Marcelo Aquino
69ac4b759a
Add MyHw file for RaspberryPi. Fix compilation warnings in x86. Fix some error messages.
331 lines
8.3 KiB
C++
331 lines
8.3 KiB
C++
/*
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* The MySensors Arduino library handles the wireless radio link and protocol
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* between your home built sensors/actuators and HA controller of choice.
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* The sensors forms a self healing radio network with optional repeaters. Each
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* repeater and gateway builds a routing tables in EEPROM which keeps track of the
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* network topology allowing messages to be routed to nodes.
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*
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* Created by Marcelo Aquino <marceloaqno@gmail.org>
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* Copyright (C) 2016 Marcelo Aquino
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* Full contributor list: https://github.com/mysensors/MySensors/graphs/contributors
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*
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* Documentation: http://www.mysensors.org
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* Support Forum: http://forum.mysensors.org
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* version 2 as published by the Free Software Foundation.
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*
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* Based on wiringPi Copyright (c) 2012 Gordon Henderson.
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*/
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#include <pthread.h>
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#include <stdlib.h>
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#include <sys/ioctl.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <poll.h>
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#include <string.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <stropts.h>
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#include <errno.h>
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#include "rpi_util.h"
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#include "SPI.h"
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#include "log.h"
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extern "C" {
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int piHiPri(const int pri);
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}
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struct ThreadArgs {
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void (*func)();
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int gpioPin;
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};
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static pthread_mutex_t intMutex = PTHREAD_MUTEX_INITIALIZER;
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static pthread_t *threadIds[64] = {NULL};
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// sysFds:
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// Map a file descriptor from the /sys/class/gpio/gpioX/value
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static int sysFds[64] =
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{
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-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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};
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#ifdef __RPI_BPLUS
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static uint8_t physToGpio[64] =
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{
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255, // 0
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255, 255, // 1, 2
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2, 255,
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3, 255,
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4, 14,
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255, 15,
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17, 18,
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27, 255,
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22, 23,
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255, 24,
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10, 255,
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9, 25,
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11, 8,
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255, 7, // 25, 26
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// B+
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0, 1,
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5, 255,
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6, 12,
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13, 255,
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19, 16,
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26, 20,
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255, 21,
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// the P5 connector on the Rev 2 boards:
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255, 255,
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255, 255,
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255, 255,
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255, 255,
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255, 255,
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28, 29,
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30, 31,
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255, 255,
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255, 255,
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255, 255,
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255, 255,
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};
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#else
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static uint8_t physToGpio[64] =
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{
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255, // 0
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255, 255, // 1, 2
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0, 255,
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1, 255,
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4, 14,
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255, 15,
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17, 18,
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21, 255,
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22, 23,
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255, 24,
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10, 255,
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9, 25,
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11, 8,
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255, 7, // 25, 26
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255, 255, 255, 255, 255, // ... 31
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255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, // ... 47
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255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, // ... 63
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};
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#endif
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void *interruptHandler(void *args) {
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int fd, ret;
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struct pollfd polls;
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char c;
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struct ThreadArgs *arguments = (struct ThreadArgs *)args;
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int gpioPin = arguments->gpioPin;
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void (*func)() = arguments->func;
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delete arguments;
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(void)piHiPri(55); // Only effective if we run as root
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if ((fd = sysFds[gpioPin]) == -1) {
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mys_log(LOG_ERR, "Failed to attach interrupt for pin %d\n", gpioPin);
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return NULL;
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}
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// Setup poll structure
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polls.fd = fd;
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polls.events = POLLPRI;
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while (1) {
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// Wait for it ...
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ret = poll(&polls, 1, -1);
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if (ret < 0) {
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mys_log(LOG_ERR, "Error waiting for interrupt: %s\n", strerror(errno));
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break;
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}
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// Do a dummy read to clear the interrupt
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// A one character read appars to be enough.
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// Followed by a seek to reset it.
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(void)read (fd, &c, 1) ;
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lseek (fd, 0, SEEK_SET) ;
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// Call user function.
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func();
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}
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close(fd);
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return NULL;
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}
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void rpi_util::pinMode(uint8_t physPin, uint8_t mode) {
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uint8_t gpioPin = (physPin > 63)? 255 : physToGpio[physPin];
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if (gpioPin == 255) {
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mys_log(LOG_ERR, "pinMode: invalid pin: %d\n", physPin);
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return;
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}
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// Check if SPI is in use and target pin is related to SPI
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if (SPIClass::is_initialized() && gpioPin >= RPI_GPIO_P1_26 && gpioPin <= RPI_GPIO_P1_23) {
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return;
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} else {
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bcm2835_gpio_fsel(gpioPin, mode);
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}
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}
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void rpi_util::digitalWrite(uint8_t physPin, uint8_t value) {
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uint8_t gpioPin = (physPin > 63)? 255 : physToGpio[physPin];
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if (gpioPin == 255) {
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mys_log(LOG_ERR, "digitalWrite: invalid pin: %d\n", physPin);
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return;
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}
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// Check if SPI is in use and target pin is related to SPI
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if (SPIClass::is_initialized() && gpioPin >= RPI_GPIO_P1_26 && gpioPin <= RPI_GPIO_P1_23) {
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if (value == LOW && (gpioPin == RPI_GPIO_P1_24 || gpioPin == RPI_GPIO_P1_26)) {
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SPI.chipSelect(gpioPin);
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}
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} else {
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bcm2835_gpio_write(gpioPin, value);
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// Delay to allow any change in state to be reflected in the LEVn, register bit.
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delayMicroseconds(1);
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}
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}
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uint8_t rpi_util::digitalRead(uint8_t physPin) {
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uint8_t gpioPin = (physPin > 63)? 255 : physToGpio[physPin];
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if (gpioPin == 255) {
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mys_log(LOG_ERR, "digitalRead: invalid pin: %d\n", physPin);
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return 0;
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}
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// Check if SPI is in use and target pin is related to SPI
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if (SPIClass::is_initialized() && gpioPin >= RPI_GPIO_P1_26 && gpioPin <= RPI_GPIO_P1_23) {
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return 0;
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} else {
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return bcm2835_gpio_lev(gpioPin);
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}
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}
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void rpi_util::attachInterrupt(uint8_t physPin, void (*func)(), uint8_t mode) {
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FILE *fd;
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char fName[40];
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char c;
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int count, i;
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uint8_t gpioPin = (physPin > 63)? 255 : physToGpio[physPin];
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if (gpioPin == 255) {
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mys_log(LOG_ERR, "attachInterrupt: invalid pin: %d\n", physPin);
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return;
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}
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if (threadIds[gpioPin] == NULL) {
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threadIds[gpioPin] = new pthread_t;
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} else {
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// Cancel the existing thread for that pin
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pthread_cancel(*threadIds[gpioPin]);
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// Wait a bit
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delay(1L);
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}
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// Export pin for interrupt
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if ((fd = fopen("/sys/class/gpio/export", "w")) == NULL) {
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mys_log(LOG_ERR, "attachInterrupt: Unable to export pin %d for interrupt: %s\n", physPin, strerror(errno));
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exit(1);
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}
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fprintf(fd, "%d\n", gpioPin);
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fclose(fd);
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// Wait a bit the system to create /sys/class/gpio/gpio<GPIO number>
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delay(1L);
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snprintf(fName, sizeof(fName), "/sys/class/gpio/gpio%d/direction", gpioPin) ;
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if ((fd = fopen (fName, "w")) == NULL) {
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fprintf (stderr, "attachInterrupt: Unable to open GPIO direction interface for pin %d: %s\n", physPin, strerror(errno));
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exit(1) ;
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}
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fprintf(fd, "in\n") ;
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fclose(fd) ;
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snprintf(fName, sizeof(fName), "/sys/class/gpio/gpio%d/edge", gpioPin) ;
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if ((fd = fopen(fName, "w")) == NULL) {
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fprintf (stderr, "attachInterrupt: Unable to open GPIO edge interface for pin %d: %s\n", physPin, strerror(errno));
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exit(1) ;
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}
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switch (mode) {
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case CHANGE: fprintf(fd, "both\n"); break;
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case FALLING: fprintf(fd, "falling\n"); break;
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case RISING: fprintf(fd, "rising\n"); break;
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case NONE: fprintf(fd, "none\n"); break;
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default:
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mys_log(LOG_ERR, "attachInterrupt: Invalid mode\n");
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fclose(fd);
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return;
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}
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fclose(fd);
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if (sysFds[gpioPin] == -1) {
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snprintf(fName, sizeof(fName), "/sys/class/gpio/gpio%d/value", gpioPin);
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if ((sysFds[gpioPin] = open(fName, O_RDWR)) < 0) {
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fprintf (stderr, "Error reading pin %d: %s\n", physPin, strerror(errno));
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exit(1);
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}
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}
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// Clear any initial pending interrupt
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ioctl(sysFds[gpioPin], FIONREAD, &count);
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for (i = 0; i < count; ++i) {
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if (read(sysFds[gpioPin], &c, 1) == -1) {
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mys_log(LOG_ERR, "attachInterrupt: failed to read pin status: %s\n", strerror(errno));
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}
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}
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struct ThreadArgs *threadArgs = new struct ThreadArgs;
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threadArgs->func = func;
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threadArgs->gpioPin = gpioPin;
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// Create a thread passing the pin and function
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pthread_create(threadIds[gpioPin], NULL, interruptHandler, (void *)threadArgs);
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}
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void rpi_util::detachInterrupt(uint8_t physPin) {
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uint8_t gpioPin = (physPin > 63)? 255 : physToGpio[physPin];
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if (gpioPin == 255) {
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mys_log(LOG_ERR, "detachInterrupt: invalid pin: %d\n", physPin);
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return;
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}
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// Cancel the thread
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if (threadIds[gpioPin] != NULL) {
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pthread_cancel(*threadIds[gpioPin]);
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delete threadIds[gpioPin];
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threadIds[gpioPin] = NULL;
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}
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// Close filehandle
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if (sysFds[gpioPin] != -1) {
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close(sysFds[gpioPin]);
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sysFds[gpioPin] = -1;
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}
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FILE *fp = fopen("/sys/class/gpio/unexport", "w");
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if (fp == NULL) {
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mys_log(LOG_ERR, "Unable to unexport pin %d for interrupt\n", gpioPin);
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exit(1);
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}
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fprintf(fp, "%d", gpioPin);
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fclose(fp);
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}
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uint8_t rpi_util::digitalPinToInterrupt(uint8_t physPin) {
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// No need to convert the pin to gpio, we do it in attachInterrupt().
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return physPin;
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}
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void rpi_util::interrupts() {
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pthread_mutex_unlock(&intMutex);
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}
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void rpi_util::noInterrupts() {
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pthread_mutex_lock(&intMutex);
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}
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