return -1;
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}
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int pos = plat->i2c_bus[bus].sda;
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if (plat->pins[pos].i2c.mux_total > 0)
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if (mraa_setup_mux_mapped(plat->pins[pos].i2c) != MRAA_SUCCESS)
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return -2;
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pos = plat->i2c_bus[bus].scl;
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if (plat->pins[pos].i2c.mux_total > 0)
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if (mraa_setup_mux_mapped(plat->pins[pos].i2c) != MRAA_SUCCESS)
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return -2;
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return plat->i2c_bus[bus].bus_id;
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}
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mraa_spi_bus_t*
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mraa_setup_spi(int bus)
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{
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if (plat == NULL)
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return NULL;
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if (plat->spi_bus_count >! 0) {
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fprintf(stderr, "No spi buses defined in platform");
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return NULL;
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}
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if (bus >= plat->spi_bus_count) {
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fprintf(stderr, "Above spi bus count");
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return NULL;
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}
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int pos = plat->spi_bus[bus].sclk;
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if (plat->pins[pos].spi.mux_total > 0)
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if (mraa_setup_mux_mapped(plat->pins[pos].spi) != MRAA_SUCCESS)
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return NULL;
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pos = plat->spi_bus[bus].mosi;
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if (plat->pins[pos].spi.mux_total > 0)
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if (mraa_setup_mux_mapped(plat->pins[pos].spi) != MRAA_SUCCESS)
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return NULL;
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pos = plat->spi_bus[bus].miso;
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if (plat->pins[pos].spi.mux_total > 0)
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if (mraa_setup_mux_mapped(plat->pins[pos].spi) != MRAA_SUCCESS)
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return NULL;
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mraa_spi_bus_t *spi = &(plat->spi_bus[bus]);
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return spi;
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}
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mraa_pin_t*
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mraa_setup_pwm(int pin)
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{
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if (plat == NULL)
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return NULL;
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if (plat->pins[pin].capabilites.pwm != 1)
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return NULL;
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if (plat->pins[pin].capabilites.gpio == 1) {
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mraa_gpio_context mux_i;
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mux_i = mraa_gpio_init_raw(plat->pins[pin].gpio.pinmap);
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if (mux_i == NULL)
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return NULL;
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if (mraa_gpio_dir(mux_i, MRAA_GPIO_OUT) != MRAA_SUCCESS)
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return NULL;
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// Current REV D quirk. //TODO GEN 2
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if (mraa_gpio_write(mux_i, 1) != MRAA_SUCCESS)
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return NULL;
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if (mraa_gpio_close(mux_i) != MRAA_SUCCESS)
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return NULL;
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}
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if (plat->pins[pin].pwm.mux_total > 0)
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if (mraa_setup_mux_mapped(plat->pins[pin].pwm) != MRAA_SUCCESS)
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return NULL;
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mraa_pin_t *ret;
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ret = (mraa_pin_t*) malloc(sizeof(mraa_pin_t));
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ret->pinmap = plat->pins[pin].pwm.pinmap;
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ret->parent_id = plat->pins[pin].pwm.parent_id;
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return ret;
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}
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void
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mraa_result_print(mraa_result_t result)
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{
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switch (result) {
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case MRAA_SUCCESS: fprintf(stderr, "MRAA: SUCCESS\n");
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break;
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case MRAA_ERROR_FEATURE_NOT_IMPLEMENTED:
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fprintf(stderr, "MRAA: Feature not implemented.\n");
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break;
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case MRAA_ERROR_FEATURE_NOT_SUPPORTED:
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fprintf(stderr, "MRAA: Feature not supported by Hardware.\n");
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break;
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case MRAA_ERROR_INVALID_VERBOSITY_LEVEL:
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fprintf(stderr, "MRAA: Invalid verbosity level.\n");
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break;
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case MRAA_ERROR_INVALID_PARAMETER:
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fprintf(stderr, "MRAA: Invalid parameter.\n");
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break;
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case MRAA_ERROR_INVALID_HANDLE:
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fprintf(stderr, "MRAA: Invalid Handle.\n");
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break;
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case MRAA_ERROR_NO_RESOURCES:
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fprintf(stderr, "MRAA: No resources.\n");
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break;
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case MRAA_ERROR_INVALID_RESOURCE:
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fprintf(stderr, "MRAA: Invalid resource.\n");
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break;
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case MRAA_ERROR_INVALID_QUEUE_TYPE:
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fprintf(stderr, "MRAA: Invalid Queue Type.\n");
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break;
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case MRAA_ERROR_NO_DATA_AVAILABLE:
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fprintf(stderr, "MRAA: No Data available.\n");
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break;
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case MRAA_ERROR_INVALID_PLATFORM:
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fprintf(stderr, "MRAA: Platform not recognised.\n");
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break;
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case MRAA_ERROR_PLATFORM_NOT_INITIALISED:
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fprintf(stderr, "MRAA: Platform not initialised.\n");
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break;
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case MRAA_ERROR_PLATFORM_ALREADY_INITIALISED:
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fprintf(stderr, "MRAA: Platform already initialised.\n");
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break;
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case MRAA_ERROR_UNSPECIFIED:
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fprintf(stderr, "MRAA: Unspecified Error.\n");
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break;
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default: fprintf(stderr, "MRAA: Unrecognised error.\n");
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break;
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}
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}
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mraa_boolean_t
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mraa_pin_mode_test(int pin, mraa_pinmodes_t mode)
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{
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if (plat == NULL) {
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mraa_init();
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if (plat == NULL)
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return 0;
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}
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if (pin > plat->phy_pin_count || pin < 0)
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return 0;
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switch(mode) {
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case MRAA_PIN_VALID:
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if (plat->pins[pin].capabilites.valid == 1)
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return 1;
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break;
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case MRAA_PIN_GPIO:
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if (plat->pins[pin].capabilites.gpio ==1)
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return 1;
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break;
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case MRAA_PIN_PWM:
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if (plat->pins[pin].capabilites.pwm ==1)
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return 1;
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break;
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case MRAA_PIN_FAST_GPIO:
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if (plat->pins[pin].capabilites.fast_gpio ==1)
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return 1;
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break;
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case MRAA_PIN_SPI:
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if (plat->pins[pin].capabilites.spi ==1)
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return 1;
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break;
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case MRAA_PIN_I2C:
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if (plat->pins[pin].capabilites.i2c ==1)
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return 1;
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break;
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case MRAA_PIN_AIO:
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if (pin < plat->aio_count)
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pin = pin + plat->gpio_count;
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if (plat->pins[pin].capabilites.aio ==1)
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return 1;
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break;
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default: break;
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}
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return 0;
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}
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mraa_mmap_pin_t*
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mraa_setup_mmap_gpio(int pin)
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{
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if (plat == NULL)
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return NULL;
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if (plat->pins[pin].capabilites.fast_gpio != 1)
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return NULL;
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if (plat->pins[pin].mmap.gpio.mux_total > 0)
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if (mraa_setup_mux_mapped(plat->pins[pin].mmap.gpio) != MRAA_SUCCESS)
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return NULL;
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if (mraa_setup_mux_mapped(plat->pins[pin].mmap.gpio) != MRAA_SUCCESS)
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return NULL;
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mraa_mmap_pin_t *ret = &(plat->pins[pin].mmap);
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return ret;
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}
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mraa_result_t
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mraa_swap_complex_gpio(int pin, int out)
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{
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if (plat == NULL)
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return MRAA_ERROR_INVALID_PLATFORM;
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switch (platform_type) {
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case MRAA_INTEL_GALILEO_GEN2:
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if (plat->pins[pin].gpio.complex_cap.complex_pin != 1)
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return MRAA_SUCCESS;
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if (plat->pins[pin].gpio.complex_cap.output_en == 1) {
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mraa_gpio_context output_e;
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output_e = mraa_gpio_init_raw(plat->pins[pin].gpio.output_enable);
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if (mraa_gpio_dir(output_e, MRAA_GPIO_OUT) != MRAA_SUCCESS)
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return MRAA_ERROR_INVALID_RESOURCE;
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int output_val;
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if (plat->pins[pin].gpio.complex_cap.output_en_high == 1)
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output_val = out;
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else
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if (out == 1)
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output_val = 0;
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else
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output_val = 1;
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if (mraa_gpio_write(output_e, output_val) != MRAA_SUCCESS)
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return MRAA_ERROR_INVALID_RESOURCE;
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}
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//if (plat->pins[pin].gpio.complex_cap.pullup_en == 1) {
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// mraa_gpio_context pullup_e;
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// pullup_e = mraa_gpio_init_raw(plat->pins[pin].gpio.pullup_enable);
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// if (mraa_gpio_mode(pullup_e, MRAA_GPIO_HIZ) != MRAA_SUCCESS)
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// return MRAA_ERROR_INVALID_RESOURCE;
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//}
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break;
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default: return MRAA_SUCCESS;
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}
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}
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mraa_platform_t mraa_get_platform_type()
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{
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return platform_type;
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}
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unsigned int
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mraa_adc_raw_bits()
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{
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if (plat == NULL)
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return 0;
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if (plat->aio_count == 0)
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return 0;
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return plat->adc_raw;
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}
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unsigned int
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mraa_adc_supported_bits()
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{
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if (plat == NULL)
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return 0;
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if (plat->aio_count == 0)
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return 0;
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return plat->adc_supported;
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}
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mraa_result_t
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mraa_setup_uart(int index)
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{
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if (plat == NULL)
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return MRAA_ERROR_PLATFORM_NOT_INITIALISED;
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if (plat->uart_dev_count == 0)
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return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
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if (plat->uart_dev_count <= index)
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return MRAA_ERROR_NO_RESOURCES;
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int pos = plat->uart_dev[index].rx;
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if (pos >= 0) {
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if (plat->pins[pos].uart.mux_total > 0)
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if (mraa_setup_mux_mapped(plat->pins[pos].uart) != MRAA_SUCCESS)
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return MRAA_ERROR_INVALID_RESOURCE;
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}
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if (pos >= 0) {
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pos = plat->uart_dev[index].tx;
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if (plat->pins[pos].uart.mux_total > 0)
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if (mraa_setup_mux_mapped(plat->pins[pos].uart) != MRAA_SUCCESS)
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return MRAA_ERROR_INVALID_RESOURCE;
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}
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return MRAA_SUCCESS;
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}
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