From: Jeremy Tan <jeremy@jx.tan.fake>
Date: Fri, 27 Sep 2013 06:41:48 +0000 (+0800)
Subject: (Almost done) pin refactoring
X-Git-Url: https://git.ucc.asn.au/?a=commitdiff_plain;h=e5a93abad7700d26b8d7363103593491a3f0a212;p=matches%2FMCTX3420.git

(Almost done) pin refactoring
---

diff --git a/notes/pin maps/GPIO pin correspondence unrestricted.csv b/notes/pin maps/GPIO pin correspondence unrestricted.csv
deleted file mode 100644
index c076e18..0000000
--- a/notes/pin maps/GPIO pin correspondence unrestricted.csv	
+++ /dev/null
@@ -1,50 +0,0 @@
-P8_07,66
-P8_08,67
-P8_09,69
-P8_10,68
-P8_11,45
-P8_12,44
-P8_13,23
-P8_14,26
-P8_15,47
-P8_16,46
-P8_17,27
-P8_18,65
-P8_19,22
-P8_26,61
-P8_27,86
-P8_28,88
-P8_29,87
-P8_30,89
-P8_31,10
-P8_32,11
-P8_33,9
-P8_34,81
-P8_35,8
-P8_36,80
-P8_37,78
-P8_38,79
-P8_39,76
-P8_40,77
-P8_41,74
-P8_42,75
-P8_43,72
-P8_44,73
-P8_45,70
-P8_46,71
-P9_11,30
-P9_12,60
-P9_13,31
-P9_14,50
-P9_15,48
-P9_16,51
-P9_17,5
-P9_18,4
-P9_21,3
-P9_22,2
-P9_23,49
-P9_24,15
-P9_25,117
-P9_26,14
-P9_27,115
-P9_30,112
diff --git a/notes/pin maps/GPIO pin correspondence.csv b/notes/pin maps/GPIO pin correspondence.csv
deleted file mode 100644
index ceb41a2..0000000
--- a/notes/pin maps/GPIO pin correspondence.csv	
+++ /dev/null
@@ -1,65 +0,0 @@
-P8_03,38
-P8_04,39
-P8_05,34
-P8_06,35
-P8_07,66
-P8_08,67
-P8_09,69
-P8_10,68
-P8_11,45
-P8_12,44
-P8_13,23
-P8_14,26
-P8_15,47
-P8_16,46
-P8_17,27
-P8_18,65
-P8_19,22
-P8_20,63
-P8_21,62
-P8_22,37
-P8_23,36
-P8_24,33
-P8_25,1
-P8_26,61
-P8_27,86
-P8_28,88
-P8_29,87
-P8_30,89
-P8_31,10
-P8_32,11
-P8_33,9
-P8_34,81
-P8_35,8
-P8_36,80
-P8_37,78
-P8_38,79
-P8_39,76
-P8_40,77
-P8_41,74
-P8_42,75
-P8_43,72
-P8_44,73
-P8_45,70
-P8_46,71
-P9_11,30
-P9_12,60
-P9_13,31
-P9_14,50
-P9_15,48
-P9_16,51
-P9_17,5
-P9_18,4
-P9_19,13
-P9_20,12
-P9_21,3
-P9_22,2
-P9_23,49
-P9_24,15
-P9_25,117
-P9_26,14
-P9_27,115
-P9_28,113
-P9_29,111
-P9_30,112
-P9_31,110
diff --git a/notes/pin maps/GPIO pin correspondence.xls b/notes/pin maps/GPIO pin correspondence.xls
deleted file mode 100644
index 3e7d55c..0000000
Binary files a/notes/pin maps/GPIO pin correspondence.xls and /dev/null differ
diff --git a/notes/pin maps/gpio/GPIO pin correspondence unrestricted.csv b/notes/pin maps/gpio/GPIO pin correspondence unrestricted.csv
new file mode 100644
index 0000000..e73ff12
--- /dev/null
+++ b/notes/pin maps/gpio/GPIO pin correspondence unrestricted.csv	
@@ -0,0 +1,44 @@
+P8_07,66
+P8_08,67
+P8_09,69
+P8_10,68
+P8_11,45
+P8_12,44
+P8_14,26
+P8_15,47
+P8_16,46
+P8_17,27
+P8_18,65
+P8_26,61
+P8_27,86
+P8_28,88
+P8_29,87
+P8_30,89
+P8_31,10
+P8_32,11
+P8_33,9
+P8_34,81
+P8_35,8
+P8_36,80
+P8_37,78
+P8_38,79
+P8_39,76
+P8_40,77
+P8_41,74
+P8_42,75
+P8_43,72
+P8_44,73
+P8_45,70
+P8_46,71
+P9_11,30
+P9_12,60
+P9_13,31
+P9_15,48
+P9_17,5
+P9_18,4
+P9_23,49
+P9_24,15
+P9_25,117
+P9_26,14
+P9_27,115
+P9_30,112
diff --git a/notes/pin maps/gpio/GPIO pin correspondence.xls b/notes/pin maps/gpio/GPIO pin correspondence.xls
new file mode 100644
index 0000000..8b6ca99
Binary files /dev/null and b/notes/pin maps/gpio/GPIO pin correspondence.xls differ
diff --git a/notes/pin maps/gpio/gpioindex_lut.py b/notes/pin maps/gpio/gpioindex_lut.py
new file mode 100644
index 0000000..a3241e3
--- /dev/null
+++ b/notes/pin maps/gpio/gpioindex_lut.py	
@@ -0,0 +1,22 @@
+import sys, re, os
+from parseit import printlut
+
+def doit2(x):
+    with open(x) as f:
+        lut = {}
+        rlut = {}
+        i = 0
+        for line in f:
+            gpionum = int(line)
+            lut[gpionum] = i
+            rlut[i] = gpionum
+            i += 1
+
+        lutarr = []
+        reverse = []
+        for i in range(118): #Max safe gpio is 117
+            lutarr.append(lut.get(i, 128))
+        for i in range(len(rlut)):
+            reverse.append(rlut[i])
+        return (lutarr, reverse)
+        
diff --git a/notes/pin maps/gpio/gpionums.csv b/notes/pin maps/gpio/gpionums.csv
new file mode 100644
index 0000000..a7c061c
--- /dev/null
+++ b/notes/pin maps/gpio/gpionums.csv	
@@ -0,0 +1,44 @@
+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
+117
diff --git a/notes/pin maps/gpio/parseit.py b/notes/pin maps/gpio/parseit.py
new file mode 100644
index 0000000..e106f07
--- /dev/null
+++ b/notes/pin maps/gpio/parseit.py	
@@ -0,0 +1,52 @@
+import sys, re, os
+#lut size of 93 (46 pins/header; 2 headers; padding for 1-indexed)
+
+def doit(x):
+    '''generate the lut from the csv'''
+    lut = {}
+    reverselut = {}
+    
+    with open(x) as f:
+        for line in f:
+            m = re.search("P(\d)_(\d+),(\d+)", line)
+            header = int(m.group(1))
+            pin = int(m.group(2))
+            gpionum = int(m.group(3))
+
+            if header==8:
+                header = 0
+            else:
+                header = 1
+
+            lut[header*46+pin] = gpionum
+            reverselut[gpionum] = header*46+pin
+    lutarr = []
+    reverselutarr =[]
+    
+    for i in range(0, 93):
+        lutarr.append(lut.get(i, 0))
+
+    for i in range(0, 118): #Max safe GPIO is 117
+        reverselutarr.append(reverselut.get(i, 0))
+        
+    return (lutarr, reverselutarr)
+
+def printlut(lut, name="g_gpio_lut"):
+    '''print the lut for C'''
+    rowsize = 14
+    print("const unsigned char %s[%d] = {" % (name, len(lut)))
+    low = 0
+    high = rowsize
+    for i in range(0, len(lut), rowsize):
+        print("\t", end="")
+        print(*("%3d" % g for g in lut[low:high]), sep=', ', end="")
+        low = high
+        high += rowsize
+        if low < len(lut):
+            print(",")
+        else:
+            print("")
+    print("}")
+
+
+        
diff --git a/notes/pin maps/gpio/readme.txt b/notes/pin maps/gpio/readme.txt
new file mode 100644
index 0000000..905aca5
--- /dev/null
+++ b/notes/pin maps/gpio/readme.txt	
@@ -0,0 +1,5 @@
+GPIO Pin correspondence.xls -  all maps with descriptions
+GPIO pin correspondence unrestricted.csv - all unused pins + hdmi pins
+GPIO pin correspondence.csv - all gpio pins
+
+max usable gpio: 117
\ No newline at end of file
diff --git a/notes/pin maps/gpioindex_lut.py b/notes/pin maps/gpioindex_lut.py
deleted file mode 100644
index a7b600b..0000000
--- a/notes/pin maps/gpioindex_lut.py	
+++ /dev/null
@@ -1,22 +0,0 @@
-import sys, re, os
-from parseit import printlut
-
-def doit2(x):
-    with open(x) as f:
-        lut = {}
-        rlut = {}
-        i = 0
-        for line in f:
-            gpionum = int(line)
-            lut[gpionum] = i
-            rlut[i] = gpionum
-            i += 1
-
-        lutarr = []
-        reverse = []
-        for i in range(128):
-            lutarr.append(lut.get(i, 128))
-        for i in range(len(rlut)):
-            reverse.append(rlut[i])
-        return (lutarr, reverse)
-        
diff --git a/notes/pin maps/gpionums.csv b/notes/pin maps/gpionums.csv
deleted file mode 100644
index d0a7697..0000000
--- a/notes/pin maps/gpionums.csv	
+++ /dev/null
@@ -1,50 +0,0 @@
-2
-3
-4
-5
-8
-9
-10
-11
-14
-15
-22
-23
-26
-27
-30
-31
-44
-45
-46
-47
-48
-49
-50
-51
-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
-117
diff --git a/notes/pin maps/parseit.py b/notes/pin maps/parseit.py
deleted file mode 100644
index 3ebf5c0..0000000
--- a/notes/pin maps/parseit.py	
+++ /dev/null
@@ -1,52 +0,0 @@
-import sys, re, os
-#lut size of 93 (46 pins/header; 2 headers; padding for 1-indexed)
-
-def doit(x):
-    '''generate the lut from the csv'''
-    lut = {}
-    reverselut = {}
-    
-    with open(x) as f:
-        for line in f:
-            m = re.search("P(\d)_(\d+),(\d+)", line)
-            header = int(m.group(1))
-            pin = int(m.group(2))
-            gpionum = int(m.group(3))
-
-            if header==8:
-                header = 0
-            else:
-                header = 1
-
-            lut[header*46+pin] = gpionum
-            reverselut[gpionum] = header*46+pin
-    lutarr = []
-    reverselutarr =[]
-    
-    for i in range(0, 93):
-        lutarr.append(lut.get(i, 0))
-
-    for i in range(0, 128):
-        reverselutarr.append(reverselut.get(i, 0))
-        
-    return (lutarr, reverselutarr)
-
-def printlut(lut, name="g_gpio_lut"):
-    '''print the lut for C'''
-    rowsize = 14
-    print("const unsigned char %s[%d] = {" % (name, len(lut)))
-    low = 0
-    high = rowsize
-    for i in range(0, len(lut), rowsize):
-        print("\t", end="")
-        print(*("%3d" % g for g in lut[low:high]), sep=', ', end="")
-        low = high
-        high += rowsize
-        if low < len(lut):
-            print(",")
-        else:
-            print("")
-    print("}")
-
-
-        
diff --git a/notes/pin maps/readme.txt b/notes/pin maps/readme.txt
deleted file mode 100644
index 89e57b9..0000000
--- a/notes/pin maps/readme.txt	
+++ /dev/null
@@ -1,3 +0,0 @@
-GPIO Pin correspondence.xls -  all maps with descriptions
-GPIO pin correspondence unrestricted.csv - all unused pins + hdmi pins
-GPIO pin correspondence.csv - all gpio pins
\ No newline at end of file
diff --git a/server/bbb_pin.c b/server/bbb_pin.c
index 5fb7874..db18f69 100644
--- a/server/bbb_pin.c
+++ b/server/bbb_pin.c
@@ -19,6 +19,7 @@
  */
 typedef struct
 {
+	bool initialised;
 	int fd_value;
 	int fd_direction;
 } GPIO_Pin;
@@ -29,6 +30,7 @@ typedef struct
  */
 typedef struct
 {
+	bool initialised;
 	int fd_value;
 } ADC_Pin;
 
@@ -38,6 +40,7 @@ typedef struct
  */
 typedef struct
 {
+	bool initialised;
 	int fd_run;
 	FILE * file_duty;
 	FILE * file_period;
@@ -51,50 +54,57 @@ 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};
 
 /**
  * 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;
 }
 
 /**
@@ -102,85 +112,112 @@ void GPIO_Export(int pin)
  */
 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
@@ -193,40 +230,58 @@ 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);
 	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;
 }
 
 /**
@@ -239,60 +294,71 @@ 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 (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;
 }
 
 /**
@@ -302,43 +368,57 @@ 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;
 }
 
 /**
@@ -361,17 +441,26 @@ void PWM_Stop(int pin)
 /**
  * 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 (pread(g_adc[id].fd_value, adc_str, ADC_DIGITS-1, 0) == -1)
+	if (id < 0 || id >= ADC_NUM_PINS)
+	{
+		AbortBool("Invalid ADC pin %d specified.", id);
+	}
+	else if (!g_adc[id].initialised)
 	{
-		Log(LOGERR, "ADC %d read failed: %s", id, strerror(errno));
-		return 0;
+		AbortBool("ADC %d is not initialised.", id);
 	}
 
-	return strtol(adc_str, NULL, 10);
-}
+	if (pread(g_adc[id].fd_value, adc_str, ADC_DIGITS-1, 0) == -1)
+	{
+		AbortBool("ADC %d read failed: %s", id, strerror(errno));
+	}
+	*value = strtol(adc_str, NULL, 10);
+	return true;
+}
\ No newline at end of file
diff --git a/server/bbb_pin.h b/server/bbb_pin.h
index ce91e5a..0b5f345 100644
--- a/server/bbb_pin.h
+++ b/server/bbb_pin.h
@@ -12,42 +12,46 @@
 
 #if defined(_BBB) || defined(_BBB_PIN_SRC)
 // Initialise / Deinitialise functions
-extern void GPIO_Export(int pin);
+extern bool GPIO_Export(int pin);
 extern void GPIO_Unexport(int pin);
 
-extern void PWM_Export(int pin);
+extern bool PWM_Export(int pin);
 extern void PWM_Unexport(int pin);
 
-extern void ADC_Export(int pin);
+extern bool ADC_Export(int pin);
 extern void ADC_Unexport(int pin);
 
 // Pin reading/setting functions
-extern bool GPIO_Read(int pin);
-extern void GPIO_Set(int pin, bool value);
+extern bool GPIO_Read(int pin, bool *result);
+extern bool GPIO_Set(int pin, bool value);
 
-extern int ADC_Read(int pin);
+extern bool ADC_Read(int id, int *value);
 
-extern void PWM_Set(int pin, bool polarity, long period, long duty); // period and duty are in ns
+extern bool PWM_Set(int pin, bool polarity, long period, long duty); // period and duty are in ns
 extern void PWM_Stop(int pin);
+
 #else
 //Empty defines so it compiles on any platform that's not the BBB
-#define GPIO_Export(pin)
+
+extern bool GPIO_Export(int pin);
+extern void GPIO_Unexport(int pin);
+
+#define GPIO_Export(pin) true
 #define GPIO_Unexport(pin)
 
-#define PWM_Export(pin)
+#define PWM_Export(pin) true
 #define PWM_Unexport(pin)
 
-#define ADC_Export(pin)
+#define ADC_Export(pin) true
 #define ADC_Unexport(pin)
 
-#define GPIO_Read(pin) 0
-#define GPIO_Set(pin, value)
-
-#define ADC_Read(pin) 0
+#define GPIO_Read(pin, result) ((*(result) = 0) == 0)
+#define GPIO_Set(pin, value) true
 
-#define PWM_Set(pin, polarity, period, duty)
-#define PWM_Stop(Pin)
+#define ADC_Read(id, value) ((*(value) = 0) == 0)
 
+#define PWM_Set(pin, polarity, period, duty) true
+#define PWM_Stop(pin)
 
 #endif //_BBB
 
diff --git a/server/bbb_pin_defines.c b/server/bbb_pin_defines.c
index ff7caea..df5b5c0 100644
--- a/server/bbb_pin_defines.c
+++ b/server/bbb_pin_defines.c
@@ -1,47 +1,47 @@
 #include "bbb_pin_defines.h"
 
 /** 
- * A lookup table from header number to GPIO pin number.
- * e.g P8_13 is g_gpio_lut[0*46+13] = g_gpio_lut[13]
- * e.g P9_13 is g_gpio_lut[1*46+13] = g_gpio_lut[59]
+ * A lookup table from the actual pin number to GPIO number.
+ * e.g P8_13 is g_pin_real_to_gpio[0*46+13] = g_pin_real_to_gpio[13]
+ * e.g P9_13 is g_pin_real_to_gpio[1*46+13] = g_pin_real_to_gpio[59]
  *
  * Where the returned value is 0, there is no GPIO pin
  * at that location.
  */
-const unsigned char g_pin_to_gpio[GPIO_LUT_SIZE] = {
-	  0,   0,   0,   0,   0,   0,   0,  66,  67,  69,  68,  45,  44,  23,
-	 26,  47,  46,  27,  65,  22,   0,   0,   0,   0,   0,   0,  61,  86,
+const unsigned char g_pin_real_to_gpio[BBB_PIN_COUNT+1] = {
+	  0,   0,   0,   0,   0,   0,   0,  66,  67,  69,  68,  45,  44,   0,
+	 26,  47,  46,  27,  65,   0,   0,   0,   0,   0,   0,   0,  61,  86,
 	 88,  87,  89,  10,  11,   9,  81,   8,  80,  78,  79,  76,  77,  74,
 	 75,  72,  73,  70,  71,   0,   0,   0,   0,   0,   0,   0,   0,   0,
-	  0,  30,  60,  31,  50,  48,  51,   5,   4,   0,   0,   3,   2,  49,
+	  0,  30,  60,  31,   0,  48,   0,   5,   4,   0,   0,   0,   0,  49,
 	 15, 117,  14, 115,   0,   0, 112,   0,   0,   0,   0,   0,   0,   0,
 	  0,   0,   0,   0,   0,   0,   0,   0,   0
 };
 
 /**
- * Converts GPIO number to index for g_gpio, or 128 if no map.
+ * 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_gpio_to_index[GPIO_INDEX_SIZE] = {
-	128, 128,   0,   1,   2,   3, 128, 128,   4,   5,   6,   7, 128, 128,
-	  8,   9, 128, 128, 128, 128, 128, 128,  10,  11, 128, 128,  12,  13,
-	128, 128,  14,  15, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128,
-	128, 128,  16,  17,  18,  19,  20,  21,  22,  23, 128, 128, 128, 128,
-	128, 128, 128, 128,  24,  25, 128, 128, 128,  26,  27,  28,  29,  30,
-	 31,  32,  33,  34,  35,  36,  37,  38,  39,  40,  41,  42, 128, 128,
-	128, 128,  43,  44,  45,  46, 128, 128, 128, 128, 128, 128, 128, 128,
+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,
-	 47, 128, 128,  48, 128,  49, 128, 128, 128, 128, 128, 128, 128, 128,
-	128, 128
+	 41, 128, 128,  42, 128,  43
 };
 
 /**
- * Converts index number of g_gpio into the gpio number
+ * Maps an index in g_gpio to the corresponding GPIO number.
  */
-const unsigned char g_index_to_gpio[GPIO_NUM_PINS] = {
-	  2,   3,   4,   5,   8,   9,  10,  11,  14,  15,  22,  23,  26,  27,
-	 30,  31,  44,  45,  46,  47,  48,  49,  50,  51,  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, 117
+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, 117
 };
 
 /**
diff --git a/server/bbb_pin_defines.h b/server/bbb_pin_defines.h
index 05eb5a9..a7aa932 100644
--- a/server/bbb_pin_defines.h
+++ b/server/bbb_pin_defines.h
@@ -6,6 +6,9 @@
 #ifndef _BBB_PIN_DEFINES_H
 #define _BBB_PIN_DEFINES_H
 
+/** The number of expansion pins on the BBB **/
+#define BBB_PIN_COUNT 92
+
 /** GPIO0 defines **/
 
 #define GPIO0_1 1
@@ -111,15 +114,15 @@
 #define GPIO2_31 95
 #define GPIO2_32 96
 
+/* Luts */
 /** Number of useable GPIO pins **/
-#define GPIO_NUM_PINS 50
+#define GPIO_NUM_PINS 44
+/** The max usable GPIO number **/
+#define GPIO_MAX_NUMBER 117
 
-/* Luts */
-#define GPIO_LUT_SIZE 93
-#define GPIO_INDEX_SIZE 128
-extern const unsigned char g_pin_to_gpio[GPIO_LUT_SIZE];
-extern const unsigned char g_gpio_to_index[GPIO_INDEX_SIZE];
-extern const unsigned char g_index_to_gpio[GPIO_NUM_PINS];
+extern const unsigned char g_pin_real_to_gpio[BBB_PIN_COUNT+1];
+extern const unsigned char g_pin_gpio_to_index[GPIO_MAX_NUMBER+1];
+extern const unsigned char g_pin_index_to_gpio[GPIO_NUM_PINS];
 
 /** Export path **/
 #define GPIO_DEVICE_PATH "/sys/class/gpio"
diff --git a/server/log.h b/server/log.h
index cc6a7e5..cc038a0 100644
--- a/server/log.h
+++ b/server/log.h
@@ -11,7 +11,8 @@
 #define Fatal(...) FatalEx(__func__, __FILE__, __LINE__, __VA_ARGS__)
 
 /*** Macro to abort function ***/
-#define Abort(...) LogEx(LOGERR, __func__, __FILE__, __LINE__, __VA_ARGS__); return
+#define Abort(...) { LogEx(LOGERR, __func__, __FILE__, __LINE__, __VA_ARGS__); return; }
+#define AbortBool(...) { LogEx(LOGERR, __func__, __FILE__, __LINE__, __VA_ARGS__); return false; }
 
 // An enum to make the severity of log messages human readable in code
 enum {LOGERR=0, LOGWARN=1, LOGNOTE=2, LOGINFO=3,LOGDEBUG=4};
diff --git a/server/main.c b/server/main.c
index aff5b83..2ad9dcc 100644
--- a/server/main.c
+++ b/server/main.c
@@ -9,6 +9,7 @@
 #include "sensor.h"
 #include "actuator.h"
 #include "control.h"
+#include "pin_test.h"
 #include "bbb_pin_defines.h"
 
 // --- Standard headers --- //
diff --git a/server/pin_test.c b/server/pin_test.c
index 9e3ad23..2db079d 100644
--- a/server/pin_test.c
+++ b/server/pin_test.c
@@ -12,15 +12,16 @@
  */
 void Pin_Init()
 {
-	for (int i = 0; i < GPIO_NUM_PINS; ++i)
+	//Don't export anything; make the user do it.
+	/*for (int i = 0; i < GPIO_NUM_PINS; ++i)
 		GPIO_Export(g_index_to_gpio[i]);
 
 	for (int i = 0; i < ADC_NUM_PINS; ++i)
 		ADC_Export(i);
 
 	//Only export 'safe' PWM pins that don't interfere with one another
-	for (int i = 0; i < PWM_NUM_PINS; ++i)
-		PWM_Export(g_pin_safe_pwm[i]);
+	for (int i = 0; i < PWM_NUM_SAFE_PINS; ++i)
+		PWM_Export(g_pin_safe_pwm[i]);*/
 }
 
 /**
@@ -29,7 +30,7 @@ void Pin_Init()
 void Pin_Close()
 {
 	for (int i = 0; i < GPIO_NUM_PINS; ++i)
-		GPIO_Unexport(g_index_to_gpio[i]);
+		GPIO_Unexport(g_pin_index_to_gpio[i]);
 
 	for (int i = 0; i < ADC_NUM_PINS; ++i)
 		ADC_Unexport(i);
@@ -106,7 +107,11 @@ void Pin_Handler(FCGIContext *context, char * params)
 		}
 		Log(LOGDEBUG, "Reading GPIO%d", num);
 		FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
-		FCGI_PrintRaw("GPIO%d reads %d\n", num, GPIO_Read(num));
+		bool ret;
+		if (!GPIO_Read(num, &ret))
+			FCGI_PrintRaw("GPIO%d read failed. Is it exported?", num);
+		else
+			FCGI_PrintRaw("GPIO%d reads %d\n", num, ret);
 
 	}
 	else if (strcmp(type, "adc") == 0)
@@ -118,7 +123,15 @@ void Pin_Handler(FCGIContext *context, char * params)
 		}
 		Log(LOGDEBUG, "Reading ADC%d", num, set);
 		FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
-		FCGI_PrintRaw("ADC%d reads %d\n", num, ADC_Read(num));
+		int raw_adc;
+		if (!ADC_Read(num, &raw_adc))
+		{
+			FCGI_PrintRaw("ADC%d read failed. Is it initialised?", num);
+		}
+		else
+		{
+			FCGI_PrintRaw("ADC%d reads %d\n", num, raw_adc);
+		}
 	}
 	else if (strcmp(type, "pwm") == 0)
 	{
@@ -153,8 +166,4 @@ void Pin_Handler(FCGIContext *context, char * params)
 		FCGI_RejectJSON(context, "Invalid pin type");
 	}
 
-	
-
-}
-
-//EOF
+}
\ No newline at end of file
diff --git a/server/run.sh b/server/run.sh
index 98002e9..5c0c61f 100755
Binary files a/server/run.sh and b/server/run.sh differ
diff --git a/server/sensor.c b/server/sensor.c
index c3444bf..8e4773f 100644
--- a/server/sensor.c
+++ b/server/sensor.c
@@ -45,8 +45,8 @@ void Sensor_Init()
 		Data_Init(&(g_sensors[i].data_file));
 	}
 
-	// Get the ADCs
-	//ADC_Export();
+	// Get the required ADCs
+	ADC_Export(0);
 
 	// GPIO1_28 used as a pulse for sampling
 	//GPIO_Export(GPIO1_28);
@@ -178,9 +178,10 @@ bool Sensor_Read(Sensor * s, DataPoint * d)
 		case 2:
 		{
 			static bool set = false;
-			
+			int raw_adc = 0;
 			//GPIO_Set(GPIO0_30, true);
-			d->value = (double)ADC_Read(ADC0);	//ADC #0 on the Beaglebone
+			ADC_Read(ADC0, &raw_adc);
+			d->value = (double)raw_adc;	//ADC #0 on the Beaglebone
 			//Log(LOGDEBUG, "Got value %f from ADC0", d->value);
 			//GPIO_Set(GPIO0_30, false);
 			set = !set;