/*
* @name : open_gpio_dev
* @desc : open the node of gpio driver.
* @param :
* @return : fd - file descriptor of DIGITAL_GPIO_FILE if success.
* -1 - if open DIGITAL_GPIO_FILE failed.
*/
static int32_t open_gpio_dev(void)
{
char modstr[50];
/* open already */
if (fd >= 0) {
return fd;
}
/* not open */
fd = open(DIGITAL_GPIO_FILE,O_RDWR);
if(fd<0) {
strcpy(modstr,"modprobe ");
strcat(modstr,DIGITAL_GPIO_MODULE);
if(system(modstr) == -1) {
sdkerr("\nCommand: %s failed !!!\n",modstr);
return -1;
}
sleep(1);
} else {
return fd;
}
fd = open(DIGITAL_GPIO_FILE,O_RDWR);
if(fd < 0) {
sdkerr("\nopen file %s failed !!!\n",DIGITAL_GPIO_FILE);
return fd;
} else {
return fd;
}
}
/*
* @name : pinMode
* @desc : set the specific gpio(by pin number) to related mode.
* @param : pin - pin number.
* mode - INPUT or OUTPUT.
* @return : 0 if success, 1 if failed.
*/
uint32_t pinMode(uint16_t pin, uint8_t mode)
{
int fd;
uint32_t msg=0;
debug("\npinMode begin\n");
if (!vertify_mode(mode)) {
sdkerr("\nIllegal parameter : mode=%u\n",mode);
return 1;
}
if (!vertify_pin(pin)) {
sdkerr("\nIllegal parameter : pin=%u\n",pin);
return 1;
}
if((fd = open_gpio_dev()) == -1) {
sdkerr("\nopen file failed!\n");
return 1;
}
/* create msg */
msg = (pin<<8) | mode;
/* send msg to kernel driver */
if(ioctl(fd,PIN_MODE_CMD,&msg)) {
sdkerr("\nioctl PIN_MODE_CMD failed!\n");
return 1;
}
return 0;
}
/*
* @name : digitalRead
* @desc : read state of the specific gpio(by pin number).
* @param : pin - pin number
* @return : HIGH or LOW if success, 2 if failed.
*/
uint32_t digitalRead(uint16_t pin)
{
int fd;
uint32_t ret;
uint32_t msg=0;
debug("\ndigitalRead begin\n");
int wait_cnt=0;
int i;
pthread_t tid = pthread_self();
if (!vertify_pin(pin)) {
sdkerr("\nIllegal parameter : pin=%u\n",pin);
return 2;
}
/* check pwm pin enable or disable */
for(i=0; i<PIN_PWM_MAX; i++) {
/* if pwm of this pin is running, then disable it */
if(pin_pwm_infos[i].state == PIN_PWM_USED
&& pin_pwm_infos[i].pin_no != PIN_NONE
&& pin_pwm_infos[i].pin_no == pin
&& tid != pin_pwm_infos[i].tid
&& pin_pwm_infos[i].tid != 0) {
if(pthread_cancel(pin_pwm_infos[i].tid)){
sdkerr("\ndigitalWrite:pthread_cancel(pin_pwm_infos[%d].tid = %lu) failed !\n",
i,pin_pwm_infos[i].tid);
return 1;
}
while(pin_pwm_infos[i].state == PIN_PWM_USED && wait_cnt < 20) {
wait_cnt ++;
usleep(5);
}
break;
}
}
if((fd = open_gpio_dev()) == -1) {
sdkerr("\nopen file failed!\n");
return 2;
}
/* create msg */
msg = (pin<<8);
/* send msg to kernel driver */
/* returned value saves in msg */
if(ioctl(fd,DIGITAL_READ_CMD, &msg)) {
sdkerr("\nioctl DIGITAL_READ_CMD failed!\n");
return 2;
}
debug("ret msg = 0x%X\n",msg);
return (msg==0) ? LOW : HIGH;
}
/*
* @name : digitalWrite
* @desc : write val to the specific gpio(by pin number).
* @param : pin - pin number
* val - HIGH or LOW
* @return : 0 if success, 1 if failed.
*/
uint32_t digitalWrite(uint16_t pin, uint8_t val)
{
int fd;
uint32_t msg=0;
int i;
int wait_cnt=0;
pthread_t tid = pthread_self();
if (!vertify_val(val)) {
sdkerr("\nIllegal parameter : val=%u\n",val);
return 1;
}
if (!vertify_pin(pin)) {
sdkerr("\nIllegal parameter : pin=%u\n",pin);
return 1;
}
/* check pwm pin enable or disable */
for(i=0; i<PIN_PWM_MAX; i++) {
/* if pwm of this pin is running, then disable it */
if(pin_pwm_infos[i].state== PIN_PWM_USED
&& pin_pwm_infos[i].pin_no != PIN_NONE
&& pin_pwm_infos[i].pin_no == pin
&& tid != pin_pwm_infos[i].tid
&& pin_pwm_infos[i].tid != 0) {
if(pthread_cancel(pin_pwm_infos[i].tid)){
sdkerr("\ndigitalWrite:pthread_cancel(pin_pwm_infos[%d].tid = %lu) failed !\n",
i,pin_pwm_infos[i].tid);
return 1;
}
while(pin_pwm_infos[i].state == PIN_PWM_USED && wait_cnt < 20) {
wait_cnt ++;
usleep(5);
}
break;
}
}
if((fd = open_gpio_dev()) == -1) {
sdkerr("\nopen file failed!\n");
return 1;
}
/* create msg */
msg = (pin<<8) | val;
/* send msg to kernel driver */
if(ioctl(fd,DIGITAL_WRITE_CMD, &msg)) {
sdkerr("\nioctl DIGITAL_WRITE_CMD failed!\n");
return 1;
}
return 0;
}
/*
* @name : set8BitsBUS
* @desc : set every pin of the bus to the mode specified
* @param : bus - pointer to a bus which has been init
* DBn - n=0-7, the corresponding bits of bus
* mode - INPUT or OUTPUT
* @return : 0 if success, 1 if failed.
*/
uint32_t set8BitsBUS(STRUCT_8BITS_BUS *bus,
uint16_t DB0, uint16_t DB1, uint16_t DB2, uint16_t DB3,
uint16_t DB4, uint16_t DB5, uint16_t DB6, uint16_t DB7,
uint8_t mode)
{
int index;
uint32_t *busp = (uint32_t *)bus;
if(busp == NULL) {
sdkerr("\nset8BitsBUS: null pointer.\n");
return 1;
}
busp[0] = DB0;
busp[1] = DB1;
busp[2] = DB2;
busp[3] = DB3;
busp[4] = DB4;
busp[5] = DB5;
busp[6] = DB6;
busp[7] = DB7;
for(index = 0; index < 8; index ++) {
pinMode(busp[index],mode);
}
return 0;
}
/**
* Return the number of milliseconds since the system began until now.
*
* @retval >0 - success
* @retval 0 - fail
*/
uint32_t millis(void)
{
int fd = open("/proc/uptime",O_RDONLY);
char buffer[10];
if(fd < 0) {
sdkerr("\nmilis:open /proc/updime failed!\n");
return 0;
}
read(fd,buffer,7);
buffer[7]='\0';
close(fd);
return (uint32_t)(strtod(buffer,NULL)*1000);
}
/*
* @name : digitalWrite16
* @desc : write val to bus
* @param : bus - pointer to a bus which has been set
* val - the value with type of uint16_t
* @return : 0 if success, 1 if failed.
*/
uint32_t digitalWrite16(STRUCT_16BITS_BUS *bus, uint16_t val)
{
uint32_t *busp = (uint32_t *)bus;
int i;
if ( busp == NULL ) {
sdkerr("\ndigitalWrite16: null pointer.\n");
return 1;
}
for(i=0;i<16;i++) {
digitalWrite(busp[i],(val>>i)&(0x1));
}
return 0;
}
/*
* @name : digitalRead16
* @desc : read value from bus
* @param : bus - pointer to a bus which has been set
* @return : value of bus
*/
uint16_t digitalRead16(STRUCT_16BITS_BUS *bus)
{
uint16_t ret = 0;
uint32_t *busp = (uint32_t *)bus;
int i;
if ( busp == NULL ) {
sdkerr("\ndigitalRead16: null pointer.\n");
return 1;
}
for(i=0;i<16;i++) {
if( digitalRead(busp[i]) == HIGH) {
ret |= (0x1 << i);
} else {
ret &= ~(0x1 << i);
}
}
return ret;
}
/*
* @name : digitalRead16
* @desc : read value from bus
* @param : bus - pointer to a bus which has been set
* @return : value of bus
*/
uint16_t digitalRead16(STRUCT_16BITS_BUS *bus)
{
uint16_t ret = 0;
uint32_t *busp = (uint32_t *)bus;
int i;
if ( busp == NULL ) {
sdkerr("\ndigitalRead16: null pointer.\n");
return 1;
}
for(i=0;i<16;i++) {
if( digitalRead(busp[i]) == HIGH) {
ret |= (0x1 << i);
} else {
ret &= ~(0x1 << i);
}
}
return ret;
}
#if 0 /* no call */
static int set_high_pri (int pri)
{
//nice(pri);
struct sched_param param;
int maxRR;
maxRR = sched_get_priority_max(SCHED_RR);
if( maxRR == -1){
perror("sched_get_priority_max() error!\n");
exit(1);
}
param.sched_priority = maxRR;
if(sched_setscheduler(getpid(), SCHED_RR, ¶m) == -1){
perror("sched_setscheduler() error!\n");
exit(1);
}
sdkerr ("Policy %d\n", sched_getscheduler(0));
return 0;
}
/*
* @name : set16BitsBUS
* @desc : set every pin of the bus to the mode specified
* @param : bus - pointer to a bus which has been init
* DBn - n=0-15, the corresponding bits of bus
* mode - INPUT or OUTPUT
* @return : 0 if success, 1 if failed.
*/
uint32_t set16BitsBUS(STRUCT_16BITS_BUS *bus,
uint16_t DB0, uint16_t DB1, uint16_t DB2, uint16_t DB3,
uint16_t DB4, uint16_t DB5, uint16_t DB6, uint16_t DB7,
uint16_t DB8, uint16_t DB9, uint16_t DB10,uint16_t DB11,
uint16_t DB12,uint16_t DB13,uint16_t DB14,uint16_t DB15,
uint8_t mode)
{
int index;
uint32_t *busp = (uint32_t *)bus;
if(busp == NULL) {
sdkerr("\nset16BitsBUS: null pointer.\n");
return 1;
}
busp[0] = DB0;
busp[1] = DB1;
busp[2] = DB2;
busp[3] = DB3;
busp[4] = DB4;
busp[5] = DB5;
busp[6] = DB6;
busp[7] = DB7;
busp[8 ] = DB8 ;
busp[9 ] = DB9 ;
busp[10] = DB10;
busp[11] = DB11;
busp[12] = DB12;
busp[13] = DB13;
busp[14] = DB14;
busp[15] = DB15;
for(index = 0; index < 16; index ++) {
pinMode(busp[index],mode);
}
return 0;
}
/*
* @name : analogWrite
* @desc : output pwm with duty via the pin.
* @param : pin - the number of the pin neet to output pwm.
* duty ratio - 0-255.
* @return : 0 - success, 1 - failed.
* @notes : may be unstable when the duty be close to 0 or 255.
* A delay should be insert between two analogWrite calls.
*/
uint32_t analogWrite(uint16_t pin, uint8_t duty)
{
pthread_t tid;
uint32_t index = 0;
int ret;
int i;
int pin_exist = 0;
float rate;
if((fd = open_gpio_dev()) == -1) {
sdkerr("\nopen file failed!\n");
return 1;
}
if (!vertify_pin(pin)) {
sdkerr("\nanalogWrite:Illegal parameter : pin=%d\n",pin);
return 1;
}
for(i=0;i<PIN_PWM_MAX;i++) {
if(pin_pwm_infos[i].state == PIN_PWM_USED
&& pin_pwm_infos[i].pin_no == pin) {
index = i;
pin_exist = 1;
break;
}
}
/* if not exist , new pin for pwm */
if( !pin_exist) {
for(i=0;i<PIN_PWM_MAX;i++){
if(pin_pwm_infos[i].state == PIN_PWM_FREE){
index = i;
break;
}
}
if (i==PIN_PWM_MAX) {
sdkerr("\nanalogWrite failed ! too many pwm pins.\n");
return 1;
}
debug("\nnew pwm pin\n");
pin_pwm_infos[index].state= PIN_PWM_USED;
pin_pwm_infos[index].duty = duty;
pin_pwm_infos[index].pin_no = pin;
rate = (duty*1.0/PIN_PWM_BASE_CNT);
pin_pwm_infos[index].high_us = PWM_PERIOD_US * rate;
pin_pwm_infos[index].low_us = PWM_PERIOD_US - pin_pwm_infos[index].high_us;
ret = pthread_create(&tid, NULL, pwm_run, (void *)(index));
if(ret) {
sdkerr("\npthread_create failed !\n");
return 1;
}
debug("\ntid=%lu , pin=%d, duty=%d (%.2f)\n",
tid,
pin_pwm_infos[index].pin_no,
pin_pwm_infos[index].duty,
rate);
usleep(100);
}
else {
debug("\nmodify pwm pin of duty\n");
pin_pwm_infos[index].duty = duty;
rate = (duty*1.0/PIN_PWM_BASE_CNT);
pin_pwm_infos[index].high_us = PWM_PERIOD_US * rate;
pin_pwm_infos[index].low_us = PWM_PERIOD_US - pin_pwm_infos[index].high_us;
debug("\ntid=%lu , pin=%d, duty=%d (%.2f)\n",
pin_pwm_infos[index].tid,
pin_pwm_infos[index].pin_no,
pin_pwm_infos[index].duty,
rate);
}
return 0;
}
