X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=server%2Fbbb_pin.c;h=bd31365cdecb61aa17768554531d680bfb6b4f19;hb=6bc90047ed36b392d90a1bf778baf9687b835f2d;hp=373bbac77f351a7ca9798d68e3262864668e9f9e;hpb=ead840a6e5b98790edb419bde8a02e476b443dc4;p=matches%2FMCTX3420.git diff --git a/server/bbb_pin.c b/server/bbb_pin.c index 373bbac..bd31365 100644 --- a/server/bbb_pin.c +++ b/server/bbb_pin.c @@ -1,15 +1,16 @@ /** * @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 */ +#define _BBB_PIN_SRC #include "bbb_pin.h" #include #include #include -#include #include "options.h" /** @@ -18,6 +19,7 @@ */ typedef struct { + bool initialised; int fd_value; int fd_direction; } GPIO_Pin; @@ -28,6 +30,7 @@ typedef struct */ typedef struct { + bool initialised; int fd_value; } ADC_Pin; @@ -37,6 +40,7 @@ typedef struct */ typedef struct { + bool initialised; int fd_run; FILE * file_duty; FILE * file_period; @@ -50,136 +54,197 @@ static ADC_Pin g_adc[ADC_NUM_PINS] = {{0}}; /** Array of PWM pins **/ static PWM_Pin g_pwm[PWM_NUM_PINS] = {{0}}; -static char g_buffer[BUFSIZ] = ""; +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 + * @return true on success, false otherwise */ -void GPIO_Export(int pin) +bool GPIO_Export(int pin) { - if (pin < 0 || pin >= GPIO_INDEX_SIZE || g_gpio_to_index[pin] == 128) + if (pin < 0 || pin > GPIO_MAX_NUMBER || g_pin_gpio_to_index[pin] == 128) { - Abort("Not a useable pin number: %d", pin); + AbortBool("Not a useable pin number: %d", pin); + } + + GPIO_Pin *gpio = &g_gpio[g_pin_gpio_to_index[pin]]; + if (gpio->initialised) + { + Log(LOGNOTE, "GPIO %d already initialised.", pin); + return true; } - GPIO_Pin *gpio = &g_gpio[g_gpio_to_index[pin]]; // Export the pin sprintf(g_buffer, "%s/export", GPIO_DEVICE_PATH); - FILE * export = fopen(g_buffer, "w"); - if (export == NULL) + FILE * file_export = fopen(g_buffer, "w"); + if (file_export == NULL) { - Abort("Couldn't open %s to export GPIO pin %d - %s", g_buffer, pin, strerror(errno)); + AbortBool("Couldn't open %s to export GPIO pin %d - %s", g_buffer, pin, strerror(errno)); } - - fprintf(export, "%d", pin); - fclose(export); + fprintf(file_export, "%d", pin); + fclose(file_export); // Setup direction file descriptor sprintf(g_buffer, "%s/gpio%d/direction", GPIO_DEVICE_PATH, pin); gpio->fd_direction = open(g_buffer, O_RDWR); if (gpio->fd_direction < 0) { - Abort("Couldn't open %s for GPIO pin %d - %s", g_buffer, pin, strerror(errno)); + AbortBool("Couldn't open %s for GPIO pin %d - %s", g_buffer, pin, strerror(errno)); } - // Setup value file descriptor sprintf(g_buffer, "%s/gpio%d/value", GPIO_DEVICE_PATH, pin); gpio->fd_value = open(g_buffer, O_RDWR); if (gpio->fd_value < 0) { - Abort("Couldn't open %s for GPIO pin %d - %s", g_buffer, pin, strerror(errno)); + close(gpio->fd_direction); + AbortBool("Couldn't open %s for GPIO pin %d - %s", g_buffer, pin, strerror(errno)); } + gpio->initialised = true; Log(LOGDEBUG, "Exported GPIO%d", pin); - //sleep(1); + return true; } /** * Unexport a GPIO pin and close its' file descriptors + * @param pin The GPIO number to be unexported */ void GPIO_Unexport(int pin) { - if (pin < 0 || pin >= GPIO_INDEX_SIZE || g_gpio_to_index[pin] == 128) + if (pin < 0 || pin > GPIO_MAX_NUMBER || g_pin_gpio_to_index[pin] == 128) { Abort("Not a useable pin number: %d", pin); } - GPIO_Pin *gpio = &g_gpio[g_gpio_to_index[pin]]; + GPIO_Pin *gpio = &g_gpio[g_pin_gpio_to_index[pin]]; + if (!gpio->initialised) + { + Abort("GPIO %d is already uninitialised", pin); + } + // Close file descriptors close(gpio->fd_value); close(gpio->fd_direction); + // Uninitialise this one + gpio->initialised = false; // Unexport the pin - if (g_buffer[0] == '\0') sprintf(g_buffer, "%s/unexport", GPIO_DEVICE_PATH); - FILE * export = fopen(g_buffer, "w"); - if (export == NULL) + FILE * file_export = fopen(g_buffer, "w"); + if (file_export == NULL) { Abort("Couldn't open %s to export GPIO pin %d - %s", g_buffer, pin, strerror(errno)); } - fprintf(export, "%d", pin); - fclose(export); + fprintf(file_export, "%d", pin); + fclose(file_export); } - /** * Initialise all PWM pins and open file descriptors * @param pin - The sysfs pin number + * @return true if exported, false otherwise */ -void PWM_Export(int pin) +bool PWM_Export(int pin) { + //goto would make this easier... if (pin < 0 || pin >= PWM_NUM_PINS) { - Abort("Invalid PWM pin number %d specified.", pin); + AbortBool("Invalid PWM pin %d specified.", pin); } PWM_Pin *pwm = &g_pwm[pin]; + if (pwm->initialised) + { + Log(LOGNOTE, "PWM %d already exported.", pin); + return true; + } - if (pwm->file_duty != NULL) + // Try export the pin, doesn't matter if it's already exported. + sprintf(g_buffer, "%s/export", PWM_DEVICE_PATH); + FILE * file_export = fopen(g_buffer, "w"); + if (file_export == NULL) { - Abort("PWM %d already exported.", pin); + AbortBool("Couldn't open %s to export PWM pin %d - %s", + g_buffer, pin, strerror(errno)); } + fprintf(file_export, "%d\n", pin); + fclose(file_export); // Open file descriptors sprintf(g_buffer, "%s/pwm%d/run", PWM_DEVICE_PATH, pin); pwm->fd_run = open(g_buffer, O_WRONLY); if (pwm->fd_run < 0) { - Abort("Couldn't open %s for PWM%d - %s", g_buffer, pin, strerror(errno)); + AbortBool("Couldn't open %s for PWM%d - %s", g_buffer, pin, strerror(errno)); } sprintf(g_buffer, "%s/pwm%d/polarity", PWM_DEVICE_PATH, pin); pwm->fd_polarity = open(g_buffer, O_WRONLY); if (pwm->fd_polarity < 0) { - Abort("Couldn't open %s for PWM%d - %s", g_buffer, pin, strerror(errno)); + close(pwm->fd_run); + AbortBool("Couldn't open %s for PWM%d - %s", g_buffer, pin, strerror(errno)); } sprintf(g_buffer, "%s/pwm%d/period_ns", PWM_DEVICE_PATH, pin); pwm->file_period = fopen(g_buffer, "w"); if (pwm->file_period == NULL) { - Abort("Couldn't open %s for PWM%d - %s", g_buffer, pin, strerror(errno)); + close(pwm->fd_run); + close(pwm->fd_polarity); + AbortBool("Couldn't open %s for PWM%d - %s", g_buffer, pin, strerror(errno)); } sprintf(g_buffer, "%s/pwm%d/duty_ns", PWM_DEVICE_PATH, pin); pwm->file_duty = fopen(g_buffer, "w"); if (pwm->file_duty == NULL) { - Abort("Couldn't open %s for PWM%d - %s", g_buffer, pin, strerror(errno)); + close(pwm->fd_run); + close(pwm->fd_polarity); + fclose(pwm->file_period); + AbortBool("Couldn't open %s for PWM%d - %s", g_buffer, pin, strerror(errno)); } // Don't buffer the streams setbuf(pwm->file_period, NULL); setbuf(pwm->file_duty, NULL); + pwm->initialised = true; Log(LOGDEBUG, "Exported PWM%d", pin); + return true; } + /** * Unexport a PWM pin and close its file descriptors * @param pin - The sysfs pin number @@ -192,40 +257,58 @@ void PWM_Unexport(int pin) } PWM_Pin *pwm = &g_pwm[pin]; - // Close the file descriptors - if (pwm->fd_polarity != -1) - close(pwm->fd_polarity); - if (pwm->fd_run != -1) - close(pwm->fd_run); - if (pwm->file_period != NULL) - fclose(pwm->file_period); - if (pwm->file_duty != NULL) - fclose(pwm->file_duty); + if (!pwm->initialised) + { + Abort("PWM %d not initialised", pin); + } - //So that another call to PWM_Unexport is OK. - pwm->fd_polarity = pwm->fd_run = -1; - pwm->file_period = pwm->file_duty = NULL; + // Close the file descriptors + close(pwm->fd_polarity); + //Stop it, if it's still running + pwrite(pwm->fd_run, "0", 1, 0); + close(pwm->fd_run); + fclose(pwm->file_period); + fclose(pwm->file_duty); + + pwm->initialised = false; + + // Try unexport the pin, doesn't matter if it's already unexported. + sprintf(g_buffer, "%s/unexport", PWM_DEVICE_PATH); + FILE * file_unexport = fopen(g_buffer, "w"); + if (file_unexport == NULL) + { + Abort("Couldn't open %s to unexport PWM pin %d - %s", g_buffer, pin, strerror(errno)); + } + fprintf(file_unexport, "%d\n", pin); + fclose(file_unexport); } - /** * Initialise ADC structures * @param pin The ADC pin number */ -void ADC_Export(int pin) +bool ADC_Export(int pin) { if (pin < 0 || pin >= ADC_NUM_PINS) { - Abort("Invalid ADC pin %d specified.", pin); + AbortBool("Invalid ADC pin %d specified.", pin); + } + else if (g_adc[pin].initialised) + { + Log(LOGNOTE, "ADC %d already initialised", 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) { - Abort("Couldn't open ADC %d device file %s - %s", pin, g_buffer, strerror(errno)); + AbortBool("Couldn't open ADC %d device file %s - %s", pin, g_buffer, strerror(errno)); } + + g_adc[pin].initialised = true; Log(LOGDEBUG, "Opened ADC %d", pin); + return true; } /** @@ -238,60 +321,79 @@ void ADC_Unexport(int pin) { Abort("Invalid ADC pin %d specified.", pin); } - if (pin != -1) - close(g_adc[pin].fd_value); + else if (!g_adc[pin].initialised) + { + Abort("ADC %d already uninitialised", pin); + } + close(g_adc[pin].fd_value); g_adc[pin].fd_value = -1; + g_adc[pin].initialised = false; } /** * Set a GPIO pin * @param pin - The pin to set. MUST have been exported before calling this function. */ -void GPIO_Set(int pin, bool value) +bool GPIO_Set(int pin, bool value) { - if (pin < 0 || pin >= GPIO_INDEX_SIZE || g_gpio_to_index[pin] == 128) + if (pin < 0 || pin > GPIO_MAX_NUMBER || g_pin_gpio_to_index[pin] == 128) { - Abort("Not a useable pin number: %d", pin); + AbortBool("Not a useable pin number: %d", pin); } - GPIO_Pin *gpio = &g_gpio[g_gpio_to_index[pin]]; - + GPIO_Pin *gpio = &g_gpio[g_pin_gpio_to_index[pin]]; + if (!gpio->initialised) + { + AbortBool("GPIO %d is not initialised.", pin); + } + //Set the pin direction if (pwrite(gpio->fd_direction, "out", 3, 0) != 3) { - Abort("Couldn't set GPIO %d direction - %s", pin, strerror(errno)); + AbortBool("Couldn't set GPIO %d direction - %s", pin, strerror(errno)); } - char c = '0' + (value); + char c = value ? '1' : '0'; if (pwrite(gpio->fd_value, &c, 1, 0) != 1) { - Abort("Couldn't read GPIO %d value - %s", pin, strerror(errno)); + AbortBool("Couldn't read GPIO %d value - %s", pin, strerror(errno)); } + return true; } /** * Read from a GPIO Pin * @param pin - The pin to read + * @param result A pointer to store the result + * @return true on success, false otherwise */ -bool GPIO_Read(int pin) +bool GPIO_Read(int pin, bool *result) { - if (pin < 0 || pin >= GPIO_INDEX_SIZE || g_gpio_to_index[pin] == 128) + if (pin < 0 || pin > GPIO_MAX_NUMBER || g_pin_gpio_to_index[pin] == 128) { - Log(LOGERR, "Not a useable pin number: %d", pin); - return false; + AbortBool("Not a useable pin number: %d", pin); } - GPIO_Pin *gpio = &g_gpio[g_gpio_to_index[pin]]; + 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) - Log(LOGERR,"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) - Log(LOGERR,"Couldn't read GPIO %d value - %s", pin, strerror(errno)); - - return (c == '1'); + { + AbortBool("Couldn't read GPIO %d value - %s", pin, strerror(errno)); + } + *result = (c == '1'); + return true; } /** @@ -301,76 +403,115 @@ bool GPIO_Read(int pin) * @param period - The period in ns * @param duty - The time the pin is active in ns */ -void PWM_Set(int pin, bool polarity, long period, long duty) +bool PWM_Set(int pin, bool polarity, long period, long duty) { Log(LOGDEBUG, "Pin %d, pol %d, period: %lu, duty: %lu", pin, polarity, period, duty); if (pin < 0 || pin >= PWM_NUM_PINS) { - Abort("Invalid PWM pin number %d specified.", pin); + AbortBool("Invalid PWM pin number %d specified.", pin); } PWM_Pin *pwm = &g_pwm[pin]; + if (!pwm->initialised) + { + AbortBool("PWM %d is not initialised.", pin); + } // Have to stop PWM before changing it if (pwrite(pwm->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)); } char c = polarity ? '1' : '0'; if (pwrite(pwm->fd_polarity, &c, 1, 0) != 1) { - Abort("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)); } if (fprintf(pwm->file_period, "%lu", period) < 0) { - Abort("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) { - Abort("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) { - Abort("Couldn't start PWM%d - %s", pin, strerror(errno)); + AbortBool("Couldn't start PWM %d - %s", pin, strerror(errno)); } + + return true; } /** * 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; } /** * Read an ADC value * @param id - The ID of the ADC pin to read - * @returns - The reading of the ADC channel + * @param value - A pointer to store the value read from the ADC + * @returns - The true if succeeded, false otherwise. */ -int ADC_Read(int id) +bool ADC_Read(int id, int *value) { char adc_str[ADC_DIGITS] = {0}; + if (id < 0 || id >= ADC_NUM_PINS) + { + AbortBool("Invalid ADC pin %d specified.", id); + } + else if (!g_adc[id].initialised) + { + AbortBool("ADC %d is not initialised.", id); + } + if (pread(g_adc[id].fd_value, adc_str, ADC_DIGITS-1, 0) == -1) { - Log(LOGERR, "ADC %d read failed: %s", id, strerror(errno)); - return 0; + //AbortBool("ADC %d read failed: %s", id, strerror(errno)); + return false; } - return strtol(adc_str, NULL, 10); + *value = strtol(adc_str, NULL, 10); + return true; } + +#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