Pigeon abstraction layer (#1977)
* pigeon abstraction layer * Fix string literals * more generic pigeon class * add TTYpigon * nicer tty error handling * close tty fd on pigeon delete * pigeon receive return std::string * use sizeof * max receive size to prevent infinite loop * remove namespace * add unistd include for usleep * fix is pigeon * Handle tty error in opening * fix printing binary strings with dump.py * fix pigeon build on macos * Handle errors seperately Co-authored-by: Comma Device <device@comma.ai>albatross
Willem Melching
GitHub
parent
9bc0b350fd
commit
502cc665e0
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@ -91,6 +91,8 @@ selfdrive/boardd/boardd_setup.py
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selfdrive/boardd/can_list_to_can_capnp.cc
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selfdrive/boardd/panda.cc
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selfdrive/boardd/panda.h
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selfdrive/boardd/pigeon.cc
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selfdrive/boardd/pigeon.h
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selfdrive/car/__init__.py
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selfdrive/car/car_helpers.py
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@ -211,6 +213,8 @@ selfdrive/common/visionimg.cc
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selfdrive/common/visionimg.h
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selfdrive/common/spinner.c
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selfdrive/common/spinner.h
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selfdrive/common/gpio.cc
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selfdrive/common/gpio.h
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selfdrive/controls/__init__.py
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@ -1,6 +1,6 @@
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Import('env', 'common', 'cereal', 'messaging', 'cython_dependencies')
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env.Program('boardd', ['boardd.cc', 'panda.cc'], LIBS=['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
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env.Program('boardd', ['boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
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env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
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env.Command(['boardd_api_impl.so', 'boardd_api_impl.cpp'],
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@ -28,6 +28,7 @@
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#include "messaging.hpp"
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#include "panda.h"
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#include "pigeon.h"
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#define MAX_IR_POWER 0.5f
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@ -43,8 +44,6 @@ const float VBATT_START_CHARGING = 11.5;
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const float VBATT_PAUSE_CHARGING = 11.0;
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#endif
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namespace {
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Panda * panda = NULL;
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std::atomic<bool> safety_setter_thread_running(false);
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volatile sig_atomic_t do_exit = 0;
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@ -468,82 +467,13 @@ void hardware_control_thread() {
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}
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}
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#define pigeon_send(x) _pigeon_send(x, sizeof(x)-1)
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void _pigeon_send(const char *dat, int len) {
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unsigned char a[0x20+1];
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a[0] = 1;
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for (int i=0; i<len; i+=0x20) {
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int ll = std::min(0x20, len-i);
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memcpy(&a[1], &dat[i], ll);
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panda->usb_bulk_write(2, a, ll+1);
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}
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}
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void pigeon_set_power(int power) {
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panda->usb_write(0xd9, power, 0);
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}
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void pigeon_set_baud(int baud) {
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panda->usb_write(0xe2, 1, 0);
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panda->usb_write(0xe4, 1, baud/300);
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}
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void pigeon_init() {
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usleep(1000*1000);
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LOGW("panda GPS start");
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// power off pigeon
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pigeon_set_power(0);
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usleep(100*1000);
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// 9600 baud at init
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pigeon_set_baud(9600);
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// power on pigeon
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pigeon_set_power(1);
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usleep(500*1000);
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// baud rate upping
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pigeon_send("\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A");
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usleep(100*1000);
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// set baud rate to 460800
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pigeon_set_baud(460800);
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usleep(100*1000);
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// init from ubloxd
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// To generate this data, run test/ubloxd.py with the print statements enabled in the write function in panda/python/serial.py
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pigeon_send("\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F");
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pigeon_send("\xB5\x62\x06\x3E\x00\x00\x44\xD2");
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pigeon_send("\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35");
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pigeon_send("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80");
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pigeon_send("\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85");
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pigeon_send("\xB5\x62\x06\x00\x00\x00\x06\x18");
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pigeon_send("\xB5\x62\x06\x00\x01\x00\x01\x08\x22");
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pigeon_send("\xB5\x62\x06\x00\x01\x00\x02\x09\x23");
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pigeon_send("\xB5\x62\x06\x00\x01\x00\x03\x0A\x24");
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pigeon_send("\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10");
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pigeon_send("\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63");
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pigeon_send("\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37");
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pigeon_send("\xB5\x62\x06\x24\x00\x00\x2A\x84");
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pigeon_send("\xB5\x62\x06\x23\x00\x00\x29\x81");
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pigeon_send("\xB5\x62\x06\x1E\x00\x00\x24\x72");
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pigeon_send("\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51");
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pigeon_send("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70");
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pigeon_send("\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C");
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pigeon_send("\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70");
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LOGW("panda GPS on");
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}
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static void pigeon_publish_raw(PubMaster &pm, unsigned char *dat, int alen) {
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static void pigeon_publish_raw(PubMaster &pm, std::string dat) {
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// create message
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capnp::MallocMessageBuilder msg;
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cereal::Event::Builder event = msg.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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auto ublox_raw = event.initUbloxRaw(alen);
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memcpy(ublox_raw.begin(), dat, alen);
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auto ublox_raw = event.initUbloxRaw(dat.length());
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memcpy(ublox_raw.begin(), dat.data(), dat.length());
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pm.send("ubloxRaw", msg);
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}
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@ -555,37 +485,32 @@ void pigeon_thread() {
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// ubloxRaw = 8042
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PubMaster pm({"ubloxRaw"});
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// run at ~100hz
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unsigned char dat[0x1000];
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uint64_t cnt = 0;
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#ifdef QCOM2
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Pigeon * pigeon = Pigeon::connect("/dev/ttyHS0");
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#else
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Pigeon * pigeon = Pigeon::connect(panda);
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#endif
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pigeon_init();
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pigeon->init();
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while (!do_exit && panda->connected) {
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int alen = 0;
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while (alen < 0xfc0) {
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int len = panda->usb_read(0xe0, 1, 0, dat+alen, 0x40);
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if (len <= 0) break;
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//printf("got %d\n", len);
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alen += len;
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}
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if (alen > 0) {
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if (dat[0] == (char)0x00){
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std::string recv = pigeon->receive();
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if (recv.length() > 0) {
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if (recv[0] == (char)0x00){
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LOGW("received invalid ublox message, resetting panda GPS");
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pigeon_init();
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pigeon->init();
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} else {
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pigeon_publish_raw(pm, dat, alen);
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pigeon_publish_raw(pm, recv);
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}
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}
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// 10ms
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// 10ms - 100 Hz
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usleep(10*1000);
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cnt++;
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}
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delete pigeon;
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}
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}
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int main() {
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int err;
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@ -606,6 +531,8 @@ int main() {
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fake_send = true;
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}
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panda_set_power(true);
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while (!do_exit){
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std::vector<std::thread> threads;
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threads.push_back(std::thread(can_health_thread));
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@ -2,10 +2,33 @@
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#include <cassert>
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#include <iostream>
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#include <unistd.h>
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#include "common/swaglog.h"
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#include "common/gpio.h"
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#include "panda.h"
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void panda_set_power(bool power){
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#ifdef QCOM2
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int err = 0;
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err += gpio_init(GPIO_STM_RST_N, true);
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err += gpio_init(GPIO_STM_BOOT0, true);
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err += gpio_init(GPIO_HUB_RST_N, true);
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err += gpio_set(GPIO_STM_RST_N, false);
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// TODO: set hub somewhere else
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err += gpio_set(GPIO_HUB_RST_N, true);
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err += gpio_set(GPIO_STM_BOOT0, false);
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usleep(100*1000); // 100 ms
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err += gpio_set(GPIO_STM_RST_N, power);
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assert(err == 0);
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#endif
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}
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Panda::Panda(){
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int err;
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@ -39,8 +62,10 @@ Panda::Panda(){
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is_pigeon =
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(hw_type == cereal::HealthData::HwType::GREY_PANDA) ||
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(hw_type == cereal::HealthData::HwType::BLACK_PANDA) ||
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(hw_type == cereal::HealthData::HwType::UNO);
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has_rtc = (hw_type == cereal::HealthData::HwType::UNO);
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(hw_type == cereal::HealthData::HwType::UNO) ||
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(hw_type == cereal::HealthData::HwType::DOS);
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has_rtc = (hw_type == cereal::HealthData::HwType::UNO) ||
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(hw_type == cereal::HealthData::HwType::DOS);
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return;
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@ -34,6 +34,9 @@ struct __attribute__((packed)) health_t {
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uint8_t power_save_enabled;
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};
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void panda_set_power(bool power);
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class Panda {
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private:
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libusb_context *ctx = NULL;
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@ -0,0 +1,226 @@
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#include <cassert>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <termios.h>
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#include "common/swaglog.h"
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#include "common/gpio.h"
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#include "pigeon.h"
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// Termios on macos doesn't define all baud rate constants
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#ifndef B460800
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#define B460800 0010004
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#endif
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using namespace std::string_literals;
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Pigeon * Pigeon::connect(Panda * p){
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PandaPigeon * pigeon = new PandaPigeon();
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pigeon->connect(p);
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return pigeon;
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}
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Pigeon * Pigeon::connect(const char * tty){
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TTYPigeon * pigeon = new TTYPigeon();
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pigeon->connect(tty);
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return pigeon;
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}
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void Pigeon::init() {
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usleep(1000*1000);
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LOGW("panda GPS start");
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// power off pigeon
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set_power(0);
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usleep(100*1000);
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// 9600 baud at init
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set_baud(9600);
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// power on pigeon
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set_power(1);
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usleep(500*1000);
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// baud rate upping
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send("\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A"s);
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usleep(100*1000);
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// set baud rate to 460800
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set_baud(460800);
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usleep(100*1000);
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// init from ubloxd
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// To generate this data, run test/ubloxd.py with the print statements enabled in the write function in panda/python/serial.py
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send("\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F"s);
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send("\xB5\x62\x06\x3E\x00\x00\x44\xD2"s);
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send("\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35"s);
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send("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80"s);
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send("\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85"s);
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send("\xB5\x62\x06\x00\x00\x00\x06\x18"s);
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send("\xB5\x62\x06\x00\x01\x00\x01\x08\x22"s);
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send("\xB5\x62\x06\x00\x01\x00\x02\x09\x23"s);
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send("\xB5\x62\x06\x00\x01\x00\x03\x0A\x24"s);
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send("\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10"s);
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send("\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63"s);
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send("\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37"s);
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send("\xB5\x62\x06\x24\x00\x00\x2A\x84"s);
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send("\xB5\x62\x06\x23\x00\x00\x29\x81"s);
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send("\xB5\x62\x06\x1E\x00\x00\x24\x72"s);
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send("\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51"s);
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send("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70"s);
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send("\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C"s);
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send("\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70"s);
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LOGW("panda GPS on");
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}
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void PandaPigeon::connect(Panda * p) {
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panda = p;
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}
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void PandaPigeon::set_baud(int baud) {
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panda->usb_write(0xe2, 1, 0);
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panda->usb_write(0xe4, 1, baud/300);
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}
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void PandaPigeon::send(std::string s) {
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int len = s.length();
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const char * dat = s.data();
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unsigned char a[0x20+1];
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a[0] = 1;
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for (int i=0; i<len; i+=0x20) {
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int ll = std::min(0x20, len-i);
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memcpy(&a[1], &dat[i], ll);
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panda->usb_bulk_write(2, a, ll+1);
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}
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}
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std::string PandaPigeon::receive() {
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std::string r;
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while (true){
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unsigned char dat[0x40];
|
||||
int len = panda->usb_read(0xe0, 1, 0, dat, sizeof(dat));
|
||||
if (len <= 0 || r.length() > 0x1000) break;
|
||||
r.append((char*)dat, len);
|
||||
}
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
void PandaPigeon::set_power(bool power) {
|
||||
panda->usb_write(0xd9, power, 0);
|
||||
}
|
||||
|
||||
PandaPigeon::~PandaPigeon(){
|
||||
}
|
||||
|
||||
void handle_tty_issue(int err, const char func[]) {
|
||||
LOGE_100("tty error %d \"%s\" in %s", err, strerror(err), func);
|
||||
}
|
||||
|
||||
void TTYPigeon::connect(const char * tty) {
|
||||
pigeon_tty_fd = open(tty, O_RDWR);
|
||||
if (pigeon_tty_fd < 0){
|
||||
handle_tty_issue(errno, __func__);
|
||||
assert(pigeon_tty_fd >= 0);
|
||||
}
|
||||
assert(tcgetattr(pigeon_tty_fd, &pigeon_tty) == 0);
|
||||
|
||||
// configure tty
|
||||
pigeon_tty.c_cflag &= ~PARENB; // disable parity
|
||||
pigeon_tty.c_cflag &= ~CSTOPB; // single stop bit
|
||||
pigeon_tty.c_cflag |= CS8; // 8 bits per byte
|
||||
pigeon_tty.c_cflag &= ~CRTSCTS; // no RTS/CTS flow control
|
||||
pigeon_tty.c_cflag |= CREAD | CLOCAL; // turn on READ & ignore ctrl lines
|
||||
pigeon_tty.c_lflag &= ~ICANON; // disable canonical mode
|
||||
pigeon_tty.c_lflag &= ~ISIG; // disable interpretation of INTR, QUIT and SUSP
|
||||
pigeon_tty.c_iflag &= ~(IXON | IXOFF | IXANY); // turn off software flow ctrl
|
||||
pigeon_tty.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL); // disable any special handling of received bytes
|
||||
pigeon_tty.c_oflag &= ~OPOST; // prevent special interpretation of output bytes
|
||||
pigeon_tty.c_oflag &= ~ONLCR; // prevent conversion of newline to carriage return/line feed
|
||||
|
||||
// configure blocking behavior
|
||||
pigeon_tty.c_cc[VMIN] = 0; // min amount of characters returned
|
||||
pigeon_tty.c_cc[VTIME] = 0; // max blocking time in s/10 (0=inf)
|
||||
|
||||
assert(tcsetattr(pigeon_tty_fd, TCSANOW, &pigeon_tty) == 0);
|
||||
}
|
||||
|
||||
void TTYPigeon::set_baud(int baud){
|
||||
speed_t baud_const = 0;
|
||||
switch(baud){
|
||||
case 9600:
|
||||
baud_const = B9600;
|
||||
break;
|
||||
case 460800:
|
||||
baud_const = B460800;
|
||||
break;
|
||||
default:
|
||||
assert(false);
|
||||
}
|
||||
|
||||
// make sure everything is tx'ed before changing baud
|
||||
assert(tcdrain(pigeon_tty_fd) == 0);
|
||||
|
||||
// change baud
|
||||
assert(tcgetattr(pigeon_tty_fd, &pigeon_tty) == 0);
|
||||
assert(cfsetspeed(&pigeon_tty, baud_const) == 0);
|
||||
assert(tcsetattr(pigeon_tty_fd, TCSANOW, &pigeon_tty) == 0);
|
||||
|
||||
// flush
|
||||
assert(tcflush(pigeon_tty_fd, TCIOFLUSH) == 0);
|
||||
}
|
||||
|
||||
void TTYPigeon::send(std::string s) {
|
||||
int len = s.length();
|
||||
const char * dat = s.data();
|
||||
|
||||
int err = write(pigeon_tty_fd, dat, len);
|
||||
if(err < 0) { handle_tty_issue(err, __func__); }
|
||||
err = tcdrain(pigeon_tty_fd);
|
||||
if(err < 0) { handle_tty_issue(err, __func__); }
|
||||
}
|
||||
|
||||
std::string TTYPigeon::receive() {
|
||||
std::string r;
|
||||
|
||||
while (true){
|
||||
char dat[0x40];
|
||||
int len = read(pigeon_tty_fd, dat, sizeof(dat));
|
||||
if(len < 0) {
|
||||
handle_tty_issue(len, __func__);
|
||||
} else if (len == 0 || r.length() > 0x1000){
|
||||
break;
|
||||
} else {
|
||||
r.append(dat, len);
|
||||
}
|
||||
|
||||
}
|
||||
return r;
|
||||
}
|
||||
|
||||
void TTYPigeon::set_power(bool power){
|
||||
#ifdef QCOM2
|
||||
int err = 0;
|
||||
err += gpio_init(GPIO_UBLOX_RST_N, true);
|
||||
err += gpio_init(GPIO_UBLOX_SAFEBOOT_N, true);
|
||||
err += gpio_init(GPIO_UBLOX_PWR_EN, true);
|
||||
|
||||
err += gpio_set(GPIO_UBLOX_RST_N, power);
|
||||
err += gpio_set(GPIO_UBLOX_SAFEBOOT_N, power);
|
||||
err += gpio_set(GPIO_UBLOX_PWR_EN, power);
|
||||
assert(err == 0);
|
||||
#endif
|
||||
}
|
||||
|
||||
TTYPigeon::~TTYPigeon(){
|
||||
close(pigeon_tty_fd);
|
||||
}
|
||||
|
|
@ -0,0 +1,43 @@
|
|||
#pragma once
|
||||
#include <string>
|
||||
#include <termios.h>
|
||||
|
||||
|
||||
#include "panda.h"
|
||||
|
||||
class Pigeon {
|
||||
public:
|
||||
static Pigeon* connect(Panda * p);
|
||||
static Pigeon* connect(const char * tty);
|
||||
virtual ~Pigeon(){};
|
||||
|
||||
void init();
|
||||
virtual void set_baud(int baud) = 0;
|
||||
virtual void send(std::string s) = 0;
|
||||
virtual std::string receive() = 0;
|
||||
virtual void set_power(bool power) = 0;
|
||||
};
|
||||
|
||||
class PandaPigeon : public Pigeon {
|
||||
Panda * panda = NULL;
|
||||
public:
|
||||
~PandaPigeon();
|
||||
void connect(Panda * p);
|
||||
void set_baud(int baud);
|
||||
void send(std::string s);
|
||||
std::string receive();
|
||||
void set_power(bool power);
|
||||
};
|
||||
|
||||
|
||||
class TTYPigeon : public Pigeon {
|
||||
int pigeon_tty_fd = -1;
|
||||
struct termios pigeon_tty;
|
||||
public:
|
||||
~TTYPigeon();
|
||||
void connect(const char* tty);
|
||||
void set_baud(int baud);
|
||||
void send(std::string s);
|
||||
std::string receive();
|
||||
void set_power(bool power);
|
||||
};
|
||||
|
|
@ -5,7 +5,7 @@ if SHARED:
|
|||
else:
|
||||
fxn = env.Library
|
||||
|
||||
_common = fxn('common', ['params.cc', 'swaglog.cc', 'util.c', 'cqueue.c'], LIBS="json11")
|
||||
_common = fxn('common', ['params.cc', 'swaglog.cc', 'util.c', 'cqueue.c', 'gpio.cc'], LIBS="json11")
|
||||
_visionipc = fxn('visionipc', ['visionipc.c', 'ipc.c'])
|
||||
|
||||
files = [
|
||||
|
|
@ -42,4 +42,3 @@ else:
|
|||
|
||||
_gpucommon = fxn('gpucommon', files, CPPDEFINES=defines, LIBS=_gpu_libs)
|
||||
Export('_common', '_visionipc', '_gpucommon', '_gpu_libs')
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,75 @@
|
|||
#include "gpio.h"
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
|
||||
// We assume that all pins have already been exported on boot,
|
||||
// and that we have permission to write to them.
|
||||
|
||||
int gpio_init(int pin_nr, bool output){
|
||||
int ret = 0;
|
||||
int fd, tmp;
|
||||
|
||||
char pin_dir_path[50];
|
||||
int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
|
||||
"/sys/class/gpio/gpio%d/direction", pin_nr);
|
||||
if(pin_dir_path_len <= 0){
|
||||
ret = -1;
|
||||
goto cleanup;
|
||||
}
|
||||
|
||||
fd = open(pin_dir_path, O_WRONLY);
|
||||
if(fd == -1){
|
||||
ret = -1;
|
||||
goto cleanup;
|
||||
}
|
||||
if(output){
|
||||
tmp = write(fd, "out", 3);
|
||||
if(tmp != 3){
|
||||
ret = -1;
|
||||
goto cleanup;
|
||||
}
|
||||
} else {
|
||||
tmp = write(fd, "in", 2);
|
||||
if(tmp != 2){
|
||||
ret = -1;
|
||||
goto cleanup;
|
||||
}
|
||||
}
|
||||
|
||||
cleanup:
|
||||
if(fd >= 0){
|
||||
close(fd);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
int gpio_set(int pin_nr, bool high){
|
||||
int ret = 0;
|
||||
int fd, tmp;
|
||||
|
||||
char pin_val_path[50];
|
||||
int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
|
||||
"/sys/class/gpio/gpio%d/value", pin_nr);
|
||||
if(pin_val_path_len <= 0){
|
||||
ret = -1;
|
||||
goto cleanup;
|
||||
}
|
||||
|
||||
fd = open(pin_val_path, O_WRONLY);
|
||||
if(fd == -1){
|
||||
ret = -1;
|
||||
goto cleanup;
|
||||
}
|
||||
tmp = write(fd, high ? "1" : "0", 1);
|
||||
if(tmp != 1){
|
||||
ret = -1;
|
||||
goto cleanup;
|
||||
}
|
||||
|
||||
cleanup:
|
||||
if(fd >= 0){
|
||||
close(fd);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
|
@ -0,0 +1,35 @@
|
|||
#ifndef GPIO_H
|
||||
#define GPIO_H
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
// Pin definitions
|
||||
#ifdef QCOM2
|
||||
#define GPIO_HUB_RST_N 30
|
||||
#define GPIO_UBLOX_RST_N 32
|
||||
#define GPIO_UBLOX_SAFEBOOT_N 33
|
||||
#define GPIO_UBLOX_PWR_EN 34
|
||||
#define GPIO_STM_RST_N 124
|
||||
#define GPIO_STM_BOOT0 134
|
||||
#else
|
||||
#define GPIO_HUB_RST_N 0
|
||||
#define GPIO_UBLOX_RST_N 0
|
||||
#define GPIO_UBLOX_SAFEBOOT_N 0
|
||||
#define GPIO_UBLOX_PWR_EN 0
|
||||
#define GPIO_STM_RST_N 0
|
||||
#define GPIO_STM_BOOT0 0
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
int gpio_init(int pin_nr, bool output);
|
||||
int gpio_set(int pin_nr, bool high);
|
||||
|
||||
#ifdef __cplusplus
|
||||
} // extern "C"
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -61,4 +61,11 @@ if __name__ == "__main__":
|
|||
print("{} = {}".format(".".join(value), item))
|
||||
print("")
|
||||
else:
|
||||
print(evt)
|
||||
try:
|
||||
print(evt)
|
||||
except UnicodeDecodeError:
|
||||
w = evt.which()
|
||||
s = f"( logMonoTime {evt.logMonoTime} \n {w} = "
|
||||
s += str(evt.__getattr__(w))
|
||||
s += f"\n valid = {evt.valid} )"
|
||||
print(s)
|
||||
|
|
|
|||
Loading…
Reference in New Issue