ardupilot/libraries/AP_HAL_Linux/GPIO_Sysfs.cpp

298 lines
7.2 KiB
C++

#include "GPIO_Sysfs.h"
#include <AP_HAL/AP_HAL.h>
#include <fcntl.h>
#include <stdio.h>
#include <sys/stat.h>
#include <unistd.h>
#include "Util.h"
#define LOW 0
#define HIGH 1
#define assert_vpin(v_, max_, ...) do { \
if (v_ >= max_) { \
hal.console->printf("warning (%s): vpin %u out of range [0, %u)\n",\
__PRETTY_FUNCTION__, v_, max_); \
return __VA_ARGS__; \
} \
} while (0)
using namespace Linux;
extern const AP_HAL::HAL& hal;
#define UINT32_MAX_STR "4294967295"
/* Trick to use minimum stack space for each of the params */
union gpio_params {
char export_gpio[sizeof("export")];
char direction[sizeof("gpio" UINT32_MAX_STR "/direction")];
char value[sizeof("gpio" UINT32_MAX_STR "/value")];
};
#define GPIO_BASE_PATH "/sys/class/gpio/"
#define GPIO_PATH_MAX (sizeof(GPIO_BASE_PATH) + sizeof(gpio_params) - 1)
DigitalSource_Sysfs::DigitalSource_Sysfs(unsigned pin, int value_fd)
: _pin(pin)
, _value_fd(value_fd)
{
}
DigitalSource_Sysfs::~DigitalSource_Sysfs()
{
if (_value_fd >= 0) {
::close(_value_fd);
}
}
uint8_t DigitalSource_Sysfs::read()
{
char char_value;
if (::pread(_value_fd, &char_value, 1, 0) < 0) {
hal.console->printf("DigitalSource_Sysfs: Unable to read pin %u value.\n",
_pin);
return LOW;
}
return char_value - '0';
}
void DigitalSource_Sysfs::write(uint8_t value)
{
if (::pwrite(_value_fd, value == HIGH ? "1" : "0", 1, 0) < 0) {
hal.console->printf("DigitalSource_Sysfs: Unable to write pin %u value.\n",
_pin);
}
}
void DigitalSource_Sysfs::mode(uint8_t output)
{
auto gpio_sysfs = GPIO_Sysfs::from(hal.gpio);
gpio_sysfs->_pinMode(_pin, output);
}
void DigitalSource_Sysfs::toggle()
{
write(!read());
}
void GPIO_Sysfs::init()
{
#ifdef HAL_GPIO_SCRIPT
if (!_script.thread_created) {
_script.thread_created = true;
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&GPIO_Sysfs::_gpio_script_thread, void),
"GPIO_Script", 4096, AP_HAL::Scheduler::PRIORITY_IO, -1)) {
AP_HAL::panic("Unable to create GPIO_Script thread");
}
}
#endif
}
void GPIO_Sysfs::pinMode(uint8_t vpin, uint8_t output)
{
#ifdef HAL_GPIO_SCRIPT
if (vpin >= n_pins && output) {
return;
}
#endif
assert_vpin(vpin, n_pins);
_export_pin(vpin);
_pinMode(pin_table[vpin], output);
}
void GPIO_Sysfs::_pinMode(unsigned int pin, uint8_t output)
{
const char *dir = output ? "out" : "in";
char path[GPIO_PATH_MAX];
int r = snprintf(path, GPIO_PATH_MAX, GPIO_BASE_PATH "gpio%u/direction",
pin);
if (r < 0 || r >= (int)GPIO_PATH_MAX
|| Util::from(hal.util)->write_file(path, "%s", dir) < 0) {
hal.console->printf("GPIO_Sysfs: Unable to set pin %u mode.\n", pin);
}
}
int GPIO_Sysfs::_open_pin_value(unsigned int pin, int flags)
{
char path[GPIO_PATH_MAX];
int fd;
int r = snprintf(path, GPIO_PATH_MAX, GPIO_BASE_PATH "gpio%u/value", pin);
if (r < 0 || r >= (int)GPIO_PATH_MAX
|| (fd = open(path, flags | O_CLOEXEC)) < 0) {
hal.console->printf("GPIO_Sysfs: Unable to get value file descriptor for pin %u.\n",
pin);
return -1;
}
return fd;
}
uint8_t GPIO_Sysfs::read(uint8_t vpin)
{
assert_vpin(vpin, n_pins, LOW);
const unsigned pin = pin_table[vpin];
int fd = _open_pin_value(pin, O_RDONLY);
if (fd < 0) {
goto error;
}
char char_value;
if (::pread(fd, &char_value, 1, 0) < 0) {
goto error;
}
close(fd);
return char_value - '0';
error:
hal.console->printf("GPIO_Sysfs: Unable to read pin %u value.\n", vpin);
return LOW;
}
void GPIO_Sysfs::write(uint8_t vpin, uint8_t value)
{
#ifdef HAL_GPIO_SCRIPT
if (vpin >= n_pins) {
_gpio_script_write(vpin, value);
return;
}
#endif
assert_vpin(vpin, n_pins);
const unsigned pin = pin_table[vpin];
int fd = _open_pin_value(pin, O_WRONLY);
if (fd < 0) {
goto error;
}
if (::pwrite(fd, value == HIGH ? "1" : "0", 1, 0) < 0) {
goto error;
}
close(fd);
return;
error:
hal.console->printf("GPIO_Sysfs: Unable to write pin %u value.\n", vpin);
}
void GPIO_Sysfs::toggle(uint8_t vpin)
{
write(vpin, !read(vpin));
}
AP_HAL::DigitalSource* GPIO_Sysfs::channel(uint16_t vpin)
{
assert_vpin(vpin, n_pins, nullptr);
const unsigned pin = pin_table[vpin];
int value_fd = -1;
if (_export_pin(vpin)) {
value_fd = _open_pin_value(pin, O_RDWR);
}
/* Even if we couldn't open the fd, return a new DigitalSource and let
* reads and writes fail later due to invalid. Otherwise we
* could crash in undesired places */
return NEW_NOTHROW DigitalSource_Sysfs(pin, value_fd);
}
bool GPIO_Sysfs::usb_connected(void)
{
return false;
}
bool GPIO_Sysfs::_export_pin(uint8_t vpin)
{
#ifdef HAL_GPIO_SCRIPT
if (vpin >= n_pins) {
return false;
}
#endif
assert_vpin(vpin, n_pins, false);
const unsigned int pin = pin_table[vpin];
char gpio_path[GPIO_PATH_MAX];
int fd;
int r = snprintf(gpio_path, GPIO_PATH_MAX, GPIO_BASE_PATH "gpio%u", pin);
if (r < 0 || r >= (int) GPIO_PATH_MAX) {
goto fail_snprintf;
}
if (access(gpio_path, F_OK) == 0) {
// Already exported
return true;
}
fd = open(GPIO_BASE_PATH "export", O_WRONLY | O_CLOEXEC);
if (fd < 0) {
goto fail_open;
}
// Try to export
if (dprintf(fd, "%u", pin) < 0) {
goto fail_export;
}
close(fd);
return true;
fail_export:
close(fd);
fail_open:
fail_snprintf:
hal.console->printf("GPIO_Sysfs: Unable to export pin %u.\n", pin);
return false;
}
#ifdef HAL_GPIO_SCRIPT
/*
support using an external script triggered by a write to a GPIO
value. This is called whenever a GPIO request is made that is for an
unknown pin value. The script is called by a separate thread, and
only one script can be run at a time. This prevents the scripts
using too many resources
*/
void GPIO_Sysfs::_gpio_script_write(uint8_t vpin, uint8_t value)
{
pin_value_t pv;
pv.pin = vpin;
pv.value = value;
_script.pending.push(pv);
}
/*
thread for running GPIO scripts
*/
void GPIO_Sysfs::_gpio_script_thread(void)
{
while (true) {
// don't run more than 20/sec
hal.scheduler->delay(50);
pin_value_t pv;
if (_script.pending.pop(pv)) {
char cmd[100];
snprintf(cmd, sizeof(cmd)-1, "/bin/sh %s %u %u", HAL_GPIO_SCRIPT, pv.pin, pv.value);
hal.console->printf("Running: %s\n", cmd);
const int system_ret = system(cmd);
if (system_ret != 0) {
hal.console->printf("Unexpected return value (%d)\n", system_ret);
}
}
}
}
#endif // HAL_GPIO_SCRIPT