processing/java/libraries/io/src/native/impl.c at master · hayscoding/processing · GitHub

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Hardware I/O library developed by Gottfried Haider as part of GSoC 2015

This library is free software; you can redistribute it and/or

modify it under the terms of the GNU Lesser General Public

License as published by the Free Software Foundation; either

version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU

Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General

Public License along with this library; if not, write to the

Free Software Foundation, Inc., 59 Temple Place, Suite 330,

Boston, MA 02111-1307 USA

#include <errno.h>

#include <fcntl.h>

#include <jni.h>

#include <linux/i2c.h>

#include <linux/i2c-dev.h>

#include <linux/spi/spidev.h>

#include <poll.h>

#include <pthread.h>

#include <stdint.h>

#include <stdlib.h>

#include <string.h>

#include <sys/ioctl.h>

#include <sys/mman.h>

#include <sys/param.h>

#include <time.h>

#include <unistd.h>

#include "iface.h"

static const int servo_pulse_oversleep = 35; // amount of uS to account for when sleeping

JNIEXPORT jint JNICALL Java_processing_io_NativeInterface_openDevice

(JNIEnv *env, jclass cls, jstring _fn)

{

const char *fn = (*env)->GetStringUTFChars(env, _fn, JNI_FALSE);

int file = open(fn, O_RDWR);

(*env)->ReleaseStringUTFChars(env, _fn, fn);

if (file < 0) {

return -errno;

} else {

return file;

}

JNIEXPORT jstring JNICALL Java_processing_io_NativeInterface_getError

(JNIEnv *env, jclass cls, jint _errno)

{

char *msg = strerror(abs(_errno));

if (msg) {

return (*env)->NewStringUTF(env, msg);

} else {

return NULL;

}

JNIEXPORT jint JNICALL Java_processing_io_NativeInterface_closeDevice

(JNIEnv *env, jclass cls, jint handle)

{

if (close(handle) < 0) {

return -errno;

} else {

return 0;

}

JNIEXPORT jint JNICALL Java_processing_io_NativeInterface_readFile

(JNIEnv *env, jclass cls, jstring _fn, jbyteArray _in)

{

const char *fn = (*env)->GetStringUTFChars(env, _fn, JNI_FALSE);

int file = open(fn, O_RDONLY);

(*env)->ReleaseStringUTFChars(env, _fn, fn);

if (file < 0) {

return -errno;

}

jbyte *in = (*env)->GetByteArrayElements(env, _in, NULL);

int len = read(file, in, (*env)->GetArrayLength(env, _in));

if (len < 0) {

len = -errno;

}

(*env)->ReleaseByteArrayElements(env, _in, in, 0);

close(file);

return len;

}

JNIEXPORT jint JNICALL Java_processing_io_NativeInterface_writeFile

(JNIEnv *env, jclass cls, jstring _fn, jbyteArray _out)

{

const char *fn = (*env)->GetStringUTFChars(env, _fn, JNI_FALSE);

int file = open(fn, O_WRONLY);

(*env)->ReleaseStringUTFChars(env, _fn, fn);

if (file < 0) {

return -errno;

}

jbyte *out = (*env)->GetByteArrayElements(env, _out, JNI_FALSE);

int len = write(file, out, (*env)->GetArrayLength(env, _out));

if (len < 0) {

len = -errno;

}

(*env)->ReleaseByteArrayElements(env, _out, out, JNI_ABORT);

close(file);

return len;

}

JNIEXPORT jint JNICALL Java_processing_io_NativeInterface_raspbianGpioMemRead

(JNIEnv *env, jclass cls, jint offset)

{

// validate offset

if (4096 <= offset) {

return -EINVAL;

}

int file = open("/dev/gpiomem", O_RDWR|O_SYNC);

if (file < 0) {

return -errno;

}

uint32_t *mem = mmap(NULL, 4096, PROT_READ, MAP_SHARED, file, 0);

if (mem == MAP_FAILED) {

close(file);

return -errno;

}

uint32_t value = mem[offset];

munmap(mem, 4096);

close(file);

return value;

}

JNIEXPORT jint JNICALL Java_processing_io_NativeInterface_raspbianGpioMemWrite

(JNIEnv *env, jclass cls, jint offset, jint mask, jint value)

{

// validate offset

if (4096 <= offset) {

return -EINVAL;

}

int file = open("/dev/gpiomem", O_RDWR|O_SYNC);

if (file < 0) {

return -errno;

}

uint32_t *mem = mmap(NULL, 4096, PROT_READ|PROT_WRITE, MAP_SHARED, file, 0);

if (mem == MAP_FAILED) {

close(file);

return -errno;

}

mem[offset] = (mem[offset] & ~mask) | (value & mask);

munmap(mem, 4096);

close(file);

return 1; // number of bytes written

}

#define BCM2835_GPPUD_OFFSET (0x94 >> 2)

#define BCM2835_GPPUDCLK0_OFFSET (0x98 >> 2)

#define BCM2835_GPPUDCLK1_OFFSET (0x9c >> 2)

JNIEXPORT jint JNICALL Java_processing_io_NativeInterface_raspbianGpioMemSetPinBias

(JNIEnv *env, jclass cls, jint gpio, jint mode)

{

int ret = 0; // success

int file = open("/dev/gpiomem", O_RDWR|O_SYNC);

if (file < 0) {

return -errno;

}

uint32_t *mem = mmap(NULL, 4096, PROT_READ|PROT_WRITE, MAP_SHARED, file, 0);

if (mem == MAP_FAILED) {

close(file);

return -errno;

}

// validate arguments

if (gpio < 0 || 53 < gpio) {

ret = -EINVAL;

goto out;

}

// see BCM2835 datasheet, p. 101

uint32_t pud;

if (mode == 0) {

pud = 0; // floating

} else if (mode == 2) {

pud = 2; // pull-up

} else if (mode == 3) {

pud = 1; // pull-down

} else {

ret = -EINVAL;

goto out;

}

* From the BCM2835 datasheet, p. 101:

* The following sequence of events is required:

* 1. Write to GPPUD to set the required control signal (i.e. Pull-up or

* Pull-Down or neither to remove the current Pull-up/down)

* 2. Wait 150 cycles – this provides the required set-up time for the

* control signal

* 3. Write to GPPUDCLK0/1 to clock the control signal into the GPIO pads

* you wish to modify – NOTE only the pads which receive a clock will

* be modified, all others will retain their previous state.

* 4. Wait 150 cycles – this provides the required hold time for the

* control signal

* 5. Write to GPPUD to remove the control signal

* 6. Write to GPPUDCLK0/1 to remove the clock

// python-gpiozero uses a delay of 214 ns, so we do the same

struct timespec wait;

wait.tv_sec = 0;

wait.tv_nsec = 214;

mem[BCM2835_GPPUD_OFFSET] = pud;

nanosleep(&wait, NULL);

if (gpio < 32) {

mem[BCM2835_GPPUDCLK0_OFFSET] = 1 << gpio;

} else {

mem[BCM2835_GPPUDCLK1_OFFSET] = 1 << (gpio-32);

}

nanosleep(&wait, NULL);

mem[BCM2835_GPPUD_OFFSET] = 0;

if (gpio < 32) {

mem[BCM2835_GPPUDCLK0_OFFSET] = 0;

} else {

mem[BCM2835_GPPUDCLK1_OFFSET] = 0;

}

out:

munmap(mem, 4096);

close(file);

return ret;

}

JNIEXPORT jint JNICALL Java_processing_io_NativeInterface_pollDevice

(JNIEnv *env, jclass cls, jstring _fn, jint timeout)

{

const char *fn = (*env)->GetStringUTFChars(env, _fn, JNI_FALSE);

int file = open(fn, O_RDONLY|O_NONBLOCK);

(*env)->ReleaseStringUTFChars(env, _fn, fn);

if (file < 0) {

return -errno;

}

// dummy read

char tmp;

while (0 < read(file, &tmp, 1));

struct pollfd fds[1];

memset(fds, 0, sizeof(fds));

fds[0].fd = file;

fds[0].events = POLLPRI|POLLERR;

// and wait

int ret = poll(fds, 1, timeout);

close(file);

if (ret < 0) {

return -errno;

} else if (ret == 0) {

// timeout

return 0;

} else if (fds[0].revents & POLLPRI) {

// interrupt

return 1;

} else {

// POLLERR?

return -ENOMSG;

}

JNIEXPORT jint JNICALL Java_processing_io_NativeInterface_transferI2c

(JNIEnv *env, jclass cls, jint handle, jint slave, jbyteArray _out, jbyteArray _in)

{

struct i2c_rdwr_ioctl_data packets;

struct i2c_msg msgs[2];

jbyte *out, *in;

packets.msgs = msgs;

packets.nmsgs = 0;

if (_out != NULL) {

msgs[packets.nmsgs].addr = slave;

msgs[packets.nmsgs].flags = 0;

msgs[packets.nmsgs].len = (*env)->GetArrayLength(env, _out);

out = (*env)->GetByteArrayElements(env, _out, NULL);

msgs[packets.nmsgs].buf = out;

packets.nmsgs++;

}

if (_in != NULL) {

msgs[packets.nmsgs].addr = slave;

msgs[packets.nmsgs].flags = I2C_M_RD; // I2C_M_RECV_LEN is not supported

msgs[packets.nmsgs].len = (*env)->GetArrayLength(env, _in);

in = (*env)->GetByteArrayElements(env, _in, NULL);

msgs[packets.nmsgs].buf = in;

packets.nmsgs++;

}

// set the timeout to 100ms - this helps slow devices such as the

// Arduino Uno to keep up

ioctl(handle, I2C_TIMEOUT, 10);

int ret = ioctl(handle, I2C_RDWR, &packets);

if (ret < 0) {

ret = -errno;

}

if (_out != NULL) {

(*env)->ReleaseByteArrayElements(env, _out, out, JNI_ABORT);

}

if (_in != NULL) {

(*env)->ReleaseByteArrayElements(env, _in, in, 0);

}

return ret;

}

typedef struct {

int fd;

pthread_t thread;

int pulse;

int period;

} SERVO_STATE_T;

static void* servoThread(void *ptr) {

SERVO_STATE_T *state = (SERVO_STATE_T*)ptr;

struct timespec on, off;

on.tv_sec = 0;

off.tv_sec = 0;

do {

write(state->fd, "1", 1);

on.tv_nsec = state->pulse * 1000;

nanosleep(&on, NULL);

write(state->fd, "0", 1);

off.tv_nsec = (state->period - state->pulse) * 1000;

nanosleep(&off, NULL);

} while (1);

}

JNIEXPORT jlong JNICALL Java_processing_io_NativeInterface_servoStartThread

(JNIEnv *env, jclass cls, jint gpio, jint pulse, jint period)

{

char path[26 + 19 + 1];

int fd;

pthread_t thread;

// setup struct holding our state

SERVO_STATE_T *state = malloc(sizeof(SERVO_STATE_T));

if (!state) {

return -ENOMEM;

}

memset(state, 0, sizeof(*state));

state->pulse = (pulse - servo_pulse_oversleep > 0) ? pulse - servo_pulse_oversleep : 0;

// we're obviously also oversleeping in the general period case

// but other than the pulse, this doesn't seem to be crucial with servos

state->period = period;

// open gpio

sprintf(path, "/sys/class/gpio/gpio%d/value", gpio);

state->fd = open(path, O_WRONLY);

if (state->fd < 0) {

free(state);

return -errno;

}

// start thread

int ret = pthread_create(&state->thread, NULL, servoThread, state);

if (ret != 0) {

free(state);

return -ret;

}

// set scheduling policy and priority

struct sched_param param;

param.sched_priority = 75;

ret = pthread_setschedparam(state->thread, SCHED_FIFO, &param);

if (ret != 0) {

fprintf(stderr, "Error setting thread policy: %s\n", strerror(ret));

}

return (intptr_t)state;

}

JNIEXPORT jint JNICALL Java_processing_io_NativeInterface_servoUpdateThread

(JNIEnv *env, jclass cls, jlong handle, jint pulse, jint period)

{

SERVO_STATE_T *state = (SERVO_STATE_T*)(intptr_t)handle;

state->pulse = (pulse - servo_pulse_oversleep > 0) ? pulse - servo_pulse_oversleep : 0;

state->period = period;

return 0;

}

JNIEXPORT jint JNICALL Java_processing_io_NativeInterface_servoStopThread

(JNIEnv *env, jclass cls, jlong handle)

{

SERVO_STATE_T *state = (SERVO_STATE_T*)(intptr_t)handle;

// signal thread to stop

pthread_cancel(state->thread);

pthread_join(state->thread, NULL);

close(state->fd);

free(state);

return 0;

}

JNIEXPORT jint JNICALL Java_processing_io_NativeInterface_setSpiSettings

(JNIEnv *env, jclass cls, jint handle, jint _maxSpeed, jint dataOrder, jint mode)

{

uint8_t tmp;

uint32_t maxSpeed;

tmp = (uint8_t)mode;

int ret = ioctl(handle, SPI_IOC_WR_MODE, &tmp);

if (ret < 0) {

return ret;

}

tmp = (uint8_t)dataOrder;

ret = ioctl(handle, SPI_IOC_WR_LSB_FIRST, &tmp);

if (ret < 0) {

return ret;

}

maxSpeed = (uint32_t)_maxSpeed;

ret = ioctl(handle, SPI_IOC_WR_MAX_SPEED_HZ, &maxSpeed);

if (ret < 0) {

return ret;

}

return 0;

}

JNIEXPORT jint JNICALL Java_processing_io_NativeInterface_transferSpi

(JNIEnv *env, jclass cls, jint handle, jbyteArray _out, jbyteArray _in)

{

jbyte* out = (*env)->GetByteArrayElements(env, _out, NULL);

jbyte* in = (*env)->GetByteArrayElements(env, _in, NULL);

struct spi_ioc_transfer xfer = {

.tx_buf = (unsigned long)out,

.rx_buf = (unsigned long)in,

.len = MIN((*env)->GetArrayLength(env, _out), (*env)->GetArrayLength(env, _in)),

};

int ret = ioctl(handle, SPI_IOC_MESSAGE(1), &xfer);

(*env)->ReleaseByteArrayElements(env, _out, out, JNI_ABORT);

(*env)->ReleaseByteArrayElements(env, _in, in, 0);

return ret;

}

processing/java/libraries/io/src/native/impl.c at master · hayscoding/processing · GitHub

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