Add libadafruit-bbio with C++ wrappers for PWM/GPIO

Author: cocasema

.gitignore

@@ -32,3 +32,24 @@ nosetests.xml
 # Annoying MacOSX files.
 .DS_Store
 ._.DS_Store
+
+# autotools
+Makefile.in
+aclocal.m4
+autom4te.cache/
+compile
+configure
+config.guess
+config.h.in
+config.sub
+depcomp
+install-sh
+ltmain.sh
+m4/libtool.m4
+m4/ltoptions.m4
+m4/ltsugar.m4
+m4/ltversion.m4
+m4/lt~obsolete.m4
+missing
+source/Makefile.in
+

Makefile

@@ -7,7 +7,7 @@ time:
 publish: clean
 	python setup.py sdist upload
 
-clean:
+clean: cpp-clean
 	rm -rf Adafruit_BBIO.* build dist
 	rm -f *.pyo
 	rm -f *.egg
@@ -34,8 +34,56 @@ build3:
 install3: build3
 	python3 setup.py install --force
 
+################################################################################
+# c++ library
+#
+# sudo apt-get install automake
+# make cpp
+# cd build && sudo make install
+################################################################################
+configure: configure.ac
+	rm -f configure && \
+	autoreconf --install -I m4
+
+build/Makefile: configure
+	mkdir -p build && \
+	cd build && \
+	../configure
+
+cpp: build/Makefile
+	cd build && \
+	$(MAKE)
+
+cpp-install: cpp
+	cd build && \
+	$(MAKE) install
+
+cpp-clean:
+	rm -rf \
+	  Makefile.in \
+	  aclocal.m4 \
+	  autom4te.cache/ \
+	  compile \
+	  configure \
+	  config.guess \
+	  config.h.in \
+	  config.sub \
+	  depcomp \
+	  install-sh \
+	  ltmain.sh \
+	  m4/libtool.m4 \
+	  m4/ltoptions.m4 \
+	  m4/ltsugar.m4 \
+	  m4/ltversion.m4 \
+	  m4/lt~obsolete.m4 \
+	  missing \
+	  source/Makefile.in
+
+################################################################################
+
 .PHONY: all clean
 .PHONY: tests
 .PHONY: build  install
 .PHONY: build2 install2
 .PHONY: build3 install3
+.PHONY: cpp cpp-install cpp-clean

Makefile.am

@@ -0,0 +1,2 @@
+ACLOCAL_AMFLAGS = -I m4
+SUBDIRS = source

configure.ac

@@ -0,0 +1,20 @@
+AC_INIT([Adafruit BeagleBone IO Library],
+        [1.0.0],
+        [support@adafruit.com],
+        [adafruit-bbio])
+
+AC_PREREQ([2.59])
+#AC_CONFIG_SRCDIR([./LICENSE])
+AC_CONFIG_MACRO_DIR([m4])
+AC_CONFIG_HEADERS([config.h])
+AC_CONFIG_FILES([Makefile source/Makefile])
+
+AM_INIT_AUTOMAKE([1.9 dist-bzip2 dist-zip foreign subdir-objects])
+
+AC_PROG_CC
+AC_PROG_CXX
+AC_LANG([C])
+AC_LANG([C++])
+AC_PROG_LIBTOOL
+
+AC_OUTPUT

m4/.gitkeep

@@ -0,0 +1,65 @@
+################################################################################
+# Copyright (c) 2017 Adafruit
+# Copyright (c) 2017 Nikolay Semenov
+################################################################################
+
+lib_LTLIBRARIES =
+noinst_PROGRAMS =
+
+################################################################################
+# Global flags
+################################################################################
+AM_CPPFLAGS =
+
+AM_CPPFLAGS += \
+	-DNDEBUG \
+	-g -O2 \
+	-fstack-protector-strong \
+	-fPIC
+
+AM_CPPFLAGS += \
+	-Wall \
+	-Wextra \
+	-Werror
+
+AM_CPPFLAGS += \
+	-DNO_PYTHON
+
+AM_CPPFLAGS += \
+	-I$(srcdir)/include/
+
+AM_CXXFLAGS = \
+	-std=c++11
+
+################################################################################
+# AdafruitBBIO library
+################################################################################
+lib_LTLIBRARIES += libadafruit-bbio.la
+
+libadafruit_bbio_la_SOURCES = \
+	c_adc.c \
+	c_pinmux.c \
+	c_pwm.c \
+	c_uart.c \
+	common.c \
+	event_gpio.c \
+	library/bbio.cpp \
+	library/gpio.cpp \
+	library/pwm.cpp
+
+libadafruit_bbio_la_LDFLAGS = $(AM_LDFLAGS) -shared
+
+################################################################################
+# Examples
+################################################################################
+noinst_PROGRAMS += examples/cpp/pwm
+
+examples_cpp_pwm_SOURCES = examples/cpp/pwm.cpp
+examples_cpp_pwm_LDADD = libadafruit-bbio.la
+examples_cpp_pwm_LDFLAGS = $(AM_LDFLAGS) -lpthread -static
+
+noinst_PROGRAMS += examples/cpp/gpio
+
+examples_cpp_gpio_SOURCES = examples/cpp/gpio.cpp
+examples_cpp_gpio_LDADD = libadafruit-bbio.la
+examples_cpp_gpio_LDFLAGS = $(AM_LDFLAGS) -lpthread -static

source/Makefile.am

@@ -30,12 +30,19 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 */
 
-#include "Python.h"
+#ifndef NO_PYTHON
+#  include "Python.h"
+#endif // !NO_PYTHON
+
 #include <dirent.h>
+#include <errno.h>
+#include <glob.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
 #include <syslog.h>
 #include <time.h>
-#include <string.h>
-#include <glob.h>
+
 #include "common.h"
 
 #include <linux/version.h>
@@ -165,7 +172,7 @@ pins_t table[] = {
   { "DGND", "P9_44", 0, -1, -1},
   { "DGND", "P9_45", 0, -1, -1},
   { "DGND", "P9_46", 0, -1, -1},
-    { NULL, NULL, 0 }
+  { NULL, NULL, 0, 0, 0 }
 };
 
 typedef struct uart_t { 
@@ -182,7 +189,7 @@ uart_t uart_table[] = {
   { "UART3", "/dev/ttyO3", "ADAFRUIT-UART3", "P9_42", ""},
   { "UART4", "/dev/ttyO4", "ADAFRUIT-UART4", "P9_11", "P9_13"},
   { "UART5", "/dev/ttyO5", "ADAFRUIT-UART5", "P8_38", "P8_37"},
-  { NULL, NULL, 0 }
+  { NULL, NULL, 0, 0, 0 }
 };
 
 // Copied from https://github.com/jadonk/bonescript/blob/master/src/bone.js
@@ -453,7 +460,9 @@ BBIO_err load_device_tree(const char *name)
 
     file = fopen(slots, "r+");
     if (!file) {
+#ifndef NO_PYTHON
         PyErr_SetFromErrnoWithFilename(PyExc_IOError, slots);
+#endif // !NO_PYTHON
         return BBIO_CAPE;
     }
 
@@ -494,7 +503,9 @@ int device_tree_loaded(const char *name)
 
     file = fopen(slots, "r+");
     if (!file) {
+#ifndef NO_PYTHON
         PyErr_SetFromErrnoWithFilename(PyExc_IOError, slots);
+#endif // !NO_PYTHON
         return -1;
     }
 
@@ -528,7 +539,9 @@ BBIO_err unload_device_tree(const char *name)
     snprintf(slots, sizeof(slots), "%s/slots", ctrl_dir);
     file = fopen(slots, "r+");
     if (!file) {
+#ifndef NO_PYTHON
         PyErr_SetFromErrnoWithFilename(PyExc_IOError, slots);
+#endif // !NO_PYTHON
         return BBIO_SYSFS;
     }
 

source/common.c

@@ -34,6 +34,9 @@ SOFTWARE.
 #include <stddef.h>
 
 #include "adafruit/bbio/error.h"
+#ifdef __cplusplus
+using adafruit::bbio::BBIO_err;
+#endif
 
 #define MODE_UNKNOWN -1
 #define BOARD        10
@@ -58,17 +61,17 @@ typedef struct pwm_t {
   const char *key;  // Pin name eg P9_21
 } pwm_t;
 
-int gpio_mode;
-int gpio_direction[120];
+extern int gpio_mode;
+extern int gpio_direction[120];
 
 #ifdef BBBVERSION41
-    char ctrl_dir[43];
-    char ocp_dir[33];
+  extern char ctrl_dir[43];
+  extern char ocp_dir[33];
 #else
-    char ctrl_dir[35];
-    char ocp_dir[25];
+  extern char ctrl_dir[35];
+  extern char ocp_dir[25];
 #endif
- 
+
 BBIO_err get_gpio_number(const char *key, unsigned int *gpio);
 BBIO_err get_pwm_key(const char *input, char *key);
 BBIO_err get_adc_ain(const char *key, int *ain);
@@ -83,7 +86,7 @@ BBIO_err get_pwm_by_key(const char *key, pwm_t **pwm);
 #define BBIO_LOG_OPTION LOG_CONS | LOG_PID | LOG_NDELAY
 void initlog(int level, const char* ident, int option);
 
-int setup_error;
-int module_setup;
+extern int setup_error;
+extern int module_setup;
 
 #endif

source/common.h

@@ -0,0 +1,44 @@
+/*
+Copyright (c) 2017 Adafruit
+Copyright (c) 2017 Nikolay Semenov
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#include "adafruit/bbio.h"
+
+#include <chrono>
+#include <thread>
+
+int main(int /*argc*/, char** /*argv*/)
+{
+    using adafruit::bbio::lib_options;
+    using adafruit::bbio::Gpio;
+
+    adafruit::bbio::init(lib_options(LOG_DEBUG, nullptr, LOG_PERROR));
+
+    Gpio gpio("P8_10", Gpio::Direction::Output);
+
+    for (int i = 0; i < 100; ++i) {
+        gpio.set_value((i % 2 == 1) ? Gpio::Value::High : Gpio::Value::Low);
+        std::this_thread::sleep_for(std::chrono::seconds(1));
+    }
+
+    return 0;
+}

source/examples/cpp/gpio.cpp

@@ -0,0 +1,44 @@
+/*
+Copyright (c) 2017 Adafruit
+Copyright (c) 2017 Nikolay Semenov
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#include "adafruit/bbio.h"
+
+#include <chrono>
+#include <thread>
+
+int main(int /*argc*/, char** /*argv*/)
+{
+    using adafruit::bbio::Pwm;
+
+    adafruit::bbio::init({LOG_DEBUG, nullptr, LOG_PERROR});
+
+    Pwm pwm("P8_19");
+    pwm.start(0., 1e9 / (1 * 1000 * 1000), Pwm::Polarity::Normal);
+
+    for (int i = 0; i < 1000; ++i) {
+        pwm.set_duty_cycle(i / 10.0);
+        std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    }
+
+    return 0;
+}