X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fbbb_pin.c;h=bd31365cdecb61aa17768554531d680bfb6b4f19;hb=15a32ab1123375e1a52c319fca71ab8d02c58261;hp=f351f53c08c360436eae812433ea3154e1bb8302;hpb=5725205e01ba058ed114fea9f8ea81de76916d04;p=matches%2FMCTX3420.git

diff --git a/server/bbb_pin.c b/server/bbb_pin.c
index f351f53..bd31365 100644
--- a/server/bbb_pin.c
+++ b/server/bbb_pin.c
@@ -1,6 +1,7 @@
 /**
  * @file bbb_pin.c
- * @purpose Implementation of BBB pin control functions and structures
+ * @brief Implementation of BBB pin control functions and structures
+ * On non-beaglebone (actually non-arm) platforms, this code is disabled.
  * THIS CODE IS NOT THREADSAFE
  */
 
@@ -10,7 +11,6 @@
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <fcntl.h>
-#include <ctype.h>
 #include "options.h"
 
 /**
@@ -56,6 +56,32 @@ static PWM_Pin g_pwm[PWM_NUM_PINS] = {{0}};
 
 static char g_buffer[BUFSIZ] = {0};
 
+/**
+ * Maps a GPIO number to an index into g_gpio (only for use in bbb_pin.c)
+ * If there is no index for that GPIO number, 128 is returned.
+ */
+const unsigned char g_pin_gpio_to_index[GPIO_MAX_NUMBER+1] = {
+	128, 128, 128, 128,   0,   1, 128, 128,   2,   3,   4,   5, 128, 128,
+	  6,   7, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128,   8,   9,
+	128, 128,  10,  11, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128,
+	128, 128,  12,  13,  14,  15,  16,  17, 128, 128, 128, 128, 128, 128,
+	128, 128, 128, 128,  18,  19, 128, 128, 128,  20,  21,  22,  23,  24,
+	 25,  26,  27,  28,  29,  30,  31,  32,  33,  34,  35,  36, 128, 128,
+	128, 128,  37,  38,  39,  40, 128, 128, 128, 128, 128, 128, 128, 128,
+	128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128,
+	 41, 128, 128,  42
+};
+
+/**
+ * Maps an index in g_gpio to the corresponding GPIO number.
+ */
+const unsigned char g_pin_index_to_gpio[GPIO_NUM_PINS] = {
+	  4,   5,   8,   9,  10,  11,  14,  15,  26,  27,  30,  31,  44,  45,
+	 46,  47,  48,  49,  60,  61,  65,  66,  67,  68,  69,  70,  71,  72,
+	 73,  74,  75,  76,  77,  78,  79,  80,  81,  86,  87,  88,  89, 112,
+	115
+};
+
 /**
  * Export a GPIO pin and open the file descriptors
  * @param pin The GPIO number to be exported
@@ -109,6 +135,7 @@ bool GPIO_Export(int pin)
 
 /**
  * Unexport a GPIO pin and close its' file descriptors
+ * @param pin The GPIO number to be unexported
  */
 void GPIO_Unexport(int pin)
 {
@@ -272,7 +299,7 @@ bool ADC_Export(int pin)
 		return true;
 	}
 
-	sprintf(g_buffer, "%s/in_voltage%d_raw", g_options.adc_device_path, pin);
+	sprintf(g_buffer, "%s/in_voltage%d_raw", ADC_DEVICE_PATH, pin);
 	g_adc[pin].fd_value = open(g_buffer, O_RDONLY);
 	if (g_adc[pin].fd_value <0)
 	{
@@ -349,13 +376,21 @@ bool GPIO_Read(int pin, bool *result)
 	}
 
 	GPIO_Pin *gpio = &g_gpio[g_pin_gpio_to_index[pin]];
+	if (!gpio->initialised)
+	{
+		AbortBool("GPIO %d is not initialised.", pin);
+	}
 
 	if (pwrite(gpio->fd_direction, "in", 2, 0) != 2)
-		AbortBool("Couldn't set GPIO %d direction - %s", pin, strerror(errno)); 
+	{
+		AbortBool("Couldn't set GPIO %d direction - %s", pin, strerror(errno));
+	}
 	
 	char c = '0';
 	if (pread(gpio->fd_value, &c, 1, 0) != 1)
+	{
 		AbortBool("Couldn't read GPIO %d value - %s", pin, strerror(errno));
+	}
 
 	*result = (c == '1');
 	return true;
@@ -386,36 +421,36 @@ bool PWM_Set(int pin, bool polarity, long period, long duty)
 	// Have to stop PWM before changing it
 	if (pwrite(pwm->fd_run, "0", 1, 0) != 1)
 	{
-		AbortBool("Couldn't stop PWM%d - %s", pin, strerror(errno));
+		AbortBool("Couldn't stop PWM %d - %s", pin, strerror(errno));
 	}
 
 	char c = polarity ? '1' : '0';
 	if (pwrite(pwm->fd_polarity, &c, 1, 0) != 1)
 	{
-		AbortBool("Couldn't set PWM%d polarity - %s", pin, strerror(errno));
+		AbortBool("Couldn't set PWM %d polarity - %s", pin, strerror(errno));
 	}
 
 	//This must be done first, otherwise period/duty settings can conflict
 	if (fwrite("0", 1, 1, pwm->file_duty) < 1)
 	{
-		AbortBool("Couldn't zero the duty for PWM%d - %s", pin, strerror(errno));
+		AbortBool("Couldn't zero the duty for PWM %d - %s", pin, strerror(errno));
 	}
 
 	if (fprintf(pwm->file_period, "%lu", period) < 0)
 	{
-		AbortBool("Couldn't set period for PWM%d - %s", pin, strerror(errno));
+		AbortBool("Couldn't set period for PWM %d - %s", pin, strerror(errno));
 	}
 
 
 	if (fprintf(pwm->file_duty, "%lu", duty) < 0)
 	{
-		AbortBool("Couldn't set duty cycle for PWM%d - %s", pin, strerror(errno));
+		AbortBool("Couldn't set duty cycle for PWM %d - %s", pin, strerror(errno));
 	}
 
 
 	if (pwrite(pwm->fd_run, "1", 1, 0) != 1)
 	{
-		AbortBool("Couldn't start PWM%d - %s", pin, strerror(errno));
+		AbortBool("Couldn't start PWM %d - %s", pin, strerror(errno));
 	}
 
 	return true;
@@ -424,18 +459,25 @@ bool PWM_Set(int pin, bool polarity, long period, long duty)
 /**
  * Deactivate a PWM pin
  * @param pin - The syfs pin number
+ * @return true on success, false otherwise
  */
-void PWM_Stop(int pin)
+bool PWM_Stop(int pin)
 {
 	if (pin < 0 || pin >= PWM_NUM_PINS)
 	{
-		Abort("Invalid PWM pin number %d specified.", pin);
+		AbortBool("Invalid PWM pin number %d specified.", pin);
+	}
+	else if (!g_pwm[pin].initialised)
+	{
+		AbortBool("PWM %d is not initialised.", pin);
 	}
 
 	if (pwrite(g_pwm[pin].fd_run, "0", 1, 0) != 1)
 	{
-		Abort("Couldn't stop PWM %d - %s", pin, strerror(errno));
+		AbortBool("Couldn't stop PWM %d - %s", pin, strerror(errno));
 	}
+
+	return true;
 }
 
 /**
@@ -459,8 +501,17 @@ bool ADC_Read(int id, int *value)
 
 	if (pread(g_adc[id].fd_value, adc_str, ADC_DIGITS-1, 0) == -1)
 	{
-		AbortBool("ADC %d read failed: %s", id, strerror(errno));
+		//AbortBool("ADC %d read failed: %s", id, strerror(errno));
+		return false;
 	}
+
 	*value = strtol(adc_str, NULL, 10);
 	return true;
-}
\ No newline at end of file
+}
+
+#ifndef _BBB
+//For running on systems that are not the BBB
+bool True_Stub(int arg, ...) { return true; }
+bool ADC_Read_Stub(int *val, ...) { *val = 0; return true; }
+bool GPIO_Read_Stub(bool *val, ...) { *val = false; return true; }
+#endif