1 /* 2 * Author: Thomas Ingleby <thomas.c.ingleby (at) intel.com> 3 * Author: Brendan Le Foll <brendan.le.foll (at) intel.com> 4 * Copyright (c) 2014 Intel Corporation. 5 * 6 * Permission is hereby granted, free of charge, to any person obtaining 7 * a copy of this software and associated documentation files (the 8 * "Software"), to deal in the Software without restriction, including 9 * without limitation the rights to use, copy, modify, merge, publish, 10 * distribute, sublicense, and/or sell copies of the Software, and to 11 * permit persons to whom the Software is furnished to do so, subject to 12 * the following conditions: 13 * 14 * The above copyright notice and this permission notice shall be 15 * included in all copies or substantial portions of the Software. 16 * 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 18 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 19 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 20 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 21 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 22 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 23 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 24 */ 25 26 #pragma once 27 28 #include "common.h" 29 #include "mraa.h" 30 #include "mraa_adv_func.h" 31 #include "iio.h" 32 33 // Bionic does not implement pthread cancellation API 34 #ifndef __BIONIC__ 35 #define HAVE_PTHREAD_CANCEL 36 #endif 37 38 // general status failures for internal functions 39 #define MRAA_PLATFORM_NO_INIT -3 40 #define MRAA_IO_SETUP_FAILURE -2 41 #define MRAA_NO_SUCH_IO -1 42 43 /** 44 * A structure representing a gpio pin. 45 */ 46 struct _gpio { 47 /*@{*/ 48 int pin; /**< the pin number, as known to the os. */ 49 int phy_pin; /**< pin passed to clean init. -1 none and raw*/ 50 int value_fp; /**< the file pointer to the value of the gpio */ 51 void (* isr)(void *); /**< the interupt service request */ 52 void *isr_args; /**< args return when interupt service request triggered */ 53 pthread_t thread_id; /**< the isr handler thread id */ 54 int isr_value_fp; /**< the isr file pointer on the value */ 55 #ifndef HAVE_PTHREAD_CANCEL 56 int isr_control_pipe[2]; /**< a pipe used to interrupt the isr from polling the value fd*/ 57 #endif 58 mraa_boolean_t isr_thread_terminating; /**< is the isr thread being terminated? */ 59 mraa_boolean_t owner; /**< If this context originally exported the pin */ 60 mraa_result_t (*mmap_write) (mraa_gpio_context dev, int value); 61 int (*mmap_read) (mraa_gpio_context dev); 62 mraa_adv_func_t* advance_func; /**< override function table */ 63 /*@}*/ 64 }; 65 66 /** 67 * A structure representing a I2C bus 68 */ 69 struct _i2c { 70 /*@{*/ 71 int busnum; /**< the bus number of the /dev/i2c-* device */ 72 int fh; /**< the file handle to the /dev/i2c-* device */ 73 int addr; /**< the address of the i2c slave */ 74 unsigned long funcs; /**< /dev/i2c-* device capabilities as per https://www.kernel.org/doc/Documentation/i2c/functionality */ 75 void *handle; /**< generic handle for non-standard drivers that don't use file descriptors */ 76 mraa_adv_func_t* advance_func; /**< override function table */ 77 /*@}*/ 78 }; 79 80 /** 81 * A structure representing the SPI device 82 */ 83 struct _spi { 84 /*@{*/ 85 int devfd; /**< File descriptor to SPI Device */ 86 uint32_t mode; /**< Spi mode see spidev.h */ 87 int clock; /**< clock to run transactions at */ 88 mraa_boolean_t lsb; /**< least significant bit mode */ 89 unsigned int bpw; /**< Bits per word */ 90 mraa_adv_func_t* advance_func; /**< override function table */ 91 /*@}*/ 92 }; 93 94 /** 95 * A structure representing a PWM pin 96 */ 97 struct _pwm { 98 /*@{*/ 99 int pin; /**< the pin number, as known to the os. */ 100 int chipid; /**< the chip id, which the pwm resides */ 101 int duty_fp; /**< File pointer to duty file */ 102 int period; /**< Cache the period to speed up setting duty */ 103 mraa_boolean_t owner; /**< Owner of pwm context*/ 104 mraa_adv_func_t* advance_func; /**< override function table */ 105 /*@}*/ 106 }; 107 108 /** 109 * A structure representing a Analog Input Channel 110 */ 111 struct _aio { 112 /*@{*/ 113 unsigned int channel; /**< the channel as on board and ADC module */ 114 int adc_in_fp; /**< File Pointer to raw sysfs */ 115 int value_bit; /**< 10 bits by default. Can be increased if board */ 116 mraa_adv_func_t* advance_func; /**< override function table */ 117 /*@}*/ 118 }; 119 120 /** 121 * A structure representing a UART device 122 */ 123 struct _uart { 124 /*@{*/ 125 int index; /**< the uart index, as known to the os. */ 126 const char* path; /**< the uart device path. */ 127 int fd; /**< file descriptor for device. */ 128 mraa_adv_func_t* advance_func; /**< override function table */ 129 /*@}*/ 130 }; 131 132 /** 133 * A structure representing an IIO device 134 */ 135 struct _iio { 136 int num; /**< IIO device number */ 137 char* name; /**< IIO device name */ 138 int fp; /**< IIO device in /dev */ 139 int fp_event; /**< event file descriptor for IIO device */ 140 void (* isr)(char* data); /**< the interupt service request */ 141 void *isr_args; /**< args return when interupt service request triggered */ 142 void (* isr_event)(struct iio_event_data* data, void* args); /**< the event interupt service request */ 143 int chan_num; 144 pthread_t thread_id; /**< the isr handler thread id */ 145 mraa_iio_channel* channels; 146 int event_num; 147 mraa_iio_event* events; 148 int datasize; 149 }; 150 151 /** 152 * A bitfield representing the capabilities of a pin. 153 */ 154 typedef struct { 155 /*@{*/ 156 mraa_boolean_t valid:1; /**< Is the pin valid at all */ 157 mraa_boolean_t gpio:1; /**< Is the pin gpio capable */ 158 mraa_boolean_t pwm:1; /**< Is the pin pwm capable */ 159 mraa_boolean_t fast_gpio:1; /**< Is the pin fast gpio capable */ 160 mraa_boolean_t spi:1; /**< Is the pin spi capable */ 161 mraa_boolean_t i2c:1; /**< Is the pin i2c capable */ 162 mraa_boolean_t aio:1; /**< Is the pin analog input capable */ 163 mraa_boolean_t uart:1; /**< Is the pin uart capable */ 164 /*@}*/ 165 } mraa_pincapabilities_t; 166 167 /** 168 * A Structure representing a multiplexer and the required value 169 */ 170 typedef struct { 171 /*@{*/ 172 unsigned int pin; /**< Raw GPIO pin id */ 173 unsigned int value; /**< Raw GPIO value */ 174 /*@}*/ 175 } mraa_mux_t; 176 177 typedef struct { 178 mraa_boolean_t complex_pin:1; 179 mraa_boolean_t output_en:1; 180 mraa_boolean_t output_en_high:1; 181 mraa_boolean_t pullup_en:1; 182 mraa_boolean_t pullup_en_hiz:1; 183 } mraa_pin_cap_complex_t; 184 185 typedef struct { 186 /*@{*/ 187 unsigned int pinmap; /**< sysfs pin */ 188 unsigned int parent_id; /** parent chip id */ 189 unsigned int mux_total; /** Numfer of muxes needed for operation of pin */ 190 mraa_mux_t mux[6]; /** Array holding information about mux */ 191 unsigned int output_enable; /** Output Enable GPIO, for level shifting */ 192 unsigned int pullup_enable; /** Pull-Up enable GPIO, inputs */ 193 mraa_pin_cap_complex_t complex_cap; 194 /*@}*/ 195 } mraa_pin_t; 196 197 typedef struct { 198 /*@{*/ 199 char mem_dev[32]; /**< Memory device to use /dev/uio0 etc */ 200 unsigned int mem_sz; /** Size of memory to map */ 201 unsigned int bit_pos; /** Position of value bit */ 202 mraa_pin_t gpio; /** GPio context containing none mmap info */ 203 /*@}*/ 204 } mraa_mmap_pin_t; 205 206 /** 207 * A Structure representing a physical Pin. 208 */ 209 typedef struct { 210 /*@{*/ 211 char name[MRAA_PIN_NAME_SIZE]; /**< Pin's real world name */ 212 mraa_pincapabilities_t capabilites; /**< Pin Capabiliites */ 213 mraa_pin_t gpio; /**< GPIO structure */ 214 mraa_pin_t pwm; /**< PWM structure */ 215 mraa_pin_t aio; /**< Anaglog Pin */ 216 mraa_mmap_pin_t mmap; /**< GPIO through memory */ 217 mraa_pin_t i2c; /**< i2c bus/pin */ 218 mraa_pin_t spi; /**< spi bus/pin */ 219 mraa_pin_t uart; /**< uart module/pin */ 220 /*@}*/ 221 } mraa_pininfo_t; 222 223 /** 224 * A Structure representing the physical properties of a i2c bus. 225 */ 226 typedef struct { 227 /*@{*/ 228 unsigned int bus_id; /**< ID as exposed in the system */ 229 unsigned int scl; /**< i2c SCL */ 230 unsigned int sda; /**< i2c SDA */ 231 // mraa_drv_api_t drv_type; /**< Driver type */ 232 /*@}*/ 233 } mraa_i2c_bus_t; 234 235 /** 236 * A Structure representing the physical properties of a spi bus. 237 */ 238 typedef struct { 239 /*@{*/ 240 unsigned int bus_id; /**< The Bus ID as exposed to the system. */ 241 unsigned int slave_s; /**< Slave select */ 242 mraa_boolean_t three_wire; /**< Is the bus only a three wire system */ 243 unsigned int sclk; /**< Serial Clock */ 244 unsigned int mosi; /**< Master Out, Slave In. */ 245 unsigned int miso; /**< Master In, Slave Out. */ 246 unsigned int cs; /**< Chip Select, used when the board is a spi slave */ 247 /*@}*/ 248 } mraa_spi_bus_t; 249 250 /** 251 * A Structure representing a uart device. 252 */ 253 typedef struct { 254 /*@{*/ 255 unsigned int index; /**< ID as exposed in the system */ 256 int rx; /**< uart rx */ 257 int tx; /**< uart tx */ 258 const char* device_path; /**< To store "/dev/ttyS1" for example */ 259 /*@}*/ 260 } mraa_uart_dev_t; 261 262 /** 263 * A Structure representing a platform/board. 264 */ 265 266 typedef struct _board_t { 267 /*@{*/ 268 unsigned int phy_pin_count; /**< The Total IO pins on board */ 269 unsigned int gpio_count; /**< GPIO Count */ 270 unsigned int aio_count; /**< Analog side Count */ 271 unsigned int i2c_bus_count; /**< Usable i2c Count */ 272 mraa_i2c_bus_t i2c_bus[12]; /**< Array of i2c */ 273 unsigned int def_i2c_bus; /**< Position in array of default i2c bus */ 274 unsigned int spi_bus_count; /**< Usable spi Count */ 275 mraa_spi_bus_t spi_bus[12]; /**< Array of spi */ 276 unsigned int def_spi_bus; /**< Position in array of defult spi bus */ 277 unsigned int adc_raw; /**< ADC raw bit value */ 278 unsigned int adc_supported; /**< ADC supported bit value */ 279 unsigned int def_uart_dev; /**< Position in array of defult uart */ 280 unsigned int uart_dev_count; /**< Usable spi Count */ 281 mraa_uart_dev_t uart_dev[6]; /**< Array of UARTs */ 282 mraa_boolean_t no_bus_mux; /**< i2c/spi/adc/pwm/uart bus muxing setup not required */ 283 int pwm_default_period; /**< The default PWM period is US */ 284 int pwm_max_period; /**< Maximum period in us */ 285 int pwm_min_period; /**< Minimum period in us */ 286 mraa_platform_t platform_type; /**< Platform type */ 287 const char* platform_name; /**< Platform Name pointer */ 288 const char* platform_version; /**< Platform versioning info */ 289 mraa_pininfo_t* pins; /**< Pointer to pin array */ 290 mraa_adv_func_t* adv_func; /**< Pointer to advanced function disptach table */ 291 struct _board_t* sub_platform; /**< Pointer to sub platform */ 292 /*@}*/ 293 } mraa_board_t; 294 295 typedef struct { 296 struct _iio* iio_devices; /**< Pointer to IIO devices */ 297 uint8_t iio_device_count; /**< IIO device count */ 298 } mraa_iio_info_t; 299
