| /* |
| * Author: Thomas Ingleby <thomas.c.ingleby@intel.com> |
| * Author: Brendan Le Foll <brendan.le.foll@intel.com> |
| * Copyright (c) 2014, 2015 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 "gpio.h" |
| #include "mraa_internal.h" |
| |
| #include <stdlib.h> |
| #include <fcntl.h> |
| #include <string.h> |
| #include <unistd.h> |
| #include <poll.h> |
| #include <pthread.h> |
| #include <signal.h> |
| #include <sys/stat.h> |
| #include <sys/mman.h> |
| #include <errno.h> |
| |
| #define SYSFS_CLASS_GPIO "/sys/class/gpio" |
| #define MAX_SIZE 64 |
| #define POLL_TIMEOUT |
| |
| static mraa_result_t |
| mraa_gpio_get_valfp(mraa_gpio_context dev) |
| { |
| char bu[MAX_SIZE]; |
| sprintf(bu, SYSFS_CLASS_GPIO "/gpio%d/value", dev->pin); |
| dev->value_fp = open(bu, O_RDWR); |
| if (dev->value_fp == -1) { |
| syslog(LOG_ERR, "gpio%i: Failed to open 'value': %s", dev->pin, strerror(errno)); |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| |
| return MRAA_SUCCESS; |
| } |
| |
| static mraa_gpio_context |
| mraa_gpio_init_internal(mraa_adv_func_t* func_table, int pin) |
| { |
| if (pin < 0) |
| return NULL; |
| |
| mraa_result_t status = MRAA_SUCCESS; |
| char bu[MAX_SIZE]; |
| int length; |
| |
| mraa_gpio_context dev = (mraa_gpio_context) calloc(1, sizeof(struct _gpio)); |
| if (dev == NULL) { |
| syslog(LOG_CRIT, "gpio%i: Failed to allocate memory for context", pin); |
| return NULL; |
| } |
| |
| dev->advance_func = func_table; |
| dev->pin = pin; |
| |
| if (IS_FUNC_DEFINED(dev, gpio_init_internal_replace)) { |
| status = dev->advance_func->gpio_init_internal_replace(dev, pin); |
| if (status == MRAA_SUCCESS) |
| return dev; |
| else |
| goto init_internal_cleanup; |
| } |
| |
| if (IS_FUNC_DEFINED(dev, gpio_init_pre)) { |
| status = dev->advance_func->gpio_init_pre(pin); |
| if (status != MRAA_SUCCESS) |
| goto init_internal_cleanup; |
| } |
| |
| dev->value_fp = -1; |
| dev->isr_value_fp = -1; |
| #ifndef HAVE_PTHREAD_CANCEL |
| dev->isr_control_pipe[0] = dev->isr_control_pipe[1] = -1; |
| #endif |
| dev->isr_thread_terminating = 0; |
| dev->phy_pin = -1; |
| |
| // then check to make sure the pin is exported. |
| char directory[MAX_SIZE]; |
| snprintf(directory, MAX_SIZE, SYSFS_CLASS_GPIO "/gpio%d/", dev->pin); |
| struct stat dir; |
| if (stat(directory, &dir) == 0 && S_ISDIR(dir.st_mode)) { |
| dev->owner = 0; // Not Owner |
| } else { |
| int export = open(SYSFS_CLASS_GPIO "/export", O_WRONLY); |
| if (export == -1) { |
| syslog(LOG_ERR, "gpio%i: init: Failed to open 'export' for writing: %s", pin, strerror(errno)); |
| status = MRAA_ERROR_INVALID_RESOURCE; |
| goto init_internal_cleanup; |
| } |
| length = snprintf(bu, sizeof(bu), "%d", dev->pin); |
| if (write(export, bu, length * sizeof(char)) == -1) { |
| syslog(LOG_ERR, "gpio%i: init: Failed to write to 'export': %s", pin, strerror(errno)); |
| close(export); |
| status = MRAA_ERROR_INVALID_RESOURCE; |
| goto init_internal_cleanup; |
| } |
| dev->owner = 1; |
| close(export); |
| } |
| |
| init_internal_cleanup: |
| if (status != MRAA_SUCCESS) { |
| if (dev != NULL) |
| free(dev); |
| return NULL; |
| } |
| return dev; |
| } |
| |
| mraa_gpio_context |
| mraa_gpio_init(int pin) |
| { |
| mraa_board_t* board = plat; |
| if (board == NULL) { |
| syslog(LOG_ERR, "gpio%i: init: platform not initialised", pin); |
| return NULL; |
| } |
| |
| if (mraa_is_sub_platform_id(pin)) { |
| syslog(LOG_NOTICE, "gpio%i: init: Using sub platform", pin); |
| board = board->sub_platform; |
| if (board == NULL) { |
| syslog(LOG_ERR, "gpio%i: init: Sub platform not initialised", pin); |
| return NULL; |
| } |
| pin = mraa_get_sub_platform_index(pin); |
| } |
| |
| if (pin < 0 || pin >= board->phy_pin_count) { |
| syslog(LOG_ERR, "gpio: init: pin %i beyond platform pin count (%i)", pin, board->phy_pin_count); |
| return NULL; |
| } |
| if (board->pins[pin].capabilites.gpio != 1) { |
| syslog(LOG_ERR, "gpio: init: pin %i not capable of gpio", pin); |
| return NULL; |
| } |
| if (board->pins[pin].gpio.mux_total > 0) { |
| if (mraa_setup_mux_mapped(board->pins[pin].gpio) != MRAA_SUCCESS) { |
| syslog(LOG_ERR, "gpio%i: init: unable to setup muxes", pin); |
| return NULL; |
| } |
| } |
| |
| mraa_gpio_context r = mraa_gpio_init_internal(board->adv_func, board->pins[pin].gpio.pinmap); |
| if (r == NULL) { |
| return NULL; |
| } |
| if (r->phy_pin == -1) |
| r->phy_pin = pin; |
| |
| if (IS_FUNC_DEFINED(r, gpio_init_post)) { |
| mraa_result_t ret = r->advance_func->gpio_init_post(r); |
| if (ret != MRAA_SUCCESS) { |
| free(r); |
| return NULL; |
| } |
| } |
| return r; |
| } |
| |
| mraa_gpio_context |
| mraa_gpio_init_raw(int pin) |
| { |
| return mraa_gpio_init_internal(plat == NULL ? NULL : plat->adv_func , pin); |
| } |
| |
| |
| static mraa_result_t |
| mraa_gpio_wait_interrupt(int fd |
| #ifndef HAVE_PTHREAD_CANCEL |
| , int control_fd |
| #endif |
| ) |
| { |
| unsigned char c; |
| #ifdef HAVE_PTHREAD_CANCEL |
| struct pollfd pfd[1]; |
| #else |
| struct pollfd pfd[2]; |
| |
| if (control_fd < 0) { |
| return MRAA_ERROR_INVALID_PARAMETER; |
| } |
| #endif |
| |
| if (fd < 0) { |
| return MRAA_ERROR_INVALID_PARAMETER; |
| } |
| |
| // setup poll on POLLPRI |
| pfd[0].fd = fd; |
| pfd[0].events = POLLPRI; |
| |
| // do an initial read to clear interrupt |
| lseek(fd, 0, SEEK_SET); |
| read(fd, &c, 1); |
| |
| #ifdef HAVE_PTHREAD_CANCEL |
| // Wait for it forever or until pthread_cancel |
| // poll is a cancelable point like sleep() |
| poll(pfd, 1, -1); |
| #else |
| // setup poll on the controling fd |
| pfd[1].fd = control_fd; |
| pfd[1].events = 0; // POLLHUP, POLLERR, and POLLNVAL |
| |
| // Wait for it forever or until control fd is closed |
| poll(pfd, 2, -1); |
| #endif |
| |
| // do a final read to clear interrupt |
| read(fd, &c, 1); |
| |
| return MRAA_SUCCESS; |
| } |
| |
| static void* |
| mraa_gpio_interrupt_handler(void* arg) |
| { |
| mraa_gpio_context dev = (mraa_gpio_context) arg; |
| int fp = -1; |
| mraa_result_t ret; |
| |
| if (IS_FUNC_DEFINED(dev, gpio_interrupt_handler_init_replace)) { |
| if (dev->advance_func->gpio_interrupt_handler_init_replace(dev) != MRAA_SUCCESS) |
| return NULL; |
| } else { |
| // open gpio value with open(3) |
| char bu[MAX_SIZE]; |
| sprintf(bu, SYSFS_CLASS_GPIO "/gpio%d/value", dev->pin); |
| fp = open(bu, O_RDONLY); |
| if (fp < 0) { |
| syslog(LOG_ERR, "gpio%i: interrupt_handler: failed to open 'value' : %s", dev->pin, strerror(errno)); |
| return NULL; |
| } |
| } |
| |
| #ifndef HAVE_PTHREAD_CANCEL |
| if (pipe(dev->isr_control_pipe)) { |
| syslog(LOG_ERR, "gpio%i: interrupt_handler: failed to create isr control pipe: %s", dev->pin, strerror(errno)); |
| close(fp); |
| return NULL; |
| } |
| #endif |
| |
| dev->isr_value_fp = fp; |
| |
| if (lang_func->java_attach_thread != NULL) { |
| if (dev->isr == lang_func->java_isr_callback) { |
| if (lang_func->java_attach_thread() != MRAA_SUCCESS) { |
| close(dev->isr_value_fp); |
| dev->isr_value_fp = -1; |
| return NULL; |
| } |
| } |
| } |
| |
| for (;;) { |
| if (IS_FUNC_DEFINED(dev, gpio_wait_interrupt_replace)) { |
| ret = dev->advance_func->gpio_wait_interrupt_replace(dev); |
| } else { |
| ret = mraa_gpio_wait_interrupt(dev->isr_value_fp |
| #ifndef HAVE_PTHREAD_CANCEL |
| , dev->isr_control_pipe[0] |
| #endif |
| ); |
| } |
| if (ret == MRAA_SUCCESS && !dev->isr_thread_terminating) { |
| #ifdef HAVE_PTHREAD_CANCEL |
| pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL); |
| #endif |
| if (lang_func->python_isr != NULL) { |
| lang_func->python_isr(dev->isr, dev->isr_args); |
| } else { |
| dev->isr(dev->isr_args); |
| } |
| #ifdef HAVE_PTHREAD_CANCEL |
| pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL); |
| #endif |
| } else { |
| // we must have got an error code or exit request so die nicely |
| #ifdef HAVE_PTHREAD_CANCEL |
| pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL); |
| #endif |
| if (fp != -1) { |
| close(dev->isr_value_fp); |
| dev->isr_value_fp = -1; |
| } |
| |
| if (lang_func->java_detach_thread != NULL && lang_func->java_delete_global_ref != NULL) { |
| if (dev->isr == lang_func->java_isr_callback) { |
| lang_func->java_delete_global_ref(dev->isr_args); |
| lang_func->java_detach_thread(); |
| } |
| } |
| |
| return NULL; |
| } |
| } |
| } |
| |
| mraa_result_t |
| mraa_gpio_edge_mode(mraa_gpio_context dev, mraa_gpio_edge_t mode) |
| { |
| if (dev == NULL) { |
| syslog(LOG_ERR, "gpio: edge_mode: context is invalid"); |
| return MRAA_ERROR_INVALID_HANDLE; |
| } |
| |
| if (IS_FUNC_DEFINED(dev, gpio_edge_mode_replace)) |
| return dev->advance_func->gpio_edge_mode_replace(dev, mode); |
| |
| if (dev->value_fp != -1) { |
| close(dev->value_fp); |
| dev->value_fp = -1; |
| } |
| |
| char filepath[MAX_SIZE]; |
| snprintf(filepath, MAX_SIZE, SYSFS_CLASS_GPIO "/gpio%d/edge", dev->pin); |
| |
| int edge = open(filepath, O_RDWR); |
| if (edge == -1) { |
| syslog(LOG_ERR, "gpio%i: edge_mode: Failed to open 'edge' for writing: %s", dev->pin, strerror(errno)); |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| |
| char bu[MAX_SIZE]; |
| int length; |
| switch (mode) { |
| case MRAA_GPIO_EDGE_NONE: |
| length = snprintf(bu, sizeof(bu), "none"); |
| break; |
| case MRAA_GPIO_EDGE_BOTH: |
| length = snprintf(bu, sizeof(bu), "both"); |
| break; |
| case MRAA_GPIO_EDGE_RISING: |
| length = snprintf(bu, sizeof(bu), "rising"); |
| break; |
| case MRAA_GPIO_EDGE_FALLING: |
| length = snprintf(bu, sizeof(bu), "falling"); |
| break; |
| default: |
| close(edge); |
| return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED; |
| } |
| if (write(edge, bu, length * sizeof(char)) == -1) { |
| syslog(LOG_ERR, "gpio%i: edge_mode: Failed to write to 'edge': %s", dev->pin, strerror(errno)); |
| close(edge); |
| return MRAA_ERROR_UNSPECIFIED; |
| } |
| |
| close(edge); |
| return MRAA_SUCCESS; |
| } |
| |
| mraa_result_t |
| mraa_gpio_isr(mraa_gpio_context dev, mraa_gpio_edge_t mode, void (*fptr)(void*), void* args) |
| { |
| if (dev == NULL) { |
| syslog(LOG_ERR, "gpio: isr: context is invalid"); |
| return MRAA_ERROR_INVALID_HANDLE; |
| } |
| |
| // we only allow one isr per mraa_gpio_context |
| if (dev->thread_id != 0) { |
| return MRAA_ERROR_NO_RESOURCES; |
| } |
| |
| mraa_result_t ret = mraa_gpio_edge_mode(dev, mode); |
| if (ret != MRAA_SUCCESS) { |
| return ret; |
| } |
| |
| dev->isr = fptr; |
| |
| /* Most UPM sensors use the C API, the Java global ref must be created here. */ |
| /* The reason for checking the callback function is internal callbacks. */ |
| if (lang_func->java_create_global_ref != NULL) { |
| if (dev->isr == lang_func->java_isr_callback) { |
| args = lang_func->java_create_global_ref(args); |
| } |
| } |
| |
| dev->isr_args = args; |
| pthread_create(&dev->thread_id, NULL, mraa_gpio_interrupt_handler, (void*) dev); |
| |
| return MRAA_SUCCESS; |
| } |
| |
| mraa_result_t |
| mraa_gpio_isr_exit(mraa_gpio_context dev) |
| { |
| mraa_result_t ret = MRAA_SUCCESS; |
| |
| if (dev == NULL) { |
| return MRAA_ERROR_INVALID_HANDLE; |
| } |
| |
| // wasting our time, there is no isr to exit from |
| if (dev->thread_id == 0 && dev->isr_value_fp == -1) { |
| return ret; |
| } |
| // mark the beginning of the thread termination process for interested parties |
| dev->isr_thread_terminating = 1; |
| |
| // stop isr being useful |
| ret = mraa_gpio_edge_mode(dev, MRAA_GPIO_EDGE_NONE); |
| |
| if ((dev->thread_id != 0)) { |
| #ifdef HAVE_PTHREAD_CANCEL |
| if ((pthread_cancel(dev->thread_id) != 0) || (pthread_join(dev->thread_id, NULL) != 0)) { |
| ret = MRAA_ERROR_INVALID_RESOURCE; |
| } |
| #else |
| close(dev->isr_control_pipe[1]); |
| if (pthread_join(dev->thread_id, NULL) != 0) |
| ret = MRAA_ERROR_INVALID_RESOURCE; |
| |
| close(dev->isr_control_pipe[0]); |
| dev->isr_control_pipe[0] = dev->isr_control_pipe[1] = -1; |
| #endif |
| } |
| |
| // close the filehandle in case it's still open |
| if (dev->isr_value_fp != -1) { |
| if (close(dev->isr_value_fp) != 0) { |
| ret = MRAA_ERROR_INVALID_RESOURCE; |
| } |
| } |
| |
| // assume our thread will exit either way we just lost it's handle |
| dev->thread_id = 0; |
| dev->isr_value_fp = -1; |
| dev->isr_thread_terminating = 0; |
| return ret; |
| } |
| |
| mraa_result_t |
| mraa_gpio_mode(mraa_gpio_context dev, mraa_gpio_mode_t mode) |
| { |
| if (dev == NULL) { |
| syslog(LOG_ERR, "gpio: mode: context is invalid"); |
| return MRAA_ERROR_INVALID_HANDLE; |
| } |
| |
| if (IS_FUNC_DEFINED(dev, gpio_mode_replace)) |
| return dev->advance_func->gpio_mode_replace(dev, mode); |
| |
| if (IS_FUNC_DEFINED(dev, gpio_mode_pre)) { |
| mraa_result_t pre_ret = (dev->advance_func->gpio_mode_pre(dev, mode)); |
| if (pre_ret != MRAA_SUCCESS) |
| return pre_ret; |
| } |
| |
| if (dev->value_fp != -1) { |
| close(dev->value_fp); |
| dev->value_fp = -1; |
| } |
| |
| char filepath[MAX_SIZE]; |
| snprintf(filepath, MAX_SIZE, SYSFS_CLASS_GPIO "/gpio%d/drive", dev->pin); |
| |
| int drive = open(filepath, O_WRONLY); |
| if (drive == -1) { |
| syslog(LOG_ERR, "gpio%i: mode: Failed to open 'drive' for writing: %s", dev->pin, strerror(errno)); |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| |
| char bu[MAX_SIZE]; |
| int length; |
| switch (mode) { |
| case MRAA_GPIO_STRONG: |
| length = snprintf(bu, sizeof(bu), "strong"); |
| break; |
| case MRAA_GPIO_PULLUP: |
| length = snprintf(bu, sizeof(bu), "pullup"); |
| break; |
| case MRAA_GPIO_PULLDOWN: |
| length = snprintf(bu, sizeof(bu), "pulldown"); |
| break; |
| case MRAA_GPIO_HIZ: |
| length = snprintf(bu, sizeof(bu), "hiz"); |
| break; |
| default: |
| close(drive); |
| return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED; |
| } |
| if (write(drive, bu, length * sizeof(char)) == -1) { |
| syslog(LOG_ERR, "gpio%i: mode: Failed to write to 'drive': %s", dev->pin, strerror(errno)); |
| close(drive); |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| |
| close(drive); |
| if (IS_FUNC_DEFINED(dev, gpio_mode_post)) |
| return dev->advance_func->gpio_mode_post(dev, mode); |
| return MRAA_SUCCESS; |
| } |
| |
| mraa_result_t |
| mraa_gpio_dir(mraa_gpio_context dev, mraa_gpio_dir_t dir) |
| { |
| if (dev == NULL) { |
| syslog(LOG_ERR, "gpio: dir: context is invalid"); |
| return MRAA_ERROR_INVALID_HANDLE; |
| } |
| |
| if (IS_FUNC_DEFINED(dev, gpio_dir_replace)) { |
| return dev->advance_func->gpio_dir_replace(dev, dir); |
| } |
| |
| if (IS_FUNC_DEFINED(dev, gpio_dir_pre)) { |
| mraa_result_t pre_ret = (dev->advance_func->gpio_dir_pre(dev, dir)); |
| if (pre_ret != MRAA_SUCCESS) { |
| return pre_ret; |
| } |
| } |
| |
| if (dev->value_fp != -1) { |
| close(dev->value_fp); |
| dev->value_fp = -1; |
| } |
| char filepath[MAX_SIZE]; |
| snprintf(filepath, MAX_SIZE, SYSFS_CLASS_GPIO "/gpio%d/direction", dev->pin); |
| |
| int direction = open(filepath, O_RDWR); |
| |
| if (direction == -1) { |
| // Direction Failed to Open. If HIGH or LOW was passed will try and set |
| // If not fail as usual. |
| switch (dir) { |
| case MRAA_GPIO_OUT_HIGH: |
| return mraa_gpio_write(dev, 1); |
| case MRAA_GPIO_OUT_LOW: |
| return mraa_gpio_write(dev, 0); |
| default: |
| syslog(LOG_ERR, "gpio%i: dir: Failed to open 'direction' for writing: %s", dev->pin, strerror(errno)); |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| } |
| |
| char bu[MAX_SIZE]; |
| int length; |
| switch (dir) { |
| case MRAA_GPIO_OUT: |
| length = snprintf(bu, sizeof(bu), "out"); |
| break; |
| case MRAA_GPIO_IN: |
| length = snprintf(bu, sizeof(bu), "in"); |
| break; |
| case MRAA_GPIO_OUT_HIGH: |
| length = snprintf(bu, sizeof(bu), "high"); |
| break; |
| case MRAA_GPIO_OUT_LOW: |
| length = snprintf(bu, sizeof(bu), "low"); |
| break; |
| default: |
| close(direction); |
| return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED; |
| } |
| |
| if (write(direction, bu, length * sizeof(char)) == -1) { |
| close(direction); |
| syslog(LOG_ERR, "gpio%i: dir: Failed to write to 'direction': %s", dev->pin, strerror(errno)); |
| return MRAA_ERROR_UNSPECIFIED; |
| } |
| |
| close(direction); |
| if (IS_FUNC_DEFINED(dev, gpio_dir_post)) |
| return dev->advance_func->gpio_dir_post(dev, dir); |
| return MRAA_SUCCESS; |
| } |
| |
| mraa_result_t |
| mraa_gpio_read_dir(mraa_gpio_context dev, mraa_gpio_dir_t *dir) |
| { |
| char value[5]; |
| char filepath[MAX_SIZE]; |
| int fd, rc; |
| mraa_result_t result = MRAA_SUCCESS; |
| |
| if (dev == NULL) { |
| syslog(LOG_ERR, "gpio: read_dir: context is invalid"); |
| return MRAA_ERROR_INVALID_HANDLE; |
| } |
| |
| if (dir == NULL) { |
| syslog(LOG_ERR, "gpio: read_dir: output parameter for dir is invalid"); |
| return MRAA_ERROR_INVALID_HANDLE; |
| } |
| |
| snprintf(filepath, MAX_SIZE, SYSFS_CLASS_GPIO "/gpio%d/direction", dev->pin); |
| fd = open(filepath, O_RDONLY); |
| if (fd == -1) { |
| syslog(LOG_ERR, "gpio%i: read_dir: Failed to open 'direction' for reading: %s", dev->pin, strerror(errno)); |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| |
| memset(value, '\0', sizeof(value)); |
| rc = read(fd, value, sizeof(value)); |
| close(fd); |
| if (rc <= 0) { |
| syslog(LOG_ERR, "gpio%i: read_dir: Failed to read 'direction': %s", dev->pin, strerror(errno)); |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| |
| if (strcmp(value, "out\n") == 0) { |
| *dir = MRAA_GPIO_OUT; |
| } else if (strcmp(value, "in\n") == 0) { |
| *dir = MRAA_GPIO_IN; |
| } else { |
| syslog(LOG_ERR, "gpio%i: read_dir: unknown direction: %s", dev->pin, value); |
| result = MRAA_ERROR_UNSPECIFIED; |
| } |
| |
| return result; |
| } |
| |
| int |
| mraa_gpio_read(mraa_gpio_context dev) |
| { |
| if (dev == NULL) { |
| syslog(LOG_ERR, "gpio: read: context is invalid"); |
| return -1; |
| } |
| |
| if (IS_FUNC_DEFINED(dev, gpio_read_replace)) |
| return dev->advance_func->gpio_read_replace(dev); |
| |
| if (dev->mmap_read != NULL) |
| return dev->mmap_read(dev); |
| |
| if (dev->value_fp == -1) { |
| if (mraa_gpio_get_valfp(dev) != MRAA_SUCCESS) { |
| return -1; |
| } |
| } else { |
| // if value_fp is new this is pointless |
| lseek(dev->value_fp, 0, SEEK_SET); |
| } |
| char bu[2]; |
| if (read(dev->value_fp, bu, 2 * sizeof(char)) != 2) { |
| syslog(LOG_ERR, "gpio%i: read: Failed to read a sensible value from sysfs: %s", dev->pin, strerror(errno)); |
| return -1; |
| } |
| lseek(dev->value_fp, 0, SEEK_SET); |
| |
| return (int) strtol(bu, NULL, 10); |
| } |
| |
| mraa_result_t |
| mraa_gpio_write(mraa_gpio_context dev, int value) |
| { |
| if (dev == NULL) { |
| syslog(LOG_ERR, "gpio: write: context is invalid"); |
| return MRAA_ERROR_INVALID_HANDLE; |
| } |
| |
| if (dev->mmap_write != NULL) |
| return dev->mmap_write(dev, value); |
| |
| if (IS_FUNC_DEFINED(dev, gpio_write_pre)) { |
| mraa_result_t pre_ret = (dev->advance_func->gpio_write_pre(dev, value)); |
| if (pre_ret != MRAA_SUCCESS) |
| return pre_ret; |
| } |
| |
| if (IS_FUNC_DEFINED(dev, gpio_write_replace)) { |
| return dev->advance_func->gpio_write_replace(dev, value); |
| } |
| |
| if (dev->value_fp == -1) { |
| if (mraa_gpio_get_valfp(dev) != MRAA_SUCCESS) { |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| } |
| |
| if (lseek(dev->value_fp, 0, SEEK_SET) == -1) { |
| syslog(LOG_ERR, "gpio%i: write: Failed to lseek 'value': %s", dev->pin, strerror(errno)); |
| return MRAA_ERROR_UNSPECIFIED; |
| } |
| |
| char bu[MAX_SIZE]; |
| int length = snprintf(bu, sizeof(bu), "%d", value); |
| if (write(dev->value_fp, bu, length * sizeof(char)) == -1) { |
| syslog(LOG_ERR, "gpio%i: write: Failed to write to 'value': %s", dev->pin, strerror(errno)); |
| return MRAA_ERROR_UNSPECIFIED; |
| } |
| |
| if (IS_FUNC_DEFINED(dev, gpio_write_post)) |
| return dev->advance_func->gpio_write_post(dev, value); |
| return MRAA_SUCCESS; |
| } |
| |
| static mraa_result_t |
| mraa_gpio_unexport_force(mraa_gpio_context dev) |
| { |
| int unexport = open(SYSFS_CLASS_GPIO "/unexport", O_WRONLY); |
| if (unexport == -1) { |
| syslog(LOG_ERR, "gpio%i: Failed to open 'unexport' for writing: %s", dev->pin, strerror(errno)); |
| return MRAA_ERROR_INVALID_RESOURCE; |
| } |
| |
| char bu[MAX_SIZE]; |
| int length = snprintf(bu, sizeof(bu), "%d", dev->pin); |
| if (write(unexport, bu, length * sizeof(char)) == -1) { |
| syslog(LOG_ERR, "gpio%i: Failed to write to 'unexport': %s", dev->pin, strerror(errno)); |
| close(unexport); |
| return MRAA_ERROR_UNSPECIFIED; |
| } |
| |
| close(unexport); |
| mraa_gpio_isr_exit(dev); |
| return MRAA_SUCCESS; |
| } |
| static mraa_result_t |
| mraa_gpio_unexport(mraa_gpio_context dev) |
| { |
| if (dev == NULL) { |
| syslog(LOG_ERR, "gpio: unexport: context is invalid"); |
| return MRAA_ERROR_INVALID_HANDLE; |
| } |
| |
| if (dev->owner) { |
| return mraa_gpio_unexport_force(dev); |
| } |
| return MRAA_ERROR_INVALID_PARAMETER; |
| } |
| |
| mraa_result_t |
| mraa_gpio_close(mraa_gpio_context dev) |
| { |
| mraa_result_t result = MRAA_SUCCESS; |
| |
| if (dev == NULL) { |
| syslog(LOG_ERR, "gpio: close: context is invalid"); |
| return MRAA_ERROR_INVALID_HANDLE; |
| } |
| |
| if (IS_FUNC_DEFINED(dev, gpio_close_replace)) { |
| return dev->advance_func->gpio_close_replace(dev); |
| } |
| |
| |
| if (IS_FUNC_DEFINED(dev, gpio_close_pre)) { |
| result = dev->advance_func->gpio_close_pre(dev); |
| } |
| |
| if (dev->value_fp != -1) { |
| close(dev->value_fp); |
| } |
| mraa_gpio_unexport(dev); |
| free(dev); |
| return result; |
| } |
| |
| mraa_result_t |
| mraa_gpio_owner(mraa_gpio_context dev, mraa_boolean_t own) |
| { |
| if (dev == NULL) { |
| syslog(LOG_ERR, "gpio: owner: context is invalid"); |
| return MRAA_ERROR_INVALID_HANDLE; |
| } |
| syslog(LOG_DEBUG, "gpio%i: owner: Set owner to %d", dev->pin, (int) own); |
| dev->owner = own; |
| return MRAA_SUCCESS; |
| } |
| |
| mraa_result_t |
| mraa_gpio_use_mmaped(mraa_gpio_context dev, mraa_boolean_t mmap_en) |
| { |
| if (dev == NULL) { |
| syslog(LOG_ERR, "gpio: use_mmaped: context is invalid"); |
| return MRAA_ERROR_INVALID_HANDLE; |
| } |
| |
| if (IS_FUNC_DEFINED(dev, gpio_mmap_setup)) { |
| return dev->advance_func->gpio_mmap_setup(dev, mmap_en); |
| } |
| |
| syslog(LOG_ERR, "gpio%i: use_mmaped: mmap not implemented on this platform", dev->pin); |
| return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED; |
| } |
| |
| int |
| mraa_gpio_get_pin(mraa_gpio_context dev) |
| { |
| if (dev == NULL) { |
| syslog(LOG_ERR, "gpio: get_pin: context is invalid"); |
| return -1; |
| } |
| return dev->phy_pin; |
| } |
| |
| int |
| mraa_gpio_get_pin_raw(mraa_gpio_context dev) |
| { |
| if (dev == NULL) { |
| syslog(LOG_ERR, "gpio: get_pin: context is invalid"); |
| return -1; |
| } |
| return dev->pin; |
| } |
