#include <unistd.h>

#include <fcntl.h>

#include <rtdm/rtdm.h>

#include "beremiz.h"

/*------------------------- GPIO -------------------------------------*/

/* from armadeus/target/packages/as_devices/c/as_gpio* */

//#ifdef DEBUG

# define ERROR(fmt, ...) printf(fmt, ##__VA_ARGS__)

//#else

//# define ERROR(fmt, ...) /*fmt, ##__VA_ARGS__*/

//#endif

struct gpio_device {

int port_num;

int pin_file; /* pin file for 2.6.29 interface*/

};

struct gpio_device *RUN_LED_dev;

#ifdef CAN0_EN_GPIO_0_21

struct gpio_device *CAN0_EN_dev;

#endif /* CAN0_EN_GPIO_0_21 */

#ifdef CAN1_EN_GPIO_0_17

struct gpio_device *CAN1_EN_dev;

#endif /* CAN1_EN_GPIO_0_17 */

static int write_file_bool(int fd, int value)

{

int ret;

ret = write(fd, value?"1":"0", 1);

if (ret < 0) {

ERROR("write error\n");

return ret;

}

if (lseek(fd, 0, SEEK_SET) < 0) {

ERROR("lseek error\n");

return ret;

}

return ret;

}

#define BUFF_SIZE 256

static int gpio_set_pin_value(struct gpio_device *aDev, int aValue)

{

int pin_file = aDev->pin_file;

int retval;

retval = write_file_bool(pin_file, aValue);

if (retval < 0) {

ERROR("Can't write value\n");

close(pin_file);

return -1;

}

return aValue;

}

static struct gpio_device *gpio_open(int aGpioNum)

{

struct gpio_device *dev;

int pin_file;

int export_file;

int gpio_dir_fd;

int retval;

char buf[BUFF_SIZE];

int ret = 0;

export_file = open("/sys/class/gpio/export", O_WRONLY);

if (export_file < 0) {

ERROR("Can't open /sys/class/gpio/export\nBe sure that gpiolib is under your kernel\n");

return NULL;

}

snprintf(buf, BUFF_SIZE, "%%d", aGpioNum);

retval = write(export_file, buf, strlen(buf));

close(export_file);

if (retval < 0) {

ERROR("/sys/class/gpio/export can't be written\n");

return NULL;

}

snprintf(buf, BUFF_SIZE, "/sys/class/gpio/gpio%%d/direction", aGpioNum);

gpio_dir_fd = open(buf, O_WRONLY);

if (gpio_dir_fd < 0) {

ERROR("Can't open gpio%%d direction\n", aGpioNum);

return NULL;

}

ret = write(gpio_dir_fd, "out", 3);

close(gpio_dir_fd);

if (ret < 0){

ERROR("Error writing direction\n");

return NULL;

}

snprintf(buf, BUFF_SIZE, "/sys/class/gpio/gpio%%d/value", aGpioNum);

pin_file = open(buf, O_RDWR);

if (pin_file < 0) {

ERROR("Can't export gpio number %%d\n", aGpioNum);

return NULL;

}

dev = malloc(sizeof(struct gpio_device));

if (dev == NULL) {

ERROR("Can't allocate gpio_device structure\n");

close(pin_file);

return NULL;

}

dev->port_num = aGpioNum;

dev->pin_file = pin_file;

gpio_set_pin_value(dev, 1);

return dev;

}

static int gpio_close(struct gpio_device *aDev)

{

int unexport_file;

char buf[BUFF_SIZE];

int retval;

if(aDev == NULL){

ERROR("device is NULL\n");

return -1;

}

unexport_file = open("/sys/class/gpio/unexport", O_WRONLY);

if (unexport_file < 0) {

ERROR("Can't open /sys/class/gpio/unexport\nBe sure that gpiolib is under your kernel\n");

return -1;

}

snprintf(buf, BUFF_SIZE, "%%d", aDev->port_num);

retval = write(unexport_file, buf, strlen(buf));

close(unexport_file);

if (retval < 0) {

ERROR("/sys/class/gpio/unexport can't be written\n");

return -1;

}

close(aDev->pin_file);

return 0;

}

/* TODO : DELETE !... but keep this until composer stops sending code snippets for mbrtu */

typedef enum

{

MB_PAR_ODD = 0, /**< ODD parity. */

MB_PAR_EVEN = 1, /**< Even parity. */

MB_PAR_NONE = 2 /**< No parity. */

} eMBSerialParity;

unsigned long mbBaudRate = 115200; /**< Modbus baud-rate setting: 9600, 19200, 38400, 57600, 115200 */

eMBSerialParity mbParity = MB_PAR_NONE; /**< Modbus parity setting: odd, even, none */

#ifdef ONBOARD_I2C

#include "rt_imx_smt_onboard.h"

static readBuf_t onBoardReadBuf;

static writeBuf_t onBoardWriteBuf;

static busInit_t onBoardBusInit;

static int onboardbusfd = -1;

#endif /* ONBOARD_I2C */