1 /* $NetBSD: gpioctl.c,v 1.16 2011/10/03 11:16:48 mbalmer Exp $ */ 2 3 /* 4 * Copyright (c) 2008, 2010, 2011 Marc Balmer <mbalmer@NetBSD.org> 5 * Copyright (c) 2004 Alexander Yurchenko <grange@openbsd.org> 6 * 7 * Permission to use, copy, modify, and distribute this software for any 8 * purpose with or without fee is hereby granted, provided that the above 9 * copyright notice and this permission notice appear in all copies. 10 * 11 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES 12 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF 13 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR 14 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES 15 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN 16 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF 17 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. 18 */ 19 20 /* 21 * Program to control GPIO devices. 22 */ 23 24 #include <sys/types.h> 25 #include <sys/gpio.h> 26 #include <sys/ioctl.h> 27 28 #include <err.h> 29 #include <errno.h> 30 #include <fcntl.h> 31 #include <limits.h> 32 #include <paths.h> 33 #include <stdio.h> 34 #include <stdlib.h> 35 #include <time.h> 36 #include <string.h> 37 #include <unistd.h> 38 39 static char *dev; 40 static int devfd = -1; 41 static int quiet = 0; 42 43 static void getinfo(void); 44 static void gpioread(int, char *); 45 static void gpiowrite(int, char *, int); 46 static void gpiopulse(int, char *, double, double); 47 static void gpioset(int pin, char *name, int flags, char *alias); 48 static void gpiounset(int pin, char *name); 49 static void devattach(char *, int, uint32_t, uint32_t); 50 __dead static void usage(void); 51 52 extern long long strtonum(const char *numstr, long long minval, 53 long long maxval, const char **errstrp); 54 55 static const struct bitstr { 56 unsigned int mask; 57 const char *string; 58 } pinflags[] = { 59 { GPIO_PIN_INPUT, "in" }, 60 { GPIO_PIN_OUTPUT, "out" }, 61 { GPIO_PIN_INOUT, "inout" }, 62 { GPIO_PIN_OPENDRAIN, "od" }, 63 { GPIO_PIN_PUSHPULL, "pp" }, 64 { GPIO_PIN_TRISTATE, "tri" }, 65 { GPIO_PIN_PULLUP, "pu" }, 66 { GPIO_PIN_PULLDOWN, "pd" }, 67 { GPIO_PIN_INVIN, "iin" }, 68 { GPIO_PIN_INVOUT, "iout" }, 69 { GPIO_PIN_PULSATE, "pulsate" }, 70 { 0, NULL }, 71 }; 72 73 int 74 main(int argc, char *argv[]) 75 { 76 const struct bitstr *bs; 77 double freq, dc; 78 int pin, ch, n, fl = 0, value = 0; 79 const char *errstr; 80 char *ep; 81 int ga_offset = -1; 82 uint32_t ga_mask = 0; 83 uint32_t ga_flags = 0; 84 long lval; 85 char *nam = NULL; 86 char *flags; 87 char devn[32]; 88 89 while ((ch = getopt(argc, argv, "q")) != -1) 90 switch (ch) { 91 case 'q': 92 quiet = 1; 93 break; 94 default: 95 usage(); 96 /* NOTREACHED */ 97 } 98 argc -= optind; 99 argv += optind; 100 101 if (argc < 1) 102 usage(); 103 dev = argv[0]; 104 105 freq = dc = 0.0; 106 107 if (strncmp(_PATH_DEV, dev, sizeof(_PATH_DEV) - 1)) { 108 (void)snprintf(devn, sizeof(devn), "%s%s", _PATH_DEV, dev); 109 dev = devn; 110 } 111 112 if ((devfd = open(dev, O_RDWR)) == -1) 113 err(EXIT_FAILURE, "%s", dev); 114 115 if (argc == 1) { 116 getinfo(); 117 return EXIT_SUCCESS; 118 } 119 120 if (!strcmp(argv[1], "attach")) { 121 char *driver, *offset, *mask; 122 123 if (argc != 5 && argc != 6) 124 usage(); 125 126 driver = argv[2]; 127 offset = argv[3]; 128 mask = argv[4]; 129 flags = argc == 6 ? argv[5] : NULL; 130 131 ga_offset = strtonum(offset, 0, INT_MAX, &errstr); 132 if (errstr) 133 errx(EXIT_FAILURE, "offset is %s: %s", errstr, offset); 134 lval = strtol(mask, &ep, 0); 135 if (*mask == '\0' || *ep != '\0') 136 errx(EXIT_FAILURE, "invalid mask (not a number)"); 137 if ((errno == ERANGE && (lval == LONG_MAX 138 || lval == LONG_MIN)) || (unsigned long)lval > UINT_MAX) 139 errx(EXIT_FAILURE, "mask out of range"); 140 ga_mask = lval; 141 if (flags != NULL) { 142 lval = strtol(flags, &ep, 0); 143 if (*flags == '\0' || *ep != '\0') 144 errx(EXIT_FAILURE, 145 "invalid flag locator (not a number)"); 146 if ((errno == ERANGE && (lval == LONG_MAX 147 || lval == LONG_MIN)) 148 || (unsigned long)lval > UINT_MAX) 149 errx(EXIT_FAILURE, "flag locator out of range"); 150 151 ga_flags = lval; 152 } 153 devattach(driver, ga_offset, ga_mask, ga_flags); 154 return EXIT_SUCCESS; 155 } else { 156 char *nm = NULL; 157 158 /* expecting a pin number or name */ 159 pin = strtonum(argv[1], 0, INT_MAX, &errstr); 160 if (errstr) 161 nm = argv[1]; /* try named pin */ 162 if (argc > 2) { 163 if (!strcmp(argv[2], "set")) { 164 for (n = 3; n < argc; n++) { 165 for (bs = pinflags; bs->string != NULL; 166 bs++) { 167 if (!strcmp(argv[n], 168 bs->string)) { 169 fl |= bs->mask; 170 break; 171 } 172 } 173 if (bs->string == NULL) 174 nam = argv[n]; 175 } 176 gpioset(pin, nm, fl, nam); 177 } else if (!strcmp(argv[2], "unset")) { 178 gpiounset(pin, nm); 179 } else if (!strcmp(argv[2], "pulse")) { 180 if (argc == 4) { 181 freq = atof(argv[3]); 182 dc = 50.0; 183 } else if (argc == 5) { 184 freq = atof(argv[3]); 185 dc = atof(argv[4]); 186 } else 187 freq = dc = 0.0; 188 gpiopulse(pin, nm, freq, dc); 189 } else { 190 value = strtonum(argv[2], INT_MIN, INT_MAX, 191 &errstr); 192 if (errstr) { 193 if (!strcmp(argv[2], "on")) 194 value = GPIO_PIN_HIGH; 195 else if (!strcmp(argv[2], "off")) 196 value = GPIO_PIN_LOW; 197 else if (!strcmp(argv[2], "toggle")) 198 value = 2; 199 else 200 errx(EXIT_FAILURE, 201 "%s: invalid value", 202 argv[2]); 203 } 204 gpiowrite(pin, nm, value); 205 } 206 } else 207 gpioread(pin, nm); 208 } 209 210 return EXIT_SUCCESS; 211 } 212 213 static void 214 getinfo(void) 215 { 216 struct gpio_info info; 217 218 if (ioctl(devfd, GPIOINFO, &info) == -1) 219 err(EXIT_FAILURE, "GPIOINFO"); 220 221 if (quiet) 222 return; 223 224 printf("%s: %d pins\n", dev, info.gpio_npins); 225 } 226 227 static void 228 gpioread(int pin, char *gp_name) 229 { 230 struct gpio_req req; 231 232 memset(&req, 0, sizeof(req)); 233 if (gp_name != NULL) 234 strlcpy(req.gp_name, gp_name, sizeof(req.gp_name)); 235 else 236 req.gp_pin = pin; 237 238 if (ioctl(devfd, GPIOREAD, &req) == -1) 239 err(EXIT_FAILURE, "GPIOREAD"); 240 241 if (quiet) 242 return; 243 244 if (gp_name) 245 printf("pin %s: state %d\n", gp_name, req.gp_value); 246 else 247 printf("pin %d: state %d\n", pin, req.gp_value); 248 } 249 250 static void 251 gpiowrite(int pin, char *gp_name, int value) 252 { 253 struct gpio_req req; 254 255 if (value < 0 || value > 2) 256 errx(EXIT_FAILURE, "%d: invalid value", value); 257 258 memset(&req, 0, sizeof(req)); 259 if (gp_name != NULL) 260 strlcpy(req.gp_name, gp_name, sizeof(req.gp_name)); 261 else 262 req.gp_pin = pin; 263 264 if (value == GPIO_PIN_HIGH || value == GPIO_PIN_LOW) { 265 req.gp_value = value; 266 if (ioctl(devfd, GPIOWRITE, &req) == -1) 267 err(EXIT_FAILURE, "GPIOWRITE"); 268 } else { 269 if (ioctl(devfd, GPIOTOGGLE, &req) == -1) 270 err(EXIT_FAILURE, "GPIOTOGGLE"); 271 } 272 273 if (quiet) 274 return; 275 276 if (gp_name) 277 printf("pin %s: state %d -> %d\n", gp_name, req.gp_value, 278 (value < 2 ? value : 1 - req.gp_value)); 279 else 280 printf("pin %d: state %d -> %d\n", pin, req.gp_value, 281 (value < 2 ? value : 1 - req.gp_value)); 282 } 283 284 static void 285 gpiopulse(int pin, char *gp_name, double freq, double dc) 286 { 287 struct gpio_pulse pulse; 288 suseconds_t period, on, off; 289 290 if (freq < 0.0 || (dc < 0.0 || dc >= 100.0)) 291 errx(EXIT_FAILURE, "%.f Hz, %.f%% duty cycle: invalid value", 292 freq, dc); 293 294 memset(&pulse, 0, sizeof(pulse)); 295 if (gp_name != NULL) 296 strlcpy(pulse.gp_name, gp_name, sizeof(pulse.gp_name)); 297 else 298 pulse.gp_pin = pin; 299 300 if (freq > 0.0 && dc > 0.0) { 301 period = 1000000 / freq; 302 on = period * dc / 100; 303 off = period - on; 304 305 if (on >= 1000000) { 306 pulse.gp_pulse_on.tv_sec = on / 1000000; 307 on -= pulse.gp_pulse_on.tv_sec * 1000000; 308 pulse.gp_pulse_on.tv_usec = on; 309 } else { 310 pulse.gp_pulse_on.tv_sec = 0; 311 pulse.gp_pulse_on.tv_usec = on; 312 } 313 if (off >= 1000000) { 314 pulse.gp_pulse_off.tv_sec = off / 1000000; 315 off -= pulse.gp_pulse_off.tv_sec * 1000000; 316 pulse.gp_pulse_off.tv_usec = off; 317 } else { 318 pulse.gp_pulse_off.tv_sec = 0; 319 pulse.gp_pulse_off.tv_usec = off; 320 } 321 } else { /* gpio(4) defaults */ 322 freq = 1.0; 323 dc = 50.0; 324 } 325 326 if (ioctl(devfd, GPIOPULSE, &pulse) == -1) 327 err(EXIT_FAILURE, "GPIOPULSE"); 328 329 if (quiet) 330 return; 331 332 if (gp_name) 333 printf("pin %s: pulse at %.f Hz with a %.f%% duty cylce\n", 334 gp_name, freq, dc); 335 else 336 printf("pin %d: pulse at %.f Hz with a %.f%% duty cylce\n", 337 pin, freq, dc); 338 } 339 340 static void 341 gpioset(int pin, char *name, int fl, char *alias) 342 { 343 struct gpio_set set; 344 const struct bitstr *bs; 345 346 memset(&set, 0, sizeof(set)); 347 if (name != NULL) 348 strlcpy(set.gp_name, name, sizeof(set.gp_name)); 349 else 350 set.gp_pin = pin; 351 set.gp_flags = fl; 352 353 if (alias != NULL) 354 strlcpy(set.gp_name2, alias, sizeof(set.gp_name2)); 355 356 if (ioctl(devfd, GPIOSET, &set) == -1) 357 err(EXIT_FAILURE, "GPIOSET"); 358 359 if (quiet) 360 return; 361 362 if (name != NULL) 363 printf("pin %s: caps:", name); 364 else 365 printf("pin %d: caps:", pin); 366 for (bs = pinflags; bs->string != NULL; bs++) 367 if (set.gp_caps & bs->mask) 368 printf(" %s", bs->string); 369 printf(", flags:"); 370 for (bs = pinflags; bs->string != NULL; bs++) 371 if (set.gp_flags & bs->mask) 372 printf(" %s", bs->string); 373 if (fl > 0) { 374 printf(" ->"); 375 for (bs = pinflags; bs->string != NULL; bs++) 376 if (fl & bs->mask) 377 printf(" %s", bs->string); 378 } 379 printf("\n"); 380 } 381 382 static void 383 gpiounset(int pin, char *name) 384 { 385 struct gpio_set set; 386 387 memset(&set, 0, sizeof(set)); 388 if (name != NULL) 389 strlcpy(set.gp_name, name, sizeof(set.gp_name)); 390 else 391 set.gp_pin = pin; 392 393 if (ioctl(devfd, GPIOUNSET, &set) == -1) 394 err(EXIT_FAILURE, "GPIOUNSET"); 395 } 396 397 static void 398 devattach(char *dvname, int offset, uint32_t mask, uint32_t flags) 399 { 400 struct gpio_attach attach; 401 402 memset(&attach, 0, sizeof(attach)); 403 strlcpy(attach.ga_dvname, dvname, sizeof(attach.ga_dvname)); 404 attach.ga_offset = offset; 405 attach.ga_mask = mask; 406 attach.ga_flags = flags; 407 if (ioctl(devfd, GPIOATTACH, &attach) == -1) 408 err(EXIT_FAILURE, "GPIOATTACH"); 409 } 410 411 static void 412 usage(void) 413 { 414 const char *progname; 415 416 progname = getprogname(); 417 fprintf(stderr, "usage: %s [-q] device [pin] [0 | 1 | 2 | " 418 "on | off | toggle]\n", progname); 419 fprintf(stderr, "usage: %s [-q] device pin pulse [frequency " 420 "[duty cycle]]\n", progname); 421 fprintf(stderr, " %s [-q] device pin set [flags] [name]\n", 422 progname); 423 fprintf(stderr, " %s [-q] device pin unset\n", progname); 424 fprintf(stderr, " %s [-q] device attach device offset mask " 425 "[flag]\n", 426 progname); 427 428 exit(EXIT_FAILURE); 429 } 430