Refactor Raspberry Pi GPIO and add GPIO mock

pkg/gpio/lib/gpio.dart

 // Copyright (c) 2015, the Fletch project authors. Please see the AUTHORS file
 // for details. All rights reserved. Use of this source code is governed by a
 // BSD-style license that can be found in the LICENSE.md file.
 
 /// GPIO support.
 ///
 /// Provides access to controlling GPIO pins.
 ///
 /// The library provide two ways of accessing the GPIO pins: direct access or
 /// access through a Sysfs driver.
 ///
 /// When direct access is used, the physical memory addresses, where the
 /// SoC registers for the GPIO pins are mapped, are accessed directly. This
 /// always require root access.
 ///
 /// When the Sysfs driver is used the filesystem under `/sys/class/gpio` is
 /// used; root access is also required by default. However this can be changed
 /// through udev rules, e.g. by adding a file to ` /etc/udev/rules.d`.
 /// In addition the Sysfs driver supports state change notifications.
 ///
 /// Currently this has only been tested with a Raspberry Pi 2.
 library gpio;
 
 import 'dart:fletch.ffi';
 import 'dart:typed_data';
 
 import 'package:file/file.dart';
 
 // Foreign functions used.
-final ForeignFunction _open = ForeignLibrary.main.lookup('open');
 final ForeignFunction _lseek = ForeignLibrary.main.lookup('lseek');
-final ForeignFunction _mmap = ForeignLibrary.main.lookup('mmap');
 final ForeignFunction _poll = ForeignLibrary.main.lookup('poll');
 
 /// GPIO modes.
 enum Mode {
   /// GPIO pin input mode.
   input,
   /// GPIO pin output mode.
   output,
   /// GPIO has other functions than `input` and `output`. Most GPIO pins have
   /// several special functions, so when receiving the mode this value can be
   /// returned. This value cannot be used when setting the mode.
   other
 }
 
 /// Base GPIO interface supported by all GPIO implementations.
 abstract class GPIO {
+  /// The default number of pins for GPIO is 50.
+  static const int defaultPins = 50;
+
+  /// Number of pins exposed by this GPIO.
+  int get pins;
+
   /// Set the mode of [pin] to [mode].
   void setMode(int pin, Mode mode);
 
   /// Get the current mode of [pin].
   Mode getMode(int pin);
 
   /// Set the value of the [pin] to [value]. The boolean value
   /// [true] represents high (1) and the boolean value [false]
   /// represents low (0).
   void setPin(int pin, bool value);
 
   /// Get the value of the [pin]. The boolean value
   /// [true] represents high (1) and the boolean value [false]
   /// represents low (0).
   bool getPin(int pin);
 }
 
-/// Pull-up/down resistor state.
-enum PullUpDown {
-  floating,
-  pullDown,
-  pullUp,
-}
+// Internal base class.
+abstract class GPIOBase implements GPIO {
+  // Number of GPIO pins.
+  final int _pins;
 
-// Internal base class.
-class _GPIOBase {
-  // Number of GPIO pins.
-  final int _maxPins;
+  GPIOBase(this._pins);
 
-  _GPIOBase(this._maxPins);
+  get pins => _pins;
 
-  void _checkPinRange(int pin) {
-    if (pin < 0 || _maxPins <= pin) {
-      throw new RangeError.index(pin, this, 'pin', null, _maxPins);
+  void checkPinRange(int pin) {
+    if (pin < 0 || _pins <= pin) {
+      throw new RangeError.index(pin, this, 'pin', null, _pins);
     }
   }
 }
 
-/// Provide GPIO access on Raspberry Pi using direct memory access.
-///
-/// The following code shows how to turn on GPIO pin 4:
-///
-/// ```
-/// PiMemoryMappedGPIO gpio = new PiMemoryMappedGPIO();
-/// gpio.setMode(4, Mode.output);
-/// gpio.setPin(4, true));
-/// ```
-///
-/// The following code shows how to read GPIO pin 17:
-///
-/// ```
-/// PiMemoryMappedGPIO gpio = new PiMemoryMappedGPIO();
-/// gpio.setMode(17, Mode.input);
-/// print(gpio.getPin(17));
-/// ```
-class PiMemoryMappedGPIO extends _GPIOBase implements GPIO {
-  // See datasheet:
-  // https://www.raspberrypi.org/wp-content/uploads/2012/02/BCM2835-ARM-Peripherals.pdf
-
-  // Raspberry Pi model 1 (A/A+/B)
-  // BCM2708 / BCM 2835
-
-  // Raspberry Pi model 2
-  // BCM2709 / BCM 2836
-
-  // Peripherals base address.
-  static const int _baseAddressModel1 = 0x20000000;
-  static const int _baseAddressModel2 = 0x3F000000;
-  static const int _baseAddressGPIOOffset = 0x00200000;
-
-  // Size of the peripherals area.
-  static const int _blockSize = 4096;
-
-  // Offsets (in bytes) to various areas.
-  static const int _gpioFunctionSelectBase = 0 << 2;
-  static const int _gpioOutputSetBase = 7 << 2;
-  static const int _gpioOutputClearBase = 10 << 2;
-  static const int _gpioPinLevelBase = 13 << 2;
-  static const int _gpioPullUpPullDown = 37 << 2;
-  static const int _gpioPullUpPullDownClockBase = 38 << 2;
-
-  // All alternative functions are mapped to `Mode.other` for now.
-  static const _functionToMode =
-      [Mode.input, Mode.output,
-       Mode.other, Mode.other, Mode.other, Mode.other, Mode.other];
-
-  int _fd;  // File descriptor for /dev/mem.
-  ForeignPointer _addr;
-  ForeignMemory _mem;
-
-  PiMemoryMappedGPIO(): super(54) {
-    // From /usr/include/x86_64-linux-gnu/bits/fcntl-linux.h.
-    const int oRDWR = 02;  // O_RDWR
-    // Found from C code 'printf("%x\n", O_SYNC);'.
-    const int oSync = 0x101000;  // O_SYNC
-
-    // Open /dev/mem to get to the physical memory.
-    var devMem = new ForeignMemory.fromStringAsUTF8('/dev/mem');
-    _fd = _open.icall$2Retry(devMem, oRDWR | oSync);
-    if (_fd < 0) {
-      throw new GPIOException("Failed to open '/dev/mem'", Foreign.errno);
-    }
-    devMem.free();
-
-    // From /usr/include/x86_64-linux-gnu/bits/mman-linux.h.
-    const int protRead = 0x1;  // PROT_READ.
-    const int protWrite = 0x2;  // PROT_WRITE.
-    const int mapShared = 0x01;  // MAP_SHARED.
-
-    _addr = _mmap.pcall$6(0, _blockSize, protRead | protWrite, mapShared,
-                          _fd, _baseAddressModel2 + _baseAddressGPIOOffset);
-    _mem = new ForeignMemory.fromAddress(_addr.address, _blockSize);
-  }
-
-  void setMode(int pin, Mode mode) {
-    _checkPinRange(pin);
-    // GPIO function select registers each have 3 bits for 10 pins.
-    var fsel = (pin ~/ 10);
-    var shift = (pin % 10) * 3;
-    var function = mode == Mode.input ? 0 : 1;
-    var offset = _gpioFunctionSelectBase + (fsel << 2);
-    var value = _mem.getUint32(offset);
-    value = (value & ~(0x07 << shift)) | function << shift;
-    _mem.setUint32(offset, value);
-  }
-
-  Mode getMode(int pin) {
-    _checkPinRange(pin);
-    // GPIO function select registers each have 3 bits for 10 pins.
-    var fsel = (pin ~/ 10);
-    var shift = (pin % 10) * 3;
-    var offset = _gpioFunctionSelectBase + (fsel << 2);
-    var function = (_mem.getUint32(offset) >> shift) & 0x07;
-    return _functionToMode[function];
-  }
-
-  void setPin(int pin, bool value) {
-    _checkPinRange(pin);
-    // GPIO output set and output clear registers each have 1 bits for 32 pins.
-    int register = pin ~/ 32;
-    int shift = pin % 32;
-    if (value) {
-      _mem.setUint32(_gpioOutputSetBase + (register << 2), 1 << shift);
-    } else {
-      _mem.setUint32(_gpioOutputClearBase + (register << 2), 1 << shift);
-    }
-  }
-
-  bool getPin(int pin) {
-    _checkPinRange(pin);
-    // GPIO pin level registers each have 1 bits for 32 pins.
-    int register = pin ~/ 32;
-    int shift = pin % 32;
-    return
-        (_mem.getUint32(_gpioPinLevelBase + (register << 2)) & 1 << shift) != 0;
-  }
-
-  /// Set the floating/pull-up/pull-down state of [pin].
-  ///
-  /// Use `0` for floating, `1` for pull down and `2` for pull-up.
-  void setPullUpDown(int pin, PullUpDown pullUpDown) {
-    _checkPinRange(pin);
-    int register = pin ~/ 32;
-    int shift = pin % 32;
-    // First set the value in the update register.
-    _mem.setUint32(_gpioPullUpPullDown, pullUpDown.index);
-    sleep(1);  // Datasheet says: "Wait for 150 cycles".
-    // Then set the clock bit.
-    _mem.setUint32(_gpioPullUpPullDownClockBase + (register << 2), 1 << shift);
-    sleep(1);  // Datasheet says: "Wait for 150 cycles".
-    // Clear value and clock bit.
-    _mem.setUint32(_gpioPullUpPullDown, 0);
-    _mem.setUint32(_gpioPullUpPullDownClockBase + (register << 2), 0);
-  }
-}
-
 /// Interrupt triggers.
 enum Trigger {
   none,
   rising,
   falling,
   both,
 }
 
 /// Provide GPIO access using the Sysfs Interface for Userspace.
 ///
@@ skipping 25 matching lines @@
 /// gpio.exportPin(17);
 /// gpio.setMode(17, Mode.input);
 /// gpio.setTrigger(17, Trigger.both);
 /// bool value = gpio.getPin(17)
 /// gpio.setPin(4, value);
 /// while (true) {
 ///   var value = gpio.waitFor(17, !value, -1);
 ///   gpio.setPin(4, value);
 /// }
 /// ```
-class SysfsGPIO extends _GPIOBase implements GPIO {
+class SysfsGPIO extends GPIOBase {
   // For documentation on the GPIO Sysfs Interface for Userspace see
   // https://www.kernel.org/doc/Documentation/gpio/sysfs.txt.
   static const String _basePath = '/sys/class/gpio/';
 
   // Cached constants.
   ByteBuffer _zero;
   ByteBuffer _one;
   ByteBuffer _in;
   ByteBuffer _out;
   ByteBuffer _none;
   ByteBuffer _rising;
   ByteBuffer _falling;
   ByteBuffer _both;
 
   // Open value files for all tracked pins. Indexed by pin number.
   List<File> _tracked;
 
   /// Create a GPIO controller using the GPIO Sysfs Interface.
-  SysfsGPIO([int maxPins = 54]): super(maxPins) {
+  SysfsGPIO([int pins = GPIO.defaultPins]): super(pins) {

[sigurdm, 2015/10/05 07:22:18]

How come this changed from 54 to 50? Was the other value wrong?

[Søren Gjesse, 2015/10/05 07:43:39]

The value 50 is a pretty arbitrary default. 54 is the number of pins on RPi, and
that moved to the RPi specific part.

     // Byte buffers for string constants.
     var data;
     data = new Uint8List(1);
     data.setRange(0, 1, '0'.codeUnits);
     _zero = data.buffer;
     data = new Uint8List(1);
     data.setRange(0, 1, '1'.codeUnits);
     _one = data.buffer;
     data = new Uint8List(2);
     data.setRange(0, 2, 'in'.codeUnits);
     _in = data.buffer;
     data = new Uint8List(3);
     data.setRange(0, 3, 'out'.codeUnits);
     _out = data.buffer;
     data = new Uint8List(4);
     data.setRange(0, 4, 'none'.codeUnits);
     _none = data.buffer;
     data = new Uint8List(6);
     data.setRange(0, 6, 'rising'.codeUnits);
     _rising = data.buffer;
     data = new Uint8List(7);
     data.setRange(0, 7, 'falling'.codeUnits);
     _falling = data.buffer;
     data = new Uint8List(4);
     data.setRange(0, 4, 'both'.codeUnits);
     _both = data.buffer;
 
     // Find the exported pins by just running through all trying to open
     // the value file.
-    _tracked = new List<File>(_maxPins);
-    for (int pin = 0; pin < _maxPins; pin++) {
+    _tracked = new List<File>(pins);
+    for (int pin = 0; pin < pins; pin++) {
       _track(pin);
     }
   }
 
   void _track(int pin) {
     _untrack(pin);
     var f;
     try {
       // Open the value file for this pin.
       f = new File.open('${_basePath}gpio${pin}/value', mode: File.WRITE);
     } catch (e) {
       // Ignore pins which cannot be opened.
       return;
     }
     _tracked[pin] = f;
   }
 
   void _untrack(pin) {
     if (_tracked[pin] != null) {
       _tracked[pin].close();
       _tracked[pin] = null;
     }
   }
 
   void _checkTracked(int pin) {
-    _checkPinRange(pin);
+    checkPinRange(pin);
     if (!isTracked(pin)) throw 'Pin $pin is not tracked';
   }
 
   /// Returns a list with the pins currently tracked.
   List tracked() {
     var result = [];
-    for (int pin = 0; pin < _maxPins; pin++) {
+    for (int pin = 0; pin < pins; pin++) {
       if (_tracked[pin] != null) result.add(pin);
     }
     return result;
   }
 
   /// Checks if [pin] is tracked.
   bool isTracked(int pin) {
     return _tracked[pin] != null;
   }
 
@@ skipping 107 matching lines @@
     var f = new File.open('${_basePath}${exportOrUnexport}',
                           mode: File.WRITE_ONLY);
     var value = '$pin'.codeUnits;
     var bytes = new Uint8List(value.length);
     bytes.setRange(0, value.length, value);
     f.write(bytes.buffer);
     f.close();
   }
 
   void exportPin(int pin) {
-    _checkPinRange(pin);
+    checkPinRange(pin);
     // If already exported do nothing.
     if (isTracked(pin)) return;
     _exportUnexport(true, pin);
     _track(pin);  // This is now tracked.
   }
 
   void unexportPin(int pin) {
-    _checkPinRange(pin);
+    checkPinRange(pin);
     // If not exported do nothing.
     if (!isTracked(pin)) return;
     _exportUnexport(false, pin);
     _untrack(pin);  // This is no longer tracked.
   }
 }
 
 /// Exceptions thrown by GPIO.
 class GPIOException implements Exception {
   /// Exception message.
   final String message;
   /// OS error number if any.
   final int errno;
   const GPIOException(this.message, [this.errno]);
   String toString() {
     if (errno == null) return message;
     return '$message (error ${errno})';
   }
 }