From: Justin Kruger <20767264@student.uwa.edu.au> Date: Sat, 24 Aug 2013 08:52:21 +0000 (+0800) Subject: Sensors code X-Git-Url: https://git.ucc.asn.au/?a=commitdiff_plain;h=88579d4b361f1f8ad4bf1a9b6fa4dd17938a3370;p=matches%2FMCTX3420.git Sensors code Added some sensors code examples and notes for Beaglebone hardware --- diff --git a/sensors/beagleboard sensors notes.docx b/sensors/beagleboard sensors notes.docx new file mode 100644 index 0000000..746600c Binary files /dev/null and b/sensors/beagleboard sensors notes.docx differ diff --git a/sensors/sensors test drivers (c)/generic_buffer.c b/sensors/sensors test drivers (c)/generic_buffer.c new file mode 100644 index 0000000..40d0eca --- /dev/null +++ b/sensors/sensors test drivers (c)/generic_buffer.c @@ -0,0 +1,340 @@ +/* Industrialio buffer test code. + * + * Copyright (c) 2008 Jonathan Cameron + * + * This program is free software; you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 2 as published by + * the Free Software Foundation. + * + * This program is primarily intended as an example application. + * Reads the current buffer setup from sysfs and starts a short capture + * from the specified device, pretty printing the result after appropriate + * conversion. + * + * Command line parameters + * generic_buffer -n -t + * If trigger name is not specified the program assumes you want a dataready + * trigger associated with the device and goes looking for it. + * + */ + +#define _GNU_SOURCE + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "iio_utils.h" + +/** + * size_from_channelarray() - calculate the storage size of a scan + * @channels: the channel info array + * @num_channels: number of channels + * + * Has the side effect of filling the channels[i].location values used + * in processing the buffer output. + **/ +int size_from_channelarray(struct iio_channel_info *channels, int num_channels) +{ + int bytes = 0; + int i = 0; + while (i < num_channels) { + if (bytes % channels[i].bytes == 0) + channels[i].location = bytes; + else + channels[i].location = bytes - bytes%channels[i].bytes + + channels[i].bytes; + bytes = channels[i].location + channels[i].bytes; + i++; + } + return bytes; +} + +void print2byte(int input, struct iio_channel_info *info) +{ + /* First swap if incorrect endian */ + if (info->be) + input = be16toh((uint16_t)input); + else + input = le16toh((uint16_t)input); + + /* + * Shift before conversion to avoid sign extension + * of left aligned data + */ + input = input >> info->shift; + if (info->is_signed) { + int16_t val = input; + val &= (1 << info->bits_used) - 1; + val = (int16_t)(val << (16 - info->bits_used)) >> + (16 - info->bits_used); + printf("%05f ", ((float)val + info->offset)*info->scale); + } else { + uint16_t val = input; + val &= (1 << info->bits_used) - 1; + printf("%05f ", ((float)val + info->offset)*info->scale); + } +} +/** + * process_scan() - print out the values in SI units + * @data: pointer to the start of the scan + * @channels: information about the channels. Note + * size_from_channelarray must have been called first to fill the + * location offsets. + * @num_channels: number of channels + **/ +void process_scan(char *data, + struct iio_channel_info *channels, + int num_channels) +{ + int k; + for (k = 0; k < num_channels; k++) + switch (channels[k].bytes) { + /* only a few cases implemented so far */ + case 2: + print2byte(*(uint16_t *)(data + channels[k].location), + &channels[k]); + break; + case 4: + if (!channels[k].is_signed) { + uint32_t val = *(uint32_t *) + (data + channels[k].location); + printf("%05f ", ((float)val + + channels[k].offset)* + channels[k].scale); + + } + break; + case 8: + if (channels[k].is_signed) { + int64_t val = *(int64_t *) + (data + + channels[k].location); + if ((val >> channels[k].bits_used) & 1) + val = (val & channels[k].mask) | + ~channels[k].mask; + /* special case for timestamp */ + if (channels[k].scale == 1.0f && + channels[k].offset == 0.0f) + printf("%" PRId64 " ", val); + else + printf("%05f ", ((float)val + + channels[k].offset)* + channels[k].scale); + } + break; + default: + break; + } + printf("\n"); +} + +int main(int argc, char **argv) +{ + unsigned long num_loops = 2; + unsigned long timedelay = 1000000; + unsigned long buf_len = 128; + + int ret, c, i, j, toread; + int fp; + + int num_channels; + char *trigger_name = NULL, *device_name = NULL; + char *dev_dir_name, *buf_dir_name; + + int datardytrigger = 1; + char *data; + ssize_t read_size; + int dev_num, trig_num; + char *buffer_access; + int scan_size; + int noevents = 0; + char *dummy; + + struct iio_channel_info *channels; + + while ((c = getopt(argc, argv, "l:w:c:et:n:")) != -1) { + switch (c) { + case 'n': + device_name = optarg; + break; + case 't': + trigger_name = optarg; + datardytrigger = 0; + break; + case 'e': + noevents = 1; + break; + case 'c': + num_loops = strtoul(optarg, &dummy, 10); + break; + case 'w': + timedelay = strtoul(optarg, &dummy, 10); + break; + case 'l': + buf_len = strtoul(optarg, &dummy, 10); + break; + case '?': + return -1; + } + } + + if (device_name == NULL) + return -1; + + /* Find the device requested */ + dev_num = find_type_by_name(device_name, "iio:device"); + if (dev_num < 0) { + printf("Failed to find the %s\n", device_name); + ret = -ENODEV; + goto error_ret; + } + printf("iio device number being used is %d\n", dev_num); + + asprintf(&dev_dir_name, "%siio:device%d", iio_dir, dev_num); + if (trigger_name == NULL) { + /* + * Build the trigger name. If it is device associated its + * name is _dev[n] where n matches the device + * number found above + */ + ret = asprintf(&trigger_name, + "%s-dev%d", device_name, dev_num); + if (ret < 0) { + ret = -ENOMEM; + goto error_ret; + } + } + + /* Verify the trigger exists */ + trig_num = find_type_by_name(trigger_name, "trigger"); + if (trig_num < 0) { + printf("Failed to find the trigger %s\n", trigger_name); + ret = -ENODEV; + goto error_free_triggername; + } + printf("iio trigger number being used is %d\n", trig_num); + + /* + * Parse the files in scan_elements to identify what channels are + * present + */ + ret = build_channel_array(dev_dir_name, &channels, &num_channels); + if (ret) { + printf("Problem reading scan element information\n"); + printf("diag %s\n", dev_dir_name); + goto error_free_triggername; + } + + /* + * Construct the directory name for the associated buffer. + * As we know that the lis3l02dq has only one buffer this may + * be built rather than found. + */ + ret = asprintf(&buf_dir_name, + "%siio:device%d/buffer", iio_dir, dev_num); + if (ret < 0) { + ret = -ENOMEM; + goto error_free_triggername; + } + printf("%s %s\n", dev_dir_name, trigger_name); + /* Set the device trigger to be the data ready trigger found above */ + ret = write_sysfs_string_and_verify("trigger/current_trigger", + dev_dir_name, + trigger_name); + if (ret < 0) { + printf("Failed to write current_trigger file\n"); + goto error_free_buf_dir_name; + } + + /* Setup ring buffer parameters */ + ret = write_sysfs_int("length", buf_dir_name, buf_len); + if (ret < 0) + goto error_free_buf_dir_name; + + /* Enable the buffer */ + ret = write_sysfs_int("enable", buf_dir_name, 1); + if (ret < 0) + goto error_free_buf_dir_name; + scan_size = size_from_channelarray(channels, num_channels); + data = malloc(scan_size*buf_len); + if (!data) { + ret = -ENOMEM; + goto error_free_buf_dir_name; + } + + ret = asprintf(&buffer_access, "/dev/iio:device%d", dev_num); + if (ret < 0) { + ret = -ENOMEM; + goto error_free_data; + } + + /* Attempt to open non blocking the access dev */ + fp = open(buffer_access, O_RDONLY | O_NONBLOCK); + if (fp == -1) { /* If it isn't there make the node */ + printf("Failed to open %s\n", buffer_access); + ret = -errno; + goto error_free_buffer_access; + } + + /* Wait for events 10 times */ + for (j = 0; j < num_loops; j++) { + if (!noevents) { + struct pollfd pfd = { + .fd = fp, + .events = POLLIN, + }; + + poll(&pfd, 1, -1); + toread = buf_len; + + } else { + usleep(timedelay); + toread = 64; + } + + read_size = read(fp, + data, + toread*scan_size); + if (read_size == -EAGAIN) { + printf("nothing available\n"); + continue; + } + for (i = 0; i < read_size/scan_size; i++) + process_scan(data + scan_size*i, + channels, + num_channels); + } + + /* Stop the buffer */ + ret = write_sysfs_int("enable", buf_dir_name, 0); + if (ret < 0) + goto error_close_buffer_access; + + /* Disconnect the trigger - just write a dummy name. */ + write_sysfs_string("trigger/current_trigger", + dev_dir_name, "NULL"); + +error_close_buffer_access: + close(fp); +error_free_data: + free(data); +error_free_buffer_access: + free(buffer_access); +error_free_buf_dir_name: + free(buf_dir_name); +error_free_triggername: + if (datardytrigger) + free(trigger_name); +error_ret: + return ret; +} diff --git a/sensors/sensors test drivers (c)/iio_utils.h b/sensors/sensors test drivers (c)/iio_utils.h new file mode 100644 index 0000000..cf32ae0 --- /dev/null +++ b/sensors/sensors test drivers (c)/iio_utils.h @@ -0,0 +1,654 @@ +/* IIO - useful set of util functionality + * + * Copyright (c) 2008 Jonathan Cameron + * + * This program is free software; you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 2 as published by + * the Free Software Foundation. + */ + +#include +#include +#include +#include +#include +#include +#include + +/* Made up value to limit allocation sizes */ +#define IIO_MAX_NAME_LENGTH 30 + +#define FORMAT_SCAN_ELEMENTS_DIR "%s/scan_elements" +#define FORMAT_TYPE_FILE "%s_type" + +const char *iio_dir = "/sys/bus/iio/devices/"; + +/** + * iioutils_break_up_name() - extract generic name from full channel name + * @full_name: the full channel name + * @generic_name: the output generic channel name + **/ +inline int iioutils_break_up_name(const char *full_name, + char **generic_name) +{ + char *current; + char *w, *r; + char *working; + current = strdup(full_name); + working = strtok(current, "_\0"); + w = working; + r = working; + + while (*r != '\0') { + if (!isdigit(*r)) { + *w = *r; + w++; + } + r++; + } + *w = '\0'; + *generic_name = strdup(working); + free(current); + + return 0; +} + +/** + * struct iio_channel_info - information about a given channel + * @name: channel name + * @generic_name: general name for channel type + * @scale: scale factor to be applied for conversion to si units + * @offset: offset to be applied for conversion to si units + * @index: the channel index in the buffer output + * @bytes: number of bytes occupied in buffer output + * @mask: a bit mask for the raw output + * @is_signed: is the raw value stored signed + * @enabled: is this channel enabled + **/ +struct iio_channel_info { + char *name; + char *generic_name; + float scale; + float offset; + unsigned index; + unsigned bytes; + unsigned bits_used; + unsigned shift; + uint64_t mask; + unsigned be; + unsigned is_signed; + unsigned enabled; + unsigned location; +}; + +/** + * iioutils_get_type() - find and process _type attribute data + * @is_signed: output whether channel is signed + * @bytes: output how many bytes the channel storage occupies + * @mask: output a bit mask for the raw data + * @be: big endian + * @device_dir: the iio device directory + * @name: the channel name + * @generic_name: the channel type name + **/ +inline int iioutils_get_type(unsigned *is_signed, + unsigned *bytes, + unsigned *bits_used, + unsigned *shift, + uint64_t *mask, + unsigned *be, + const char *device_dir, + const char *name, + const char *generic_name) +{ + FILE *sysfsfp; + int ret; + DIR *dp; + char *scan_el_dir, *builtname, *builtname_generic, *filename = 0; + char signchar, endianchar; + unsigned padint; + const struct dirent *ent; + + ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir); + if (ret < 0) { + ret = -ENOMEM; + goto error_ret; + } + ret = asprintf(&builtname, FORMAT_TYPE_FILE, name); + if (ret < 0) { + ret = -ENOMEM; + goto error_free_scan_el_dir; + } + ret = asprintf(&builtname_generic, FORMAT_TYPE_FILE, generic_name); + if (ret < 0) { + ret = -ENOMEM; + goto error_free_builtname; + } + + dp = opendir(scan_el_dir); + if (dp == NULL) { + ret = -errno; + goto error_free_builtname_generic; + } + while (ent = readdir(dp), ent != NULL) + /* + * Do we allow devices to override a generic name with + * a specific one? + */ + if ((strcmp(builtname, ent->d_name) == 0) || + (strcmp(builtname_generic, ent->d_name) == 0)) { + ret = asprintf(&filename, + "%s/%s", scan_el_dir, ent->d_name); + if (ret < 0) { + ret = -ENOMEM; + goto error_closedir; + } + sysfsfp = fopen(filename, "r"); + if (sysfsfp == NULL) { + printf("failed to open %s\n", filename); + ret = -errno; + goto error_free_filename; + } + + ret = fscanf(sysfsfp, + "%ce:%c%u/%u>>%u", + &endianchar, + &signchar, + bits_used, + &padint, shift); + if (ret < 0) { + printf("failed to pass scan type description\n"); + ret = -errno; + goto error_close_sysfsfp; + } + *be = (endianchar == 'b'); + *bytes = padint / 8; + if (*bits_used == 64) + *mask = ~0; + else + *mask = (1 << *bits_used) - 1; + if (signchar == 's') + *is_signed = 1; + else + *is_signed = 0; + fclose(sysfsfp); + free(filename); + + filename = 0; + sysfsfp = 0; + } +error_close_sysfsfp: + if (sysfsfp) + fclose(sysfsfp); +error_free_filename: + if (filename) + free(filename); +error_closedir: + closedir(dp); +error_free_builtname_generic: + free(builtname_generic); +error_free_builtname: + free(builtname); +error_free_scan_el_dir: + free(scan_el_dir); +error_ret: + return ret; +} + +inline int iioutils_get_param_float(float *output, + const char *param_name, + const char *device_dir, + const char *name, + const char *generic_name) +{ + FILE *sysfsfp; + int ret; + DIR *dp; + char *builtname, *builtname_generic; + char *filename = NULL; + const struct dirent *ent; + + ret = asprintf(&builtname, "%s_%s", name, param_name); + if (ret < 0) { + ret = -ENOMEM; + goto error_ret; + } + ret = asprintf(&builtname_generic, + "%s_%s", generic_name, param_name); + if (ret < 0) { + ret = -ENOMEM; + goto error_free_builtname; + } + dp = opendir(device_dir); + if (dp == NULL) { + ret = -errno; + goto error_free_builtname_generic; + } + while (ent = readdir(dp), ent != NULL) + if ((strcmp(builtname, ent->d_name) == 0) || + (strcmp(builtname_generic, ent->d_name) == 0)) { + ret = asprintf(&filename, + "%s/%s", device_dir, ent->d_name); + if (ret < 0) { + ret = -ENOMEM; + goto error_closedir; + } + sysfsfp = fopen(filename, "r"); + if (!sysfsfp) { + ret = -errno; + goto error_free_filename; + } + fscanf(sysfsfp, "%f", output); + break; + } +error_free_filename: + if (filename) + free(filename); +error_closedir: + closedir(dp); +error_free_builtname_generic: + free(builtname_generic); +error_free_builtname: + free(builtname); +error_ret: + return ret; +} + +/** + * bsort_channel_array_by_index() - reorder so that the array is in index order + * + **/ + +inline void bsort_channel_array_by_index(struct iio_channel_info **ci_array, + int cnt) +{ + + struct iio_channel_info temp; + int x, y; + + for (x = 0; x < cnt; x++) + for (y = 0; y < (cnt - 1); y++) + if ((*ci_array)[y].index > (*ci_array)[y+1].index) { + temp = (*ci_array)[y + 1]; + (*ci_array)[y + 1] = (*ci_array)[y]; + (*ci_array)[y] = temp; + } +} + +/** + * build_channel_array() - function to figure out what channels are present + * @device_dir: the IIO device directory in sysfs + * @ + **/ +inline int build_channel_array(const char *device_dir, + struct iio_channel_info **ci_array, + int *counter) +{ + DIR *dp; + FILE *sysfsfp; + int count, i; + struct iio_channel_info *current; + int ret; + const struct dirent *ent; + char *scan_el_dir; + char *filename; + + *counter = 0; + ret = asprintf(&scan_el_dir, FORMAT_SCAN_ELEMENTS_DIR, device_dir); + if (ret < 0) { + ret = -ENOMEM; + goto error_ret; + } + dp = opendir(scan_el_dir); + if (dp == NULL) { + ret = -errno; + goto error_free_name; + } + while (ent = readdir(dp), ent != NULL) + if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), + "_en") == 0) { + ret = asprintf(&filename, + "%s/%s", scan_el_dir, ent->d_name); + if (ret < 0) { + ret = -ENOMEM; + goto error_close_dir; + } + sysfsfp = fopen(filename, "r"); + if (sysfsfp == NULL) { + ret = -errno; + free(filename); + goto error_close_dir; + } + fscanf(sysfsfp, "%u", &ret); + if (ret == 1) + (*counter)++; + fclose(sysfsfp); + free(filename); + } + *ci_array = malloc(sizeof(**ci_array) * (*counter)); + if (*ci_array == NULL) { + ret = -ENOMEM; + goto error_close_dir; + } + seekdir(dp, 0); + count = 0; + while (ent = readdir(dp), ent != NULL) { + if (strcmp(ent->d_name + strlen(ent->d_name) - strlen("_en"), + "_en") == 0) { + current = &(*ci_array)[count++]; + ret = asprintf(&filename, + "%s/%s", scan_el_dir, ent->d_name); + if (ret < 0) { + ret = -ENOMEM; + /* decrement count to avoid freeing name */ + count--; + goto error_cleanup_array; + } + sysfsfp = fopen(filename, "r"); + if (sysfsfp == NULL) { + free(filename); + ret = -errno; + goto error_cleanup_array; + } + fscanf(sysfsfp, "%u", ¤t->enabled); + fclose(sysfsfp); + + if (!current->enabled) { + free(filename); + count--; + continue; + } + + current->scale = 1.0; + current->offset = 0; + current->name = strndup(ent->d_name, + strlen(ent->d_name) - + strlen("_en")); + if (current->name == NULL) { + free(filename); + ret = -ENOMEM; + goto error_cleanup_array; + } + /* Get the generic and specific name elements */ + ret = iioutils_break_up_name(current->name, + ¤t->generic_name); + if (ret) { + free(filename); + goto error_cleanup_array; + } + ret = asprintf(&filename, + "%s/%s_index", + scan_el_dir, + current->name); + if (ret < 0) { + free(filename); + ret = -ENOMEM; + goto error_cleanup_array; + } + sysfsfp = fopen(filename, "r"); + fscanf(sysfsfp, "%u", ¤t->index); + fclose(sysfsfp); + free(filename); + /* Find the scale */ + ret = iioutils_get_param_float(¤t->scale, + "scale", + device_dir, + current->name, + current->generic_name); + if (ret < 0) + goto error_cleanup_array; + ret = iioutils_get_param_float(¤t->offset, + "offset", + device_dir, + current->name, + current->generic_name); + if (ret < 0) + goto error_cleanup_array; + ret = iioutils_get_type(¤t->is_signed, + ¤t->bytes, + ¤t->bits_used, + ¤t->shift, + ¤t->mask, + ¤t->be, + device_dir, + current->name, + current->generic_name); + } + } + + closedir(dp); + /* reorder so that the array is in index order */ + bsort_channel_array_by_index(ci_array, *counter); + + return 0; + +error_cleanup_array: + for (i = count - 1; i >= 0; i--) + free((*ci_array)[i].name); + free(*ci_array); +error_close_dir: + closedir(dp); +error_free_name: + free(scan_el_dir); +error_ret: + return ret; +} + +/** + * find_type_by_name() - function to match top level types by name + * @name: top level type instance name + * @type: the type of top level instance being sort + * + * Typical types this is used for are device and trigger. + **/ +inline int find_type_by_name(const char *name, const char *type) +{ + const struct dirent *ent; + int number, numstrlen; + + FILE *nameFile; + DIR *dp; + char thisname[IIO_MAX_NAME_LENGTH]; + char *filename; + + dp = opendir(iio_dir); + if (dp == NULL) { + printf("No industrialio devices available\n"); + return -ENODEV; + } + + while (ent = readdir(dp), ent != NULL) { + if (strcmp(ent->d_name, ".") != 0 && + strcmp(ent->d_name, "..") != 0 && + strlen(ent->d_name) > strlen(type) && + strncmp(ent->d_name, type, strlen(type)) == 0) { + numstrlen = sscanf(ent->d_name + strlen(type), + "%d", + &number); + /* verify the next character is not a colon */ + if (strncmp(ent->d_name + strlen(type) + numstrlen, + ":", + 1) != 0) { + filename = malloc(strlen(iio_dir) + + strlen(type) + + numstrlen + + 6); + if (filename == NULL) { + closedir(dp); + return -ENOMEM; + } + sprintf(filename, "%s%s%d/name", + iio_dir, + type, + number); + nameFile = fopen(filename, "r"); + if (!nameFile) { + free(filename); + continue; + } + free(filename); + fscanf(nameFile, "%s", thisname); + fclose(nameFile); + if (strcmp(name, thisname) == 0) { + closedir(dp); + return number; + } + } + } + } + closedir(dp); + return -ENODEV; +} + +inline int _write_sysfs_int(char *filename, char *basedir, int val, int verify) +{ + int ret; + FILE *sysfsfp; + int test; + char *temp = malloc(strlen(basedir) + strlen(filename) + 2); + if (temp == NULL) + return -ENOMEM; + sprintf(temp, "%s/%s", basedir, filename); + sysfsfp = fopen(temp, "w"); + if (sysfsfp == NULL) { + printf("failed to open %s\n", temp); + ret = -errno; + goto error_free; + } + fprintf(sysfsfp, "%d", val); + fclose(sysfsfp); + if (verify) { + sysfsfp = fopen(temp, "r"); + if (sysfsfp == NULL) { + printf("failed to open %s\n", temp); + ret = -errno; + goto error_free; + } + fscanf(sysfsfp, "%d", &test); + fclose(sysfsfp); + if (test != val) { + printf("Possible failure in int write %d to %s%s\n", + val, + basedir, + filename); + ret = -1; + } + } +error_free: + free(temp); + return ret; +} + +int write_sysfs_int(char *filename, char *basedir, int val) +{ + return _write_sysfs_int(filename, basedir, val, 0); +} + +int write_sysfs_int_and_verify(char *filename, char *basedir, int val) +{ + return _write_sysfs_int(filename, basedir, val, 1); +} + +int _write_sysfs_string(char *filename, char *basedir, char *val, int verify) +{ + int ret = 0; + FILE *sysfsfp; + char *temp = malloc(strlen(basedir) + strlen(filename) + 2); + if (temp == NULL) { + printf("Memory allocation failed\n"); + return -ENOMEM; + } + sprintf(temp, "%s/%s", basedir, filename); + sysfsfp = fopen(temp, "w"); + if (sysfsfp == NULL) { + printf("Could not open %s\n", temp); + ret = -errno; + goto error_free; + } + fprintf(sysfsfp, "%s", val); + fclose(sysfsfp); + if (verify) { + sysfsfp = fopen(temp, "r"); + if (sysfsfp == NULL) { + printf("could not open file to verify\n"); + ret = -errno; + goto error_free; + } + fscanf(sysfsfp, "%s", temp); + fclose(sysfsfp); + if (strcmp(temp, val) != 0) { + printf("Possible failure in string write of %s " + "Should be %s " + "written to %s\%s\n", + temp, + val, + basedir, + filename); + ret = -1; + } + } +error_free: + free(temp); + + return ret; +} + +/** + * write_sysfs_string_and_verify() - string write, readback and verify + * @filename: name of file to write to + * @basedir: the sysfs directory in which the file is to be found + * @val: the string to write + **/ +int write_sysfs_string_and_verify(char *filename, char *basedir, char *val) +{ + return _write_sysfs_string(filename, basedir, val, 1); +} + +int write_sysfs_string(char *filename, char *basedir, char *val) +{ + return _write_sysfs_string(filename, basedir, val, 0); +} + +int read_sysfs_posint(char *filename, char *basedir) +{ + int ret; + FILE *sysfsfp; + char *temp = malloc(strlen(basedir) + strlen(filename) + 2); + if (temp == NULL) { + printf("Memory allocation failed"); + return -ENOMEM; + } + sprintf(temp, "%s/%s", basedir, filename); + sysfsfp = fopen(temp, "r"); + if (sysfsfp == NULL) { + ret = -errno; + goto error_free; + } + fscanf(sysfsfp, "%d\n", &ret); + fclose(sysfsfp); +error_free: + free(temp); + return ret; +} + +int read_sysfs_float(char *filename, char *basedir, float *val) +{ + float ret = 0; + FILE *sysfsfp; + char *temp = malloc(strlen(basedir) + strlen(filename) + 2); + if (temp == NULL) { + printf("Memory allocation failed"); + return -ENOMEM; + } + sprintf(temp, "%s/%s", basedir, filename); + sysfsfp = fopen(temp, "r"); + if (sysfsfp == NULL) { + ret = -errno; + goto error_free; + } + fscanf(sysfsfp, "%f\n", val); + fclose(sysfsfp); +error_free: + free(temp); + return ret; +} diff --git a/sensors/sensors test drivers (c)/readme.txt b/sensors/sensors test drivers (c)/readme.txt new file mode 100644 index 0000000..80ca9a3 --- /dev/null +++ b/sensors/sensors test drivers (c)/readme.txt @@ -0,0 +1,20 @@ +This is a userspace application which accesses the adc via /dev/iio in continuous sampling mode. + +The application scans the scan_elements folder in /dev/iio/devices/iio:deviceX/scan_elements for enabled channels. + +Creates a data structure. + +Sets the buffer size. Enables the buffer. And reads from the dev file for the driver. + +The source code is located under kernel sources "drivers/staging/iio/Documentation/generic_buffer.c". + +How to compile: + +arm-arago-linux-gnueabi-gcc --static generic_buffer.c -o generic_buffer + +or + +-gcc --static generic_buffer.c -o generic_buffer + + +SOURCE: https://github.com/ZubairLK/adc-iio-continuous-sampling-userspace \ No newline at end of file diff --git a/sensors/sensors test drivers (c)/script_adc.sh b/sensors/sensors test drivers (c)/script_adc.sh new file mode 100644 index 0000000..2afcb63 --- /dev/null +++ b/sensors/sensors test drivers (c)/script_adc.sh @@ -0,0 +1,5 @@ +echo 1 > /sys/bus/iio/devices/iio_sysfs_trigger/add_trigger +echo 1 > /sys/bus/iio/devices/iio\:device0/scan_elements/in_voltage7_en +echo 1 > /sys/bus/iio/devices/iio\:device0/scan_elements/in_voltage5_en +generic_buffer -n TI-am335x-adc -t sysfstrig1 -l 128 + diff --git a/sensors/sensors test drivers (c)/script_trigger.sh b/sensors/sensors test drivers (c)/script_trigger.sh new file mode 100644 index 0000000..cdaf2d1 --- /dev/null +++ b/sensors/sensors test drivers (c)/script_trigger.sh @@ -0,0 +1 @@ +echo 1 > /sys/bus/iio/devices/trigger0/trigger_now diff --git a/sensors/simple code examples.c b/sensors/simple code examples.c new file mode 100644 index 0000000..0a973ba --- /dev/null +++ b/sensors/simple code examples.c @@ -0,0 +1,54 @@ +//Code to blink an LED - just to illustrate that it's pretty easy +//Only important thing is which name to address the LED by + +#include +#include + +using namespace std; + +int main(int argc, char** argv) { + FILE *LEDHandle = NULL; + char *LEDBrightness = "/sys/class/leds/beaglebone:green:usr0/brightness"; + printf("\nStarting LED blink program wooo!\n"); + while(1){ + if((LEDHandle = fopen(LEDBrightness, "r+")) != NULL){ + fwrite("1", sizeof(char), 1, LEDHandle); + fclose(LEDHandle); + } + sleep(1); + if((LEDHandle = fopen(LEDBrightness, "r+")) != NULL){ + fwrite("0", sizeof(char), 1, LEDHandle); + fclose(LEDHandle); + } + sleep(1); + } + return 0; +} + +//Sample code that should read a pressure sensor pin (conversion factors +//are just random numbers). Again pretty simple. + +#include STUFF + +double pressure(char *string) { + int value = atoi(string); + double millivolts = (value / 4096.0) * 1800; //convert input to volts + double pressure = (millivolts - 500.0) / 10.0; //convert volts to pressure + return pressure; +} + +void main() { + int fd = open("/sys/devices/platform/tsc/ain2", O_RDONLY); //open pin signal + while (1) { + char buffer[1024]; + int ret = read(fd, buffer, sizeof(buffer)); //get data + if (ret != -1) { + buffer[ret] = NULL; + double kpa = pressure(buffer); + printf("digital value: %s kilopascals: %f\n", buffer, kpa); + lseek(fd, 0, 0); + } + sleep(1); + } + close(fd); +} \ No newline at end of file diff --git a/sensors/simpleGPIO (c++)/SimpleGPIO.cpp b/sensors/simpleGPIO (c++)/SimpleGPIO.cpp new file mode 100644 index 0000000..ab17a98 --- /dev/null +++ b/sensors/simpleGPIO (c++)/SimpleGPIO.cpp @@ -0,0 +1,233 @@ +/* + * SimpleGPIO.cpp + * + * Modifications by Derek Molloy, School of Electronic Engineering, DCU + * www.eeng.dcu.ie/~molloyd/ + * Almost entirely based on Software by RidgeRun: + * + * Copyright (c) 2011, RidgeRun + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * 3. All advertising materials mentioning features or use of this software + * must display the following acknowledgement: + * This product includes software developed by the RidgeRun. + * 4. Neither the name of the RidgeRun nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY RIDGERUN ''AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL RIDGERUN BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include "SimpleGPIO.h" +#include +#include +#include +#include +#include +#include +#include + +/**************************************************************** + * gpio_export + ****************************************************************/ +int gpio_export(unsigned int gpio) +{ + int fd, len; + char buf[MAX_BUF]; + + fd = open(SYSFS_GPIO_DIR "/export", O_WRONLY); + if (fd < 0) { + perror("gpio/export"); + return fd; + } + + len = snprintf(buf, sizeof(buf), "%d", gpio); + write(fd, buf, len); + close(fd); + + return 0; +} + +/**************************************************************** + * gpio_unexport + ****************************************************************/ +int gpio_unexport(unsigned int gpio) +{ + int fd, len; + char buf[MAX_BUF]; + + fd = open(SYSFS_GPIO_DIR "/unexport", O_WRONLY); + if (fd < 0) { + perror("gpio/export"); + return fd; + } + + len = snprintf(buf, sizeof(buf), "%d", gpio); + write(fd, buf, len); + close(fd); + return 0; +} + +/**************************************************************** + * gpio_set_dir + ****************************************************************/ +int gpio_set_dir(unsigned int gpio, PIN_DIRECTION out_flag) +{ + int fd; + char buf[MAX_BUF]; + + snprintf(buf, sizeof(buf), SYSFS_GPIO_DIR "/gpio%d/direction", gpio); + + fd = open(buf, O_WRONLY); + if (fd < 0) { + perror("gpio/direction"); + return fd; + } + + if (out_flag == OUTPUT_PIN) + write(fd, "out", 4); + else + write(fd, "in", 3); + + close(fd); + return 0; +} + +/**************************************************************** + * gpio_set_value + ****************************************************************/ +int gpio_set_value(unsigned int gpio, PIN_VALUE value) +{ + int fd; + char buf[MAX_BUF]; + + snprintf(buf, sizeof(buf), SYSFS_GPIO_DIR "/gpio%d/value", gpio); + + fd = open(buf, O_WRONLY); + if (fd < 0) { + perror("gpio/set-value"); + return fd; + } + + if (value==LOW) + write(fd, "0", 2); + else + write(fd, "1", 2); + + close(fd); + return 0; +} + +/**************************************************************** + * gpio_get_value + ****************************************************************/ +int gpio_get_value(unsigned int gpio, unsigned int *value) +{ + int fd; + char buf[MAX_BUF]; + char ch; + + snprintf(buf, sizeof(buf), SYSFS_GPIO_DIR "/gpio%d/value", gpio); + + fd = open(buf, O_RDONLY); + if (fd < 0) { + perror("gpio/get-value"); + return fd; + } + + read(fd, &ch, 1); + + if (ch != '0') { + *value = 1; + } else { + *value = 0; + } + + close(fd); + return 0; +} + + +/**************************************************************** + * gpio_set_edge + ****************************************************************/ + +int gpio_set_edge(unsigned int gpio, char *edge) +{ + int fd; + char buf[MAX_BUF]; + + snprintf(buf, sizeof(buf), SYSFS_GPIO_DIR "/gpio%d/edge", gpio); + + fd = open(buf, O_WRONLY); + if (fd < 0) { + perror("gpio/set-edge"); + return fd; + } + + write(fd, edge, strlen(edge) + 1); + close(fd); + return 0; +} + +/**************************************************************** + * gpio_fd_open + ****************************************************************/ + +int gpio_fd_open(unsigned int gpio) +{ + int fd; + char buf[MAX_BUF]; + + snprintf(buf, sizeof(buf), SYSFS_GPIO_DIR "/gpio%d/value", gpio); + + fd = open(buf, O_RDONLY | O_NONBLOCK ); + if (fd < 0) { + perror("gpio/fd_open"); + } + return fd; +} + +/**************************************************************** + * gpio_fd_close + ****************************************************************/ + +int gpio_fd_close(int fd) +{ + return close(fd); +} + + +/**************************************************************** + * gpio_omap_mux_setup - Allow us to setup the omap mux mode for a pin + ****************************************************************/ +int gpio_omap_mux_setup(const char *omap_pin0_name, const char *mode) +{ + int fd; + char buf[MAX_BUF]; + snprintf(buf, sizeof(buf), SYSFS_OMAP_MUX_DIR "%s", omap_pin0_name); + fd = open(buf, O_WRONLY); + if (fd < 0) { + perror("failed to open OMAP_MUX"); + return fd; + } + write(fd, mode, strlen(mode) + 1); + close(fd); + return 0; +} \ No newline at end of file diff --git a/sensors/simpleGPIO (c++)/SimpleGPIO.h b/sensors/simpleGPIO (c++)/SimpleGPIO.h new file mode 100644 index 0000000..edbd78a --- /dev/null +++ b/sensors/simpleGPIO (c++)/SimpleGPIO.h @@ -0,0 +1,72 @@ +/* + * SimpleGPIO.h + * + * Copyright Derek Molloy, School of Electronic Engineering, Dublin City University + * www.eeng.dcu.ie/~molloyd/ + * + * Based on Software by RidgeRun + * Copyright (c) 2011, RidgeRun + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * 3. All advertising materials mentioning features or use of this software + * must display the following acknowledgement: + * This product includes software developed by the RidgeRun. + * 4. Neither the name of the RidgeRun nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY RIDGERUN ''AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL RIDGERUN BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SIMPLEGPIO_H_ +#define SIMPLEGPIO_H_ + + /**************************************************************** + * Constants + ****************************************************************/ + +#define SYSFS_GPIO_DIR "/sys/class/gpio" +#define POLL_TIMEOUT (3 * 1000) /* 3 seconds */ +#define MAX_BUF 64 +#define SYSFS_OMAP_MUX_DIR "/sys/kernel/debug/omap_mux/" + +enum PIN_DIRECTION{ + INPUT_PIN=0, + OUTPUT_PIN=1 +}; + +enum PIN_VALUE{ + LOW=0, + HIGH=1 +}; + +/**************************************************************** + * gpio_export + ****************************************************************/ +int gpio_export(unsigned int gpio); +int gpio_unexport(unsigned int gpio); +int gpio_set_dir(unsigned int gpio, PIN_DIRECTION out_flag); +int gpio_set_value(unsigned int gpio, PIN_VALUE value); +int gpio_get_value(unsigned int gpio, unsigned int *value); +int gpio_set_edge(unsigned int gpio, char *edge); +int gpio_fd_open(unsigned int gpio); +int gpio_fd_close(int fd); +int gpio_omap_mux_setup(const char *omap_pin0_name, const char *mode); + +#endif /* SIMPLEGPIO_H_ */ \ No newline at end of file