java: Added version information & checks to ensure Java version matches Native version

Signed-off-by: Stefan Andritoiu <stefan.andritoiu@intel.com>
Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>

.travis.yml

@@ -1,10 +1,12 @@
 language: cpp
 env:
-  - CC=gcc CXX=gcc
-  - CC=clang CXX=clang++
+  - NODE010=true
+  - NODE012=true
   - NODE4=true
   - NODE5=true
-  - NODE012=true
+compiler:
+  - clang
+  - gcc
 install:
   - if [ "${NODE4}" ]; then export CC=gcc-4.8 CXX=g++-4.8; fi
   - sudo add-apt-repository --yes ppa:kalakris/cmake
@@ -14,19 +16,19 @@ install:
   - sudo ln -s /usr/bin/swig3.0 /usr/bin/swig
   - sudo update-java-alternatives -s java-8-oracle
 before_script:
-  - export NODE_ROOT_DIR="/home/travis/.nvm/v0.10.36/include"
-  - if [ "$CC" = "gcc" ]; then export BUILDJAVA=ON; else export BUILDJAVA=OFF; fi
-  - export JAVA_HOME=/usr/lib/jvm/java-8-oracle
-  - if [ "${NODE4}" ]; then nvm install 4.1; export CC=gcc-4.8; export CXX=g++-4.8; export NODE_ROOT_DIR="/home/travis/.nvm/versions/node/`nvm version`/include"; fi
-  - if [ "${NODE5}" ]; then nvm install 5; export CC=gcc-4.8; export CXX=g++-4.8; export NODE_ROOT_DIR="/home/travis/.nvm/versions/node/`nvm version`/include"; fi
-  - if [ "${NODE012}" ]; then nvm install 0.12; export NODE_ROOT_DIR="/home/travis/.nvm/versions/node/`nvm version`/include"; fi
+  # Turn off JAVA SWIG for clang++, use 4.8 for all g++ builds
+  - if [ "$CC" == "gcc" ]; then export BUILDJAVA=ON; export CC=gcc-4.8; export CXX=g++-4.8; else export BUILDJAVA=OFF; fi
+  - if [ "${NODE012}" ]; then nvm install 0.12; fi
+  - if [ "${NODE4}" ]; then nvm install 4.1; fi
+  - if [ "${NODE5}" ]; then nvm install 5; fi
+  # Handle 0.10 NODE_ROOT_DIR differently than other versions
+  - if [ -z ${NODE010} ]; then export NODE_ROOT_DIR="/home/travis/.nvm/versions/node/`nvm version`"; else export NODE_ROOT_DIR=/home/travis/.nvm/v0.10.36; fi
 script:
-  - mkdir build && cd build && cmake -DBUILDSWIGJAVA=$BUILDJAVA -DNODE_ROOT_DIR:PATH="${NODE_ROOT_DIR}" .. && make && make test
+  - echo "CC=$CC BUILDJAVA=$BUILDJAVA NODE010=$NODE010 NODE012=$NODE012 NODE4=$NODE4 NODE5=$NODE5 NODE_ROOT_DIR=$NODE_ROOT_DIR"
+  - mkdir build && cd build && cmake -DBUILDSWIGJAVA=$BUILDJAVA -DNODE_ROOT_DIR:PATH="${NODE_ROOT_DIR}" -DCMAKE_INSTALL_PREFIX:PATH=../install .. && make install && make test
 addons:
   apt:
     sources:
-      - llvm-toolchain-precise-3.6
       - ubuntu-toolchain-r-test
     packages:
-      - clang-3.6
       - g++-4.8

Android.mk

@@ -36,7 +36,8 @@ LOCAL_SRC_FILES := \
     src/x86/intel_nuc5.c \
     src/x86/intel_sofia_3gr.c \
     src/x86/intel_minnow_byt_compatible.c \
-    src/x86/intel_cherryhills.c
+    src/x86/intel_cherryhills.c \
+    src/x86/up.c
 
 # glob.c pulled in from NetBSD project (BSD 3-clause License)
 LOCAL_SRC_FILES += \

CMakeLists.txt

@@ -5,11 +5,17 @@ FIND_PACKAGE (Threads REQUIRED)
 
 set (CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Wall -fno-omit-frame-pointer ")
 set (CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Wall ")
-set (LIB_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}" CACHE PATH "Installation path for libraries")
 
-# Set CMAKE_LIB_INSTALL_DIR if not defined
+# Set CMAKE_INSTALL_LIBDIR if not defined
 include(GNUInstallDirs)
 
+# Older cmake might not pick CMAKE_INSTALL_LIBDIR right
+if (CMAKE_INSTALL_LIBDIR)
+  set (LIB_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}" CACHE PATH "Installation path for libraries")
+else ()
+  set (LIB_INSTALL_DIR "lib" CACHE PATH "Installation path for libraries")
+endif ()
+
 # By default, build shared object libraries on linux
 if (UNIX AND NOT APPLE)
   if (NOT DEFINED BUILD_SHARED_LIBS)
@@ -25,11 +31,11 @@ include (GetGitRevisionDescription)
 git_describe (VERSION "--tags")
 if ("x_${VERSION}" STREQUAL "x_GIT-NOTFOUND" OR "x_${VERSION}" STREQUAL "x_HEAD-HASH-NOTFOUND" OR "x_${VERSION}" STREQUAL "x_-128-NOTFOUND")
   message (WARNING " - Install git to compile a production libmraa!")
-  set (VERSION "v0.9.4-dirty")
+  set (VERSION "v1.0.0-dirty")
 endif ()
 
-message (INFO " - libmraa Version ${VERSION}")
-message (INFO " - cmake Version ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION}")
+message (STATUS "INFO - libmraa Version ${VERSION}")
+message (STATUS "INFO - cmake Version ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION}")
 
 #parse the version information into pieces.
 string (REGEX REPLACE "^v([0-9]+)\\..*" "\\1" VERSION_MAJOR "${VERSION}")
@@ -63,10 +69,12 @@ option (BUILDSWIGPYTHON "Build swig python modules." ON)
 option (BUILDSWIGNODE "Build swig node modules." ON)
 option (BUILDSWIGJAVA "Build Java API." OFF)
 option (USBPLAT "Detection USB platform." OFF)
+option (FIRMATA "Add Firmata support to mraa." OFF)
+option (ONEWIRE "Add Onewire support to mraa." ON)
+option (IMRAA "Add Imraa support to mraa." OFF)
 option (FTDI4222 "Build with FTDI FT4222 subplatform support." OFF)
 option (IPK "Generate IPK using CPack" OFF)
 option (RPM "Generate RPM using CPack" OFF)
-option (BUILDPYTHON3 "Use python3 for building/installing/testing" OFF)
 option (ENABLEEXAMPLES "Disable building of examples" ON)
 option (INSTALLGPIOTOOL "Install gpio tool" OFF)
 option (INSTALLTOOLS "Install all tools" OFF)
@@ -84,10 +92,10 @@ endif()
 if (NOT BUILDARCH)
   include (TargetArch)
   target_architecture (DETECTED_ARCH)
-  message( INFO " - Target arch is ${DETECTED_ARCH}")
+  message (STATUS "INFO - Target arch is ${DETECTED_ARCH}")
 else ()
   set (DETECTED_ARCH ${BUILDARCH})
-  message( INFO " - Override arch is ${DETECTED_ARCH}")
+  message (STATUS "INFO - Override arch is ${DETECTED_ARCH}")
 endif()
 
 if (DETECTED_ARCH STREQUAL "i586" OR DETECTED_ARCH STREQUAL "x86_64"
@@ -96,16 +104,11 @@ if (DETECTED_ARCH STREQUAL "i586" OR DETECTED_ARCH STREQUAL "x86_64"
 elseif (DETECTED_ARCH MATCHES "arm.*")
   set (ARMPLAT ON)
 else ()
-  message(FATAL_ERROR "Only x86 and arm platforms currently supported")
+  message (FATAL_ERROR "Only x86 and arm platforms currently supported")
 endif()
 
 if (BUILDSWIGPYTHON OR BUILDTESTS)
-  if (BUILDPYTHON3)
-    set (PYTHONBUILD_VERSION 3)
-  else ()
-    set (PYTHONBUILD_VERSION 2.7)
-  endif ()
-  find_package (PythonInterp ${PYTHONBUILD_VERSION} REQUIRED)
+  include (cmake/modules/OpenCVDetectPython.cmake)
 endif ()
 
 if (BUILDDOC)
@@ -137,9 +140,9 @@ if (IPK)
       set (TARGET_ARCH ${DETECTED_ARCH})
     endif ()
   endif ()
-  message (INFO " - Package arch is ${TARGET_ARCH}")
+  message (STATUS "INFO - Package arch is ${TARGET_ARCH}")
 
-  set(CPACK_GENERATOR "DEB" "TGZ")
+  set(CPACK_GENERATOR "DEB")
   set(OPKG_ARCH ${TARGET_ARCH})
   set(CPACK_BINARY_DIR ${CMAKE_BINARY_DIR})
   set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Intel IoT-Devkit") #required
@@ -161,7 +164,7 @@ if (IPK)
 endif()
 
 if (RPM)
-  message (INFO " - Enabled RPM packaging for ${DETECTED_ARCH}")
+  message (STATUS "INFO - Enabled RPM packaging for ${DETECTED_ARCH}")
   set(CMAKE_INSTALL_PREFIX "/usr")
   set(CPACK_PACKAGE_VERSION ${VERSION})
   set(CPACK_GENERATOR "RPM")
@@ -189,9 +192,11 @@ if (ENABLEEXAMPLES)
   add_subdirectory (examples)
 endif ()
 
-if (BUILDTESTS)
-  if (${PYTHONINTERP_FOUND})
-    enable_testing ()
-    add_subdirectory (tests)
-  endif ()
+if (IMRAA)
+  add_subdirectory (imraa)
+endif ()
+
+if (BUILDTESTS AND PYTHON_DEFAULT_EXECUTABLE)
+  enable_testing ()
+  add_subdirectory (tests)
 endif ()

README.md

@@ -1,10 +1,13 @@
+<p align="center">
+  <img src="http://iotdk.intel.com/misc/logos/mraa.png" height="150px" width="auto" algt="Mraa Logo"/>
+</p>
 libmraa - Low Level Skeleton Library for Communication on GNU/Linux platforms
 ==============
 
-Libmraa is a C/C++ library with bindings to javascript & python to interface
-with the IO on Galileo, Edison & other platforms, with a structured and sane
-API where port names/numbering matches the board that you are on. Use of
-libmraa does not tie you to specific hardware with board detection done at
+Libmraa is a C/C++ library with bindings to Java, Python and JavaScript to
+interface with the IO on Galileo, Edison & other platforms, with a structured
+and sane API where port names/numbering matches the board that you are on. Use
+of libmraa does not tie you to specific hardware with board detection done at
 runtime you can create portable code that will work across the supported
 platforms.
 
@@ -23,6 +26,7 @@ X86
 * [Intel DE3815](../master/docs/intel_de3815.md)
 * [Minnowboard Max](../master/docs/minnow_max.md)
 * [NUC 5th generation](../master/docs/intel_nuc5.md)
+* [UP](../master/docs/up.md)
 
 ARM
 ---
@@ -42,7 +46,7 @@ based yocto poky image that supports opkg. Adding this repository is as simple
 as and you'll have the latest stable tagged build of mraa installed!
 
 ``` bash
-echo "src mraa-upm http://iotdk.intel.com/repos/2.0/intelgalactic" > /etc/opkg/mraa-upm.conf
+echo "src mraa-upm http://iotdk.intel.com/repos/3.0/intelgalactic/opkg/i586" > /etc/opkg/mraa-upm.conf
 opkg update
 opkg install mraa
 ```
@@ -51,7 +55,7 @@ If you would like to get the latest & greatest builds from master HEAD you can
 use our -dev repository
 
 ```bash
-echo "src mraa-upm http://iotdk.intel.com/repos/2.0/intelgalactic-dev" > /etc/opkg/mraa-upm.conf
+echo "src mraa-upm http://iotdk.intel.com/repos/3.0/intelgalactic-dev/opkg/i586" > /etc/opkg/mraa-upm.conf
 opkg update
 opkg install mraa
 ```
@@ -93,7 +97,7 @@ API Documentation
 Contact Us
 ==========
 
-To ask questions eithe file issues in github or send emails on our [mailing
+To ask questions either file issues in github or send emails on our [mailing
 list](https://lists.01.org/mailman/listinfo/mraa). You might also catch us on
 the mraa channel on freenode IRC.
 

api/mraa.h

@@ -33,6 +33,7 @@ extern "C" {
 #include "mraa/spi.h"
 #include "mraa/i2c.h"
 #include "mraa/uart.h"
+#include "mraa/uart_ow.h"
 
 #ifdef __cplusplus
 }

api/mraa/aio.h

@@ -59,19 +59,20 @@ typedef struct _aio* mraa_aio_context;
 mraa_aio_context mraa_aio_init(unsigned int pin);
 
 /**
- * Read the input voltage. By default mraa will shift
- * the raw value up or down to a 10 bit value.
+ * Read the input voltage. By default mraa will shift the raw value up or down
+ * to a 10 bit value.
  *
  * @param dev The AIO context
- * @returns The current input voltage.
+ * @returns The current input voltage or -1 for error
  */
-unsigned int mraa_aio_read(mraa_aio_context dev);
+int mraa_aio_read(mraa_aio_context dev);
 
 /**
  * Read the input voltage and return it as a normalized float (0.0f-1.0f).
  *
  * @param dev The AIO context
- * @returns The current input voltage as a normalized float (0.0f-1.0f)
+ * @returns The current input voltage as a normalized float (0.0f-1.0f), error
+ * will be signaled by -1.0f
  */
 float mraa_aio_read_float(mraa_aio_context dev);
 

api/mraa/aio.hpp

@@ -47,13 +47,26 @@ class Aio
      *
      * @param pin channel number to read ADC inputs
      */
-    Aio(unsigned int pin)
+    Aio(int pin)
     {
         m_aio = mraa_aio_init(pin);
         if (m_aio == NULL) {
             throw std::invalid_argument("Invalid AIO pin specified - do you have an ADC?");
         }
     }
+    /**
+     * Aio Constructor, takes a pointer to the AIO context and initialises
+     * the AIO class
+     *
+     * @param void * to an AIO context
+     */
+    Aio(void* aio_context)
+    {
+        m_aio = (mraa_aio_context) aio_context;
+        if (m_aio == NULL) {
+            throw std::invalid_argument("Invalid AIO context");
+        }
+    }
     /**
      * Aio destructor
      */
@@ -65,22 +78,32 @@ class Aio
      * Read a value from the AIO pin. By default mraa will shift
      * the raw value up or down to a 10 bit value.
      *
+     * @throws std::invalid_argument in case of error
      * @returns The current input voltage. By default, a 10bit value
      */
-    int
+    unsigned int
     read()
     {
-        return mraa_aio_read(m_aio);
+        int x = mraa_aio_read(m_aio);
+	if (x == -1) {
+            throw std::invalid_argument("Unknown error in Aio::read()");
+        }
+        return (unsigned int) x;
     }
     /**
      * Read a value from the AIO pin and return it as a normalized float.
      *
+     * @throws std::invalid_argument in case of error
      * @returns The current input voltage as a normalized float (0.0f-1.0f)
      */
     float
     readFloat()
     {
-        return mraa_aio_read_float(m_aio);
+        float x = mraa_aio_read_float(m_aio);
+	if (x == -1.0f) {
+            throw std::invalid_argument("Unknown error in Aio::readFloat()");
+        }
+        return x;
     }
     /**
      * Set the bit value which mraa will shift the raw reading

api/mraa/common.h

@@ -64,9 +64,7 @@ typedef unsigned int mraa_boolean_t;
  *
  * Detects running platform and attempts to use included pinmap, this is run on
  * module/library init/load but is handy to rerun to check board initialised
- * correctly. MRAA_SUCCESS inidicates correct (first time) initialisation
- * whilst MRAA_ERROR_PLATFORM_ALREADY_INITIALISED indicates the board is
- * already initialised correctly
+ * correctly. MRAA_SUCCESS inidicates correct initialisation.
  *
  * @return Result of operation
  */
@@ -161,7 +159,7 @@ const char* mraa_get_platform_version(int platform_offset);
  * @param priority Value from typically 0 to 99
  * @return The priority value set
  */
-int mraa_set_priority(const unsigned int priority);
+int mraa_set_priority(const int priority);
 
 /** Get the version string of mraa autogenerated from git tag
  *
@@ -216,7 +214,7 @@ int mraa_get_i2c_bus_count();
  * @param i2c_bus the logical I2C bus number
  * @return I2C adapter number in sysfs. Function will return -1 on failure
  */
-int mraa_get_i2c_bus_id(unsigned int i2c_bus);
+int mraa_get_i2c_bus_id(int i2c_bus);
 
 /**
  * Get specified platform pincount, board must be initialised.
@@ -276,7 +274,37 @@ int mraa_get_sub_platform_id(int pin_or_bus_index);
  */
 int mraa_get_sub_platform_index(int pin_or_bus_id);
 
+/**
+ * Add mraa subplatform
+ *
+ * @param subplatform type
+ * @param uart device subplatform is on
+ *
+ * @return mraa_result_t indicating success
+ */
+mraa_result_t mraa_add_subplatform(mraa_platform_t subplatformtype, const char* uart_dev);
 
+/**
+ * Remove a mraa subplatform
+ *
+ * @param subplatform type
+ *
+ * @return mraa_result indicating success
+ */
+mraa_result_t mraa_remove_subplatform(mraa_platform_t subplatformtype);
+
+/**
+ * Create IO using a description in the format:
+ * [io]-[pin]
+ * [io]-[raw]-[pin]
+ * [io]-[raw]-[id]-[pin]
+ * [io]-[raw]-[path]
+ *
+ * @param IO description
+ *
+ * @return void* to IO context or NULL
+ */
+void* mraa_init_io(const char* desc);
 
 #ifdef __cplusplus
 }

api/mraa/common.hpp

@@ -46,9 +46,7 @@ namespace mraa
  *
  * Detects running platform and attempts to use included pinmap, this is run on
  * module/library init/load but is handy to rerun to check board initialised
- * correctly. MRAA_SUCCESS inidicates correct (first time) initialisation
- * whilst MRAA_ERROR_PLATFORM_ALREADY_INITIALISED indicates the board is
- * already initialised correctly
+ * correctly. mraa::SUCCESS inidicates correct initialisation.
  *
  * @return Result of operation
  */
@@ -80,7 +78,7 @@ getVersion()
  * @return The priority value set
  */
 inline int
-setPriority(const unsigned int priority)
+setPriority(const int priority)
 {
     return mraa_set_priority(priority);
 }
@@ -197,7 +195,7 @@ getI2cBusCount()
  * @return I2C adapter number in sysfs. Function will return -1 on failure
  */
 inline int
-getI2cBusId(unsigned int i2c_bus)
+getI2cBusId(int i2c_bus)
 {
     return mraa_get_i2c_bus_id(i2c_bus);
 }
@@ -260,7 +258,7 @@ isSubPlatformId(int pin_or_bus_id)
  *
  * @return int sub platform pin or bus number
  */
-inline int 
+inline int
 getSubPlatformId(int pin_or_bus_index)
 {
     return mraa_get_sub_platform_id(pin_or_bus_index);
@@ -290,4 +288,43 @@ getDefaultI2cBus(int platform_offset=MRAA_MAIN_PLATFORM_OFFSET)
 {
     return mraa_get_default_i2c_bus(platform_offset);
 }
+
+/**
+ * Add mraa subplatform
+ *
+ * @param subplatformtype the type of subplatform to add
+ * (e.g. MRAA_GENERIC_FIRMATA)
+ * @param uart_dev subplatform device string (e.g. "/dev/ttyACM0")
+ * @return Result of operation
+ */
+inline Result
+addSubplatform(Platform subplatformtype, std::string uart_dev)
+{
+    return (Result) mraa_add_subplatform((mraa_platform_t) subplatformtype, uart_dev.c_str());
+}
+
+inline Result
+removeSubplatform(Platform subplatformtype)
+{
+    return (Result) mraa_remove_subplatform((mraa_platform_t) subplatformtype);
+}
+
+/**
+ * Create IO using a description in the format:
+ * [io]-[pin]
+ * [io]-[raw]-[pin]
+ * [io]-[raw]-[id]-[pin]
+ * [io]-[raw]-[path]
+ *
+ * @param IO description
+ *
+ * @return class T initialised using pointer to IO or NULL
+ */
+template <class T>
+inline T*
+initIo(std::string desc)
+{
+    return new T(mraa_init_io(desc.c_str()));
+}
+
 }

api/mraa/firmata.h

@@ -0,0 +1,101 @@
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * 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.
+ */
+
+#pragma once
+
+/**
+ * @file
+ * @brief Firmata IO
+ *
+ * Firmata IO lets you SYSEX messages construct and ask for a callback on a
+ * SYSEX messages. This is meant to provide a way to call custom firmata APIs
+ * especially using the Custom firmata API
+ *
+ * @snippet firmata_curie_imu.c Interesting
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "common.h"
+
+/**
+ * Opaque pointer definition to the internal struct _firmata. This context
+ * refers to one firmata 'extension' letting you write/return SYSEX messages
+ * directly
+ */
+typedef struct _firmata* mraa_firmata_context;
+
+/**
+ * Initialise firmata context on a feature. This feature is what will be
+ * listened on if you request a response callback
+ *
+ * @param firmata feature
+ * @return firmata context or NULL
+ */
+mraa_firmata_context mraa_firmata_init(int feature);
+
+/**
+ * Sends a custom SYSEX message to the firmata board.
+ *
+ * @param dev The Firmata context
+ * @param msg The SYSEX message
+ * @param length The length of the sysex message
+ */
+mraa_result_t mraa_firmata_write_sysex(mraa_firmata_context dev, char* msg, int length);
+
+/**
+ * Set a callback on 'feature'. This function is not thread safe and threads
+ * calling it need to make sure they are the only thread calling this.
+ *
+ * @param dev The Firmata context
+ * @param fptr Function pointer to function to be called when interrupt is
+ * triggered, the returned buffer and length are the arguments.
+ * @return Result of operation
+ */
+mraa_result_t mraa_firmata_response(mraa_firmata_context dev, void (*fptr)(uint8_t*, int));
+
+/**
+ * Stop getting events on feature. This is more efficient than mraa_firmata_close
+ * as it can be re-enabled without adding a feature
+ *
+ * @param dev The Firmata context
+ * @return Result of operation
+ */
+mraa_result_t mraa_firmata_response_stop(mraa_firmata_context dev);
+
+/**
+ * Free all firmata handle resources, this will leave an element in an array
+ * internally that will be skipped, avoid closing many firmata contexts often
+ * as there is a cost to doing this
+ *
+ * @param dev The Firmata context
+ * @return Result of operation
+ */
+mraa_result_t mraa_firmata_close(mraa_firmata_context dev);
+
+#ifdef __cplusplus
+}
+#endif

api/mraa/gpio.h

@@ -40,21 +40,17 @@
 extern "C" {
 #endif
 
-#ifdef SWIGPYTHON
-#include <Python.h>
-#endif
+#include <stdio.h>
+#include <pthread.h>
+#include "common.h"
 
 #if defined(SWIGJAVA) || defined(JAVACALLBACK)
 #include <jni.h>
-extern JavaVM *globVM;
-extern void mraa_java_isr_callback(void *);
+extern "C" {
+    void mraa_java_isr_callback(void *args);
+}
 #endif
 
-#include <stdio.h>
-#include <pthread.h>
-
-#include "common.h"
-
 /**
  * Opaque pointer definition to the internal struct _gpio
  */
@@ -81,13 +77,13 @@ typedef enum {
 } mraa_gpio_dir_t;
 
 /**
- * Gpio Edge types for interupts
+ * Gpio Edge types for interrupts
  */
 typedef enum {
     MRAA_GPIO_EDGE_NONE = 0,   /**< No interrupt on Gpio */
-    MRAA_GPIO_EDGE_BOTH = 1,   /**< Interupt on rising & falling */
-    MRAA_GPIO_EDGE_RISING = 2, /**< Interupt on rising only */
-    MRAA_GPIO_EDGE_FALLING = 3 /**< Interupt on falling only */
+    MRAA_GPIO_EDGE_BOTH = 1,   /**< Interrupt on rising & falling */
+    MRAA_GPIO_EDGE_RISING = 2, /**< Interrupt on rising only */
+    MRAA_GPIO_EDGE_FALLING = 3 /**< Interrupt on falling only */
 } mraa_gpio_edge_t;
 
 /**
@@ -116,11 +112,11 @@ mraa_gpio_context mraa_gpio_init_raw(int gpiopin);
 mraa_result_t mraa_gpio_edge_mode(mraa_gpio_context dev, mraa_gpio_edge_t mode);
 
 /**
- * Set an interupt on pin
+ * Set an interrupt on pin
  *
  * @param dev The Gpio context
  * @param edge The edge mode to set the gpio into
- * @param fptr Function pointer to function to be called when interupt is
+ * @param fptr Function pointer to function to be called when interrupt is
  * triggered
  * @param args Arguments passed to the interrupt handler (fptr)
  * @return Result of operation
@@ -128,7 +124,7 @@ mraa_result_t mraa_gpio_edge_mode(mraa_gpio_context dev, mraa_gpio_edge_t mode);
 mraa_result_t mraa_gpio_isr(mraa_gpio_context dev, mraa_gpio_edge_t edge, void (*fptr)(void*), void* args);
 
 /**
- * Stop the current interupt watcher on this Gpio, and set the Gpio edge mode
+ * Stop the current interrupt watcher on this Gpio, and set the Gpio edge mode
  * to MRAA_GPIO_EDGE_NONE
  *
  * @param dev The Gpio context

api/mraa/gpio.hpp

@@ -44,9 +44,9 @@ namespace mraa
  */
 typedef enum {
     MODE_STRONG = 0,   /**< Default. Strong High and Low */
-    MODE_PULLUP = 1,   /**< Interupt on rising & falling */
-    MODE_PULLDOWN = 2, /**< Interupt on rising only */
-    MODE_HIZ = 3       /**< Interupt on falling only */
+    MODE_PULLUP = 1,   /**< Resistive High */
+    MODE_PULLDOWN = 2, /**< Resistive Low */
+    MODE_HIZ = 3       /**< High Z State */
 } Mode;
 
 /**
@@ -60,13 +60,13 @@ typedef enum {
 } Dir;
 
 /**
- * Gpio Edge types for interupts
+ * Gpio Edge types for interrupts
  */
 typedef enum {
     EDGE_NONE = 0,   /**< No interrupt on Gpio */
-    EDGE_BOTH = 1,   /**< Interupt on rising & falling */
-    EDGE_RISING = 2, /**< Interupt on rising only */
-    EDGE_FALLING = 3 /**< Interupt on falling only */
+    EDGE_BOTH = 1,   /**< Interrupt on rising & falling */
+    EDGE_RISING = 2, /**< Interrupt on rising only */
+    EDGE_FALLING = 3 /**< Interrupt on falling only */
 } Edge;
 
 /**
@@ -80,7 +80,7 @@ class Gpio
 {
   public:
     /**
-     * Instanciates a Gpio object
+     * Instantiates a Gpio object
      *
      * @param pin pin number to use
      * @param owner (optional) Set pin owner, default behaviour is to 'own'
@@ -107,6 +107,19 @@ class Gpio
             mraa_gpio_owner(m_gpio, 0);
         }
     }
+    /**
+     * Gpio Constructor, takes a pointer to the GPIO context and initialises
+     * the GPIO class
+     *
+     * @param void * to GPIO context
+     */
+    Gpio(void* gpio_context)
+    {
+        m_gpio = (mraa_gpio_context) gpio_context;
+        if (m_gpio == NULL) {
+            throw std::invalid_argument("Invalid GPIO context");
+        }
+    }
     /**
      * Gpio object destructor, this will only unexport the gpio if we where
      * the owner
@@ -136,6 +149,9 @@ class Gpio
     static void
     v8isr(uv_work_t* req, int status)
     {
+#if NODE_MODULE_VERSION >= 0x000D
+        v8::HandleScope scope(v8::Isolate::GetCurrent());
+#endif
         mraa::Gpio* This = (mraa::Gpio*) req->data;
         int argc = 1;
         v8::Local<v8::Value> argv[] = { SWIGV8_INTEGER_NEW(-1) };
@@ -183,7 +199,7 @@ class Gpio
      * Sets a callback to be called when pin value changes
      *
      * @param mode The edge mode to set
-     * @param fptr Function pointer to function to be called when interupt is
+     * @param fptr Function pointer to function to be called when interrupt is
      * triggered
      * @param args Arguments passed to the interrupt handler (fptr)
      * @return Result of operation
@@ -195,7 +211,7 @@ class Gpio
     }
 
     /**
-     * Exits callback - this call will not kill the isr thread immediatly
+     * Exits callback - this call will not kill the isr thread immediately
      * but only when it is out of it's critical section
      *
      * @return Result of operation

api/mraa/i2c.h

@@ -78,42 +78,40 @@ mraa_i2c_context mraa_i2c_init_raw(unsigned int bus);
 mraa_result_t mraa_i2c_frequency(mraa_i2c_context dev, mraa_i2c_mode_t mode);
 
 /**
- * Simple bulk read from an i2c context, this will always begin with the i2c
- * offset 0x0
+ * Simple bulk read from an i2c context
  *
  * @param dev The i2c context
  * @param data pointer to the byte array to read data in to
  * @param length max number of bytes to read
- * @return length of the read in bytes or 0
+ * @return length of the read in bytes or -1
  */
 int mraa_i2c_read(mraa_i2c_context dev, uint8_t* data, int length);
 
 /**
- * Simple read for a single byte from the i2c context, this will always begin
- * with the i2c offset 0x0
+ * Simple read for a single byte from the i2c context
  *
  * @param dev The i2c context
- * @return The result of the read and 0 if failed
+ * @return The result of the read or -1 if failed
  */
-uint8_t mraa_i2c_read_byte(mraa_i2c_context dev);
+int mraa_i2c_read_byte(mraa_i2c_context dev);
 
 /**
  * Read a single byte from i2c context, from designated register
  *
  * @param dev The i2c context
  * @param command The register
- * @return The result of the read and 0 if failed
+ * @return The result of the read or -1 if failed
  */
-uint8_t mraa_i2c_read_byte_data(mraa_i2c_context dev, const uint8_t command);
+int mraa_i2c_read_byte_data(mraa_i2c_context dev, const uint8_t command);
 
 /**
  * Read a single word from i2c context, from designated register
  *
  * @param dev The i2c context
  * @param command The register
- * @return The result of the read and 0 if failed
+ * @return The result of the read or -1 if failed
  */
-uint16_t mraa_i2c_read_word_data(mraa_i2c_context dev, const uint8_t command);
+int mraa_i2c_read_word_data(mraa_i2c_context dev, const uint8_t command);
 
 /**
  * Bulk read from i2c context, starting from designated register
@@ -138,7 +136,7 @@ int mraa_i2c_read_bytes_data(mraa_i2c_context dev, uint8_t command, uint8_t* dat
 mraa_result_t mraa_i2c_write(mraa_i2c_context dev, const uint8_t* data, int length);
 
 /**
- * Write a single byte to an i2c context, always at offset 0x0
+ * Write a single byte to an i2c context
  *
  * @param dev The i2c context
  * @param data The byte to write
@@ -167,12 +165,10 @@ mraa_result_t mraa_i2c_write_byte_data(mraa_i2c_context dev, const uint8_t data,
 mraa_result_t mraa_i2c_write_word_data(mraa_i2c_context dev, const uint16_t data, const uint8_t command);
 
 /**
- * Sets the i2c context address.
+ * Sets the i2c slave address.
  *
  * @param dev The i2c context
- * @param address The address to set for the slave (ignoring the least
- *   signifcant bit). If set to 0, the slave will only respond to the
- *   general call address.
+ * @param address The address to set for the slave (7-bit address)
  * @return Result of operation
  */
 mraa_result_t mraa_i2c_address(mraa_i2c_context dev, uint8_t address);

api/mraa/i2c.hpp

@@ -62,6 +62,18 @@ class I2c
             throw std::invalid_argument("Invalid i2c bus");
         }
     }
+    /**
+     * I2C constructor, takes a pointer to a I2C context and initialises the I2C class
+     *
+     * @param void * to an I2C context
+     */
+    I2c(void* i2c_context)
+    {
+        m_i2c = (mraa_i2c_context) i2c_context;
+        if (m_i2c == NULL) {
+            throw std::invalid_argument("Invalid I2C context");
+        }
+    }
 
     /**
      * Closes the I2c Bus used. This does not guarrantee the bus will not
@@ -103,12 +115,17 @@ class I2c
     /**
      * Read exactly one byte from the bus
      *
+     * @throws std::invalid_argument in case of error
      * @return char read from the bus
      */
     uint8_t
     readByte()
     {
-        return (uint8_t) mraa_i2c_read_byte(m_i2c);
+        int x = mraa_i2c_read_byte(m_i2c);
+        if (x == -1) {
+            throw std::invalid_argument("Unknown error in I2c::readByte()");
+        }
+        return (uint8_t) x;
     }
 
     /**
@@ -128,24 +145,36 @@ class I2c
      * Read byte from an i2c register
      *
      * @param reg Register to read from
+     *
+     * @throws std::invalid_argument in case of error
      * @return char read from register
      */
     uint8_t
     readReg(uint8_t reg)
     {
-        return mraa_i2c_read_byte_data(m_i2c, reg);
+        int x = mraa_i2c_read_byte_data(m_i2c, reg);
+        if (x == -1) {
+            throw std::invalid_argument("Unknown error in I2c::readReg()");
+        }
+        return (uint8_t) x;
     }
 
     /**
      * Read word from an i2c register
      *
      * @param reg Register to read from
+     *
+     * @throws std::invalid_argument in case of error
      * @return char read from register
      */
     uint16_t
     readWordReg(uint8_t reg)
     {
-        return mraa_i2c_read_word_data(m_i2c, reg);
+        int x = mraa_i2c_read_word_data(m_i2c, reg);
+	if (x == -1) {
+            throw std::invalid_argument("Unknown error in I2c::readReg()");
+        }
+        return (uint16_t) x;
     }
 
     /**

api/mraa/pwm.h

@@ -65,7 +65,7 @@ mraa_pwm_context mraa_pwm_init(int pin);
 mraa_pwm_context mraa_pwm_init_raw(int chipid, int pin);
 
 /**
- * Set the ouput duty-cycle percentage, as a float
+ * Set the output duty-cycle percentage, as a float
  *
  * @param dev The Pwm context to use
  * @param percentage A floating-point value representing percentage of output.
@@ -76,7 +76,7 @@ mraa_pwm_context mraa_pwm_init_raw(int chipid, int pin);
 mraa_result_t mraa_pwm_write(mraa_pwm_context dev, float percentage);
 
 /**
- * Read the ouput duty-cycle percentage, as a float
+ * Read the output duty-cycle percentage, as a float
  *
  * @param dev The Pwm context to use
  * @return percentage A floating-point value representing percentage of output.
@@ -166,39 +166,21 @@ mraa_result_t mraa_pwm_owner(mraa_pwm_context dev, mraa_boolean_t owner);
  */
 mraa_result_t mraa_pwm_close(mraa_pwm_context dev);
 
-/**
- * Set Both Period and DutyCycle on a PWM context
- *
- * @param dev The pwm context to use
- * @param period represented in ms.
- * @param duty dutycycle of the pwm signal.
- * @return Result of operation
- */
-mraa_result_t mraa_pwm_config_ms(mraa_pwm_context dev, int period, float duty);
-
-/**
- * Set Both Period and DutyCycle on a PWM context. Duty represented as percentage.
- *
- * @param dev The pwm context to use
- * @param period represented in ms.
- * @param duty duty percantage. i.e. 50% = 0.5f
- * @return Result of operation
- */
-mraa_result_t mraa_pwm_config_percent(mraa_pwm_context dev, int period, float duty);
-
 /**
  * Get the maximum pwm period in us
  *
+ * @param dev The pwm context to use
  * @return max pwm in us
  */
-int mraa_pwm_get_max_period();
+int mraa_pwm_get_max_period(mraa_pwm_context dev);
 
 /**
  * Get the minimum pwm period in us
  *
+ * @param dev The pwm context to use
  * @return min pwm in us
  */
-int mraa_pwm_get_min_period();
+int mraa_pwm_get_min_period(mraa_pwm_context dev);
 
 #ifdef __cplusplus
 }

api/mraa/pwm.hpp

@@ -46,9 +46,9 @@ class Pwm
      *
      * @param pin the pin number used on your board
      * @param owner if you are the owner of the pin the destructor will
-     * @param chipid the pwmchip to use, use only in raw mode
      * unexport the pin from sysfs, default behaviour is you are the owner
      * if the pinmapper exported it
+     * @param chipid the pwmchip to use, use only in raw mode
      */
     Pwm(int pin, bool owner = true, int chipid = -1)
     {
@@ -66,6 +66,20 @@ class Pwm
             mraa_pwm_owner(m_pwm, 0);
         }
     }
+
+    /**
+     * Pwm constructor, takes a pointer to the PWM context and
+     * initialises the class
+     *
+     * @param void * to a PWM context
+     */
+    Pwm(void* pwm_context)
+    {
+        m_pwm = (mraa_pwm_context) pwm_context;
+        if (m_pwm == NULL) {
+            throw std::invalid_argument("Invalid PWM context");
+        }
+    }
     /**
      * Pwm destructor
      */
@@ -77,7 +91,7 @@ class Pwm
      * Set the output duty-cycle percentage, as a float
      *
      * @param percentage A floating-point value representing percentage of
-     * output. The value should lie between 0.0f (representing on 0%) and
+     * output. The value should lie between 0.0f (representing 0%) and
      * 1.0f Values above or below this range will be set at either 0.0f or
      * 1.0f
      * @return Result of operation
@@ -88,10 +102,10 @@ class Pwm
         return (Result) mraa_pwm_write(m_pwm, percentage);
     }
     /**
-     * Read the ouput duty-cycle percentage, as a float
+     * Read the output duty-cycle percentage, as a float
      *
      * @return A floating-point value representing percentage of
-     * output. The value should lie between 0.0f (representing on 0%) and
+     * output. The value should lie between 0.0f (representing 0%) and
      * 1.0f Values above or below this range will be set at either 0.0f or
      * 1.0f
      */
@@ -134,7 +148,7 @@ class Pwm
         return (Result) mraa_pwm_period_us(m_pwm, us);
     }
     /**
-     * Set pulsewidth, As represnted by seconds in a (float)
+     * Set pulsewidth, as represented by seconds in a float
      *
      * @param seconds The duration of a pulse
      * @return Result of operation
@@ -176,54 +190,27 @@ class Pwm
     Result
     enable(bool enable)
     {
-        if (enable)
-            return (Result) mraa_pwm_enable(m_pwm, 1);
-        else
-            return (Result) mraa_pwm_enable(m_pwm, 0);
+        return (Result) mraa_pwm_enable(m_pwm, enable);
     }
     /**
-     * Set the period and duty of a PWM object.
+     * Get the maximum PWM period in us
      *
-     * @param period represented in ms.
-     * @param duty represnted in ms as float.
-     * @return Result of operation
-     */
-    Result
-    config_ms(int period, float duty)
-    {
-        return (Result) mraa_pwm_config_ms(m_pwm, period, duty);
-    }
-    /**
-     * Set the period and duty (percent) of a PWM object.
-     *
-     * @param period as represented in ms.
-     * @param duty percentage i.e. 50% = 0.5f
-     * @return Result of operation
-     */
-    Result
-    config_percent(int period, float duty)
-    {
-        return (Result) mraa_pwm_config_percent(m_pwm, period, duty);
-    }
-    /**
-     * Get the maximum pwm period in us
-     *
-     * @return max pwm in us
+     * @return max PWM period in us
      */
     int
     max_period()
     {
-        return mraa_pwm_get_max_period();
+        return mraa_pwm_get_max_period(m_pwm);
     }
     /**
-     * Get the minimum pwm period in us
+     * Get the minimum PWM period in us
      *
-     * @return min pwm in us
+     * @return min PWM period in us
      */
     int
     min_period()
     {
-        return mraa_pwm_get_min_period();
+        return mraa_pwm_get_min_period(m_pwm);
     }
 
   private:

api/mraa/spi.h

@@ -111,13 +111,13 @@ mraa_result_t mraa_spi_frequency(mraa_spi_context dev, int hz);
 int mraa_spi_write(mraa_spi_context dev, uint8_t data);
 
 /**
- *Write Two Bytes to the SPI device.
+ * Write Two Bytes to the SPI device.
  *
  * @param dev The Spi context
  * @param data Data to send
  * @return Data received on the miso line
  */
-uint16_t mraa_spi_write_word(mraa_spi_context dev, uint16_t data);
+int mraa_spi_write_word(mraa_spi_context dev, uint16_t data);
 
 /**
  * Write Buffer of bytes to the SPI device. The pointer return has to be

api/mraa/spi.hpp

@@ -79,6 +79,20 @@ class Spi
         }
     }
 
+    /**
+     * Spi Constructor, takes a pointer to a SPI context and initialises
+     * the SPI class
+     *
+     * @param void * to SPI context
+     */
+    Spi(void* spi_context)
+    {
+        m_spi = (mraa_spi_context) spi_context;
+        if (m_spi == NULL) {
+            throw std::invalid_argument("Invalid SPI context");
+        }
+    }
+
     /**
      * Closes spi bus
      */
@@ -127,10 +141,10 @@ class Spi
      * Write single byte to the SPI device
      *
      * @param data the byte to send
-     * @return data received on the miso line
+     * @return data received on the miso line or -1 in case of error
      */
-    uint16_t
-    write_word(uint16_t data)
+    int
+    writeWord(uint16_t data)
     {
         return mraa_spi_write_word(m_spi, (uint16_t) data);
     }
@@ -161,7 +175,7 @@ class Spi
      * @return uint8_t* data received on the miso line. Same length as passed in
      */
     uint16_t*
-    write_word(uint16_t* txBuf, int length)
+    writeWord(uint16_t* txBuf, int length)
     {
         return mraa_spi_write_buf_word(m_spi, txBuf, length);
     }

api/mraa/types.h

@@ -49,10 +49,14 @@ typedef enum {
     MRAA_96BOARDS = 9,            /**< Linaro 96boards */
     MRAA_INTEL_SOFIA_3GR = 10,      /**< The Intel SoFIA 3GR */
     MRAA_INTEL_CHERRYHILLS = 11,     /**< The Intel Braswell Cherryhills */
+    MRAA_UP = 12,                    /**< The UP Board */
 
     // USB platform extenders start at 256
     MRAA_FTDI_FT4222 = 256,         /**< FTDI FT4222 USB to i2c bridge */
 
+    // contains bit 9 so is subplatform
+    MRAA_GENERIC_FIRMATA = 1280,    /**< Firmata uart platform/bridge */
+
     MRAA_NULL_PLATFORM = 98,        /**< Platform with no capabilities that hosts a sub platform  */
     MRAA_UNKNOWN_PLATFORM =
     99 /**< An unknown platform type, typically will load INTEL_GALILEO_GEN1 */
@@ -202,7 +206,9 @@ typedef enum {
     MRAA_ERROR_NO_DATA_AVAILABLE = 9,             /**< No data available */
     MRAA_ERROR_INVALID_PLATFORM = 10,             /**< Platform not recognised */
     MRAA_ERROR_PLATFORM_NOT_INITIALISED = 11,     /**< Board information not initialised */
-    MRAA_ERROR_PLATFORM_ALREADY_INITIALISED = 12, /**< Board is already initialised */
+    MRAA_ERROR_UART_OW_SHORTED = 12,              /**< UART OW Short Circuit Detected*/
+    MRAA_ERROR_UART_OW_NO_DEVICES = 13,           /**< UART OW No devices detected */
+    MRAA_ERROR_UART_OW_DATA_ERROR = 14,           /**< UART OW Data/Bus error detected */
 
     MRAA_ERROR_UNSPECIFIED = 99 /**< Unknown Error */
 } mraa_result_t;
@@ -238,8 +244,6 @@ typedef enum {
 	MRAA_UART_PARITY_SPACE = 4
 } mraa_uart_parity_t;
 
-
-
 #ifdef __cplusplus
 }
 #endif

api/mraa/types.hpp

@@ -46,7 +46,16 @@ typedef enum {
     RASPBERRY_PI = 5,          /**< The different Raspberry PI Models -like  A,B,A+,B+ */
     BEAGLEBONE = 6,            /**< The different BeagleBone Black Modes B/C */
     BANANA = 7,                /**< Allwinner A20 based Banana Pi and Banana Pro */
+    INTEL_NUC5 = 8,            /**< The Intel 5th generations Broadwell NUCs */
+    A96BOARDS = 9,             /**< Linaro 96boards, A prefix for 'ARM' since not allowed numerical */
+    INTEL_SOFIA_3GR = 10,      /**< The Intel SoFIA 3GR */
+    INTEL_CHERRYHILLS = 11,    /**< The Intel Braswell Cherryhills */
 
+    FTDI_FT4222 = 256,         /**< FTDI FT4222 USB to i2c bridge */
+
+    GENERIC_FIRMATA = 1280,    /**< Firmata uart platform/bridge */
+
+    NULL_PLATFORM = 98,
     UNKNOWN_PLATFORM =
     99 /**< An unknown platform type, typically will load INTEL_GALILEO_GEN1 */
 } Platform;
@@ -195,7 +204,9 @@ typedef enum {
     ERROR_NO_DATA_AVAILABLE = 9,             /**< No data available */
     ERROR_INVALID_PLATFORM = 10,             /**< Platform not recognised */
     ERROR_PLATFORM_NOT_INITIALISED = 11,     /**< Board information not initialised */
-    ERROR_PLATFORM_ALREADY_INITIALISED = 12, /**< Board is already initialised */
+    ERROR_UART_OW_SHORTED = 12,              /**< UART OW Short Circuit Detected*/
+    ERROR_UART_OW_NO_DEVICES = 13,           /**< UART OW No devices detected */
+    ERROR_UART_OW_DATA_ERROR = 14,           /**< UART OW Data/Bus error detected */
 
     ERROR_UNSPECIFIED = 99 /**< Unknown Error */
 } Result;

api/mraa/uart.h

@@ -118,6 +118,15 @@ mraa_result_t mraa_uart_set_flowcontrol(mraa_uart_context dev, mraa_boolean_t xo
  */
 mraa_result_t mraa_uart_set_timeout(mraa_uart_context dev, int read, int write, int interchar);
 
+/**
+ * Set the blocking state for write operations
+ *
+ * @param dev The UART context
+ * @param nonblock new nonblocking state
+ * @return Result of operation
+ */
+mraa_result_t mraa_uart_set_non_blocking(mraa_uart_context dev, mraa_boolean_t nonblock);
+
 /**
  * Get Char pointer with tty device path within Linux
  * For example. Could point to "/dev/ttyS0"

api/mraa/uart.hpp

@@ -75,6 +75,20 @@ class Uart
         }
     }
 
+    /**
+     * Uart Constructor, takes a pointer to the UART context and initialises
+     * the UART class
+     *
+     * @param void * to a UART context
+     */
+    Uart(void* uart_context)
+    {
+        m_uart = (mraa_uart_context) uart_context;
+
+        if (m_uart == NULL) {
+            throw std::invalid_argument("Invalid UART context");
+        }
+    }
     /**
      * Uart destructor
      */
@@ -126,12 +140,17 @@ class Uart
      * Read bytes from the device into a String object
      *
      * @param length to read
+     * @throws std::bad_alloc If there is no space left for read.
      * @return string of data
      */
     std::string
     readStr(int length)
     {
         char* data = (char*) malloc(sizeof(char) * length);
+        if (data == NULL) {
+            throw std::bad_alloc();
+        }
+
         int v = mraa_uart_read(m_uart, data, (size_t) length);
         std::string ret(data, v);
         free(data);
@@ -236,6 +255,19 @@ class Uart
         return (Result) mraa_uart_set_timeout(m_uart, read, write, interchar);
     }
 
+    /**
+     * Set the blocking state for write operations
+     *
+     * @param dev The UART context
+     * @param nonblock new nonblocking state
+     * @return Result of operation
+     */
+    Result
+    SetNonBlocking(bool nonblock)
+    {
+        return (Result) mraa_uart_set_non_blocking(m_uart, nonblock);
+    }
+
   private:
     mraa_uart_context m_uart;
 };

api/mraa/uart_ow.h

@@ -0,0 +1,197 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation
+ *
+ * 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.
+ */
+
+#pragma once
+
+/**
+ * @file
+ * @brief UART OW module
+ *
+ * This module allows one to use MRAA's UART support in order to
+ * interact with Dallas 1-wire compliant devices on a 1-wire bus.  It
+ * makes use of the UART for timing purposes.  The principle of
+ * operation is described here:
+ * https://www.maximintegrated.com/en/app-notes/index.mvp/id/214
+ *
+ * It is important the you use a UART with CMOS/TTL level voltages
+ * (3.3v/5v) RX and TX lines.  DO NOT use standard RS232 level
+ * voltages, or you are going to have a bad day.
+ *
+ * In addition, a diode should be placed across the RX and
+ * TX lines like so:
+ *
+ * -|
+ * U|
+ * A| TX---|<--+
+ * R|          |
+ * T| RX-------o--------o 1-wire data bus
+ * -|
+ *
+ * The diode on TX is a 1N4148 (cheap and common), with the cathode
+ * connected to TX, and the anode connected to RX and the rest of the
+ * 1-wire data line.
+ *
+ * @snippet uart_ow.c Interesting
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdio.h>
+
+#include "common.h"
+#include "uart.h"
+
+/* for now, we simply use the normal MRAA UART context */
+typedef struct _mraa_uart_ow {
+    mraa_uart_context uart;
+    /* search state */
+    unsigned char ROM_NO[8]; /* 8 byte (64b) rom code */
+    int LastDiscrepancy;
+    int LastFamilyDiscrepancy;
+    mraa_boolean_t LastDeviceFlag;
+} *mraa_uart_ow_context;
+
+/* 8 bytes (64 bits) for a device rom code */
+static const int MRAA_UART_OW_ROMCODE_SIZE = 8;
+
+/**
+ * UART One Wire ROM related Command bytes
+ */
+typedef enum {
+    MRAA_UART_OW_CMD_READ_ROM = 0x33,         /**< read rom, when only one device on bus */
+    MRAA_UART_OW_CMD_MATCH_ROM = 0x55,        /**< match a specific rom code */
+    MRAA_UART_OW_CMD_SKIP_ROM = 0xcc,         /**< skip match/search rom */
+    MRAA_UART_OW_CMD_SEARCH_ROM_ALARM = 0xec, /**< search all roms in alarm state */
+    MRAA_UART_OW_CMD_SEARCH_ROM = 0xf0        /**< search all rom codes */
+} mraa_uart_ow_rom_cmd_t;
+
+/**
+ * Initialise uart_ow_context, uses UART board mapping
+ *
+ * @param uart the index of the uart set to use
+ * @return uart_ow context or NULL
+ */
+mraa_uart_ow_context mraa_uart_ow_init(int uart);
+
+/**
+ * Initialise a raw uart_ow_context. No board setup.
+ *
+ * @param path for example "/dev/ttyS0"
+ * @return uart_ow context or NULL
+ */
+mraa_uart_ow_context mraa_uart_ow_init_raw(const char* path);
+
+/**
+ * Get char pointer with tty device path within Linux
+ * For example. Could point to "/dev/ttyS0"
+ *
+ * @param dev uart_ow context
+ * @return char pointer of device path
+ */
+const char* mraa_uart_ow_get_dev_path(mraa_uart_ow_context dev);
+
+/**
+ * Destroy a mraa_uart_ow_context
+ *
+ * @param dev uart_ow context
+ * @return mraa_result_t
+ */
+mraa_result_t mraa_uart_ow_stop(mraa_uart_ow_context dev);
+
+/**
+ * Read a byte from the 1-wire bus
+ *
+ * @param dev uart_ow context
+ * @return the byte read or -1 for error
+ */
+int mraa_uart_ow_read_byte(mraa_uart_ow_context dev);
+
+/**
+ * Write a byte to a 1-wire bus
+ *
+ * @param dev uart_ow context
+ * @param byte the byte to write to the bus
+ * @return the byte read back during the time slot or -1 for error
+ */
+int mraa_uart_ow_write_byte(mraa_uart_ow_context dev, uint8_t byte);
+
+/**
+ * Write a bit to a 1-wire bus and read a bit corresponding to the
+ * time slot back.  This is possible due to the way we wired the TX
+ * and RX together with a diode, forming a loopback.
+ *
+ * @param dev uart_ow context
+ * @param bit the bit to write to the bus
+ * @return the bit read back during the time slot or -1 for error
+ */
+int mraa_uart_ow_bit(mraa_uart_ow_context dev, uint8_t bit);
+
+/**
+ * Send a reset pulse to the 1-wire bus and test for device presence
+ *
+ * @param dev uart_ow context
+ * @return one of the mraa_result_t values
+ */
+mraa_result_t mraa_uart_ow_reset(mraa_uart_ow_context dev);
+
+/**
+ * Begin a rom code search of the 1-wire bus.  This function
+ * implements the 1-wire search algorithm.  See the uart_ow.c example
+ * for an idea on how to use this function to identify all devices
+ * present on the bus.
+ *
+ * @param dev uart_ow context
+ * @param start true to start a new search from scratch, false to
+ * continue an existing search
+ * @param id the 8-byte rom code id of the current matched device when
+ * a device is found
+ * @return one of the mraa_result_t values
+ */
+mraa_result_t mraa_uart_ow_rom_search(mraa_uart_ow_context dev, mraa_boolean_t start, uint8_t* id);
+
+/**
+ * Send a command byte to a device on the 1-wire bus
+ *
+ * @param dev uart_ow context
+ * @param command the command byte to send
+ * @param id the rom code id of the device to receive the command,
+ * NULL for all devices on the bus
+ * @return one of the mraa_result_t values
+ */
+mraa_result_t mraa_uart_ow_command(mraa_uart_ow_context dev, uint8_t command, uint8_t* id);
+
+/**
+ * Perform a Dallas 1-wire compliant CRC8 computation on a buffer
+ *
+ * @param buffer the buffer containing the data
+ * @param length the length of the buffer
+ * @return the computed CRC
+ */
+uint8_t mraa_uart_ow_crc8(uint8_t* buffer, uint16_t length);
+
+#ifdef __cplusplus
+}
+#endif

api/mraa/uart_ow.hpp

@@ -0,0 +1,277 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation
+ *
+ * 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.
+ */
+
+#pragma once
+
+#include "uart_ow.h"
+#include "types.hpp"
+#include <stdexcept>
+#include <cstring>
+
+namespace mraa
+{
+
+/**
+ * @brief API for UART One Wire
+ *
+ * This file defines the UartOW (UART to Dallas 1-wire) interface for libmraa
+ *
+ * @snippet UartOW.cpp Interesting
+ */
+class UartOW
+{
+  public:
+    /**
+     * UartOW Constructor, takes a pin number which will map directly to the
+     * linux uart number, this 'enables' the uart, nothing more
+     *
+     * @throws std::invalid_argument in case of error
+     * @param uart the index of the uart to use
+     */
+    UartOW(int uart)
+    {
+        m_uart = mraa_uart_ow_init(uart);
+
+        if (m_uart == NULL) {
+            throw std::invalid_argument("Error initialising UART_OW");
+        }
+    }
+
+    /**
+     * UartOW Constructor, takes a string to the path of the serial
+     * interface that is needed.
+     *
+     * @throws std::invalid_argument in case of error
+     * @param path the file path for the UART to use
+     */
+    UartOW(std::string path)
+    {
+        m_uart = mraa_uart_ow_init_raw(path.c_str());
+
+        if (m_uart == NULL) {
+            throw std::invalid_argument("Error initialising UART");
+        }
+    }
+
+    /**
+     * Uart destructor
+     */
+    ~UartOW()
+    {
+        mraa_uart_ow_stop(m_uart);
+    }
+
+    /**
+     * Get string with tty device path within Linux
+     * For example. Could point to "/dev/ttyS0"
+     *
+     * @return char pointer of device path
+     */
+    std::string
+    getDevicePath()
+    {
+        std::string ret_val(mraa_uart_ow_get_dev_path(m_uart));
+        return ret_val;
+    }
+
+    /**
+     * Read a byte from the 1-wire bus
+     *
+     * @throws std::invalid_argument in case of error
+     * @return the byte read
+     */
+    uint8_t
+    readByte()
+    {
+        int res = mraa_uart_ow_read_byte(m_uart);
+        if (res == -1) {
+            throw std::invalid_argument("Unknown UART_OW error");
+        }
+        return (uint8_t) res;
+    }
+
+    /**
+     * Write a byte to a 1-wire bus
+     *
+     * @param byte the byte to write to the bus
+     *
+     * @throws std::invalid_argument in case of error
+     * @return the byte read back during the time slot
+     */
+    uint8_t
+    writeByte(uint8_t byte)
+    {
+        int res = mraa_uart_ow_write_byte(m_uart, byte);
+        if (res == -1) {
+            throw std::invalid_argument("Unknown UART_OW error");
+        }
+        return (uint8_t) res;
+    }
+
+    /**
+     * Write a bit to a 1-wire bus and read a bit corresponding to the
+     * time slot back.  This is possible due to the way we wired the TX
+     * and RX together with a diode, forming a loopback.
+     *
+     * @param bit the bit to write to the bus
+     * @throws std::invalid_argument in case of error
+     * @return the bit read back during the time slot
+     */
+    bool
+    writeBit(bool bit)
+    {
+        int res = mraa_uart_ow_bit(m_uart, (bit) ? 1 : 0);
+        if (res == -1) {
+            throw std::invalid_argument("Unknown UART_OW error");
+        }
+        return ((res) ? true : false);
+    }
+
+    /**
+     * Send a reset pulse to the 1-wire bus and test for device presence
+     *
+     * @return one of the mraa::Result values
+     */
+    mraa::Result
+    reset()
+    {
+        return (mraa::Result) mraa_uart_ow_reset(m_uart);
+    }
+
+    /**
+     * Begin a rom code search of the 1-wire bus.  This function
+     * implements the 1-wire search algorithm.  See the uart_ow.c example
+     * for an idea on how to use this function to identify all devices
+     * present on the bus.
+     *
+     * @param start true to start a search from scratch, false to
+     * continue a previously started search
+     * @param id the 8-byte rom code id of the current matched device when a
+     * device is found
+     * @return one of the mraa::Result values
+     */
+    mraa::Result
+    search(bool start, uint8_t* id)
+    {
+        return (mraa::Result) mraa_uart_ow_rom_search(m_uart, (start) ? 1 : 0, id);
+    }
+
+    /**
+     * Begin a rom code search of the 1-wire bus.  This function
+     * implements the 1-wire search algorithm.  See the UartOW.cpp
+     * example for an idea on how to use this function to identify all
+     * devices present on the bus.
+     *
+     * @param start true to start a search from scratch, false to
+     * continue a previously started search
+     * @return an empty string if no [more] devices are found, or a
+     * string containing the 8-byte romcode of a detected device.
+     */
+    std::string
+    search(bool start)
+    {
+        uint8_t id[MRAA_UART_OW_ROMCODE_SIZE];
+        mraa_result_t rv;
+
+        rv = mraa_uart_ow_rom_search(m_uart, (start) ? 1 : 0, id);
+
+        if (rv == MRAA_SUCCESS) {
+            // we found one
+            std::string idStr((char*) id, MRAA_UART_OW_ROMCODE_SIZE);
+            return idStr;
+        } else {
+            // failure, or end of search
+            return "";
+        }
+    }
+
+    /**
+     * Send a command byte to a device on the 1-wire bus
+     *
+     * @param command the command byte to send
+     * @param id the rom code id of the device to receive the command,
+     * NULL for all devices on the bus
+     * @return one of the mraa::Result values
+     */
+    mraa::Result
+    command(uint8_t command, uint8_t* id)
+    {
+        return (mraa::Result) mraa_uart_ow_command(m_uart, command, id);
+    }
+
+    /**
+     * Send a command byte to a device on the 1-wire bus, supplying
+     * the id as a std::string
+     *
+     * @param command the command byte to send
+     * @param id std::string representing the code id of the device to
+     * receive the command, or an empty string for all devices on the
+     * bus.  This string should be 8 bytes in size.
+     * @return one of the mraa::Result values
+     */
+    mraa::Result
+    command(uint8_t command, std::string id)
+    {
+        if (id.empty() == 0)
+            return (mraa::Result) mraa_uart_ow_command(m_uart, command, NULL);
+        else {
+            if (id.size() != 8) {
+                // Only 8 byte romcodes are legal.
+                throw std::invalid_argument(std::string(__FUNCTION__) +
+                                            ": id must be 8 bytes only");
+            }
+            return (mraa::Result) mraa_uart_ow_command(m_uart, command, (uint8_t*) id.c_str());
+        }
+    }
+
+    /**
+     * Perform a Dallas 1-wire compliant CRC8 computation on a buffer
+     *
+     * @param buffer the buffer containing the data
+     * @param length the length of the buffer
+     * @return the computed CRC
+     */
+    uint8_t
+    crc8(uint8_t* buffer, uint16_t length)
+    {
+        return mraa_uart_ow_crc8(buffer, length);
+    }
+
+    /**
+     * Perform a Dallas 1-wire compliant CRC8 computation on a
+     * std::string based buffer
+     *
+     * @param buffer std::string buffer containing the data
+     * @return the computed CRC
+     */
+    uint8_t
+    crc8(std::string buffer)
+    {
+        return mraa_uart_ow_crc8((uint8_t*) buffer.c_str(), buffer.size());
+    }
+
+  private:
+    mraa_uart_ow_context m_uart;
+};
+}

cmake/modules/FindJSON-C.cmake

@@ -0,0 +1,21 @@
+# JSON-C_FOUND - true if library and headers were found
+# JSON-C_INCLUDE_DIRS - include directories
+# JSON-C_LIBRARIES - library directories
+
+find_package (PkgConfig)
+pkg_check_modules (PC_JSON-C QUIET json-c)
+
+find_path (JSON-C_INCLUDE_DIR json.h HINTS ${PC_JSON-C_INCLUDEDIR}
+${PC_JSON-C_INCLUDE_DIRS} PATH_SUFFIXES json-c json)
+
+find_library (JSON-C_LIBRARY NAMES json-c libjson-c HINTS ${PC_JSON-C_LIBDIR}
+${PC_JSON-C_LIBRARY_DIRS})
+
+set (JSON-C_LIBRARIES ${JSON-C_LIBRARY})
+set (JSON-C_INCLUDE_DIRS ${JSON-C_INCLUDE_DIR})
+
+include (FindPackageHandleStandardArgs)
+
+find_package_handle_standard_args (JSON-C DEFAULT_MSG JSON-C_LIBRARY JSON-C_INCLUDE_DIR)
+
+mark_as_advanced (JSON-C_INCLUDE_DIR JSON-C_LIBRARY)

cmake/modules/FindNodejs.cmake

@@ -23,13 +23,13 @@ if (UV_ROOT_DIR)
 endif()
 
 # Now look for node. Flag an error if not found
-find_path (NODE_ROOT_DIR "node/node.h" "src/node.h"
+find_path (NODE_ROOT_DIR "include/node/node.h" "include/src/node.h"
   PATHS /usr/include/nodejs /usr/local/include/nodejs /usr/local/include)
 if (NODE_ROOT_DIR)
-  add_include_dir(${NODE_ROOT_DIR}/src)
-  add_include_dir(${NODE_ROOT_DIR}/node)
-  add_include_dir(${NODE_ROOT_DIR}/deps/v8/include)
-  add_include_dir(${NODE_ROOT_DIR}/deps/uv/include)
+  add_include_dir(${NODE_ROOT_DIR}/include/src)
+  add_include_dir(${NODE_ROOT_DIR}/include/node)
+  add_include_dir(${NODE_ROOT_DIR}/include/deps/v8/include)
+  add_include_dir(${NODE_ROOT_DIR}/include/deps/uv/include)
 else()
   unset(NODEJS_INCLUDE_DIRS)
   message(ERROR " - node.h not found")

cmake/modules/FindUDEV.cmake

@@ -0,0 +1,21 @@
+# UDEV_FOUND - true if library and headers were found
+# UDEV_INCLUDE_DIRS - include directories
+# UDEV_LIBRARIES - library directories
+
+find_package (PkgConfig)
+pkg_check_modules (PC_UDEV QUIET udev)
+
+find_path (UDEV_INCLUDE_DIR libudev.h HINTS ${PC_UDEV_INCLUDEDIR}
+${PC_UDEV_INCLUDE_DIRS} PATH_SUFFIXES udev)
+
+find_library (UDEV_LIBRARY NAMES udev libudev HINTS ${PC_UDEV_LIBDIR}
+${PC_UDEV_LIBRARY_DIRS})
+
+set (UDEV_LIBRARIES ${UDEV_LIBRARY})
+set (UDEV_INCLUDE_DIRS ${UDEV_INCLUDE_DIR})
+
+include (FindPackageHandleStandardArgs)
+
+find_package_handle_standard_args (UDEV DEFAULT_MSG UDEV_LIBRARY UDEV_INCLUDE_DIR)
+
+mark_as_advanced (UDEV_INCLUDE_DIR UDEV_LIBRARY)

cmake/modules/OpenCVDetectPython.cmake

@@ -0,0 +1,158 @@
+# Find specified Python version
+# Arguments:
+#   preferred_version (value): Version to check for first
+#   min_version (value): Minimum supported version
+#   library_env (value): Name of Python library ENV variable to check
+#   include_dir_env (value): Name of Python include directory ENV variable to check
+#   found (variable): Set if interpreter found
+#   executable (variable): Output of executable found
+#   version_string (variable): Output of found version
+#   version_major (variable): Output of found major version
+#   version_minor (variable): Output of found minor version
+#   libs_found (variable): Set if libs found
+#   libs_version_string (variable): Output of found libs version
+#   libraries (variable): Output of found Python libraries
+#   library (variable): Output of found Python library
+#   debug_libraries (variable): Output of found Python debug libraries
+#   debug_library (variable): Output of found Python debug library
+#   include_path (variable): Output of found Python include path
+#   include_dir (variable): Output of found Python include dir
+#   include_dir2 (variable): Output of found Python include dir2
+#   packages_path (variable): Output of found Python packages path
+function(find_python preferred_version min_version library_env include_dir_env
+         found executable version_string version_major version_minor
+         libs_found libs_version_string libraries library debug_libraries
+         debug_library include_path include_dir include_dir2 packages_path)
+if(NOT ${found})
+  if(${executable})
+    set(PYTHON_EXECUTABLE "${${executable}}")
+  endif()
+
+  find_package(PythonInterp "${preferred_version}")
+  if(NOT PYTHONINTERP_FOUND)
+    find_package(PythonInterp "${min_version}")
+  endif()
+
+  if(PYTHONINTERP_FOUND)
+    # Copy outputs
+    set(_found ${PYTHONINTERP_FOUND})
+    set(_executable ${PYTHON_EXECUTABLE})
+    set(_version_string ${PYTHON_VERSION_STRING})
+    set(_version_major ${PYTHON_VERSION_MAJOR})
+    set(_version_minor ${PYTHON_VERSION_MINOR})
+    set(_version_patch ${PYTHON_VERSION_PATCH})
+
+    # Clear find_host_package side effects
+    unset(PYTHONINTERP_FOUND)
+    unset(PYTHON_EXECUTABLE CACHE)
+    unset(PYTHON_VERSION_STRING)
+    unset(PYTHON_VERSION_MAJOR)
+    unset(PYTHON_VERSION_MINOR)
+    unset(PYTHON_VERSION_PATCH)
+  endif()
+
+  if(_found)
+    set(_version_major_minor "${_version_major}.${_version_minor}")
+
+    if(NOT ANDROID AND NOT APPLE_FRAMEWORK)
+      # not using _version_string here, because it might not conform to the CMake version format
+      if(CMAKE_CROSSCOMPILING)
+        # builder version can differ from target, matching base version (e.g. 2.7)
+        find_package(PythonLibs "${_version_major_minor}")
+      else()
+        find_package(PythonLibs "${_version_major_minor}.${_version_patch}" EXACT)
+      endif()
+
+      if(PYTHONLIBS_FOUND)
+        # Copy outputs
+        set(_libs_found ${PYTHONLIBS_FOUND})
+        set(_libraries ${PYTHON_LIBRARIES})
+        set(_include_path ${PYTHON_INCLUDE_PATH})
+        set(_include_dirs ${PYTHON_INCLUDE_DIRS})
+        set(_debug_libraries ${PYTHON_DEBUG_LIBRARIES})
+        set(_libs_version_string ${PYTHONLIBS_VERSION_STRING})
+        set(_debug_library ${PYTHON_DEBUG_LIBRARY})
+        set(_library ${PYTHON_LIBRARY})
+        set(_library_debug ${PYTHON_LIBRARY_DEBUG})
+        set(_library_release ${PYTHON_LIBRARY_RELEASE})
+        set(_include_dir ${PYTHON_INCLUDE_DIR})
+        set(_include_dir2 ${PYTHON_INCLUDE_DIR2})
+
+        # Clear find_package side effects
+        unset(PYTHONLIBS_FOUND)
+        unset(PYTHON_LIBRARIES)
+        unset(PYTHON_INCLUDE_PATH)
+        unset(PYTHON_INCLUDE_DIRS)
+        unset(PYTHON_DEBUG_LIBRARIES)
+        unset(PYTHONLIBS_VERSION_STRING)
+        unset(PYTHON_DEBUG_LIBRARY CACHE)
+        unset(PYTHON_LIBRARY)
+        unset(PYTHON_LIBRARY_DEBUG)
+        unset(PYTHON_LIBRARY_RELEASE)
+        unset(PYTHON_LIBRARY CACHE)
+        unset(PYTHON_LIBRARY_DEBUG CACHE)
+        unset(PYTHON_LIBRARY_RELEASE CACHE)
+        unset(PYTHON_INCLUDE_DIR CACHE)
+        unset(PYTHON_INCLUDE_DIR2 CACHE)
+      endif()
+    endif()
+
+    execute_process(COMMAND ${_executable} -c "from distutils.sysconfig import *; print(get_python_lib())"
+                    RESULT_VARIABLE _cvpy_process
+                    OUTPUT_VARIABLE _std_packages_path
+                    OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if("${_std_packages_path}" MATCHES "site-packages")
+      set(_packages_path "python${_version_major_minor}/site-packages")
+    else() #debian based assumed, install to the dist-packages.
+      set(_packages_path "python${_version_major_minor}/dist-packages")
+    endif()
+      if(EXISTS "${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}/${${packages_path}}")
+        set(_packages_path "lib${LIB_SUFFIX}/${_packages_path}")
+      else()
+        set(_packages_path "lib/${_packages_path}")
+    endif()
+  endif()
+
+  # Export return values
+  set(${found} "${_found}" CACHE INTERNAL "")
+  set(${executable} "${_executable}" CACHE FILEPATH "Path to Python interpretor")
+  set(${version_string} "${_version_string}" CACHE INTERNAL "")
+  set(${version_major} "${_version_major}" CACHE INTERNAL "")
+  set(${version_minor} "${_version_minor}" CACHE INTERNAL "")
+  set(${libs_found} "${_libs_found}" CACHE INTERNAL "")
+  set(${libs_version_string} "${_libs_version_string}" CACHE INTERNAL "")
+  set(${libraries} "${_libraries}" CACHE INTERNAL "Python libraries")
+  set(${library} "${_library}" CACHE FILEPATH "Path to Python library")
+  set(${debug_libraries} "${_debug_libraries}" CACHE INTERNAL "")
+  set(${debug_library} "${_debug_library}" CACHE FILEPATH "Path to Python debug")
+  set(${include_path} "${_include_path}" CACHE INTERNAL "")
+  set(${include_dir} "${_include_dir}" CACHE PATH "Python include dir")
+  set(${include_dir2} "${_include_dir2}" CACHE PATH "Python include dir 2")
+  set(${packages_path} "${_packages_path}" CACHE PATH "Where to install the python packages.")
+endif()
+endfunction(find_python)
+
+find_python(2.7 "${MIN_VER_PYTHON2}" PYTHON2_LIBRARY PYTHON2_INCLUDE_DIR
+    PYTHON2INTERP_FOUND PYTHON2_EXECUTABLE PYTHON2_VERSION_STRING
+    PYTHON2_VERSION_MAJOR PYTHON2_VERSION_MINOR PYTHON2LIBS_FOUND
+    PYTHON2LIBS_VERSION_STRING PYTHON2_LIBRARIES PYTHON2_LIBRARY
+    PYTHON2_DEBUG_LIBRARIES PYTHON2_LIBRARY_DEBUG PYTHON2_INCLUDE_PATH
+    PYTHON2_INCLUDE_DIR PYTHON2_INCLUDE_DIR2 PYTHON2_PACKAGES_PATH)
+
+find_python(3 "${MIN_VER_PYTHON3}" PYTHON3_LIBRARY PYTHON3_INCLUDE_DIR
+    PYTHON3INTERP_FOUND PYTHON3_EXECUTABLE PYTHON3_VERSION_STRING
+    PYTHON3_VERSION_MAJOR PYTHON3_VERSION_MINOR PYTHON3LIBS_FOUND
+    PYTHON3LIBS_VERSION_STRING PYTHON3_LIBRARIES PYTHON3_LIBRARY
+    PYTHON3_DEBUG_LIBRARIES PYTHON3_LIBRARY_DEBUG PYTHON3_INCLUDE_PATH
+    PYTHON3_INCLUDE_DIR PYTHON3_INCLUDE_DIR2 PYTHON3_PACKAGES_PATH)
+
+
+if(PYTHON_DEFAULT_EXECUTABLE)
+    set(PYTHON_DEFAULT_AVAILABLE "TRUE")
+elseif(PYTHON2INTERP_FOUND) # Use Python 2 as default Python interpreter
+    set(PYTHON_DEFAULT_AVAILABLE "TRUE")
+    set(PYTHON_DEFAULT_EXECUTABLE "${PYTHON2_EXECUTABLE}")
+elseif(PYTHON3INTERP_FOUND) # Use Python 2 as fallback Python interpreter (if there is no Python 2)
+    set(PYTHON_DEFAULT_AVAILABLE "TRUE")
+    set(PYTHON_DEFAULT_EXECUTABLE "${PYTHON3_EXECUTABLE}")
+endif()

docs/banana_pi.md

@@ -75,6 +75,8 @@ style numbers.
 
 There is also a second 8-pin connector on the Banana Pi, the pins are as follows:
 
+| MRAA Number | Physical Pin | Function  |
+|-------------|--------------|-----------|
 | 27          | P1-19        | 5V VCC    |
 | 28          | P1-20        | 3V3 VCC   |
 | 29          | P1-21        | GPIO(PH5) |

docs/building.md

@@ -1,10 +1,10 @@
 Building libmraa                         {#building}
 ===============
-
 libmraa uses cmake in order to make compilation relatively painless. CMake runs
 build out of tree so the recommended way is to clone from git and make a `build/`
 directory inside the clone directory.
 
+For building imraa check [building imraa](./imraa.md)
 ## Build dependencies
 Not all these are required but if you're unsure of what you're doing this is
 what you'll need:
@@ -92,10 +92,6 @@ Building doc, this will require [SPHINX](http://sphinx-doc.org) &
 [Doxygen](http://doxygen.org):
  `-DBUILDDOC=ON`
 
-Building with Python 3 (careful you need to clear CMake cache between Python
-version switches!)
- `-DBUILDPYTHON3=ON`
-
 Override build architecture (this is useful because on x86 ARM code is not
 compiled so use this flag to force the target arch)
  `-DBUILDARCH=arm`
@@ -172,7 +168,7 @@ You can get `cpack` to generate an IPK or RPM package fairly easily if you have
 the correct packaging tools
 
 ~~~~~~~~~~~~~{.sh}
-cmake -DIPK=ON -DCMAKE_INSTAL_PREFIX=/usr ..
+cmake -DIPK=ON -DCMAKE_INSTALL_PREFIX=/usr ..
 make package
 ~~~~~~~~~~~~~
 
@@ -180,5 +176,5 @@ To use RPM simply enable the RPM option. You'll need `rpmbuild` installed on you
 build machine.
 
 ~~~~~~~~~~~~~{.sh}
-cmake -DRPM=ON -DCMAKE_INSTAL_PREFIX=/usr ..
+cmake -DRPM=ON -DCMAKE_INSTALL_PREFIX=/usr ..
 ~~~~~~~~~~~~~

docs/changelog.md

@@ -5,13 +5,52 @@ This changelog is meant as a quick & rough guide to what has changed between
 versions. The API is now fairly stable but when new calls/features are added
 they are listed here. Anything pre 0.2.x is ignored.
 
+**1.0.0**
+  * Change API to enhance error checking in C. Changes include:
+    - mraa_aio_read
+    - mraa_i2c_read_byte
+    - mraa_i2c_read
+    - mraa_i2c_read_byte_data
+    - mraa_i2c_read_word_data
+    - mraa_spi_write_word
+    - mraa::Spi:write_word becomes mraa::Spi::writeWord
+  * Remove MRAA_ERROR_PLATFORM_ALREADY_INITIALISED which was deprecated for C89 compatibility
+  * Remove pwm config_* apis as unused
+  * Add mraa_remove_subplatform
+  * Support NPM for android
+  * Fix AIO always returning channel 0 with firmata support
+
+**0.10.1**
+  * Remove imraa from node package
+
+**0.10.0**
+  * Add Firmata support with -DFIRMATA=ON
+  * Add imraa with support for pinmuxing and arduino101 flashing
+  * Add better support for NVM installed node via NODE_ROOT_DIR.
+  * Mraa bindings now link to libmraa.so.x
+  * mraa_init() now returns MRAA_SUCCESS if platform is already initialize
+  * Mraa java bindings now support JNI 1.6+
+  * Added support for a02082 rpi2
+  * Mraa has a logo!
+
+**0.9.6**
+  * ftdi ft4222 now dynamically loaded
+  * FT4222 improved ISR code
+
+**0.9.5**
+  * Add support for the UP board (up-board.org)
+  * Support OpenJDK 7 as well as OpenJDK 8
+  * 96board better pin numbering
+  * node v4 improvements
+  * Support for PCA9555 i2c expander read/write on FT4222
+
 **0.9.4**
   * Fix issue with edison ADC initilisation
   * documentation update
 
 **0.9.3**
   * Intel edison detection much improved
-  * ftdi ft4222 interupt improvement
+  * ftdi ft4222 interrupt improvement
   * small fixes to java lib
 
 **0.9.2**

docs/edison.md

@@ -37,6 +37,10 @@ in libmraa:
   of the Arduino breakout board, this is not supported officially so asking for
   mraa_i2c_init(1) will result in getting i2c bus 6 (the default one). However
   using raw mode (mraa_i2c_init_raw(1)) this bus is fully usable
+- If you want to use /dev/ttyMFD2 you have to use the raw uart mode passing a
+  std::string or char* argument of "/dev/ttyMFD2" to mraa:Uart() or
+  mraa_uart_init_raw. By default there is a getty running on that interface so
+  you will need to disable that first
 
 Because of the way IO is setup with the tristate on the Arduino breakout board
 IO will be flipped as it is setup. It's recommended to setup IO pins &

docs/firmata.md

@@ -0,0 +1,37 @@
+Using Firmata board with mraa      {#firmata}
+=============================
+
+Mraa can use a Firmata board as a subplatform. This means one can access the
+native IO as well as the IO on a firmata compatible board
+
+### Supported Firmata boards ###
+
+- Genuino/Arduino 101 running either CustomFirmata or StandardFirmata
+- Other Arduino boards will likely work but are as of yet unsuported
+
+### Using the subplatform API ###
+
+Using the subplatform API is relatively simple, simply add '512', the platform
+offset to any IO calls. I2c 0 becomes I2c 512+0 etc... The API works from UPM
+or mraa in any of the bindings as long as you compiled mraa with -DFIRMATA=ON.
+Currently -DFIRMATA is not compatible with USBPLAT. Multiple subplatforms are
+not yet supported
+
+### Sending custom SYSSEX messages ###
+
+You can use the firmata API to send custom SYSEX messages.
+
+### CurieImu Plugin ###
+
+Using Customisable firmata we're able to use the onboard IMU to get data. This
+uses the public SYSEX firmata API from mraa and there is a UPM module that
+exposes this capability in a simple way. To use it your board needs to use
+CustomFirmata with the CurieIMU plugin
+
+### Limitations ###
+
+Only one instance of mraa (one process linking to mraa) can communicate to an
+firmata subplatform. This is a limitation due to only having one application
+using the Uart at once. In order to get around this a daemon type methodology
+has to be used. Technically you can mirror the TTY port from firmata but this
+is likely going to cause issues

docs/galileorevd.md

@@ -8,7 +8,7 @@ The rev D board has the following limitations in libmraa:
 
 - gpio 13 will not switch the LED as it's a different Gpio, use raw gpio '3' to do this
 - gpio register access via /dev/uio is limited to pin2 and 3
-- gpio interupts will only work on GPIO_EDGE_BOTH
+- gpio interrupts will only work on GPIO_EDGE_BOTH
 - adc kernel module will return 12bit number. MRAA defaults shift this to 10bits
 - AIO pins are treated as 0-5 in mraa_aio_init() but as 14-19 for everything
   else. Therefore use mraa_gpio_init(14) to use A0 as a Gpio

docs/galileorevh.md

@@ -17,6 +17,16 @@ The Gen 2 board has the following limitations in libmraa:
   accuracy of 10bits.
 - AIO pins are treated as 0-5 in mraa_aio_init() but as 14-19 for everything
   else. Therefore use mraa_gpio_init(14) to use A0 as a Gpio
+- To explicitly use GPIO 10 for SPI and allow the kernel to handle the chip select, set
+  `intel_qrk_plat_galileo_gen2.gpio_cs=1` on the kernel line in the boot config on the
+  galileo, this can be found at `/media/mmcblk0p1/boot/grub/grub.conf`
+- if done correctly it should look similiar to this:
+
+<pre>
+  title Quark X1000 kernel-MassStorage iot-devkit on SD IMR-On IO-APIC/HPET NoEMU debug
+  root (hd0,0)
+  kernel /bzImage root=/dev/mmcblk0p2 <b>intel_qrk_plat_galileo_gen2.gpio_cs=1</b> rootwait console=ttyS1,115200n8 earlycon=uart8250,mmio32,0x8010f000,115200n8 reboot=efi,warm apic=debug rw LABEL=boot debugshell=5
+</pre>
 
 Uart 1 on gen2
 --------------
@@ -26,8 +36,8 @@ possible to use it from A2(Rx)/A3(Tx). However mraa does not support this
 directly so you need to enable the muxing manually. Here is an example of how
 this is done, this was tested using an FTDI 3.3V TTL cable:
 
+```
 $ systemctl stop serial-getty@ttyS1.service
-
 $ python
 >>> # Configure the Muxes for Uart1 on Aio2/3
 >>> import mraa as m
@@ -53,4 +63,4 @@ $ python
 >>> x.writeStr('hello')
 >>> x.read(5)
 bytearray(b'dsds\n')
-
+```

docs/imraa.md

@@ -0,0 +1,63 @@
+# Building mraa with imraa	{#buildingimraa}
+Imraa allows seamless communication between the Arduino101 and your mraa
+projects. Imraa will flash an arduino101 and allow automatic loading of the
+MRAA_GENERIC_FIRMATA subplatform to the first process that calls imraa_init
+(done through mraa_init automatically)
+
+## Build dependencies
+To build imraa, you'll need to build mraa with -DIMRAA=ON and all the normal
+dependencies for build mraa, see [Building mraa](./building.md).
+You'll also need the following:
+* [dfu-utils-cross](https://github.com/arduino/dfu-utils-cross) or dfu 0.8 (0.9
+  does not work well with the 101). Precompiled binaries can be found on
+  [here](https://github.com/01org/intel-arduino-tools)
+* [json-c](https://github.com/json-c/json-c): likely called libjson-c-dev or
+  json-c-devel
+* libudev: likely called libudev-dev or libudev-devel
+
+## Basic build steps
+This will build mraa with imraa for the local default path. To build mraa for
+the system add `-DCMAKE_INSTALL_PREFIX=/usr` to the cmake command before
+running it.
+
+```bash
+mkdir build
+cd build
+cmake -DIMRAA=ON -DFIRMATA=ON ..
+make
+```
+
+After you've built mraa you can install using `make install`.
+
+## Running Imraa
+
+Before being able to use mraa to program the Arduino101 you will need to run
+imraa to flash the sketch file onto the board. The sketch file that imraa will
+look for is located here: [Arduino101 Sketch](http://iotdk.intel.com/misc/ConfigurableFirmataCurieImu.ino.bin).
+Once downloaded the file needs to be renamed and moved to the where mraa was
+installed. This is dependant on whether you installed locally or for the
+system. The example below is for a locally installed copy. Note this sketch is
+using ConfigurableFirmata + the [CurieIMU plugin](https://github.com/intel-iot-devkit/FirmataCurieIMU).
+
+
+```bash
+$ mv ConfigurableFirmataCurieImu.ino.bin firmata101.ino.bin
+$ mv firmata101.ino.bin /usr/local/share/mraa
+```
+
+You will also need to move the imraa config so that imraa can find it.
+```bash
+$ mv mraa/imraa/imraa.conf /etc/
+```
+
+To flash the board run imraa and it will create the lockfile and flash the
+Arduino101. You may need root permissions or to add yourself to the uucp or
+modem group to access the device node (typically /dev/ttyACM0).
+```
+$ imraa
+```
+
+After this is successful you will be able to use mraa like normal, in the
+background mraa will handle talking to the arduino101 by creating
+/tmp/imraa.lock which imraa_init() will parse on startup.
+

docs/index.md

@@ -46,6 +46,7 @@ Specific platform information for supported platforms is documented here:
 - @ref bananapi
 - @ref beaglebone
 - @ref nuc5
+- @ref up
 - @ref ft4222
 
 ## DEBUGGING

docs/up.md

@@ -0,0 +1,84 @@
+UP Board   {#up}
+============
+
+UP Board is based on the Intel(R) Atom(TM) x5-Z83xx SoC (formerly Cherry Trail).
+It includes 2GB RAM, 16/32GB eMMC flash, 6 USB2.0 ports, 1 USB 3.0 OTG port,
+1 Gigabit Ethernet, HDMI and DSI Graphics ports, RTC and a 40-pin I/O header.
+The form-factor for the board is based on the Raspberry Pi 2, and can be used
+with many of the add-on HAT boards designed for the Raspberry Pi 2.
+
+Interface notes
+---------------
+
+**PWM** PWM frequency range is from 293 Hz to 6.4 MHz.  8-bit resolution is
+supported for duty-cycle adjustments, but this reduces for frequencies > 97.6kHz
+
+**I2C** 2 I2C channels support standard-mode (100kHz) and fast-mode (400kHz).
+Bus frequency can be selected in BIOS settings.  Note that, unlike Raspberry Pi,
+the I2C controller issues Repeated-START commands for combined transactions
+(e.g. a write-then-read transaction) which may not be supported by some I2C
+slave devices.  For such devices, it is advisable to use separate write and
+read transactions to ensure that Repeated-STARTs are not issued.
+
+**SPI** Bus frequencies up to 25MHz are supported, in steps which are less
+granular at higher speeds.  E.g. Available speeds include:
+ 25MHz, 12.5MHz, 8.33MHz, 6.25MHz, 5MHz, 4.167MHz, 3.571MHz, 3.125MHz, etc.
+Please be aware that speeds in between those steps will be rounded UP to the
+next nearest available speed, and capped at 25MHz.
+At the time of writing, only a single native chip-select is available (SPI CS0).
+
+**UART** 2 high-speed UARTs are available, supporting baud rates up to
+support baud rates between 300 and 3686400.  Hardware flow-control signals are
+not exposed, so software flow-control may be needed for rates above 115200.
+A console UART is also available but is not fully supported at this time.
+
+Pin Mapping
+-----------
+
+The GPIO numbering in the following pin mapping is based on the Raspberry Pi
+model 2 and B+ numbering scheme.
+
+Note that there is an enum to use wiringPi style numbers.
+
+| MRAA Number | Physical Pin | Function | Sysfs GPIO | Notes                |
+|-------------|--------------|----------|------------|----------------------|
+| 1           | P1-01        | 3V3 VCC  |            |                      |
+| 2           | P1-02        | 5V VCC   |            |                      |
+| 3           | P1-03        | I2C SDA1 |  2         | I2C1 (/dev/i2c-1)    |
+| 4           | P1-04        | 5V VCC   |            |                      |
+| 5           | P1-05        | I2C SCL1 |  3         | I2C1 (/dev/i2c-1)    |
+| 6           | P1-06        | GND      |            |                      |
+| 7           | P1-07        | GPIO(4)  |  4         |                      |
+| 8           | P1-08        | UART TX1 | 14         | UART1 (/dev/ttyS1)   |
+| 9           | P1-09        | GND      |            |                      |
+| 10          | P1-10        | UART RX1 | 15         | UART1 (/dev/ttyS1)   |
+| 11          | P1-11        | GPIO(17) | 17         |                      |
+| 12          | P1-12        | I2S CLK  | 18         | I2S0 (PCM Audio)     |
+| 13          | P1-13        | UART RX2 | 27         | UART2 (/dev/ttyS2)   |
+| 14          | P1-14        | GND      |            |                      |
+| 15          | P1-15        | GPIO(22) | 22         |                      |
+| 16          | P1-16        | GPIO(23) | 23         |                      |
+| 17          | P1-17        | 3V3 VCC  |            |                      |
+| 18          | P1-18        | GPIO(24) | 24         |                      |
+| 19          | P1-19        | SPI MOSI | 10         | SPI2 (/dev/spidev2.x)|
+| 20          | P1-20        | GND      |            |                      |
+| 21          | P1-21        | SPI MISO | 9          | SPI2 (/dev/spidev2.x)|
+| 22          | P1-22        | UART TX2 | 25         | UART2 (/dev/ttyS2)   |
+| 23          | P1-23        | SPI SCL  | 11         | SPI2 (/dev/spidev2.x)|
+| 24          | P1-24        | SPI CS0  | 8          | SPI2 (/dev/spidev2.0)|
+| 25          | P1-25        | GND      |            |                      |
+| 26          | P1-26        | SPI CS1  | 7          | SPI2 (/dev/spidev2.1)|
+| 27          | P1-27        | I2C SDA0 | 0          | I2C0 (/dev/i2c-0)    |
+| 28          | P1-28        | I2C SCL0 | 1          | I2C0 (/dev/i2c-0)    |
+| 29          | P1-29        | GPIO(5)  | 5          |                      |
+| 30          | P1-30        | GND      |            |                      |
+| 31          | P1-31        | GPIO(6)  | 6          |                      |
+| 32          | P1-32        | PWM0     | 12         | PWM Chip 0 Channel 0 |
+| 33          | P1-33        | PWM1     | 13         | PWM Chip 1 Channel 0 |
+| 34          | P1-34        | GND      |            |                      |
+| 35          | P1-35        | I2S FRM  | 19         | I2S0 (PCM Audio)     |
+| 36          | P1-36        | GPIO(16) | 16         |                      |
+| 37          | P1-37        | GPIO(26) | 26         |                      |
+| 38          | P1-38        | I2S DIN  | 20         | I2S0 (PCM Audio)     |
+| 39          | P1-39        | GND      |            |                      |
+| 40          | P1-40        | I2S DOUT | 21         | I2S0 (PCM Audio)     |

examples/CMakeLists.txt

@@ -35,6 +35,18 @@ target_link_libraries (mraa-i2c mraa)
 target_link_libraries (spi_max7219 mraa)
 target_link_libraries (iio_driver mraa)
 
+if (ONEWIRE)
+  add_executable (uart_ow uart_ow.c)
+  target_link_libraries (uart_ow mraa)
+endif ()
+
+if (FIRMATA)
+  add_executable (firmata_curie_imu firmata_curie_imu.c)
+  add_executable (i2c_firmata i2c_firmata.c)
+  target_link_libraries (firmata_curie_imu mraa)
+  target_link_libraries (i2c_firmata mraa)
+endif ()
+
 add_subdirectory (c++)
 
 install (DIRECTORY ${PROJECT_SOURCE_DIR}/examples/ DESTINATION ${CMAKE_INSTALL_DATADIR}/mraa/examples)

examples/c++/CMakeLists.txt

@@ -19,3 +19,8 @@ target_link_libraries (Spi-pot mraa stdc++)
 target_link_libraries (Uart mraa stdc++)
 target_link_libraries (Isr-pin6 mraa stdc++)
 target_link_libraries (Iio-dummy mraa stdc++)
+
+if (ONEWIRE)
+  add_executable (UartOW UartOW.cpp)
+  target_link_libraries (UartOW mraa stdc++)
+endif ()

examples/c++/UartOW.cpp

@@ -0,0 +1,82 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation
+ *
+ * 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 "stdio.h"
+#include "iostream"
+//! [Interesting]
+#include "uart_ow.hpp"
+
+using namespace std;
+
+int
+main(int argc, char** argv)
+{
+    mraa::UartOW* uart = new mraa::UartOW(0);
+
+    // Reset the ow bus and see if anything is present
+    mraa::Result rv;
+
+    if ((rv = uart->reset()) == mraa::SUCCESS) {
+        cout << "Reset succeeded, device(s) detected!" << endl;
+    } else {
+        cout << "Reset failed, returned " << int(rv) << ". No devices on bus?" << endl;
+        return 1;
+    }
+
+    cout << "Looking for devices..." << endl;
+    ;
+
+    uint8_t count = 0;
+    // start the search from scratch
+    string id = uart->search(true);
+
+    if (id.empty()) {
+        cout << "No devices detected." << endl;
+        return 1;
+    }
+
+    while (!id.empty()) {
+        // hack so we don't need to cast each element of the romcode
+        // for printf purposes
+        uint8_t* ptr = (uint8_t*) id.c_str();
+
+        // The first byte (0) is the device type (family) code.
+        // The last byte (7) is the rom code CRC value.  The
+        // intervening bytes are the unique 48 bit device ID.
+
+        printf("Device %02d Type 0x%02x ID %02x%02x%02x%02x%02x%02x CRC 0x%02x\n", count, ptr[0],
+               ptr[6], ptr[5], ptr[4], ptr[3], ptr[2], ptr[1], ptr[7]);
+        count++;
+
+        // continue the search with start argument set to false
+        id = uart->search(false);
+    }
+
+    cout << "Exiting..." << endl;
+
+    delete uart;
+
+    return 0;
+}
+//! [Interesting]

examples/firmata_curie_imu.c

@@ -0,0 +1,92 @@
+/*
+ * Author: Brendan Le Foll
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * 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 <unistd.h>
+
+#include "mraa.h"
+#include "mraa/firmata.h"
+
+#define FIRMATA_START_SYSEX 0xF0
+#define FIRMATA_END_SYSEX 0xF7
+#define FIRMATA_CURIE_IMU 0x11
+#define FIRMATA_CURIE_IMU_READ_ACCEL 0x00
+
+void
+interrupt(uint8_t* buf, int length)
+{
+    printf("reg read returned: %d, with buffer size %d\n", ((buf[6] & 0x7f) | ((buf[7] & 0x7f) << 7)), length);
+}
+
+int
+main()
+{
+    mraa_init();
+    //! [Interesting]
+
+   /**
+    * This example reads from the FirmataCurieIMU plugin
+    */
+
+    mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0");
+    mraa_firmata_context firm = mraa_firmata_init(FIRMATA_CURIE_IMU);
+    if (firm == NULL) {
+        return EXIT_FAILURE;
+    }
+
+    mraa_firmata_response(firm, interrupt);
+
+    uint8_t* buffer = calloc(4, 0);
+    if (buffer == NULL) {
+        free(firm);
+        return EXIT_FAILURE;
+    }
+    buffer[0] = FIRMATA_START_SYSEX;
+    buffer[1] = FIRMATA_CURIE_IMU;
+    buffer[2] = FIRMATA_CURIE_IMU_READ_ACCEL;
+    buffer[3] = FIRMATA_END_SYSEX;
+
+    mraa_firmata_write_sysex(firm, buffer, 4);
+
+    sleep(1);
+
+    // stop the isr and set it again
+    mraa_firmata_response_stop(firm);
+    mraa_firmata_response(firm, interrupt);
+    mraa_firmata_write_sysex(firm, buffer, 4);
+
+    sleep(1);
+
+    // close everything and try again
+    mraa_firmata_close(firm);
+    firm = mraa_firmata_init(FIRMATA_CURIE_IMU);
+    mraa_firmata_response(firm, interrupt);
+    mraa_firmata_write_sysex(firm, buffer, 4);
+
+    sleep(10);
+
+    mraa_firmata_close(firm);
+    //! [Interesting]
+
+    return EXIT_SUCCESS;
+}

examples/hellomraa.c

@@ -32,8 +32,6 @@ int
 main(int argc, char** argv)
 {
     const char* board_name = mraa_get_platform_name();
-    int i2c_bus, i, i2c_adapter;
-
     fprintf(stdout, "hello mraa\n Version: %s\n Running on %s\n", mraa_get_version(), board_name);
 
     mraa_deinit();

examples/i2c_firmata.c

@@ -0,0 +1,64 @@
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * 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 "mraa.h"
+
+int
+main(int argc, char** argv)
+{
+    mraa_init();
+    mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0");
+
+    mraa_i2c_context i2c;
+    i2c = mraa_i2c_init(0 + 512);
+#if 0
+    mraa_i2c_address(i2c, 0x62);
+
+#if 1
+    uint8_t rx_tx_buf[2];
+    rx_tx_buf[0] = 0x0;
+    rx_tx_buf[1] = 0x0;
+    mraa_i2c_write(i2c, rx_tx_buf, 2);
+#endif
+    //mraa_i2c_write_byte_data(i2c, 0x0, 0x0);
+    mraa_i2c_write_byte_data(i2c, 0x0, 0x1);
+
+    mraa_i2c_write_byte_data(i2c, 0xFF, 0x08);
+    mraa_i2c_write_byte_data(i2c, 0x00, 0x04);
+    mraa_i2c_write_byte_data(i2c, 0xA0, 0x02);
+#else
+    mraa_i2c_address(i2c, 0x77);
+    int res = mraa_i2c_read_byte_data(i2c, 0xd0);
+    printf("res is 0x%x\n", res);
+
+    uint8_t data[2];
+    mraa_i2c_write_byte(i2c, 0x77);
+    mraa_i2c_read(i2c, data, 1);
+
+    res = mraa_i2c_read_word_data(i2c, 0xAA); // BMP085_CAL_AC1
+    printf("res is %d\n", res);
+#endif
+    sleep(10);
+
+}

examples/java/BlinkIO.java

@@ -50,7 +50,7 @@ public class BlinkIO {
         if (argv.length == 0) {
             System.out.println("Provide an int arg if you want to flash on something other than " + DEFAULT_IOPIN);
         } else {
-            iopin = Integer.valueOf(argv[0], DEFAULT_IOPIN);
+            iopin = Integer.valueOf(argv[0]);
         }
 
         //! [Interesting]

examples/java/Isr.java

@@ -22,6 +22,9 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
 import mraa.Dir;
 import mraa.Edge;
 import mraa.Gpio;
@@ -37,6 +40,7 @@ public class Isr {
             System.exit(1);
         }
     }
+
     public static void main(String argv[]) throws InterruptedException {
         int pin = 6;
         if (argv.length == 1) {
@@ -45,21 +49,37 @@ public class Isr {
             } catch (Exception e) {
             }
         }
-        System.out.println("Starting ISR for pin " + Integer.toString(pin));
-        Gpio gpio = new Gpio(pin);
-
-        Runnable callback = new JavaCallback();
-
+        BufferedReader console = new BufferedReader(new InputStreamReader(System.in));
+        Gpio gpio = null;
+        try {
+            gpio = new Gpio(pin);
+        }  catch (Exception e) {
+            System.out.println(e.getMessage());
+            return;
+        }
+        System.out.println("Starting ISR for pin " + Integer.toString(pin) + ". Press ENTER to stop");
+        Runnable callback = new JavaCallback(gpio);
         gpio.isr(Edge.EDGE_RISING, callback);
-        while (true)
-            Thread.sleep(999999);
-    };
+        try {
+            String input = console.readLine();
+        } catch (IOException e) {
+        }
+        gpio.isrExit();
+    }
 
 }
 
 class JavaCallback implements Runnable {
+    private Gpio gpio;
+
+    public JavaCallback(Gpio gpio) {
+        this.gpio = gpio;
+    }
+
     @Override
     public void run() {
-        System.out.println("Gpio level changed");
+        String pin = Integer.toString(gpio.getPin(true));
+        String level = Integer.toString(gpio.read());
+        System.out.println("Pin " + pin + " = " + level);
     }
 }

examples/javascript/firmata.js

@@ -0,0 +1,29 @@
+/*
+ * Author: Ron Evans (@deadprogram)
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * 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.
+ */
+
+var mraa = require('mraa');
+console.log('MRAA Version: ' + mraa.getVersion());
+
+// open connection to firmata
+mraa.addSubplatform(mraa.GENERIC_FIRMATA, "/dev/ttyACM0");

examples/javascript/gpio-tool.js

@@ -31,8 +31,10 @@ const rl = readline.createInterface({
 });
 
 function printUsage() {
-    console.log("version     Print version");
-    console.log("get pin     Get pin value");
+    console.log("version         Print version");
+    console.log("get pin         Get pin level");
+    console.log("set pin level   Set pin level");
+    console.log("monitor pin     Monitor pin level changes");
 }
 
 function getVersion() {
@@ -55,17 +57,22 @@ function getPin() {
 }
 
 function onPinLevelChange() {
-    console.log('gpio change');
+    console.log('gpio level change');
 }
 
 function monitorPin() {
     var pinNumber = arguments[0];
-    var pin = new mraa.Gpio(pinNumber);
-    pin.dir(mraa.DIR_IN);
-    pin.isr(mraa.EDGE_BOTH, onPinLevelChange);
-    rl.question('Press ENTER to stop', function(answer) {
-        rl.close();
-    });
+    try {
+        var pin = new mraa.Gpio(pinNumber);
+        pin.dir(mraa.DIR_IN);
+        pin.isr(mraa.EDGE_BOTH, onPinLevelChange);
+        rl.question('Press ENTER to stop', function(answer) {
+            rl.close();
+            pin.isrExit();
+        });
+    } catch (err) {
+     console.log(err.message);
+    }
 }
 
 const args = process.argv;

examples/javascript/isr.js

@@ -8,3 +8,9 @@ function h() {
 
 x = new m.Gpio(14)
 x.isr(m.EDGE_BOTH, h)
+
+setInterval(function() {
+    // It's important to refer to our GPIO context here,
+    // otherwise it will be garbage-collected
+    console.log("Waiting for an interrupt at GPIO pin " + x.getPin() + "...")
+}, 10000)

examples/mraa-gpio.c

@@ -97,9 +97,9 @@ list_pins()
     if (pin_count == 0) {
         fprintf(stdout, "No Pins\n");
     }
+    return pin_count;
 }
 
-
 mraa_result_t
 gpio_set(int pin, int level, mraa_boolean_t raw)
 {

examples/mraa-i2c.c

@@ -73,6 +73,7 @@ print_bus(mraa_board_t* board)
             case MRAA_RASPBERRY_PI:
             case MRAA_BEAGLEBONE:
             case MRAA_BANANA:
+            case MRAA_UP:
                 bus = i;
                 busType = "linux";
                 break;

examples/python/firmata.py

@@ -0,0 +1,29 @@
+#!/usr/bin/env python
+
+# Author: Ron Evans (@deadprogram)
+# Copyright (c) 2016 Intel Corporation.
+#
+# 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.
+
+import mraa
+
+print (mraa.getVersion())
+
+mraa.addSubplatform(mraa.GENERIC_FIRMATA, "/dev/ttyACM0");

examples/python/hello_isr.py

@@ -24,20 +24,31 @@
 
 import mraa
 import time
+import sys
 
 class Counter:
   count = 0
 
 c = Counter()
 
-# inside a python interupt you cannot use 'basic' types so you'll need to use
+# inside a python interrupt you cannot use 'basic' types so you'll need to use
 # objects
-def test(args):
-  print("wooo")
+def test(gpio):
+  print("pin " + repr(gpio.getPin(True)) + " = " + repr(gpio.read()))
   c.count+=1
 
-x = mraa.Gpio(6)
-x.dir(mraa.DIR_IN)
-x.isr(mraa.EDGE_BOTH, test, test)
-
-time.sleep(500)
+pin = 6;
+if (len(sys.argv) == 2):
+  try:
+    pin = int(sys.argv[1], 10)
+  except ValueError:
+    printf("Invalid pin " + sys.argv[1])
+try:
+	x = mraa.Gpio(pin)
+	print("Starting ISR for pin " + repr(pin))
+	x.dir(mraa.DIR_IN)
+	x.isr(mraa.EDGE_BOTH, test, x)
+	var = raw_input("Press ENTER to stop")
+	x.isrExit()
+except ValueError as e:
+    print(e)

examples/uart_ow.c

@@ -0,0 +1,92 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation
+ *
+ * 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 "stdio.h"
+//! [Interesting]
+#include "mraa.h"
+
+int
+main(int argc, char** argv)
+{
+    mraa_uart_ow_context uart;
+    uart = mraa_uart_ow_init(0);
+
+    if (!uart) {
+        printf("mraa_uart_ow_init() failed\n");
+        return 1;
+    }
+
+    // Reset the ow bus and see if anything is present
+    mraa_result_t rv;
+
+    if ((rv = mraa_uart_ow_reset(uart)) == MRAA_SUCCESS) {
+        printf("Reset succeeded, device(s) detected!\n");
+    } else {
+        printf("Reset failed, returned %d. No devices on bus?\n", rv);
+        return 1;
+    }
+
+    printf("Looking for devices...\n");
+    uint8_t id[MRAA_UART_OW_ROMCODE_SIZE];
+
+    /* we are essentially doing a binary tree search through the 64
+     * bit address space.  id is modified during this search, and will
+     * be set to the valid rom code for each device found.
+     */
+
+    uint8_t count = 0;
+
+    // start the search from scratch
+    mraa_result_t result = mraa_uart_ow_rom_search(uart, 1, id);
+    if (result == MRAA_ERROR_UART_OW_NO_DEVICES) {
+        printf("No devices detected.\n");
+        return 1;
+    }
+
+    if (result == MRAA_ERROR_UART_OW_DATA_ERROR) {
+        printf("Bus/Data error.\n");
+        return 1;
+    }
+
+    while (result == MRAA_SUCCESS) {
+        /* The first byte (id[0]]) is the device type (family) code.
+         * The last byte (id[7]) is the rom code CRC value.  The
+         * intervening bytes (id[1]-id[6]) are the unique 48 bit
+         * device ID.
+         */
+        printf("Device %02d Type 0x%02x ID %02x%02x%02x%02x%02x%02x CRC 0x%02x\n", count, id[0],
+               id[6], id[5], id[4], id[3], id[2], id[1], id[7]);
+        count++;
+
+        // continue the search with start argument set to 0
+        result = mraa_uart_ow_rom_search(uart, 0, id);
+    }
+
+    printf("Exiting...\n");
+
+    mraa_uart_ow_stop(uart);
+
+    return 0;
+}
+//! [Interesting]

imraa/CMakeLists.txt

@@ -0,0 +1,17 @@
+add_executable (imraa imraa.c)
+
+include_directories (${PROJECT_SOURCE_DIR}/api)
+include_directories (${PROJECT_SOURCE_DIR}/include)
+include_directories (${PROJECT_SOURCE_DIR}/api/mraa)
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DIMRAA=1")
+
+find_package (JSON-C REQUIRED)
+include_directories (${JSON-C_INCLUDE_DIR})
+find_package (UDEV REQUIRED)
+include_directories (${UDEV_INCLUDE_DIR})
+target_link_libraries (imraa mraa ${JSON-C_LIBRARIES} ${UDEV_LIBRARIES})
+
+set_property (TARGET imraa PROPERTY C_STANDARD 99)
+
+install (TARGETS imraa DESTINATION bin)

imraa/imraa.c

@@ -0,0 +1,527 @@
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * Author: Longwei Su <lsu@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * 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 <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <json-c/json.h>
+#include <libudev.h>
+
+#include <mraa/uart.h>
+#include <mraa/gpio.h>
+#include <mraa/i2c.h>
+#include <mraa/pwm.h>
+
+#include <mraa_internal.h>
+
+#define IMRAA_CONF_FILE "/etc/imraa.conf"
+
+typedef struct mraa_io_objects_t {
+    const char* type;
+    int index;
+    bool raw;
+    const char* label;
+} mraa_io_objects_t;
+
+const char*
+imraa_list_serialport()
+{
+    struct udev* udev;
+    struct udev_enumerate* enumerate;
+    struct udev_list_entry *devices, *dev_list_entry;
+    struct udev_device* dev;
+    const char* ret = NULL;
+    udev = udev_new();
+    if (!udev) {
+        printf("Can't create udev, check libudev\n");
+        exit(1);
+    }
+    enumerate = udev_enumerate_new(udev);
+    udev_enumerate_add_match_subsystem(enumerate, "tty");
+    udev_enumerate_add_match_property(enumerate, "ID_VENDOR_ID", "8087");
+    udev_enumerate_add_match_property(enumerate, "ID_MODEL_ID", "0ab6");
+    // udev_enumerate_add_match_property(enumerate, "ID_SERIAL",
+    // "Intel_ARDUINO_101_AE6642SQ55000RS");
+    udev_enumerate_scan_devices(enumerate);
+    devices = udev_enumerate_get_list_entry(enumerate);
+
+    udev_list_entry_foreach(dev_list_entry, devices)
+    {
+        const char* path;
+        path = udev_list_entry_get_name(dev_list_entry);
+        dev = udev_device_new_from_syspath(udev, path);
+        ret = udev_device_get_devnode(dev);
+    }
+    udev_enumerate_unref(enumerate);
+    udev_unref(udev);
+
+    if (ret) {
+        printf("Ardunio 101 Device Node Path: %s\n", ret);
+    } else {
+        printf("Can't detect any Ardunio 101 Device on tty\n");
+    }
+    return ret;
+}
+
+mraa_result_t
+imraa_reset_arduino(const char* modem)
+{
+    mraa_uart_context uart;
+    uart = mraa_uart_init_raw(modem);
+    mraa_uart_set_baudrate(uart, 1200);
+
+    if (uart == NULL) {
+        fprintf(stderr, "UART failed to setup\n");
+        return MRAA_ERROR_UNSPECIFIED;
+    }
+    mraa_uart_stop(uart);
+    mraa_deinit();
+    return MRAA_SUCCESS;
+}
+
+int
+imraa_flash_101(const char* bin_path, const char* bin_file_name, const char* tty)
+{
+    if (imraa_reset_arduino(tty) != MRAA_SUCCESS) {
+        fprintf(stderr, "Failed to reset arduino on %s for unknown reason, carrying on...\n", tty);
+    }
+
+    char* ln = NULL;
+    size_t len = 0;
+    bool board_found = false;
+    const char* dfu_list = "/dfu-util -d ,8087:0ABA -l";
+    size_t bin_path_len = strlen(bin_path);
+
+    char* full_dfu_list = (char*) calloc((bin_path_len + strlen(dfu_list) + 1), sizeof(char));
+    if (!full_dfu_list) {
+        printf("imraa_flash_101 can't allocate string buffer for dfu list\n");
+        exit(1);
+    }
+    strncat(full_dfu_list, bin_path, strlen(bin_path));
+    strncat(full_dfu_list, dfu_list, strlen(dfu_list));
+
+    int i;
+    // dfu list is still needed, as the time for reset and recognized is varies from platform to
+    // platform.
+    // once dfu able to query available devices, then it is ready to flash
+    for (i = 0; i < 10 && board_found == false; i++) {
+        printf("Waiting for device...\n");
+        // dfu-util -d,8087:0ABA -l
+        FILE* dfu_result = popen(full_dfu_list, "r");
+        if (dfu_result == NULL) {
+            printf("Failed to run command\n");
+            exit(1);
+        }
+
+        if (i == 4) {
+            printf("Flashing is taking longer than expected\n");
+            printf("Try pressing MASTER_RESET button\n");
+        }
+
+        while (getline(&ln, &len, dfu_result) != -1) {
+            if (strstr(ln, "sensor_core")) {
+                board_found = true;
+                printf("Device found!\n");
+                break;
+            }
+        }
+        sleep(1);
+        if (pclose(dfu_result) != 0) {
+            printf("Failed to close command\n");
+            exit(1);
+        }
+    }
+    free(ln);
+
+    if (board_found == false) {
+        printf("ERROR: Device is not responding.\n");
+        exit(1);
+    }
+
+    const char* dfu_upload = "/dfu-util -d ,8087:0ABA -D ";
+    const char* dfu_option = " -v -a 7 -R";
+    int buffersize = bin_path_len + strlen(dfu_upload) + strlen(bin_file_name) + strlen(dfu_option) + 1;
+    char* full_dfu_upload = calloc(buffersize, sizeof(char));
+    if (!full_dfu_upload) {
+        printf("imraa_flash_101 can't allocate string buffer for dfu flash\n");
+        exit(1);
+    }
+    strncat(full_dfu_upload, bin_path, strlen(bin_path));
+    strncat(full_dfu_upload, dfu_upload, strlen(dfu_upload));
+    strncat(full_dfu_upload, bin_file_name, strlen(bin_file_name));
+    strncat(full_dfu_upload, dfu_option, strlen(dfu_option));
+    printf("flash cmd: %s\n", full_dfu_upload);
+    int status = system(full_dfu_upload);
+    if (status != 0) {
+        printf("ERROR: Upload failed on %s\n", tty);
+        exit(1);
+    }
+    printf("SUCCESS: Sketch will execute in about 5 seconds.\n");
+    free(full_dfu_list);
+    free(full_dfu_upload);
+    sleep(5);
+    return 0;
+}
+
+void
+imraa_write_lockfile(const char* lock_file_location, const char* serialport)
+{
+    FILE* fh;
+    char str[10];
+    json_object* platform1 = json_object_new_object();
+    snprintf(str, 10, "%d", MRAA_NULL_PLATFORM);
+    json_object_object_add(platform1, "id", json_object_new_string(str));
+
+    json_object* platform2 = json_object_new_object();
+    snprintf(str, 10, "%d", MRAA_GENERIC_FIRMATA);
+    json_object_object_add(platform2, "id", json_object_new_string(str));
+    json_object_object_add(platform2, "uart", json_object_new_string(serialport));
+
+    json_object* platfroms = json_object_new_array();
+    json_object_array_add(platfroms, platform1);
+    json_object_array_add(platfroms, platform2);
+    json_object* lock_file = json_object_new_object();
+    json_object_object_add(lock_file, "Platform", platfroms);
+    fh = fopen(lock_file_location, "w");
+    if (fh != NULL) {
+        fputs(json_object_to_json_string_ext(lock_file, JSON_C_TO_STRING_PRETTY), fh);
+        fclose(fh);
+    } else {
+        fprintf(stderr, "can't write to lock file\n");
+    }
+    json_object_put(lock_file);
+}
+
+void
+imraa_handle_subplatform(struct json_object* jobj, bool force_update)
+{
+    struct json_object* platform;
+    int i, ionum;
+    const char* dfu_loc = NULL;
+    const char* lockfile_loc = NULL;
+    const char* flash_loc = NULL;
+    const char* usbserial = NULL;
+
+    struct json_object* dfu_location;
+    if (json_object_object_get_ex(jobj, "dfu-utils-location", &dfu_location) == true) {
+        if (json_object_is_type(dfu_location, json_type_string)) {
+            printf("dfu location: %s\n", json_object_get_string(dfu_location));
+            dfu_loc = json_object_get_string(dfu_location);
+        } else {
+            fprintf(stderr, "dfu location string incorrectly parsed\n");
+        }
+    }
+
+    struct json_object* lockfile_location;
+    if (json_object_object_get_ex(jobj, "lockfile-location", &lockfile_location) == true) {
+        if (json_object_is_type(lockfile_location, json_type_string)) {
+            printf("lock file location: %s\n", json_object_get_string(lockfile_location));
+            lockfile_loc = json_object_get_string(lockfile_location);
+        } else {
+            fprintf(stderr, "lock file string incorrectly parsed\n");
+        }
+    }
+
+    if (json_object_object_get_ex(jobj, "Platform", &platform) == true) {
+        if (json_object_is_type(platform, json_type_array)) {
+            ionum = json_object_array_length(platform);
+            for (i = 0; i < ionum; i++) {
+                struct json_object* ioobj = json_object_array_get_idx(platform, i);
+                json_object_object_foreach(ioobj, key, val)
+                {
+                    if (strcmp(key, "flash") == 0) {
+                        flash_loc = json_object_get_string(val);
+                    }
+                    if (strcmp(key, "usbserial") == 0) {
+                        usbserial = json_object_get_string(val);
+                    }
+                }
+            }
+        } else {
+            fprintf(stderr, "platform string incorrectly parsed\n");
+        }
+    }
+    if (flash_loc == NULL || usbserial == NULL ) {
+        printf("conf didn't give image location or usb serial, skip flashing\n");
+        return;
+    }
+    if (!dfu_loc) {
+        dfu_loc = "/usr/bin";
+        printf("No dfu path found, using default path /usr/bin instead");
+    }
+    if (!lockfile_loc) {
+        lockfile_loc = "/tmp/imraa.lock";
+        printf("No lock path found, using default lock file /tmp/imraa.lock instead");
+    }
+
+    // got flash? do flash
+    if (access(lockfile_loc, F_OK) != -1 && force_update == false) {
+        printf("already exist a lock file, skip flashing\n");
+        printf("force upgrade? remove the lockfile or run with force\n", lockfile_loc);
+        return;
+    } else {
+        fprintf(stdout, "Starting to flash board\n");
+        if (force_update) {
+            fprintf(stdout, "**Caution: force update mode**\n");
+        }
+
+        // TODO flash img checksum, and serialport validation?
+        const char* detected_serialport = imraa_list_serialport();
+        if (detected_serialport == NULL) {
+            printf("No subplatform detected, check USB connection, skip flashing\n");
+            return;
+        }
+        if (strcmp(usbserial, "auto") != 0 && strcmp(usbserial, detected_serialport) != 0) {
+            printf("given serial port didn't match detected serial port, skip flashing\n");
+            return;
+        }
+        if (imraa_flash_101(dfu_loc, flash_loc, detected_serialport) == 0) {
+            imraa_write_lockfile(lockfile_loc, detected_serialport);
+        } else {
+            fprintf(stderr, "invalid flashing paramenters, please check agian\n");
+            fprintf(stderr, "DFU Util location: %s\n", dfu_loc);
+            fprintf(stderr, "Flash Img location: %s\n", dfu_loc);
+            fprintf(stderr, "USB Serial: %s\n", usbserial);
+            fprintf(stderr, "Flash failed, push master reset and try again\n");
+        }
+    }
+}
+
+void
+imraa_handle_IO(struct json_object* jobj)
+{
+    struct mraa_io_objects_t* mraa_io_obj;
+    struct json_object* ioarray;
+    int ionum = 0;
+    int i;
+    if (json_object_object_get_ex(jobj, "IO", &ioarray) == true) {
+        ionum = json_object_array_length(ioarray);
+        printf("Length of IO array is %d\n", ionum);
+        mraa_io_obj = (mraa_io_objects_t*) malloc(ionum * sizeof(mraa_io_objects_t));
+        if (!mraa_io_obj) {
+            printf("imraa_handle_IO malloc failed\n");
+            exit(1);
+        }
+        int index2 = -1;
+        ; // optional index for io configuration;
+        if (json_object_is_type(ioarray, json_type_array)) {
+            for (i = 0; i < ionum; i++) {
+                struct json_object* ioobj = json_object_array_get_idx(ioarray, i);
+                struct json_object* x;
+                if (json_object_object_get_ex(ioobj, "type", &x) == true) {
+                    mraa_io_obj[i].type = json_object_get_string(x);
+                }
+                if (json_object_object_get_ex(ioobj, "index", &x) == true) {
+                    mraa_io_obj[i].index = json_object_get_int(x);
+                }
+                if (json_object_object_get_ex(ioobj, "raw", &x) == true) {
+                    mraa_io_obj[i].raw = json_object_get_boolean(x);
+                }
+                if (json_object_object_get_ex(ioobj, "label", &x) == true) {
+                    mraa_io_obj[i].label = json_object_get_string(x);
+                }
+                if (json_object_object_get_ex(ioobj, "index2", &x) == true) {
+                    index2 = json_object_get_int(x);
+                }
+                // starting io configuration
+                if (strcmp(mraa_io_obj[i].type, "gpio") == 0) {
+                    mraa_gpio_context gpio = NULL;
+                    if (mraa_io_obj[i].raw) {
+                        gpio = mraa_gpio_init_raw(mraa_io_obj[i].index);
+                    } else {
+                        gpio = mraa_gpio_init(mraa_io_obj[i].index);
+                    }
+                    if (gpio != NULL) {
+                        mraa_result_t r = mraa_gpio_owner(gpio, 0);
+                        if (r != MRAA_SUCCESS) {
+                            mraa_result_print(r);
+                        }
+                        mraa_gpio_close(gpio);
+                    }
+                } else if (strcmp(mraa_io_obj[i].type, "i2c") == 0) {
+                    mraa_i2c_context i2c = NULL;
+                    if (mraa_io_obj[i].raw) {
+                        i2c = mraa_i2c_init_raw(mraa_io_obj[i].index);
+                    } else {
+                        i2c = mraa_i2c_init(mraa_io_obj[i].index);
+                    }
+                    if (i2c != NULL) {
+                        mraa_i2c_stop(i2c);
+                    }
+                } else if (strcmp(mraa_io_obj[i].type, "pwm") == 0) {
+                    mraa_pwm_context pwm = NULL;
+                    if (mraa_io_obj[i].raw) {
+                        pwm = mraa_pwm_init_raw(index2, mraa_io_obj[i].index);
+                    } else {
+                        pwm = mraa_pwm_init(mraa_io_obj[i].index);
+                    }
+                    if (pwm != NULL) {
+                        mraa_result_t r = mraa_pwm_owner(pwm, 0);
+                        if (r != MRAA_SUCCESS) {
+                            mraa_result_print(r);
+                        }
+                        mraa_pwm_close(pwm);
+                    }
+                } else if (strcmp(mraa_io_obj[i].type, "spi") == 0) {
+                    mraa_spi_context spi = NULL;
+                    if (mraa_io_obj[i].raw) {
+                        spi = mraa_spi_init_raw(mraa_io_obj[i].index, index2);
+                    } else {
+                        spi = mraa_spi_init(mraa_io_obj[i].index);
+                    }
+                    if (spi != NULL) {
+                        mraa_spi_stop(spi);
+                    }
+                } else if (strcmp(mraa_io_obj[i].type, "uart") == 0) {
+                    mraa_uart_context uart = NULL;
+                    if (mraa_io_obj[i].raw) {
+                        uart = mraa_uart_init_raw(mraa_io_obj[i].label);
+                    } else {
+                        uart = mraa_uart_init(mraa_io_obj[i].index);
+                    }
+                    if (uart != NULL) {
+                        mraa_uart_stop(uart);
+                    }
+                }
+            }
+        } else {
+            fprintf(stderr, "IO array incorrectly parsed\n");
+        }
+        free(mraa_io_obj);
+    }
+}
+
+int
+check_version(struct json_object* jobj)
+{
+    struct json_object* imraa_version;
+    if (json_object_object_get_ex(jobj, "version", &imraa_version) == true) {
+        if (json_object_is_type(imraa_version, json_type_string)) {
+            printf("imraa version is %s good\n", json_object_get_string(imraa_version));
+            // TODO check version?
+        } else {
+            fprintf(stderr, "version string incorrectly parsed\n");
+            return -1;
+        }
+    } else {
+        fprintf(stderr, "no version specified\n");
+    }
+    return 0;
+}
+
+void
+print_version()
+{
+    fprintf(stdout, "Version %s on %s\n", mraa_get_version(), mraa_get_platform_name());
+}
+
+void
+print_help()
+{
+    fprintf(stdout, "version           Get mraa version and board name\n");
+    fprintf(stdout, "force             Force update subplatform\n");
+    fprintf(stdout, "conf_path         Force update with override configuration\n");
+}
+
+void
+print_command_error()
+{
+    fprintf(stdout, "Invalid command, options are:\n");
+    print_help();
+    exit(EXIT_FAILURE);
+}
+
+int
+main(int argc, char** argv)
+{
+    char* buffer = NULL;
+    char* imraa_conf_file = IMRAA_CONF_FILE;
+    long fsize;
+    bool force_update = false;
+    int i = 0;
+    uint32_t ionum = 0;
+
+    if (argc > 2) {
+        print_command_error();
+    }
+
+    if (argc > 1) {
+        if (strcmp(argv[1], "help") == 0) {
+            print_help();
+            return EXIT_SUCCESS;
+        } else if (strcmp(argv[1], "version") == 0) {
+            print_version();
+            return EXIT_SUCCESS;
+        } else if (strcmp(argv[1], "force") == 0) {
+            force_update = true;
+        } else {
+            imraa_conf_file = argv[1];
+            force_update = true;
+        }
+    }
+
+    FILE* fh = fopen(imraa_conf_file, "r");
+    if (fh == NULL) {
+        fprintf(stderr, "Failed to open configuration file\n");
+        return EXIT_FAILURE;
+    }
+
+    fseek(fh, 0, SEEK_END);
+    fsize = ftell(fh) + 1;
+    fseek(fh, 0, SEEK_SET);
+    buffer = calloc(fsize, sizeof(char));
+    if (buffer != NULL) {
+        int result = fread(buffer, sizeof(char), fsize, fh);
+        if (result != fsize) {
+            printf("imraa conf reading error");
+        }
+    } else {
+        printf("imraa read_conf buffer can't allocated\n");
+        exit(1);
+    }
+
+    imraa_init();
+
+    json_object* jobj = json_tokener_parse(buffer);
+    if (check_version(jobj) != 0) {
+        printf("version of configuration file is not compatible, please check again\n");
+    } else {
+        mraa_platform_t type = mraa_get_platform_type();
+        imraa_handle_subplatform(jobj, force_update);
+        if (type == MRAA_NULL_PLATFORM || type == MRAA_UNKNOWN_PLATFORM) {
+            printf("imraa: Failed to do IO pinmuxing on null/unkown platform\n");
+        } else {
+            imraa_handle_IO(jobj);
+        }
+    }
+    fclose(fh);
+    json_object_put(jobj);
+    free(buffer);
+    return EXIT_SUCCESS;
+}

imraa/imraa.conf

@@ -0,0 +1,12 @@
+{
+  "version": "0.9.6",
+  "lockfile-location": "/tmp/imraa.lock",
+  "dfu-utils-location": "/usr/bin",
+  "Platform" :[
+    {"id":"1280", "flash":"/usr/share/mraa/firmata101.ino.bin", "usbserial": "auto"}
+  ],
+  "IO": [
+    {"type":"gpio", "index":0, "raw": false, "label": "none"},
+    {"type":"i2c", "index":0, "raw": false, "label": "i2c-0"}
+  ]
+}

imraa/imraa.service

@@ -0,0 +1,9 @@
+[Unit]
+Description=imraa
+
+[Service]
+Type=oneshot
+ExecStart=/usr/bin/imraa
+
+[Install]
+WantedBy = multi-user.target

include/arm/96boards.h

@@ -37,9 +37,7 @@ extern "C" {
 #define MRAA_96BOARDS_LS_I2C_COUNT  2
 #define MRAA_96BOARDS_LS_SPI_COUNT  1
 #define MRAA_96BOARDS_LS_UART_COUNT 2
-
-#define DB410C_PINCOUNT	122
-#define HIKEY_PINCOUNT	512
+#define MRAA_96BOARDS_LS_PIN_COUNT  40
 
 mraa_board_t* mraa_96boards();
 

include/firmata/firmata.h

@@ -0,0 +1,114 @@
+/*
+ * Copyright (c) 2016 Intel Corporation
+ * Copyright (c) 2015 Jules Dourlens (jdourlens@gmail.com)
+ *
+ * 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.
+ */
+
+#pragma once
+
+#include "uart.h"
+
+#define MODE_INPUT 0x00
+#define MODE_OUTPUT 0x01
+#define MODE_ANALOG 0x02
+#define MODE_PWM 0x03
+#define MODE_SERVO 0x04
+#define MODE_SHIFT 0x05
+#define MODE_I2C 0x06
+
+#define LOW 0
+#define HIGH 1
+
+#define FIRMATA_START_SYSEX 0xF0       // start a MIDI Sysex message
+#define FIRMATA_END_SYSEX 0xF7         // end a MIDI Sysex message
+#define FIRMATA_PIN_MODE_QUERY 0x72    // ask for current and supported pin modes
+#define FIRMATA_PIN_MODE_RESPONSE 0x73 // reply with current and supported pin modes
+#define FIRMATA_PIN_STATE_QUERY 0x6D
+#define FIRMATA_PIN_STATE_RESPONSE 0x6E
+#define FIRMATA_CAPABILITY_QUERY 0x6B
+#define FIRMATA_CAPABILITY_RESPONSE 0x6C
+#define FIRMATA_ANALOG_MAPPING_QUERY 0x69
+#define FIRMATA_ANALOG_MAPPING_RESPONSE 0x6A
+
+#define FIRMATA_DIGITAL_MESSAGE 0x90 // send data for a digital pin
+#define FIRMATA_ANALOG_MESSAGE 0xE0  // send data for an analog pin (or PWM)
+#define FIRMATA_ANALOG_MESSAGE 0xE0  // send data for an analog pin (or PWM)
+#define FIRMATA_REPORT_ANALOG 0xC0   // enable analog input by pin #
+#define FIRMATA_REPORT_DIGITAL 0xD0  // enable digital input by port pair
+
+#define FIRMATA_I2C_CONFIG 0x78
+#define FIRMATA_I2C_REPLY 0x77
+#define FIRMATA_I2C_REQUEST 0x76
+
+#define I2C_MODE_WRITE 0x00
+#define I2C_MODE_READ 0x01
+#define I2C_CONTINUOUSREAD 0x02
+#define I2C_STOP_READING 0x03
+
+#define FIRMATA_SET_PIN_MODE 0xF4 // set a pin to INPUT/OUTPUT/PWM/etc
+
+#define FIRMATA_REPORT_VERSION 0xF9 // report protocol version
+#define FIRMATA_SYSTEM_RESET 0xFF   // reset from MIDI
+
+#define FIRMATA_START_SYSEX 0xF0 // start a MIDI Sysex message
+#define FIRMATA_END_SYSEX 0xF7   // end a MIDI Sysex message
+
+// extended command set using sysex (0-127/0x00-0x7F)
+/* 0x00-0x0F reserved for custom commands */
+#define FIRMATA_SERVO_CONFIG 0x70       // set max angle, minPulse, maxPulse, freq
+#define FIRMATA_STRING 0x71             // a string message with 14-bits per char
+#define FIRMATA_REPORT_FIRMWARE 0x79    // report name and version of the firmware
+#define FIRMATA_SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages
+#define FIRMATA_SYSEX_REALTIME 0x7F     // MIDI Reserved for realtime messages
+
+#define FIRMATA_MSG_LEN 1024
+
+typedef struct s_pin {
+    uint8_t mode;
+    uint8_t analog_channel;
+    uint64_t supported_modes;
+    uint32_t value;
+} t_pin;
+
+typedef struct s_firmata {
+    mraa_uart_context uart;
+    t_pin pins[128];
+    int i2cmsg[256][256];
+    int parse_command_len;
+    int parse_count;
+    uint8_t parse_buff[FIRMATA_MSG_LEN];
+    int isReady;
+    char firmware[140];
+    uint8_t dev_count;
+    struct _firmata** devs;
+} t_firmata;
+
+t_firmata* firmata_new(const char* name);
+void firmata_initPins(t_firmata* firmata);
+int firmata_askFirmware(t_firmata* firmata);
+int firmata_pinMode(t_firmata* firmata, int pin, int mode);
+int firmata_digitalWrite(t_firmata* firmata, int pin, int value);
+int firmata_analogWrite(t_firmata* firmata, int pin, int value);
+int firmata_analogRead(t_firmata* firmata, int pin);
+int firmata_pull(t_firmata* firmata);
+void firmata_parse(t_firmata* firmata, const uint8_t* buf, int len);
+void firmata_endParse(t_firmata* firmata);
+void firmata_close(t_firmata* firmata);

include/firmata/firmata_mraa.h

@@ -0,0 +1,38 @@
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * 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.
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "mraa_internal.h"
+
+mraa_platform_t mraa_firmata_platform(mraa_board_t* board, const char* uart_dev);
+
+
+#ifdef __cplusplus
+}
+#endif

include/java/mraajni.h

@@ -0,0 +1,46 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2014-2016 Intel Corporation.
+ *
+ * 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.
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <jni.h>
+#include "mraa/types.h"
+
+// location for defining JNI version to use
+#define JNI_REQUIRED_VERSION JNI_VERSION_1_6
+
+void mraa_java_set_jvm(JavaVM* vm);
+void mraa_java_isr_callback(void* args);
+mraa_result_t mraa_java_attach_thread();
+void mraa_java_detach_thread();
+void* mraa_java_create_global_ref(void* args);
+void mraa_java_delete_global_ref(void* ref);
+
+#ifdef __cplusplus
+}
+#endif

include/mraa_adv_func.h

@@ -37,6 +37,7 @@ typedef struct {
     mraa_result_t (*gpio_init_post) (mraa_gpio_context dev);
 
     mraa_result_t (*gpio_close_pre) (mraa_gpio_context dev);
+    mraa_result_t (*gpio_close_replace) (mraa_gpio_context dev);
 
     mraa_result_t (*gpio_mode_replace) (mraa_gpio_context dev, mraa_gpio_mode_t mode);
     mraa_result_t (*gpio_mode_pre) (mraa_gpio_context dev, mraa_gpio_mode_t mode);
@@ -63,9 +64,9 @@ typedef struct {
     mraa_result_t (*i2c_set_frequency_replace) (mraa_i2c_context dev, mraa_i2c_mode_t mode);
     mraa_result_t (*i2c_address_replace) (mraa_i2c_context dev, uint8_t addr);
     int (*i2c_read_replace) (mraa_i2c_context dev, uint8_t* data, int length);
-    uint8_t (*i2c_read_byte_replace) (mraa_i2c_context dev);
-    uint8_t (*i2c_read_byte_data_replace) (mraa_i2c_context dev, const uint8_t command);
-    uint16_t (*i2c_read_word_data_replace) (mraa_i2c_context dev, const uint8_t command);
+    int (*i2c_read_byte_replace) (mraa_i2c_context dev);
+    int (*i2c_read_byte_data_replace) (mraa_i2c_context dev, const uint8_t command);
+    int (*i2c_read_word_data_replace) (mraa_i2c_context dev, const uint8_t command);
     int (*i2c_read_bytes_data_replace) (mraa_i2c_context dev, uint8_t command, uint8_t* data, int length);
     mraa_result_t (*i2c_write_replace) (mraa_i2c_context dev, const uint8_t* data, int length);
     mraa_result_t (*i2c_write_byte_replace) (mraa_i2c_context dev, uint8_t data);
@@ -73,14 +74,20 @@ typedef struct {
     mraa_result_t (*i2c_write_word_data_replace) (mraa_i2c_context dev, const uint16_t data, const uint8_t command);
     mraa_result_t (*i2c_stop_replace) (mraa_i2c_context dev);
 
+    mraa_result_t (*aio_init_internal_replace) (mraa_aio_context dev, int pin);
+    int (*aio_read_replace) (mraa_aio_context dev);
     mraa_result_t (*aio_get_valid_fp) (mraa_aio_context dev);
     mraa_result_t (*aio_init_pre) (unsigned int aio);
     mraa_result_t (*aio_init_post) (mraa_aio_context dev);
 
     mraa_pwm_context (*pwm_init_replace) (int pin);
+    mraa_pwm_context (*pwm_init_internal_replace) (void* func_table, int pin);
     mraa_result_t (*pwm_init_pre) (int pin);
     mraa_result_t (*pwm_init_post) (mraa_pwm_context pwm);
     mraa_result_t (*pwm_period_replace) (mraa_pwm_context dev, int period);
+    float (*pwm_read_replace) (mraa_pwm_context dev);
+    mraa_result_t (*pwm_write_replace) (mraa_pwm_context dev, float duty);
+    mraa_result_t (*pwm_enable_replace) (mraa_pwm_context dev, int enable);
 
     mraa_result_t (*spi_init_pre) (int bus);
     mraa_result_t (*spi_init_post) (mraa_spi_context spi);

include/mraa_internal.h

@@ -34,9 +34,11 @@ extern "C" {
 #include "common.h"
 #include "mraa_internal_types.h"
 #include "mraa_adv_func.h"
+#include "mraa_lang_func.h"
 
 extern mraa_board_t* plat;
 extern mraa_iio_info_t* plat_iio;
+extern mraa_lang_func_t* lang_func;
 
 /**
  * Takes in pin information and sets up the multiplexors.
@@ -130,6 +132,24 @@ mraa_boolean_t mraa_link_targets(const char* filename, const char* targetname);
  */
 int mraa_find_i2c_bus(const char* devname, int startfrom);
 
+#if defined(IMRAA)
+/**
+ * read Imraa subplatform lock file, caller is responsible to free return
+ * struct array
+ *
+ * @param imraa lockfile location
+ * @return the number of subplatforms added
+ */
+uint32_t mraa_add_from_lockfile(const char* imraa_lock_file);
+
+/**
+ * Internal imraa init function
+ *
+ * @return mraa_result_t indicating success
+ */
+mraa_result_t imraa_init();
+#endif
+
 #ifdef __cplusplus
 }
 #endif

include/mraa_internal_types.h

@@ -1,7 +1,7 @@
 /*
  * Author: Thomas Ingleby <thomas.c.ingleby@intel.com>
  * Author: Brendan Le Foll <brendan.le.foll@intel.com>
- * Copyright (c) 2014 Intel Corporation.
+ * Copyright (c) 2014-2016 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -40,6 +40,17 @@
 #define MRAA_IO_SETUP_FAILURE -2
 #define MRAA_NO_SUCH_IO -1
 
+#ifdef FIRMATA
+struct _firmata {
+    /*@*/
+    uint8_t feature; /**< the feature */
+    uint8_t index;
+    void (* isr)(uint8_t*, int); /**< the feature response request */
+    mraa_boolean_t added; /**< boolean to set if responses already set in devs array */
+    /*@}*/
+};
+#endif
+
 /**
  * A structure representing a gpio pin.
  */
@@ -48,8 +59,8 @@ struct _gpio {
     int pin; /**< the pin number, as known to the os. */
     int phy_pin; /**< pin passed to clean init. -1 none and raw*/
     int value_fp; /**< the file pointer to the value of the gpio */
-    void (* isr)(void *); /**< the interupt service request */
-    void *isr_args; /**< args return when interupt service request triggered */
+    void (* isr)(void *); /**< the interrupt service request */
+    void *isr_args; /**< args return when interrupt service request triggered */
     pthread_t thread_id; /**< the isr handler thread id */
     int isr_value_fp; /**< the isr file pointer on the value */
 #ifndef HAVE_PTHREAD_CANCEL
@@ -137,9 +148,9 @@ struct _iio {
     char* name; /**< IIO device name */
     int fp; /**< IIO device in /dev */
     int fp_event;  /**<  event file descriptor for IIO device */
-    void (* isr)(char* data); /**< the interupt service request */
-    void *isr_args; /**< args return when interupt service request triggered */
-    void (* isr_event)(struct iio_event_data* data, void* args); /**< the event interupt service request */
+    void (* isr)(char* data); /**< the interrupt service request */
+    void *isr_args; /**< args return when interrupt service request triggered */
+    void (* isr_event)(struct iio_event_data* data, void* args); /**< the event interrupt service request */
     int chan_num;
     pthread_t thread_id; /**< the isr handler thread id */
     mraa_iio_channel* channels;
@@ -164,13 +175,31 @@ typedef struct {
     /*@}*/
 } mraa_pincapabilities_t;
 
+
+/**
+ *  Pin commands definition for mraa_mux_t struc
+ */
+
+typedef enum {
+    PINCMD_UNDEFINED = 0,       // do not modify, default command for zero value, used for backward compatibility with boards where pincmd is not defined (it will be deleted later)
+    PINCMD_SET_VALUE = 1,       // set a pin's value
+    PINCMD_SET_DIRECTION = 2,   // set a pin's direction (value like MRAA_GPIO_OUT, MRAA_GPIO_OUT_HIGH...)
+    PINCMD_SET_IN_VALUE = 3,    // set input direction and value
+    PINCMD_SET_OUT_VALUE = 4,   // set output direction and value
+    PINCMD_SET_MODE = 5,        // set pin's mode
+    PINCMD_SKIP = 6             // just skip this command, do not apply pin and value
+} pincmd_t;
+
+
 /**
  * A Structure representing a multiplexer and the required value
  */
 typedef struct {
     /*@{*/
-    unsigned int pin;   /**< Raw GPIO pin id */
-    unsigned int value; /**< Raw GPIO value */
+    unsigned int pincmd; /**< Pin command pincmd_xxxx */
+                         /**< At this time not all boards will support it -> TO DO */
+    unsigned int pin;    /**< Raw GPIO pin id */
+    unsigned int value;  /**< Raw GPIO value */
     /*@}*/
 } mraa_mux_t;
 
@@ -189,7 +218,6 @@ typedef struct {
     unsigned int mux_total; /** Numfer of muxes needed for operation of pin */
     mraa_mux_t mux[6]; /** Array holding information about mux */
     unsigned int output_enable; /** Output Enable GPIO, for level shifting */
-    unsigned int pullup_enable; /** Pull-Up enable GPIO, inputs */
     mraa_pin_cap_complex_t complex_cap;
     /*@}*/
 } mraa_pin_t;
@@ -225,9 +253,9 @@ typedef struct {
  */
 typedef struct {
     /*@{*/
-    unsigned int bus_id; /**< ID as exposed in the system */
-    unsigned int scl; /**< i2c SCL */
-    unsigned int sda; /**< i2c SDA */
+    int bus_id; /**< ID as exposed in the system */
+    int scl; /**< i2c SCL */
+    int sda; /**< i2c SDA */
     // mraa_drv_api_t drv_type; /**< Driver type */
     /*@}*/
 } mraa_i2c_bus_t;
@@ -240,10 +268,10 @@ typedef struct {
     unsigned int bus_id; /**< The Bus ID as exposed to the system. */
     unsigned int slave_s; /**< Slave select */
     mraa_boolean_t three_wire; /**< Is the bus only a three wire system */
-    unsigned int sclk; /**< Serial Clock */
-    unsigned int mosi; /**< Master Out, Slave In. */
-    unsigned int miso; /**< Master In, Slave Out. */
-    unsigned int cs; /**< Chip Select, used when the board is a spi slave */
+    int sclk; /**< Serial Clock */
+    int mosi; /**< Master Out, Slave In. */
+    int miso; /**< Master In, Slave Out. */
+    int cs; /**< Chip Select, used when the board is a spi slave */
     /*@}*/
 } mraa_spi_bus_t;
 
@@ -265,19 +293,19 @@ typedef struct {
 
 typedef struct _board_t {
     /*@{*/
-    unsigned int phy_pin_count; /**< The Total IO pins on board */
+    int phy_pin_count; /**< The Total IO pins on board */
     unsigned int gpio_count; /**< GPIO Count */
     unsigned int aio_count;  /**< Analog side Count */
-    unsigned int i2c_bus_count; /**< Usable i2c Count */
+    int i2c_bus_count; /**< Usable i2c Count */
     mraa_i2c_bus_t  i2c_bus[12]; /**< Array of i2c */
     unsigned int def_i2c_bus; /**< Position in array of default i2c bus */
-    unsigned int spi_bus_count; /**< Usable spi Count */
+    int spi_bus_count; /**< Usable spi Count */
     mraa_spi_bus_t spi_bus[12];       /**< Array of spi */
     unsigned int def_spi_bus; /**< Position in array of defult spi bus */
     unsigned int adc_raw; /**< ADC raw bit value */
     unsigned int adc_supported; /**< ADC supported bit value */
     unsigned int def_uart_dev; /**< Position in array of defult uart */
-    unsigned int uart_dev_count; /**< Usable spi Count */
+    int uart_dev_count; /**< Usable spi Count */
     mraa_uart_dev_t uart_dev[6]; /**< Array of UARTs */
     mraa_boolean_t no_bus_mux; /**< i2c/spi/adc/pwm/uart bus muxing setup not required */
     int pwm_default_period; /**< The default PWM period is US */

include/mraa_lang_func.h

@@ -0,0 +1,35 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * 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.
+ */
+
+#pragma once
+
+typedef struct {
+    void (*python_isr)(void (*isr)(void*), void* isr_args);
+	void (*java_isr_callback)(void *args);
+	mraa_result_t (*java_attach_thread)();
+	void (*java_detach_thread)();
+	void* (*java_create_global_ref)(void* args);
+	void (*java_delete_global_ref)(void* ref);
+
+} mraa_lang_func_t;

include/python/mraapy.h

@@ -0,0 +1,27 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * 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.
+ */
+
+#pragma once
+
+void mraa_python_isr(void (*isr)(void*), void* isr_args);

include/usb/ftdi_ft4222.h

@@ -28,12 +28,13 @@
 extern "C" {
 #endif
 
+#include <dlfcn.h>
 #include "mraa_internal.h"
 
 mraa_result_t mraa_ftdi_ft4222_init();
 mraa_result_t mraa_ftdi_ft4222_get_version(unsigned int* versionChip, unsigned int* versionLib);
 mraa_board_t* mraa_ftdi_ft4222();
-
+void *libft4222_lib;
 
 #ifdef __cplusplus
 }

include/x86/up.h

@@ -0,0 +1,43 @@
+/*
+ * Author: Dan O'Donovan <dan@emutex.com>
+ * Copyright (c) 2015 Emutex Ltd.
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * 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.
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "mraa_internal.h"
+
+// +1 as pins are "1 indexed"
+#define MRAA_UP_PINCOUNT (40 + 1)
+#define MRAA_UP_GPIOCOUNT (28)
+
+mraa_board_t*
+mraa_up_board();
+
+#ifdef __cplusplus
+}
+#endif

jsstub/Gruntfile.js

@@ -0,0 +1,17 @@
+module.exports = function(grunt) {
+  grunt.loadNpmTasks('grunt-mocha-test');
+  // Project configuration.
+  grunt.initConfig({
+    pkg: grunt.file.readJSON('package.json'),
+    mochaTest: {
+      test: {
+        options: {
+          reporter: 'spec'
+        },
+        src: ['test/*.js']
+      }
+    }
+  });
+
+  grunt.registerTask('test', ['mochaTest:test']);
+};

jsstub/README.md

@@ -0,0 +1,52 @@
+mraaStub - JavaScript simulation and stubs for mraa
+====================
+
+This project enables simulation of a device which might be accessed via mraa.
+Currently this library supports I2c, SPI, and GPIO.  This project provides
+several benefits:
+
+1. Prevent crashes in nodejs applications using mraa on unsuported or
+   misconfigured hardware.
+2. Enable basic simulation of mraa-accessible devices for unit testing.
+
+## Examples
+
+The following example is based on an imaginary 'light bulb' device abstraction,
+which exposes a value of brightness over a mraa-provided interface.  Please see
+the `test/index.js` file for an example.
+
+## Installation
+
+mraaStub is not yet in npm so has to be installed from git. In the future
+you'll be able to install `mraaStub` from npm like this:
+
+```
+npm install mraaStub
+```
+
+Since we often switch between a mraaStub and the real mraa library, we
+suggest creating an `index.js` file inside a `lib/mraaSwitcher` folder.
+
+```js
+/* index.js - file for switching between mraa and mraaStub
+ */
+
+// Define the conditions under which the mraaStub should be loaded
+var platform = require('os').platform();
+var m;
+
+if (platform === 'win32') {
+    m = require('mraaStub');
+} else {
+    m = require('mraa');
+}
+
+module.exports = m;
+```
+
+You can add this to your project in its own `lib/mraaSwitcher/index.js` file
+and use `require('../mraaSwitcher')` everywhere!
+
+## License
+
+See [COPYING file](../COPYING) in the root of this repository.

jsstub/index.js

@@ -0,0 +1,223 @@
+/**
+ * @fileoverview This file implements a fake mraa stub which enables testing
+ * as well as the ability to run on Windows.
+ */
+
+var m;
+var winston = require('winston');
+var logger = new winston.Logger({
+        transports: [
+            new winston.transports.Console({
+                level: 'error',
+                handleExceptions: false,
+                json: false,
+                colorize: true})
+            ],
+        exitOnError: false
+    });
+
+/**
+ * @class mraaStub
+ * @classdesc This class is designed to stub out libmraa so we can run
+ * test code on unsupported platforms (specifically Windows).
+ */
+var mraaStub = function() {
+    var verison = '0.0.1';
+    var self = this;
+    self.EDGE_BOTH = 1;
+    self.EDGE_NONE = 2;
+    self.EDGE_RISING = 3;
+    self.EDGE_FALLING = 4;
+    self.DIR_IN = 1;
+    self.DIR_OUT = 2;
+
+    self.getVersion = function() {
+        return "mraaStub " + version;
+    };
+
+    // Stub out GPIO
+    function Gpio(num) {
+        this.num = num;
+        this._callback = null;
+        this._dir = null;
+        this._isr_mode = self.EDGE_NONE;
+    }
+
+    var logGpio = false;
+    Gpio.prototype._callIsr = function() {
+        if(this.isr_mode === self.EDGE_NONE) {
+            logger.log('info',"Could not call ISR.  Not set up for triggering");
+        }
+        this._callback();
+    };
+
+    Gpio.prototype.isr = function(mode, handler){
+        if(logGpio) {
+            logger.log('info',"GPIO " + this.num + " isr stub invoked.");
+        }
+        this._isr_mode = self.EDGE_NONE;
+        this._callback = handler;
+    };
+
+    Gpio.prototype.dir = function(d) {
+        if(logGpio) {
+            logger.log('info',"GPIO " + this.num + " dir stub invoked.");
+        }
+        this._dir = d;
+    };
+    Gpio.prototype.write = function(z) {
+        if(logGpio) {
+            logger.log('logger',"GPIO " + this.num + " write stub invoked.");
+        }
+        if(this._dir !== self.DIR_OUT) {
+            logger.log('info',"GPIO " + this.num + " write called without DIR_OUT set.");
+        }
+    };
+    Gpio.prototype.read = function() {
+        if(logGpio) {
+            logger.log('info',"GPIO " + this.num + " read stub invoked.");
+        }
+        return 0;
+    };
+
+    // Stub out SPI
+    function Spi(num) {
+        var self = this;
+        this.num = num;
+        this._buffer = new Buffer(29);
+        this._buffer.fill(0);
+        this._loopback = false;
+    }
+
+    Spi.prototype._setOutput = function(buf) {
+        this._buffer = buf;
+    };
+
+    Spi.prototype._enableLoopback = function(x) {
+        if(x === true) {
+            this._loopback = true;
+        } else {
+            this._loopback = false;
+        }
+    };
+
+    Spi.prototype.write = function(b) {
+        logger.log('info',"SPI write stub invoked.");
+        if(this._loopback === true) {
+            return b;
+        }
+        return new Buffer(this._buffer);
+    };
+
+    Spi.prototype.frequency = function(f) {
+        logger.log('info',"SPI frequency stub invoked.");
+        return f;
+    };
+
+    Spi.prototype.lsbmode = function(t) {
+        logger.log('info',"SPI lsbmode stub invoked.");
+    };
+
+    Spi.prototype.mode = function(x) {
+        logger.log('info',"SPI mode stub invoked.");
+    };
+
+    function I2c(num) {
+        this._num = num;
+        this._regMapInitialized = false;
+    }
+
+    /* This function sets an internal register map for the I2c device.
+     */
+    I2c.prototype._setRegisterMapInternal = function(buffer) {
+        this._regMapInitialized = true;
+        this._buffer = buffer;
+    };
+
+    I2c.prototype.frequency = function(freq) {
+        // Do nothing.  We don't care.
+    };
+
+    I2c.prototype.address = function(address) {
+        var self = this;
+        self.address = address;
+    };
+
+    I2c.prototype.readReg = function(regAddr) {
+        if(!this._regMapInitialized) {
+            logger.log('error', "Need to set reg map");
+        }
+        if(!this.address) {
+            logger.log('error', "Need to set address");
+        }
+
+        return this._buffer.readUInt8(regAddr);
+    };
+
+    I2c.prototype.readWordReg = function(regAddr) {
+        if(!this._regMapInitialized) {
+            logger.log('error', "Need to set reg map");
+        }
+        if(!this.address) {
+            logger.log('error', "Need to set address");
+        }
+
+        return this._buffer.readUInt16LE(regAddr);
+    };
+
+    I2c.prototype.readBytesReg = function(regAddr, len) {
+        if(!this._regMapInitialized) {
+            logger.log('error', "Need to set reg map");
+        }
+        if(!this.address) {
+            logger.log('error', "Need to set address");
+        }
+
+        return this._buffer.slice(regAddr,regAddr+len);
+    };
+
+    I2c.prototype.write = function(buf) {
+        if(!this._regMapInitialized) {
+            logger.log('error', "Need to set reg map");
+        }
+        if(!this.address) {
+            logger.log('error', "Need to set address");
+        }
+
+        var regAddr = buf[0];
+        var newBuf = buf.slice(1);
+        newBuf.copy(this._buffer, regAddr);
+    };
+
+    I2c.prototype.writeReg = function(regAddr, data) {
+        if(!this._regMapInitialized) {
+            logger.log('error', "Need to set reg map");
+        }
+        if(!this.address) {
+            logger.log('error', "Need to set address");
+        }
+
+        this._buffer.writeUInt8(regAddr,data);
+    };
+
+    I2c.prototype.writeWordReg = function(regAddr, dataWord) {
+        if(!this._regMapInitialized) {
+            logger.log('error', "Need to set reg map");
+        }
+        if(!this.address) {
+            logger.log('error', "Need to set address");
+        }
+
+        this._buffer.writeUInt16LE(regAddr,data);
+    };
+
+    // Export our stubs
+    self.Gpio = Gpio;
+    self.Spi = Spi;
+    self.I2c = I2c;
+
+};
+
+m = new mraaStub();
+
+module.exports = m;

jsstub/package.json

@@ -0,0 +1,34 @@
+{
+  "name": "mraaStub",
+  "version": "0.0.1",
+  "description": "Enables simulation of mraa interfaces for testing purposes",
+  "main": "index.js",
+  "scripts": {
+    "test": "grunt test"
+  },
+  "repository": {
+    "type": "git",
+    "url": "git+https://github.com/intel-iot-devkit/mraa.git"
+  },
+  "keywords": [
+    "mraa",
+    "iot",
+    "intel",
+    "libmraa",
+    "test",
+    "galileo",
+    "edison"
+  ],
+  "author": "David A Antler <david.a.antler@intel.com>",
+  "license": "MIT",
+  "bugs": {
+    "url": "https://github.com/intel-iot-devkit/mraa/issues"
+  },
+  "homepage": "https://github.com/intel-iot-devkit/mraa#readme",
+  "devDependencies": {
+    "expect.js": "^0.3.1",
+    "grunt": "^1.0.1",
+    "grunt-mocha-test": "^0.12.7",
+    "mocha": "^2.4.5"
+  }
+}

jsstub/test/index.js

@@ -0,0 +1,32 @@
+var expect = require('expect.js');
+var m = require('../index');
+var LightBulb = require('./lightbulb');
+
+describe('LightBulb', function() {
+
+    /** Model the internal data of LightBulb as a buffer */
+    var bufferFullBrightness = new Buffer(
+       [ 'N',   // Four bytes allocated for name
+         'a',
+         'm',
+         'e',
+          95    // One byte allocated for brightness. Stuff in '95' value!
+       ]);
+
+    it('getBrightness() function should return 95', function() {
+
+        // Create a fake I2c bus based on the 'full brightness' data model
+        var testI2cBus = new m.I2c(0);
+        testI2cBus._setRegisterMapInternal(bufferFullBrightness);
+
+        // Create a new LightBulb that opens the testI2cBus, instead of a real
+        // mraa I2c bus.
+        var lightBulbI2c = new LightBulb(testI2cBus);
+
+        // presumably getBrightness will gather data from I2C and get '95'
+        var brightness = lightBulbI2c.getBrightness();
+
+        expect(brightness).to.be(95);
+    })
+});
+

jsstub/test/lightbulb.js

@@ -0,0 +1,32 @@
+/**
+* @fileoverview Implementation of a LightBulb class abstraction
+*
+*/
+
+module.exports = (function() {
+    "use strict";
+    var m = require('../index');
+
+    /**
+     * Constructor for a new LightBulb
+     * @class LightBulb
+     *
+     * @classdesc This class abstracts access to the control and data registers
+     * on an imaginary lightbulb.
+     * @param {Object} A libmraa I2c object, initialized
+     */
+    function LightBulb (i2cInterface) {
+        var self = this;
+        self._i2cInterface = i2cInterface;
+
+        self.getBrightness = function() {
+            // Presume our brightness data is one byte at offset 4
+            return self._i2cInterface.readReg(4);
+        }
+
+        return self;
+    }
+
+    return LightBulb;
+})();
+

src/CMakeLists.txt

@@ -4,6 +4,16 @@ set (mraa_LIB_INCLUDE_DIRS
   ${PROJECT_SOURCE_DIR}/include
 )
 
+if (FIRMATA)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DFIRMATA=1")
+  add_subdirectory (firmata)
+endif ()
+
+if (ONEWIRE)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DONEWIRE=1")
+  add_subdirectory (uart_ow)
+endif ()
+
 include_directories(
   ${mraa_LIB_INCLUDE_DIRS}
 )
@@ -17,6 +27,7 @@ set (mraa_LIB_SRCS_NOAUTO
   ${PROJECT_SOURCE_DIR}/src/aio/aio.c
   ${PROJECT_SOURCE_DIR}/src/uart/uart.c
   ${PROJECT_SOURCE_DIR}/src/iio/iio.c
+  ${mraa_LIB_SRCS_NOAUTO}
 )
 
 set (mraa_LIB_X86_SRCS_NOAUTO
@@ -29,9 +40,10 @@ set (mraa_LIB_X86_SRCS_NOAUTO
   ${PROJECT_SOURCE_DIR}/src/x86/intel_minnow_byt_compatible.c
   ${PROJECT_SOURCE_DIR}/src/x86/intel_sofia_3gr.c
   ${PROJECT_SOURCE_DIR}/src/x86/intel_cherryhills.c
+  ${PROJECT_SOURCE_DIR}/src/x86/up.c
 )
 
-message (INFO " - Adding support for platform ${MRAAPLATFORMFORCE}")
+message (STATUS "INFO - Adding support for platform ${MRAAPLATFORMFORCE}")
 
 #keywords in if statements are case sensitive
 if (NOT ${MRAAPLATFORMFORCE} STREQUAL "ALL")
@@ -52,11 +64,13 @@ if (NOT ${MRAAPLATFORMFORCE} STREQUAL "ALL")
     set (mraa_LIB_X86_SRCS_NOAUTO ${PROJECT_SOURCE_DIR}/src/x86/x86.c ${PROJECT_SOURCE_DIR}/src/x86/intel_sofia_3gr.c)
   elseif (${MRAAPLATFORMFORCE} STREQUAL "MRAA_INTEL_CHERRYHILLS")
     set (mraa_LIB_X86_SRCS_NOAUTO ${PROJECT_SOURCE_DIR}/src/x86/x86.c ${PROJECT_SOURCE_DIR}/src/x86/intel_cherryhills.c)
+  elseif (${MRAAPLATFORMFORCE} STREQUAL "MRAA_UP")
+    set (mraa_LIB_X86_SRCS_NOAUTO ${PROJECT_SOURCE_DIR}/src/x86/x86.c ${PROJECT_SOURCE_DIR}/src/x86/up.c)
   else ()
-    message (ERROR " - Unknown x86 platform enabled!")
+    message (FATAL_ERROR "Unknown x86 platform enabled!")
   endif ()
 else ()
-    message (INFO " - Adding support for all platforms")
+    message (STATUS "INFO - Adding support for all platforms")
 endif ()
 
 set (mraa_LIB_ARM_SRCS_NOAUTO
@@ -80,7 +94,7 @@ if (ARMPLAT)
 endif()
 
 if (USBPLAT)
-  message (INFO " - Adding USB platforms")
+  message (STATUS "INFO - Adding USB platforms")
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DUSBPLAT=1")
   if (FTDID2xx)
     find_package (Ftd2xx)
@@ -88,21 +102,28 @@ if (USBPLAT)
       set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DFTDID2XX=1")
       set (mraa_LIBS ${mraa_LIBS} ${LIBFTD2XX_LIBRARIES})
     else ()
-      message (WARNING " - Enabled FTDID2xx support but library not found")
+      message (SEND_ERROR "Enabled FTDID2xx support but library not found")
     endif ()
   endif ()
   if (FTDI4222)
     find_package (Ftd4222)
     if (${LIBFT4222_FOUND})
       set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DFTDI4222=1")
-      set (mraa_LIBS ${mraa_LIBS} ${LIBFT4222_LIBRARIES})
+      set (mraa_LIBS ${mraa_LIBS} dl)
     else ()
-      message (WARNING " - Enabled FTDI4222 support but library not found")
+      message (SEND_ERROR "Enabled FTDI4222 support but library not found")
     endif ()
   endif ()
   add_subdirectory(usb)
 endif ()
 
+if (IMRAA)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DIMRAA=1")
+  find_package (JSON-C REQUIRED)
+  include_directories (${JSON-C_INCLUDE_DIR})
+  set (mraa_LIBS ${mraa_LIBS} ${JSON-C_LIBRARIES})
+endif ()
+
 set (mraa_LIB_SRCS
   ${mraa_LIB_PLAT_SRCS_NOAUTO}
 # autogenerated version file
@@ -114,17 +135,6 @@ set (mraa_LIB_GLOB_HEADERS
   ${PROJECT_SOURCE_DIR}/api/mraa.hpp
 )
 
-add_library (mraa ${mraa_LIB_SRCS})
-
-
-target_link_libraries (mraa ${mraa_LIBS})
-
-set_target_properties(
-   mraa
-   PROPERTIES
-   SOVERSION ${mraa_VERSION_MAJOR}
-   VERSION ${mraa_VERSION_STRING}
-)
 install (FILES ${mraa_LIB_GLOB_HEADERS} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 install (DIRECTORY ${PROJECT_SOURCE_DIR}/api/mraa/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/mraa)
 
@@ -132,9 +142,8 @@ macro (mraa_CREATE_INSTALL_PKGCONFIG generated_file install_location)
   configure_file (${generated_file}.cmake ${CMAKE_CURRENT_BINARY_DIR}/${generated_file} @ONLY)
   install (FILES ${CMAKE_CURRENT_BINARY_DIR}/${generated_file} DESTINATION ${install_location})
 endmacro (mraa_CREATE_INSTALL_PKGCONFIG)
-mraa_create_install_pkgconfig (mraa.pc ${CMAKE_INSTALL_LIBDIR}/pkgconfig)
+mraa_create_install_pkgconfig (mraa.pc ${LIB_INSTALL_DIR}/pkgconfig)
 
-install(TARGETS mraa DESTINATION ${CMAKE_INSTALL_LIBDIR})
 
 if (DOXYGEN_FOUND)
   set (CMAKE_SWIG_FLAGS -DDOXYGEN=${DOXYGEN_FOUND})
@@ -184,14 +193,26 @@ if (BUILDSWIG)
       add_subdirectory (python)
     endif ()
     if (BUILDSWIGJAVA)
+      configure_file (${CMAKE_CURRENT_SOURCE_DIR}/java/manifest.txt.in
+          ${CMAKE_CURRENT_BINARY_DIR}/java/manifest.txt)
       add_subdirectory (java)
     endif ()
     if (BUILDSWIGNODE)
       if (SWIG_VERSION VERSION_GREATER 3.0.4)
         add_subdirectory (javascript)
       else ()
-        message ("WARN - SWIG is ${SWIG_VERSION}. Please upgrade to 3.0.5+ to build nodejs addon")
+        message (SEND_ERROR "SWIG is ${SWIG_VERSION}. Please upgrade to 3.0.5+ to build nodejs addon")
       endif ()
     endif ()
   endif ()
 endif ()
+
+add_library (mraa ${mraa_LIB_SRCS})
+target_link_libraries (mraa ${mraa_LIBS})
+set_target_properties(
+   mraa
+   PROPERTIES
+   SOVERSION ${mraa_VERSION_MAJOR}
+   VERSION ${mraa_VERSION_STRING}
+)
+install(TARGETS mraa DESTINATION ${LIB_INSTALL_DIR})

src/aio/aio.c

@@ -1,7 +1,7 @@
 /*
  * Author: Nandkishor Sonar
  * Author: Brendan Le Foll <brendan.le.foll@intel.com>
- * Copyright (c) 2014, 2015 Intel Corporation.
+ * Copyright (c) 2014-2016 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -56,7 +56,7 @@ aio_get_valid_fp(mraa_aio_context dev)
 }
 
 static mraa_aio_context
-mraa_aio_init_internal(mraa_adv_func_t* func_table)
+mraa_aio_init_internal(mraa_adv_func_t* func_table, int aio, unsigned int channel)
 {
     mraa_aio_context dev = calloc(1, sizeof(struct _aio));
     if (dev == NULL) {
@@ -64,29 +64,72 @@ mraa_aio_init_internal(mraa_adv_func_t* func_table)
     }
     dev->advance_func = func_table;
 
+    if (IS_FUNC_DEFINED(dev, aio_init_internal_replace)) {
+        if (dev->advance_func->aio_init_internal_replace(dev, aio) == MRAA_SUCCESS) {
+            return dev;
+        }
+        free(dev);
+        return NULL;
+    }
+
+    dev->channel = channel;
+
+    // Open valid  analog input file and get the pointer.
+    if (MRAA_SUCCESS != aio_get_valid_fp(dev)) {
+        free(dev);
+        return NULL;
+    }
+
     return dev;
 }
 
 mraa_aio_context
 mraa_aio_init(unsigned int aio)
 {
-    if (plat == NULL) {
+    mraa_board_t* board = plat;
+    int pin;
+    if (board == NULL) {
         syslog(LOG_ERR, "aio: Platform not initialised");
         return NULL;
     }
     if (mraa_is_sub_platform_id(aio)) {
-        syslog(LOG_NOTICE, "aio: Using sub platform is not supported");
+        syslog(LOG_NOTICE, "aio: Using sub platform");
+        board = board->sub_platform;
+        if (board == NULL) {
+            syslog(LOG_ERR, "aio: Sub platform Not Initialised");
+            return NULL;
+        }
+        aio = mraa_get_sub_platform_index(aio);
+    }
+
+    // aio are always past the gpio_count in the pin array
+    pin = aio + board->gpio_count;
+
+    if (pin < 0 || pin >= board->phy_pin_count) {
+        syslog(LOG_ERR, "aio: pin %i beyond platform definition", pin);
         return NULL;
     }
+    if (aio >= board->aio_count) {
+        syslog(LOG_ERR, "aio: requested channel out of range");
+        return NULL;
+    }
+    if (board->pins[pin].capabilites.aio != 1) {
+        syslog(LOG_ERR, "aio: pin %i not capable of aio", pin);
+        return NULL;
+    }
+    if (board->pins[pin].aio.mux_total > 0) {
+        if (mraa_setup_mux_mapped(board->pins[pin].aio) != MRAA_SUCCESS) {
+            syslog(LOG_ERR, "aio: unable to setup multiplexers for pin");
+            return NULL;
+        }
+    }
 
     // Create ADC device connected to specified channel
-    mraa_aio_context dev = mraa_aio_init_internal(plat->adv_func);
+    mraa_aio_context dev = mraa_aio_init_internal(board->adv_func, aio, board->pins[pin].aio.pinmap);
     if (dev == NULL) {
         syslog(LOG_ERR, "aio: Insufficient memory for specified input channel %d", aio);
         return NULL;
     }
-    int pin = aio + plat->gpio_count;
-    dev->channel = plat->pins[pin].aio.pinmap;
     dev->value_bit = DEFAULT_BITS;
 
     if (IS_FUNC_DEFINED(dev, aio_init_pre)) {
@@ -96,32 +139,6 @@ mraa_aio_init(unsigned int aio)
             return NULL;
         }
     }
-    if (aio > plat->aio_count) {
-        syslog(LOG_ERR, "aio: requested channel out of range");
-        free(dev);
-        return NULL;
-    }
-
-    if (plat->pins[pin].capabilites.aio != 1) {
-        syslog(LOG_ERR, "aio: pin uncapable of aio");
-        free(dev);
-        return NULL;
-    }
-
-    if (plat->pins[pin].aio.mux_total > 0) {
-        if (mraa_setup_mux_mapped(plat->pins[pin].aio) != MRAA_SUCCESS) {
-            free(dev);
-            syslog(LOG_ERR, "aio: unable to setup multiplexers for pin");
-            return NULL;
-        }
-    }
-
-    // Open valid  analog input file and get the pointer.
-    if (MRAA_SUCCESS != aio_get_valid_fp(dev)) {
-        free(dev);
-        return NULL;
-    }
-    raw_bits = mraa_adc_raw_bits();
 
     if (IS_FUNC_DEFINED(dev, aio_init_post)) {
         mraa_result_t ret = dev->advance_func->aio_init_post(dev);
@@ -131,19 +148,25 @@ mraa_aio_init(unsigned int aio)
         }
     }
 
+    raw_bits = mraa_adc_raw_bits();
+
     return dev;
 }
 
-unsigned int
+int
 mraa_aio_read(mraa_aio_context dev)
 {
+    if (IS_FUNC_DEFINED(dev, aio_read_replace)) {
+        return dev->advance_func->aio_read_replace(dev);
+    }
+
     char buffer[17];
     unsigned int shifter_value = 0;
 
     if (dev->adc_in_fp == -1) {
         if (aio_get_valid_fp(dev) != MRAA_SUCCESS) {
             syslog(LOG_ERR, "aio: Failed to get to the device");
-            return 0;
+            return -1;
         }
     }
 
@@ -160,8 +183,10 @@ mraa_aio_read(mraa_aio_context dev)
     unsigned int analog_value = (unsigned int) strtoul(buffer, &end, 10);
     if (end == &buffer[0]) {
         syslog(LOG_ERR, "aio: Value is not a decimal number");
+        return -1;
     } else if (errno != 0) {
         syslog(LOG_ERR, "aio: Errno was set");
+        return -1;
     }
 
     if (dev->value_bit != raw_bits) {
@@ -183,7 +208,7 @@ mraa_aio_read_float(mraa_aio_context dev)
 {
     if (dev == NULL) {
         syslog(LOG_ERR, "aio: Device not valid");
-        return 0.0;
+        return -1.0;
     }
 
     float max_analog_value = (1 << dev->value_bit) - 1;

src/arm/96boards.c

@@ -26,6 +26,7 @@
  */
 
 #include <stdlib.h>
+#include <stdarg.h>
 #include <string.h>
 #include <sys/mman.h>
 #include <mraa/common.h>
@@ -50,12 +51,30 @@ int hikey_ls_gpio_pins[MRAA_96BOARDS_LS_GPIO_COUNT] = {
 
 const char* hikey_serialdev[MRAA_96BOARDS_LS_UART_COUNT] = { "/dev/ttyAMA2", "/dev/ttyAMA3"};
 
+void mraa_96boards_pininfo(mraa_board_t* board, int index, int sysfs_pin,
+                           char *fmt, ...)
+{
+   va_list arg_ptr;
+   if (index > board->phy_pin_count)
+      return;
+
+   mraa_pininfo_t* pininfo = &board->pins[index];
+   va_start(arg_ptr, fmt);
+   vsnprintf(pininfo->name, MRAA_PIN_NAME_SIZE, fmt, arg_ptr);
+   va_end(arg_ptr);
+   if (sysfs_pin >= 0)
+      pininfo->capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
+   else
+      pininfo->capabilites = (mraa_pincapabilities_t){ 0, 0, 0, 0, 0, 0, 0, 0 };
+   pininfo->gpio.pinmap = sysfs_pin;
+   pininfo->gpio.mux_total = 0;
+}
+
 mraa_board_t* mraa_96boards()
 {
    int i, pin;
-   int *ls_gpio_pins;
+   int *ls_gpio_pins = NULL;
    char ch;
-   char name[MRAA_PIN_NAME_SIZE];
 
    mraa_board_t* b = (mraa_board_t*) calloc(1, sizeof(mraa_board_t));
    if (b == NULL) {
@@ -64,18 +83,17 @@ mraa_board_t* mraa_96boards()
 
    // pin mux for buses are setup by default by kernel so tell mraa to ignore them
    b->no_bus_mux = 1;
+   b->phy_pin_count = MRAA_96BOARDS_LS_PIN_COUNT + 1;
 
    if (mraa_file_exist(DT_BASE "/model")) {
         // We are on a modern kernel, great!!!!
         if (mraa_file_contains(DT_BASE "/model", "Qualcomm Technologies, Inc. APQ 8016 SBC")) {
             b->platform_name = PLATFORM_NAME_DB410C;
-            b->phy_pin_count = DB410C_PINCOUNT;
             ls_gpio_pins = db410c_ls_gpio_pins;
             b->uart_dev[0].device_path = db410c_serialdev[0];
             b->uart_dev[1].device_path = db410c_serialdev[1];
         } else if (mraa_file_contains(DT_BASE "/model", "HiKey Development Board")) {
             b->platform_name = PLATFORM_NAME_HIKEY;
-            b->phy_pin_count = HIKEY_PINCOUNT;
             ls_gpio_pins = hikey_ls_gpio_pins;
             b->uart_dev[0].device_path = hikey_serialdev[0];
             b->uart_dev[1].device_path = hikey_serialdev[1];
@@ -110,17 +128,41 @@ mraa_board_t* mraa_96boards()
       return NULL;
    }
 
-   // gpio lable starts from GPIO-A to GPIO-F
-   ch = 'A';
+   mraa_96boards_pininfo(b,  0, -1, "INVALID");
+   mraa_96boards_pininfo(b,  1, -1, "GND");
+   mraa_96boards_pininfo(b,  2, -1, "GND");
+   mraa_96boards_pininfo(b,  3, -1, "UART0_CTS");
+   mraa_96boards_pininfo(b,  4, -1, "PWR_BTN_N");
+   mraa_96boards_pininfo(b,  5, -1, "UART0_TXD");
+   mraa_96boards_pininfo(b,  6, -1, "RST_BTN_N");
+   mraa_96boards_pininfo(b,  7, -1, "UART0_RXD");
+   mraa_96boards_pininfo(b,  8, -1, "SPI0_SCLK");
+   mraa_96boards_pininfo(b,  9, -1, "UART0_RTS");
+   mraa_96boards_pininfo(b, 10, -1, "SPI0_DIN");
+   mraa_96boards_pininfo(b, 11, -1, "UART1_TXD");
+   mraa_96boards_pininfo(b, 12, -1, "SPI0_CS");
+   mraa_96boards_pininfo(b, 13, -1, "UART1_RXD");
+   mraa_96boards_pininfo(b, 14, -1, "SPI0_DOUT");
+   mraa_96boards_pininfo(b, 15, -1, "I2C0_SCL");
+   mraa_96boards_pininfo(b, 16, -1, "PCM_FS");
+   mraa_96boards_pininfo(b, 17, -1, "I2C0_SDA");
+   mraa_96boards_pininfo(b, 18, -1, "PCM_CLK");
+   mraa_96boards_pininfo(b, 19, -1, "I2C1_SCL");
+   mraa_96boards_pininfo(b, 20, -1, "PCM_DO");
+   mraa_96boards_pininfo(b, 21, -1, "I2C1_SDA");
+   mraa_96boards_pininfo(b, 22, -1, "PCM_DI");
+   // GPIOs are labelled "GPIO-A" through "GPIO-L"
    for (i = 0; i < MRAA_96BOARDS_LS_GPIO_COUNT; i++)
    {
-      pin = ls_gpio_pins[i];
-      sprintf(name, "GPIO-%c", ch++);
-      strncpy(b->pins[pin].name, name, MRAA_PIN_NAME_SIZE);
-      b->pins[pin].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
-      b->pins[pin].gpio.pinmap = pin;
-      b->pins[pin].gpio.mux_total = 0;
+      mraa_96boards_pininfo(b, 23 + i, ls_gpio_pins ? ls_gpio_pins[i] : -1,
+                            "GPIO-%c", 'A'+i);
    }
+   mraa_96boards_pininfo(b, 35, -1, "1.8v");
+   mraa_96boards_pininfo(b, 36, -1, "SYS_DCIN");
+   mraa_96boards_pininfo(b, 37, -1, "5v");
+   mraa_96boards_pininfo(b, 38, -1, "SYS_DCIN");
+   mraa_96boards_pininfo(b, 39, -1, "GND");
+   mraa_96boards_pininfo(b, 40, -1, "GND");
 
    b->gpio_count = MRAA_96BOARDS_LS_GPIO_COUNT;
 

src/arm/beaglebone.c

@@ -64,7 +64,6 @@ static unsigned int mmap_count = 0;
 mraa_result_t
 mraa_beaglebone_mmap_write(mraa_gpio_context dev, int value)
 {
-    volatile uint32_t* addr;
     if (value) {
         *(volatile uint32_t*) (mmap_gpio[dev->pin / 32] + AM335X_SET) = (uint32_t)(1 << (dev->pin % 32));
     } else {
@@ -185,7 +184,6 @@ mraa_beaglebone_uart_init_pre(int index)
 {
     mraa_result_t ret = MRAA_ERROR_NO_RESOURCES;
     char devpath[MAX_SIZE];
-    char overlay[MAX_SIZE];
     char* capepath = NULL;
     sprintf(devpath, "/dev/ttyO%u", index + 1);
     if (!mraa_file_exist(devpath)) {
@@ -218,7 +216,6 @@ mraa_beaglebone_spi_init_pre(int index)
 {
     mraa_result_t ret = MRAA_ERROR_NO_RESOURCES;
     char devpath[MAX_SIZE];
-    char overlay[MAX_SIZE];
     char* capepath = NULL;
     int deviceindex = 0;
 
@@ -273,10 +270,10 @@ mraa_beaglebone_i2c_init_pre(unsigned int bus)
 {
     mraa_result_t ret = MRAA_ERROR_NO_RESOURCES;
     char devpath[MAX_SIZE];
-    char overlay[MAX_SIZE];
     char* capepath = NULL;
     sprintf(devpath, "/dev/i2c-%u", plat->i2c_bus[bus].bus_id);
     if (!mraa_file_exist(devpath)) {
+        syslog(LOG_INFO, "i2c: %s doesn't exist ", devpath);
         capepath = mraa_file_unglob(SYSFS_DEVICES_CAPEMGR_SLOTS);
         if (capepath == NULL) {
             syslog(LOG_ERR, "i2c: Could not find CapeManager");
@@ -310,7 +307,6 @@ mraa_pwm_context
 mraa_beaglebone_pwm_init_replace(int pin)
 {
     char devpath[MAX_SIZE];
-    char overlay[MAX_SIZE];
     char* capepath = NULL;
     if (plat == NULL) {
         syslog(LOG_ERR, "pwm: Platform Not Initialised");
@@ -418,7 +414,7 @@ mraa_beaglebone()
     else
         i2c0_enabled = 0;
 
-    if (mraa_file_exist("/sys/class/i2c-dev/i2c-1"))
+    if (mraa_file_exist("/sys/class/i2c-dev/i2c-2"))
         i2c1_enabled = 1;
     else
         i2c1_enabled = 0;
@@ -1127,7 +1123,7 @@ mraa_beaglebone()
     b->pins[64].i2c.mux_total = 0;
     b->pins[64].spi.mux_total = 0;
 
-    if (i2c0_enabled == 1) {
+    if (i2c1_enabled == 1) {
         strncpy(b->pins[65].name, "I2C2SCL", MRAA_PIN_NAME_SIZE);
         b->pins[65].capabilites = (mraa_pincapabilities_t){ 1, 0, 0, 0, 0, 1, 0, 0 };
         b->pins[65].i2c.mux_total = 0;
@@ -1140,7 +1136,7 @@ mraa_beaglebone()
     b->pins[65].gpio.mux_total = 0;
     b->pins[65].i2c.mux_total = 0;
 
-    if (i2c0_enabled == 1) {
+    if (i2c1_enabled == 1) {
         strncpy(b->pins[66].name, "I2C2SDA", MRAA_PIN_NAME_SIZE);
         b->pins[66].capabilites = (mraa_pincapabilities_t){ 1, 0, 0, 0, 0, 1, 0, 0 };
         b->pins[66].i2c.mux_total = 0;
@@ -1380,7 +1376,7 @@ mraa_beaglebone()
     b->i2c_bus[0].sda = 46 + 18;
     b->i2c_bus[0].scl = 46 + 17;
 
-    b->i2c_bus[1].bus_id = 1;
+    b->i2c_bus[1].bus_id = 2;
     b->i2c_bus[1].sda = 46 + 20;
     b->i2c_bus[1].scl = 46 + 19;
 

src/arm/raspberry_pi.c

@@ -246,7 +246,7 @@ mraa_raspberry_pi()
                     b->platform_name = PLATFORM_NAME_RASPBERRY_PI_A_PLUS_REV_1;
                     platform_detected = PLATFORM_RASPBERRY_PI_A_PLUS_REV_1;
                     b->phy_pin_count = MRAA_RASPBERRY_PI_AB_PLUS_PINCOUNT;
-                } else if (strstr(line, "a01041") || strstr(line, "a21041")) {
+                } else if (strstr(line, "a01041") || strstr(line, "a21041") || strstr(line, "a02082")) {
                     b->platform_name = PLATFORM_NAME_RASPBERRY_PI2_B_REV_1;
                     platform_detected = PLATFORM_RASPBERRY_PI2_B_REV_1;
                     b->phy_pin_count = MRAA_RASPBERRY_PI2_B_REV_1_PINCOUNT;

src/firmata/CMakeLists.txt

@@ -0,0 +1,8 @@
+if (FIRMATA)
+  message (STATUS "INFO - Adding firmata backend support")
+  set (mraa_LIB_SRCS_NOAUTO ${mraa_LIB_SRCS_NOAUTO}
+    ${PROJECT_SOURCE_DIR}/src/firmata/firmata.c
+    ${PROJECT_SOURCE_DIR}/src/firmata/firmata_mraa.c
+    PARENT_SCOPE
+  )
+endif ()

src/firmata/firmata.c

@@ -0,0 +1,361 @@
+/*
+ * Copyright (c) 2016 Intel Corporation
+ * Copyright (c) 2015 Jules Dourlens (jdourlens@gmail.com)
+ *
+ * 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 "firmata/firmata.h"
+#include "mraa_internal.h"
+
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+
+t_firmata*
+firmata_new(const char* name)
+{
+    t_firmata* res;
+    mraa_result_t uart_res = MRAA_ERROR_UNSPECIFIED;
+
+    res = calloc(1, sizeof(t_firmata));
+    if (!res) {
+        return NULL;
+    }
+
+    res->uart = mraa_uart_init_raw(name);
+    if (res->uart == NULL) {
+        syslog(LOG_ERR, "firmata: UART failed to setup");
+        free(res);
+        return  NULL;
+    }
+
+    firmata_initPins(res);
+
+    if (mraa_uart_set_baudrate(res->uart, 57600) != MRAA_SUCCESS) {
+        syslog(LOG_WARNING, "firmata: Failed to set correct baud rate on %s", name);
+    }
+
+    firmata_askFirmware(res);
+    syslog(LOG_INFO, "firmata: Device opened at: %s", name);
+
+    return res;
+}
+
+void
+firmata_close(t_firmata* firmata)
+{
+    mraa_uart_stop(firmata->uart);
+    free(firmata);
+}
+
+int
+firmata_pull(t_firmata* firmata)
+{
+    uint8_t buff[FIRMATA_MSG_LEN];
+    int r;
+
+    r = mraa_uart_data_available(firmata->uart, 40);
+    if (r > 0) {
+        r = mraa_uart_read(firmata->uart, buff, sizeof(buff));
+        if (r < 0) {
+            return 0;
+        }
+        if (r > 0) {
+            firmata_parse(firmata, buff, r);
+            return r;
+        }
+    }
+    return r;
+}
+
+void
+firmata_parse(t_firmata* firmata, const uint8_t* buf, int len)
+{
+    const uint8_t* p;
+    const uint8_t* end;
+
+    p = buf;
+    end = p + len;
+    for (p = buf; p < end; p++) {
+        uint8_t msn = *p & 0xF0;
+        if (msn == 0xE0 || msn == 0x90 || *p == 0xF9) {
+            firmata->parse_command_len = 3;
+            firmata->parse_count = 0;
+        } else if (msn == 0xC0 || msn == 0xD0) {
+            firmata->parse_command_len = 2;
+            firmata->parse_count = 0;
+        } else if (*p == FIRMATA_START_SYSEX) {
+            firmata->parse_count = 0;
+            firmata->parse_command_len = sizeof(firmata->parse_buff);
+        } else if (*p == FIRMATA_END_SYSEX) {
+            firmata->parse_command_len = firmata->parse_count + 1;
+        } else if (*p & 0x80) {
+            firmata->parse_command_len = 1;
+            firmata->parse_count = 0;
+        }
+        if (firmata->parse_count < (int) sizeof(firmata->parse_buff)) {
+            firmata->parse_buff[firmata->parse_count] = (uint8_t)(*p);
+            firmata->parse_count++;
+        }
+        if (firmata->parse_count == firmata->parse_command_len) {
+            firmata_endParse(firmata);
+            firmata->parse_count = 0;
+            firmata->parse_command_len = 0;
+        }
+    }
+}
+
+void
+firmata_endParse(t_firmata* firmata)
+{
+    uint8_t cmd = (firmata->parse_buff[0] & 0xF0);
+    int pin;
+
+    if (cmd == 0xE0 && firmata->parse_count == 3) {
+        int analog_ch = (firmata->parse_buff[0] & 0x0F);
+        int analog_val = firmata->parse_buff[1] | (firmata->parse_buff[2] << 7);
+        for (pin = 0; pin < 128; pin++) {
+            if (firmata->pins[pin].analog_channel == analog_ch) {
+                firmata->pins[pin].value = analog_val;
+                return;
+            }
+        }
+        return;
+    }
+    if (cmd == 0x90 && firmata->parse_count == 3) {
+        int port_num = (firmata->parse_buff[0] & 0x0F);
+        int port_val = firmata->parse_buff[1] | (firmata->parse_buff[2] << 7);
+        int pin = port_num * 8;
+        int mask;
+        for (mask = 1; mask & 0xFF; mask <<= 1, pin++) {
+            if (firmata->pins[pin].mode == MODE_INPUT) {
+                uint32_t val = (port_val & mask) ? 1 : 0;
+                firmata->pins[pin].value = val;
+            }
+        }
+        return;
+    }
+    if (firmata->parse_buff[0] == FIRMATA_START_SYSEX &&
+        firmata->parse_buff[firmata->parse_count - 1] == FIRMATA_END_SYSEX) {
+        if (firmata->parse_buff[1] == FIRMATA_REPORT_FIRMWARE) {
+            int len = 0;
+            int i;
+            for (i = 4; i < firmata->parse_count - 2; i += 2) {
+                firmata->firmware[len++] =
+                (firmata->parse_buff[i] & 0x7F) | ((firmata->parse_buff[i + 1] & 0x7F) << 7);
+            }
+            firmata->firmware[len++] = '-';
+            firmata->firmware[len++] = firmata->parse_buff[2] + '0';
+            firmata->firmware[len++] = '.';
+            firmata->firmware[len++] = firmata->parse_buff[3] + '0';
+            firmata->firmware[len++] = 0;
+            syslog(LOG_INFO, "firmata: sketch name:: %s", firmata->firmware);
+            // query the board's capabilities only after hearing the
+            // REPORT_FIRMWARE message.  For boards that reset when
+            // the port open (eg, Arduino with reset=DTR), they are
+            // not ready to communicate for some time, so the only
+            // way to reliably query their capabilities is to wait
+            // until the REPORT_FIRMWARE message is heard.
+            uint8_t buf[80];
+            len = 0;
+            buf[len++] = FIRMATA_START_SYSEX;
+            buf[len++] = FIRMATA_ANALOG_MAPPING_QUERY; // read analog to pin # info
+            buf[len++] = FIRMATA_END_SYSEX;
+            buf[len++] = FIRMATA_START_SYSEX;
+            buf[len++] = FIRMATA_CAPABILITY_QUERY; // read capabilities
+            buf[len++] = FIRMATA_END_SYSEX;
+            for (i = 0; i < 16; i++) {
+                buf[len++] = 0xC0 | i; // report analog
+                buf[len++] = 1;
+                buf[len++] = 0xD0 | i; // report digital
+                buf[len++] = 1;
+            }
+            firmata->isReady = 1;
+            mraa_uart_write(firmata->uart, buf, len);
+        } else if (firmata->parse_buff[1] == FIRMATA_CAPABILITY_RESPONSE) {
+            int pin, i, n;
+            for (pin = 0; pin < 128; pin++) {
+                firmata->pins[pin].supported_modes = 0;
+            }
+            for (i = 2, n = 0, pin = 0; i < firmata->parse_count; i++) {
+                if (firmata->parse_buff[i] == 127) {
+                    pin++;
+                    n = 0;
+                    continue;
+                }
+                if (n == 0) {
+                    // first byte is supported mode
+                    firmata->pins[pin].supported_modes |= (1 << firmata->parse_buff[i]);
+                }
+                n = n ^ 1;
+            }
+            // send a state query for for every pin with any modes
+            for (pin = 0; pin < 128; pin++) {
+                uint8_t buf[512];
+                int len = 0;
+                if (firmata->pins[pin].supported_modes) {
+                    buf[len++] = FIRMATA_START_SYSEX;
+                    buf[len++] = FIRMATA_PIN_STATE_QUERY;
+                    buf[len++] = pin;
+                    buf[len++] = FIRMATA_END_SYSEX;
+                }
+                mraa_uart_write(firmata->uart, buf, len);
+            }
+        } else if (firmata->parse_buff[1] == FIRMATA_ANALOG_MAPPING_RESPONSE) {
+            int pin = 0;
+            int i;
+            for (i = 2; i < firmata->parse_count - 1; i++) {
+                firmata->pins[pin].analog_channel = firmata->parse_buff[i];
+                pin++;
+            }
+            return;
+        } else if (firmata->parse_buff[1] == FIRMATA_PIN_STATE_RESPONSE && firmata->parse_count >= 6) {
+            int pin = firmata->parse_buff[2];
+            firmata->pins[pin].mode = firmata->parse_buff[3];
+            firmata->pins[pin].value = firmata->parse_buff[4];
+            if (firmata->parse_count > 6)
+                firmata->pins[pin].value |= (firmata->parse_buff[5] << 7);
+            if (firmata->parse_count > 7)
+                firmata->pins[pin].value |= (firmata->parse_buff[6] << 14);
+        // disable this to check the firmata_devs responses
+        } else if (firmata->parse_buff[1] == FIRMATA_I2C_REPLY) {
+            int addr = (firmata->parse_buff[2] & 0x7f) | ((firmata->parse_buff[3] & 0x7f) << 7);
+            int reg = (firmata->parse_buff[4] & 0x7f) | ((firmata->parse_buff[5] & 0x7f) << 7);
+            int i = 6;
+            int ii = 0;
+            for (ii; ii < (firmata->parse_count - 7) / 2; ii++) {
+                firmata->i2cmsg[addr][reg+ii] = (firmata->parse_buff[i] & 0x7f) | ((firmata->parse_buff[i+1] & 0x7f) << 7);
+                i = i+2;
+            }
+        } else {
+            if (firmata->devs != NULL) {
+                struct _firmata* devs = firmata->devs[0];
+                int i = 0;
+                for (i; i < firmata->dev_count; i++, devs++) {
+                    if (devs != NULL) {
+                        if (firmata->parse_buff[1] == devs->feature) {
+                            // call func
+                            if (devs->isr) {
+                                devs->isr(firmata->parse_buff, firmata->parse_count);
+                            }
+                        }
+                    }
+                }
+            }
+        }
+        return;
+    }
+}
+
+void
+firmata_initPins(t_firmata* firmata)
+{
+    int i;
+
+    firmata->parse_count = 0;
+    firmata->parse_command_len = 0;
+    firmata->isReady = 0;
+    for (i = 0; i < 128; i++) {
+        firmata->pins[i].mode = 255;
+        firmata->pins[i].analog_channel = 127;
+        firmata->pins[i].supported_modes = 0;
+        firmata->pins[i].value = 0;
+    }
+}
+
+int
+firmata_askFirmware(t_firmata* firmata)
+{
+    uint8_t buf[3];
+    int res;
+
+    buf[0] = FIRMATA_START_SYSEX;
+    buf[1] = FIRMATA_REPORT_FIRMWARE; // read firmata name & version
+    buf[2] = FIRMATA_END_SYSEX;
+    res = mraa_uart_write(firmata->uart, buf, 3);
+    return (res);
+}
+
+int
+firmata_pinMode(t_firmata* firmata, int pin, int mode)
+{
+    int res;
+    uint8_t buff[4];
+
+    firmata->pins[pin].mode = mode;
+    buff[0] = FIRMATA_SET_PIN_MODE;
+    buff[1] = pin;
+    buff[2] = mode;
+    res = mraa_uart_write(firmata->uart, buff, 3);
+    return (res);
+}
+
+int
+firmata_analogWrite(t_firmata* firmata, int pin, int value)
+{
+    int res;
+
+    uint8_t buff[3];
+    buff[0] = 0xE0 | pin;
+    buff[1] = value & 0x7F;
+    buff[2] = (value >> 7) & 0x7F;
+    res = mraa_uart_write(firmata->uart, buff, 3);
+    return (res);
+}
+
+int
+firmata_analogRead(t_firmata *firmata, int pin)
+{
+    int res;
+    int value = 1;
+    uint8_t buff[2];
+    buff[0] = FIRMATA_REPORT_ANALOG | pin;
+    buff[1] = value;
+    res = mraa_uart_write(firmata->uart, buff, 2);
+    return res;
+}
+
+int
+firmata_digitalWrite(t_firmata* firmata, int pin, int value)
+{
+    int i;
+    int res;
+    uint8_t buff[4];
+
+    if (pin < 0 || pin > 127)
+        return (0);
+    firmata->pins[pin].value = value;
+    int port_num = pin / 8;
+    int port_val = 0;
+    for (i = 0; i < 8; i++) {
+        int p = port_num * 8 + i;
+        if (firmata->pins[p].mode == MODE_OUTPUT || firmata->pins[p].mode == MODE_INPUT) {
+            if (firmata->pins[p].value) {
+                port_val |= (1 << i);
+            }
+        }
+    }
+    buff[0] = FIRMATA_DIGITAL_MESSAGE | port_num;
+    buff[1] = port_val & 0x7F;
+    buff[2] = (port_val >> 7) & 0x7F;
+    res = mraa_uart_write(firmata->uart, buff, 3);
+    return (res);
+}

src/firmata/firmata_mraa.c

@@ -0,0 +1,697 @@
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * 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 <stdlib.h>
+#include <string.h>
+#include <syslog.h>
+
+#include "firmata.h"
+#include "mraa_internal.h"
+#include "firmata/firmata_mraa.h"
+#include "firmata/firmata.h"
+
+static t_firmata* firmata_dev;
+static pthread_t thread_id;
+static volatile int isr_detected;
+
+mraa_firmata_context
+mraa_firmata_init(int feature)
+{
+    mraa_firmata_context dev = (mraa_firmata_context) calloc(1, sizeof(struct _firmata));
+    if (dev == NULL) {
+        return NULL;
+    }
+    dev->feature = (uint8_t) feature;
+    dev->added = 0;
+
+    return dev;
+}
+
+mraa_result_t
+mraa_firmata_write_sysex(mraa_firmata_context dev, char* msg, int length)
+{
+    return mraa_uart_write(firmata_dev->uart, msg, length);
+}
+
+mraa_result_t
+mraa_firmata_response(mraa_firmata_context dev, void (*fptr)(uint8_t*, int))
+{
+    if (dev->added == 0) {
+        struct _firmata** ptr;
+        ptr = realloc(firmata_dev->devs, (firmata_dev->dev_count+1) * sizeof(struct _firmata*));
+        if (ptr == NULL) {
+            return MRAA_ERROR_NO_RESOURCES;
+        }
+        firmata_dev->devs = ptr;
+        dev->index = firmata_dev->dev_count;
+        firmata_dev->dev_count++;
+        firmata_dev->devs[dev->index] = dev;
+        dev->added = 1;
+    }
+    dev->isr = fptr;
+    return MRAA_SUCCESS;
+}
+
+mraa_result_t
+mraa_firmata_response_stop(mraa_firmata_context dev)
+{
+    dev->isr = NULL;
+    return MRAA_SUCCESS;
+}
+
+mraa_result_t
+mraa_firmata_close(mraa_firmata_context dev)
+{
+    mraa_firmata_response_stop(dev);
+    free(dev);
+    return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_firmata_i2c_init_bus_replace(mraa_i2c_context dev)
+{
+    int delay = 1; // this should be either 1 or 0, I don't know :)
+    uint8_t buff[4];
+    buff[0] = FIRMATA_START_SYSEX;
+    buff[1] = FIRMATA_I2C_CONFIG;
+    buff[2] = delay & 0xFF, (delay >> 8) & 0xFF;
+    buff[3] = FIRMATA_END_SYSEX;
+    mraa_uart_write(firmata_dev->uart, buff, 4);
+
+    return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_firmata_i2c_address(mraa_i2c_context dev, uint8_t addr)
+{
+    // only thing needed and it's already done
+    //dev->addr = (int) addr;
+
+    return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_firmata_i2c_frequency(mraa_i2c_context dev, mraa_i2c_mode_t mode)
+{
+    return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED;
+}
+
+static mraa_result_t
+mraa_firmata_send_i2c_read_req(mraa_i2c_context dev, int length)
+{
+    uint8_t* buffer = calloc(7, 0);
+    if (buffer == NULL) {
+        return MRAA_ERROR_NO_RESOURCES;
+    }
+    buffer[0] = FIRMATA_START_SYSEX;
+    buffer[1] = FIRMATA_I2C_REQUEST;
+    buffer[2] = dev->addr;
+    buffer[3] = I2C_MODE_READ << 3;
+
+    // number of bytes
+    buffer[4] = length & 0x7f;
+    buffer[5] = (length >> 7) & 0x7f;
+    buffer[6] = FIRMATA_END_SYSEX;
+
+    if (mraa_uart_write(firmata_dev->uart, buffer, 7) != 7) {
+        free(buffer);
+        return MRAA_ERROR_UNSPECIFIED;
+    }
+
+    // this needs a lock :)
+    memset(&firmata_dev->i2cmsg[dev->addr][0], -1, sizeof(int)*length);
+
+    free(buffer);
+    return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_firmata_send_i2c_read_reg_req(mraa_i2c_context dev, uint8_t command, int length)
+{
+    uint8_t* buffer = calloc(9, 0);
+    if (buffer == NULL) {
+        return MRAA_ERROR_NO_RESOURCES;
+    }
+    buffer[0] = FIRMATA_START_SYSEX;
+    buffer[1] = FIRMATA_I2C_REQUEST;
+    buffer[2] = dev->addr;
+    buffer[3] = I2C_MODE_READ << 3;
+
+    // register to read from
+    buffer[4] = command & 0x7f;
+    buffer[5] = (command >> 7) & 0x7f;
+    // number of bytes
+    buffer[6] = length & 0x7f;
+    buffer[7] = (length >> 7) & 0x7f;
+    buffer[8] = FIRMATA_END_SYSEX;
+
+    if (mraa_uart_write(firmata_dev->uart, buffer, 9) != 9) {
+        free(buffer);
+        return MRAA_ERROR_UNSPECIFIED;
+    }
+
+    // this needs a lock :)
+    memset(&firmata_dev->i2cmsg[dev->addr][command], -1, sizeof(int)*length);
+
+    free(buffer);
+    return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_firmata_i2c_wait(int addr, int reg)
+{
+    int i = 0;
+    for (i = 0; firmata_dev->i2cmsg[addr][reg] == -1; i++) {
+        if (i > 50) {
+            return MRAA_ERROR_UNSPECIFIED;
+        }
+        usleep(500);
+    }
+    return MRAA_SUCCESS;
+}
+
+static int
+mraa_firmata_i2c_read_byte(mraa_i2c_context dev)
+{
+    if (mraa_firmata_send_i2c_read_req(dev, 1) == MRAA_SUCCESS) {
+        if (mraa_firmata_i2c_wait(dev->addr, 0) == MRAA_SUCCESS) {
+            return firmata_dev->i2cmsg[dev->addr][0];
+        }
+    }
+    return -1;
+}
+
+static int
+mraa_firmata_i2c_read_word_data(mraa_i2c_context dev, uint8_t command)
+{
+    if (mraa_firmata_send_i2c_read_reg_req(dev, command, 2) == MRAA_SUCCESS) {
+        if (mraa_firmata_i2c_wait(dev->addr, command) == MRAA_SUCCESS) {
+            uint8_t rawdata[2];
+            rawdata[0] = firmata_dev->i2cmsg[dev->addr][command];
+            rawdata[1] = firmata_dev->i2cmsg[dev->addr][command+1];
+            uint16_t data = (uint16_t) rawdata;
+            uint8_t high = (data & 0xFF00) >> 8;
+            data = (data << 8) & 0xFF00;
+            data |= high;
+
+            return (int) data;
+        }
+    }
+    return -1;
+}
+
+static int
+mraa_firmata_i2c_read_bytes_data(mraa_i2c_context dev, uint8_t command, uint8_t* data, int length)
+{
+    if (mraa_firmata_send_i2c_read_reg_req(dev, command, length) == MRAA_SUCCESS) {
+        if (mraa_firmata_i2c_wait(dev->addr, command) == MRAA_SUCCESS) {
+            memcpy(data, &firmata_dev->i2cmsg[dev->addr][command], sizeof(int)*length);
+            return length;
+        }
+    }
+    return 0;
+}
+
+static int
+mraa_firmata_i2c_read(mraa_i2c_context dev, uint8_t* data, int length)
+{
+    if (mraa_firmata_send_i2c_read_req(dev, length) == MRAA_SUCCESS) {
+        if (mraa_firmata_i2c_wait(dev->addr, 0) == MRAA_SUCCESS) {
+            int i = 0;
+            for (i = 0; i < length; i++) {
+                data[i] = firmata_dev->i2cmsg[dev->addr][i];
+            }
+            return length;
+        }
+    }
+
+    return 0;
+}
+
+static int
+mraa_firmata_i2c_read_byte_data(mraa_i2c_context dev, uint8_t command)
+{
+    if (mraa_firmata_send_i2c_read_reg_req(dev, command, 1) == MRAA_SUCCESS) {
+        if (mraa_firmata_i2c_wait(dev->addr, command) == MRAA_SUCCESS) {
+            return (int) firmata_dev->i2cmsg[dev->addr][command];
+        }
+    }
+
+    return -1;
+}
+
+static mraa_result_t
+mraa_firmata_i2c_write(mraa_i2c_context dev, const uint8_t* data, int bytesToWrite)
+{
+    // buffer needs 5 bytes for firmata, and 2 bytes for every byte of data
+    int buffer_size = (bytesToWrite*2) + 5;
+    uint8_t* buffer = calloc(buffer_size, 0);
+    if (buffer == NULL) {
+        return MRAA_ERROR_NO_RESOURCES;
+    }
+    int i = 0;
+    int ii = 4;
+    buffer[0] = FIRMATA_START_SYSEX;
+    buffer[1] = FIRMATA_I2C_REQUEST;
+    buffer[2] = dev->addr;
+    buffer[3] = I2C_MODE_WRITE << 3;
+    // we need to write until FIRMATA_END_SYSEX
+    for (i; i < (buffer_size-1); i++) {
+        buffer[ii] = data[i] & 0x7F;
+        buffer[ii+1] = (data[i] >> 7) & 0x7f;
+        ii = ii+2;
+    }
+    buffer[buffer_size-1] = FIRMATA_END_SYSEX;
+    mraa_uart_write(firmata_dev->uart, buffer, buffer_size);
+    free(buffer);
+    return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_firmata_i2c_write_byte(mraa_i2c_context dev, uint8_t data)
+{
+    uint8_t* buffer = calloc(7, 0);
+    if (buffer == NULL) {
+        return MRAA_ERROR_NO_RESOURCES;
+    }
+    buffer[0] = FIRMATA_START_SYSEX;
+    buffer[1] = FIRMATA_I2C_REQUEST;
+    buffer[2] = dev->addr;
+    buffer[3] = I2C_MODE_WRITE << 3;
+    buffer[4] = data & 0x7F;
+    buffer[5] = (data >> 7) & 0x7F;
+    buffer[6] = FIRMATA_END_SYSEX;
+    mraa_uart_write(firmata_dev->uart, buffer, 7);
+    free(buffer);
+    return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_firmata_i2c_write_byte_data(mraa_i2c_context dev, const uint8_t data, const uint8_t command)
+{
+    uint8_t* buffer = calloc(9, 0);
+    if (buffer == NULL) {
+        return MRAA_ERROR_NO_RESOURCES;
+    }
+    buffer[0] = FIRMATA_START_SYSEX;
+    buffer[1] = FIRMATA_I2C_REQUEST;
+    buffer[2] = dev->addr;
+    buffer[3] = I2C_MODE_WRITE << 3;
+    buffer[4] = command & 0x7F;
+    buffer[5] = (command >> 7) & 0x7F;
+    buffer[6] = data & 0x7F;
+    buffer[7] = (data >> 7) & 0x7F;
+    buffer[8] = FIRMATA_END_SYSEX;
+    mraa_uart_write(firmata_dev->uart, buffer, 9);
+    free(buffer);
+    return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_firmata_i2c_write_word_data(mraa_i2c_context dev, const uint16_t data, const uint8_t command)
+{
+    return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED;
+}
+
+static mraa_result_t
+mraa_firmata_i2c_stop(mraa_i2c_context dev)
+{
+    return MRAA_SUCCESS;
+}
+
+static int
+mraa_firmata_aio_read(mraa_aio_context dev)
+{
+    // careful, whilst you need to enable '0' for A0 you then need to read 14
+    // in t_firmata because well that makes sense doesn't it...
+    return (int) firmata_dev->pins[dev->channel].value;
+}
+
+static mraa_result_t
+mraa_firmata_aio_init_internal_replace(mraa_aio_context dev, int aio)
+{
+    // firmata considers A0 pin0 as well as actual pin0 :/
+    firmata_pinMode(firmata_dev, aio, MODE_ANALOG);
+    // register for updates on that ADC channel
+    firmata_analogRead(firmata_dev, aio);
+
+    return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_firmata_gpio_init_internal_replace(mraa_gpio_context dev, int pin)
+{
+    dev->pin = pin;
+    dev->phy_pin = pin;
+
+    return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_firmata_gpio_mode_replace(mraa_gpio_context dev, mraa_gpio_mode_t mode)
+{
+    return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED;
+}
+
+static int
+mraa_firmata_gpio_read_replace(mraa_gpio_context dev)
+{
+    return firmata_dev->pins[dev->pin].value;
+}
+
+static mraa_result_t
+mraa_firmata_gpio_write_replace(mraa_gpio_context dev, int write_value)
+{
+    if (write_value == 0) {
+        firmata_digitalWrite(firmata_dev, dev->phy_pin, LOW);
+    } else {
+        firmata_digitalWrite(firmata_dev, dev->phy_pin, HIGH);
+    }
+
+    return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_firmata_gpio_dir_replace(mraa_gpio_context dev, mraa_gpio_dir_t dir)
+{
+    switch (dir) {
+        case MRAA_GPIO_IN:
+            firmata_pinMode(firmata_dev, dev->phy_pin, MODE_INPUT);
+            break;
+        case MRAA_GPIO_OUT:
+            firmata_pinMode(firmata_dev, dev->phy_pin, MODE_OUTPUT);
+            break;
+        case MRAA_GPIO_OUT_LOW:
+            firmata_pinMode(firmata_dev, dev->phy_pin, MODE_OUTPUT);
+            firmata_digitalWrite(firmata_dev, dev->phy_pin, LOW);
+            break;
+        case MRAA_GPIO_OUT_HIGH:
+            firmata_pinMode(firmata_dev, dev->phy_pin, MODE_OUTPUT);
+            firmata_digitalWrite(firmata_dev, dev->phy_pin, HIGH);
+            break;
+        default:
+            return MRAA_ERROR_INVALID_PARAMETER;
+    }
+    return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_firmata_gpio_edge_mode_replace(mraa_gpio_context dev, mraa_gpio_edge_t mode)
+{
+    switch (mode) {
+        case MRAA_GPIO_EDGE_BOTH:
+            return MRAA_SUCCESS;
+        default:
+            return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED;
+    }
+}
+
+static mraa_result_t
+mraa_firmata_gpio_interrupt_handler_init_replace(mraa_gpio_context dev)
+{
+    return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_firmata_gpio_wait_interrupt_replace(mraa_gpio_context dev)
+{
+    while (!((isr_detected >> dev->pin) & 1)) {
+        usleep(100);
+    }
+    // might want to lock here?
+    isr_detected &= ~(1 << dev->pin);
+    return MRAA_SUCCESS;
+}
+
+static mraa_result_t
+mraa_firmata_gpio_close_replace(mraa_gpio_context dev)
+{
+    free(dev);
+    return MRAA_SUCCESS;
+}
+
+static mraa_pwm_context
+mraa_firmata_pwm_init_internal_replace(void* func_table, int pin)
+{
+    mraa_pwm_context dev = (mraa_pwm_context) calloc(1, sizeof(struct _pwm));
+    if (dev == NULL) {
+        return NULL;
+    }
+    dev->pin = pin;
+    dev->chipid = 512;
+    dev->period = 2048000; // Locked, in ns
+    dev->advance_func = (mraa_adv_func_t*) func_table;
+
+    return dev;
+}
+
+static mraa_result_t
+mraa_firmata_pwm_write_replace(mraa_pwm_context dev, float percentage)
+{
+    int value = (int)((percentage - 1) / 8000);
+    firmata_analogWrite(firmata_dev, dev->pin, value);
+    firmata_dev->pins[dev->pin].value = value;
+    return MRAA_SUCCESS;
+}
+
+static float
+mraa_firmata_pwm_read_replace(mraa_pwm_context dev)
+{
+    int value = firmata_dev->pins[dev->pin].value;
+    if (value) {
+        return (value + 1) * 8000;
+    }
+    return 0;
+}
+
+static mraa_result_t
+mraa_firmata_pwm_enable_replace(mraa_pwm_context dev, int enable)
+{
+    if (enable) {
+        firmata_pinMode(firmata_dev, dev->pin, MODE_PWM);
+        firmata_dev->pins[dev->pin].value = 0;
+    } else {
+        firmata_pinMode(firmata_dev, dev->pin, MODE_INPUT);
+    }
+    return MRAA_SUCCESS;
+}
+
+static void*
+mraa_firmata_pull_handler(void* vp)
+{
+    int i, isr_now, isr_prev;
+    isr_prev = 0;
+    while(1) {
+        isr_now = 0;
+        firmata_pull(firmata_dev);
+        // would prefer to send board pointer as argument
+        for(i = 0; i < 14; i++) {
+            isr_now |= (firmata_dev->pins[i].value & 1) << i;
+        }
+        // might want to lock here?
+        isr_detected = isr_prev ^ isr_now; //both edges for now
+        isr_prev = isr_now;
+        usleep(100);
+    }
+}
+
+mraa_board_t*
+mraa_firmata_plat_init(const char* uart_dev)
+{
+    mraa_board_t* b = (mraa_board_t*) calloc(1, sizeof(mraa_board_t));
+    if (b == NULL) {
+        return NULL;
+    }
+
+    firmata_dev = firmata_new(uart_dev);
+    if (firmata_dev == NULL) {
+        syslog(LOG_WARNING, "firmata: Failed to open uart to Firmata dev on %s", uart_dev);
+        fprintf(stderr, "Mraa expected to find a Firmata device on %s, is the port in use?\n", uart_dev);
+        free(b);
+        return NULL;
+    }
+
+    // if this isn't working then we have an issue with our uart
+    int retry = 20;
+    while (!firmata_dev->isReady && retry--) {
+       firmata_pull(firmata_dev);
+    }
+
+    if (!retry) {
+        syslog(LOG_ERR, "firmata: Failed to find a valid Firmata board on %s", uart_dev);
+        firmata_close(firmata_dev);
+        free(b);
+	return NULL;
+    }
+
+    pthread_create(&thread_id, NULL, mraa_firmata_pull_handler, NULL);
+
+    b->platform_name = "firmata";
+    // do we support 2.5? Or are we more 2.3?
+    // or should we return the flashed sketch name?
+    b->platform_version = firmata_dev->firmware;
+    b->gpio_count = 14;
+    b->aio_count = 6;
+    b->adc_supported = 10;
+    b->phy_pin_count = 20;
+    b->i2c_bus_count = 1;
+    b->def_i2c_bus = 0;
+    b->i2c_bus[0].bus_id = 0;
+    b->pwm_min_period = 2048;
+    b->pwm_max_period = 2048;
+
+    b->pins = (mraa_pininfo_t*) calloc(b->phy_pin_count, sizeof(mraa_pininfo_t));
+    if (b->pins == NULL) {
+        free(b);
+        return NULL;
+    }
+
+    strncpy(b->pins[0].name, "IO0", 8);
+    b->pins[0].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
+    b->pins[0].gpio.pinmap = 0;
+    strncpy(b->pins[1].name, "IO1", 8);
+    b->pins[1].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
+    b->pins[1].gpio.pinmap = 1;
+    strncpy(b->pins[2].name, "IO2", 8);
+    b->pins[2].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
+    b->pins[2].gpio.pinmap = 2;
+    strncpy(b->pins[3].name, "IO3", 8);
+    b->pins[3].capabilites = (mraa_pincapabilities_t){ 1, 1, 1, 0, 0, 0, 0, 0 };
+    b->pins[3].gpio.pinmap = 3;
+    strncpy(b->pins[4].name, "IO4", 8);
+    b->pins[4].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
+    b->pins[4].gpio.pinmap = 4;
+    strncpy(b->pins[5].name, "IO5", 8);
+    b->pins[5].capabilites = (mraa_pincapabilities_t){ 1, 1, 1, 0, 0, 0, 0, 0 };
+    b->pins[5].gpio.pinmap = 5;
+    strncpy(b->pins[6].name, "IO6", 8);
+    b->pins[6].capabilites = (mraa_pincapabilities_t){ 1, 1, 1, 0, 0, 0, 0, 0 };
+    b->pins[6].gpio.pinmap = 6;
+    strncpy(b->pins[7].name, "IO7", 8);
+    b->pins[7].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
+    b->pins[7].gpio.pinmap = 7;
+    strncpy(b->pins[8].name, "IO8", 8);
+    b->pins[8].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
+    b->pins[8].gpio.pinmap = 8;
+    strncpy(b->pins[9].name, "IO9", 8);
+    b->pins[9].capabilites = (mraa_pincapabilities_t){ 1, 1, 1, 0, 0, 0, 0, 0 };
+    b->pins[9].gpio.pinmap = 9;
+    strncpy(b->pins[10].name, "IO10", 8);
+    b->pins[10].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
+    b->pins[10].gpio.pinmap = 10;
+    strncpy(b->pins[11].name, "IO11", 8);
+    b->pins[11].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
+    b->pins[11].gpio.pinmap = 11;
+    strncpy(b->pins[12].name, "IO12", 8);
+    b->pins[12].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
+    b->pins[12].gpio.pinmap = 12;
+    strncpy(b->pins[13].name, "IO13", 8);
+    b->pins[13].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
+    b->pins[13].gpio.pinmap = 13;
+    strncpy(b->pins[10].name, "A0", 8);
+    b->pins[14].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 1, 0 };
+    b->pins[14].gpio.pinmap = 14;
+    b->pins[14].aio.pinmap = 14;
+    strncpy(b->pins[11].name, "A1", 8);
+    b->pins[15].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 1, 0 };
+    b->pins[15].gpio.pinmap = 15;
+    b->pins[15].aio.pinmap = 15;
+    strncpy(b->pins[12].name, "A2", 8);
+    b->pins[16].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 1, 0 };
+    b->pins[16].gpio.pinmap = 16;
+    b->pins[16].aio.pinmap = 16;
+    strncpy(b->pins[13].name, "A3", 8);
+    b->pins[17].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 1, 0 };
+    b->pins[17].gpio.pinmap = 17;
+    b->pins[17].aio.pinmap = 17;
+    strncpy(b->pins[13].name, "A4", 8);
+    b->pins[18].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 1, 0 };
+    b->pins[18].gpio.pinmap = 18;
+    b->pins[18].aio.pinmap = 18;
+    strncpy(b->pins[13].name, "A5", 8);
+    b->pins[19].capabilites = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 1, 0 };
+    b->pins[19].gpio.pinmap = 19;
+    b->pins[19].aio.pinmap = 19;
+
+    b->adv_func = (mraa_adv_func_t*) calloc(1, sizeof(mraa_adv_func_t));
+    if (b->adv_func == NULL) {
+        free(b->pins);
+        free(b);
+        return NULL;
+    }
+
+    b->adv_func->gpio_init_internal_replace = &mraa_firmata_gpio_init_internal_replace;
+    b->adv_func->gpio_mode_replace = &mraa_firmata_gpio_mode_replace;
+    b->adv_func->gpio_dir_replace = &mraa_firmata_gpio_dir_replace;
+    b->adv_func->gpio_edge_mode_replace = &mraa_firmata_gpio_edge_mode_replace;
+    b->adv_func->gpio_interrupt_handler_init_replace = &mraa_firmata_gpio_interrupt_handler_init_replace;
+    b->adv_func->gpio_wait_interrupt_replace = &mraa_firmata_gpio_wait_interrupt_replace;
+    b->adv_func->gpio_read_replace = &mraa_firmata_gpio_read_replace;
+    b->adv_func->gpio_write_replace = &mraa_firmata_gpio_write_replace;
+    b->adv_func->gpio_close_replace = &mraa_firmata_gpio_close_replace;
+
+    b->adv_func->aio_init_internal_replace = &mraa_firmata_aio_init_internal_replace;
+    b->adv_func->aio_read_replace = &mraa_firmata_aio_read;
+
+    b->adv_func->pwm_init_internal_replace = &mraa_firmata_pwm_init_internal_replace;
+    b->adv_func->pwm_write_replace = &mraa_firmata_pwm_write_replace;
+    b->adv_func->pwm_read_replace = &mraa_firmata_pwm_read_replace;
+    b->adv_func->pwm_enable_replace = &mraa_firmata_pwm_enable_replace;
+
+    b->adv_func->i2c_init_bus_replace = &mraa_firmata_i2c_init_bus_replace;
+    b->adv_func->i2c_set_frequency_replace = &mraa_firmata_i2c_frequency;
+    b->adv_func->i2c_address_replace = &mraa_firmata_i2c_address;
+    b->adv_func->i2c_read_replace = &mraa_firmata_i2c_read;
+    b->adv_func->i2c_read_byte_replace = &mraa_firmata_i2c_read_byte;
+    b->adv_func->i2c_read_byte_data_replace = &mraa_firmata_i2c_read_byte_data;
+    b->adv_func->i2c_read_word_data_replace = &mraa_firmata_i2c_read_word_data;
+    b->adv_func->i2c_read_bytes_data_replace = &mraa_firmata_i2c_read_bytes_data;
+    b->adv_func->i2c_write_replace = &mraa_firmata_i2c_write;
+    b->adv_func->i2c_write_byte_replace = &mraa_firmata_i2c_write_byte;
+    b->adv_func->i2c_write_byte_data_replace = &mraa_firmata_i2c_write_byte_data;
+    b->adv_func->i2c_write_word_data_replace = &mraa_firmata_i2c_write_word_data;
+    b->adv_func->i2c_stop_replace = &mraa_firmata_i2c_stop;
+
+    return b;
+}
+
+mraa_platform_t
+mraa_firmata_platform(mraa_board_t* board, const char* uart_dev)
+{
+    /**
+     * Firmata boards are not something we can detect so we just trust the user
+     * to initialise them themselves and is the only platform type not to be
+     * initialised from mraa_init(). Good luck!
+     */
+    mraa_board_t* sub_plat = NULL;
+
+    sub_plat = mraa_firmata_plat_init(uart_dev);
+    if (sub_plat != NULL) {
+        sub_plat->platform_type = MRAA_GENERIC_FIRMATA;
+        board->sub_platform = sub_plat;
+        return sub_plat->platform_type;
+    }
+
+    return MRAA_NULL_PLATFORM;
+}

src/gpio/gpio.c

@@ -34,6 +34,7 @@
 #include <signal.h>
 #include <sys/stat.h>
 #include <sys/mman.h>
+#include <errno.h>
 
 #define SYSFS_CLASS_GPIO "/sys/class/gpio"
 #define MAX_SIZE 64
@@ -46,6 +47,7 @@ mraa_gpio_get_valfp(mraa_gpio_context dev)
     sprintf(bu, SYSFS_CLASS_GPIO "/gpio%d/value", dev->pin);
     dev->value_fp = open(bu, O_RDWR);
     if (dev->value_fp == -1) {
+        syslog(LOG_ERR, "gpio%i: Failed to open 'value': %s", dev->pin, strerror(errno));
         return MRAA_ERROR_INVALID_RESOURCE;
     }
 
@@ -64,7 +66,7 @@ mraa_gpio_init_internal(mraa_adv_func_t* func_table, int pin)
 
     mraa_gpio_context dev = (mraa_gpio_context) calloc(1, sizeof(struct _gpio));
     if (dev == NULL) {
-        syslog(LOG_CRIT, "gpio: Failed to allocate memory for context");
+        syslog(LOG_CRIT, "gpio%i: Failed to allocate memory for context", pin);
         return NULL;
     }
 
@@ -102,15 +104,15 @@ mraa_gpio_init_internal(mraa_adv_func_t* func_table, int pin)
     } else {
         int export = open(SYSFS_CLASS_GPIO "/export", O_WRONLY);
         if (export == -1) {
-            syslog(LOG_ERR, "gpio: Failed to open export for writing");
-            status = MRAA_ERROR_NO_RESOURCES;
+            syslog(LOG_ERR, "gpio%i: init: Failed to open 'export' for writing: %s", pin, strerror(errno));
+            status = MRAA_ERROR_INVALID_RESOURCE;
             goto init_internal_cleanup;
         }
         length = snprintf(bu, sizeof(bu), "%d", dev->pin);
         if (write(export, bu, length * sizeof(char)) == -1) {
-            syslog(LOG_ERR, "gpio: Failed to write %d to export", dev->pin);
+            syslog(LOG_ERR, "gpio%i: init: Failed to write to 'export': %s", pin, strerror(errno));
             close(export);
-            status = MRAA_ERROR_NO_RESOURCES;
+            status = MRAA_ERROR_INVALID_RESOURCE;
             goto init_internal_cleanup;
         }
         dev->owner = 1;
@@ -131,38 +133,37 @@ mraa_gpio_init(int pin)
 {
     mraa_board_t* board = plat;
     if (board == NULL) {
-        syslog(LOG_ERR, "gpio: platform not initialised");
+        syslog(LOG_ERR, "gpio%i: init: platform not initialised", pin);
         return NULL;
     }
 
     if (mraa_is_sub_platform_id(pin)) {
-        syslog(LOG_NOTICE, "gpio: Using sub platform");
+        syslog(LOG_NOTICE, "gpio%i: init: Using sub platform", pin);
         board = board->sub_platform;
         if (board == NULL) {
-            syslog(LOG_ERR, "gpio: Sub platform Not Initialised");
+            syslog(LOG_ERR, "gpio%i: init: Sub platform not initialised", pin);
             return NULL;
         }
         pin = mraa_get_sub_platform_index(pin);
     }
 
-    if (pin < 0 || pin > board->phy_pin_count) {
-        syslog(LOG_ERR, "gpio: pin %i beyond platform definition", pin);
+    if (pin < 0 || pin >= board->phy_pin_count) {
+        syslog(LOG_ERR, "gpio: init: pin %i beyond platform pin count (%i)", pin, board->phy_pin_count);
         return NULL;
     }
     if (board->pins[pin].capabilites.gpio != 1) {
-        syslog(LOG_ERR, "gpio: pin %i not capable of gpio", pin);
+        syslog(LOG_ERR, "gpio: init: pin %i not capable of gpio", pin);
         return NULL;
     }
     if (board->pins[pin].gpio.mux_total > 0) {
         if (mraa_setup_mux_mapped(board->pins[pin].gpio) != MRAA_SUCCESS) {
-            syslog(LOG_ERR, "gpio: unable to setup muxes");
+            syslog(LOG_ERR, "gpio%i: init: unable to setup muxes", pin);
             return NULL;
         }
     }
 
     mraa_gpio_context r = mraa_gpio_init_internal(board->adv_func, board->pins[pin].gpio.pinmap);
     if (r == NULL) {
-        syslog(LOG_CRIT, "gpio: mraa_gpio_init_raw(%d) returned error", pin);
         return NULL;
     }
     if (r->phy_pin == -1)
@@ -199,12 +200,12 @@ mraa_gpio_wait_interrupt(int fd
     struct pollfd pfd[2];
 
     if (control_fd < 0) {
-        return MRAA_ERROR_INVALID_RESOURCE;
+        return MRAA_ERROR_INVALID_PARAMETER;
     }
 #endif
 
     if (fd < 0) {
-        return MRAA_ERROR_INVALID_RESOURCE;
+        return MRAA_ERROR_INVALID_PARAMETER;
     }
 
     // setup poll on POLLPRI
@@ -218,14 +219,14 @@ mraa_gpio_wait_interrupt(int fd
 #ifdef HAVE_PTHREAD_CANCEL
     // Wait for it forever or until pthread_cancel
     // poll is a cancelable point like sleep()
-    int x = poll(pfd, 1, -1);
+    poll(pfd, 1, -1);
 #else
     // setup poll on the controling fd
     pfd[1].fd = control_fd;
     pfd[1].events = 0; //  POLLHUP, POLLERR, and POLLNVAL
 
     // Wait for it forever or until control fd is closed
-    int x = poll(pfd, 2, -1);
+    poll(pfd, 2, -1);
 #endif
 
     // do a final read to clear interrupt
@@ -234,36 +235,6 @@ mraa_gpio_wait_interrupt(int fd
     return MRAA_SUCCESS;
 }
 
-#if defined(SWIGJAVA) || defined(JAVACALLBACK)
-pthread_key_t env_key;
-
-extern JavaVM *globVM;
-static pthread_once_t env_key_init = PTHREAD_ONCE_INIT;
-
-jmethodID runGlobal;
-
-static void make_env_key(void)
-{
-
-    JNIEnv *jenv;
-    (*globVM)->GetEnv(globVM, (void **)&jenv, JNI_VERSION_1_8);
-
-    jclass rcls = (*jenv)->FindClass(jenv, "java/lang/Runnable");
-    jmethodID runm = (*jenv)->GetMethodID(jenv, rcls, "run", "()V");
-
-    runGlobal = (jmethodID)(*jenv)->NewGlobalRef(jenv, (jobject)runm);
-
-    pthread_key_create(&env_key, NULL);
-}
-
-void mraa_java_isr_callback(void* data)
-{
-    JNIEnv *jenv = (JNIEnv *) pthread_getspecific(env_key);
-    (*jenv)->CallVoidMethod(jenv, (jobject)data, runGlobal);
-}
-
-#endif
-
 static void*
 mraa_gpio_interrupt_handler(void* arg)
 {
@@ -280,14 +251,14 @@ mraa_gpio_interrupt_handler(void* arg)
         sprintf(bu, SYSFS_CLASS_GPIO "/gpio%d/value", dev->pin);
         fp = open(bu, O_RDONLY);
         if (fp < 0) {
-            syslog(LOG_ERR, "gpio: failed to open gpio%d/value", dev->pin);
+            syslog(LOG_ERR, "gpio%i: interrupt_handler: failed to open 'value' : %s", dev->pin, strerror(errno));
             return NULL;
         }
     }
 
 #ifndef HAVE_PTHREAD_CANCEL
     if (pipe(dev->isr_control_pipe)) {
-        syslog(LOG_ERR, "gpio: failed to create isr control pipe");
+        syslog(LOG_ERR, "gpio%i: interrupt_handler: failed to create isr control pipe: %s", dev->pin, strerror(errno));
         close(fp);
         return NULL;
     }
@@ -295,21 +266,15 @@ mraa_gpio_interrupt_handler(void* arg)
 
     dev->isr_value_fp = fp;
 
-#if defined(SWIGJAVA) || defined(JAVACALLBACK)
-    JNIEnv *jenv;
-    if(dev->isr == mraa_java_isr_callback) {
-        jint err = (*globVM)->AttachCurrentThreadAsDaemon(globVM, (void **)&jenv, NULL);
-
-        if (err != JNI_OK) {
+    if (lang_func->java_attach_thread != NULL) {
+        if (dev->isr == lang_func->java_isr_callback) {
+            if (lang_func->java_attach_thread() != MRAA_SUCCESS) {
                 close(dev->isr_value_fp);
                 dev->isr_value_fp = -1;
                 return NULL;
+            }
         }
-
-        pthread_once(&env_key_init, make_env_key);
-        pthread_setspecific(env_key, jenv);
     }
-#endif
 
     for (;;) {
         if (IS_FUNC_DEFINED(dev, gpio_wait_interrupt_replace)) {
@@ -325,71 +290,11 @@ mraa_gpio_interrupt_handler(void* arg)
 #ifdef HAVE_PTHREAD_CANCEL
             pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, NULL);
 #endif
-#ifdef SWIGPYTHON
-            // In order to call a python object (all python functions are objects) we
-            // need to aquire the GIL (Global Interpreter Lock). This may not always be
-            // necessary but especially if doing IO (like print()) python will segfault
-            // if we do not hold a lock on the GIL
-            PyGILState_STATE gilstate = PyGILState_Ensure();
-            PyObject* arglist;
-            PyObject* ret;
-            arglist = Py_BuildValue("(O)", dev->isr_args);
-            if (arglist == NULL) {
-                syslog(LOG_ERR, "gpio: Py_BuildValue NULL");
+            if (lang_func->python_isr != NULL) {
+                lang_func->python_isr(dev->isr, dev->isr_args);
             } else {
-                ret = PyEval_CallObject((PyObject*) dev->isr, arglist);
-                if (ret == NULL) {
-                    syslog(LOG_ERR, "gpio: PyEval_CallObject failed");
-                    PyObject *pvalue, *ptype, *ptraceback;
-                    PyObject *pvalue_pystr, *ptype_pystr, *ptraceback_pystr;
-                    char *pvalue_cstr, *ptype_cstr, *ptraceback_cstr;
-                    PyErr_Fetch(&pvalue, &ptype, &ptraceback);
-                    pvalue_pystr = PyObject_Str(pvalue);
-                    ptype_pystr = PyObject_Str(ptype);
-                    ptraceback_pystr = PyObject_Str(ptraceback);
-// Python2
-#if PY_VERSION_HEX < 0x03000000
-                    pvalue_cstr = PyString_AsString(pvalue_pystr);
-                    ptype_cstr = PyString_AsString(ptype_pystr);
-                    ptraceback_cstr = PyString_AsString(ptraceback_pystr);
-// Python 3 and up
-#elif PY_VERSION_HEX >= 0x03000000
-                    // In Python 3 we need one extra conversion
-                    PyObject *pvalue_ustr, *ptype_ustr, *ptraceback_ustr;
-                    pvalue_ustr = PyUnicode_AsUTF8String(pvalue_pystr);
-                    pvalue_cstr = PyBytes_AsString(pvalue_ustr);
-                    ptype_ustr = PyUnicode_AsUTF8String(ptype_pystr);
-                    ptype_cstr = PyBytes_AsString(ptype_ustr);
-                    ptraceback_ustr = PyUnicode_AsUTF8String(ptraceback_pystr);
-                    ptraceback_cstr = PyBytes_AsString(ptraceback_ustr);
-#endif // PY_VERSION_HEX
-                    syslog(LOG_ERR, "gpio: the error was %s:%s:%s",
-                           pvalue_cstr,
-                           ptype_cstr,
-                           ptraceback_cstr
-                    );
-                    Py_XDECREF(pvalue);
-                    Py_XDECREF(ptype);
-                    Py_XDECREF(ptraceback);
-                    Py_XDECREF(pvalue_pystr);
-                    Py_XDECREF(ptype_pystr);
-                    Py_XDECREF(ptraceback_pystr);
-// Python 3 and up
-#if PY_VERSION_HEX >= 0x03000000
-                    Py_XDECREF(pvalue_ustr);
-                    Py_XDECREF(ptype_ustr);
-                    Py_XDECREF(ptraceback_ustr);
-#endif // PY_VERSION_HEX
-                } else {
-                    Py_DECREF(ret);
-                }
-                Py_DECREF(arglist);
+                dev->isr(dev->isr_args);
             }
-
-            PyGILState_Release(gilstate);
-#else
-            dev->isr(dev->isr_args);
-#endif
 #ifdef HAVE_PTHREAD_CANCEL
             pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
 #endif
@@ -402,13 +307,14 @@ mraa_gpio_interrupt_handler(void* arg)
                 close(dev->isr_value_fp);
                 dev->isr_value_fp = -1;
             }
-#if defined(SWIGJAVA) || defined(JAVACALLBACK)
 
-            if(dev->isr == mraa_java_isr_callback) {
-                (*jenv)->DeleteGlobalRef(jenv, (jobject)dev->isr_args);
-                (*globVM)->DetachCurrentThread(globVM);
+            if (lang_func->java_detach_thread != NULL && lang_func->java_delete_global_ref != NULL) {
+                if (dev->isr == lang_func->java_isr_callback) {
+                    lang_func->java_delete_global_ref(dev->isr_args);
+                    lang_func->java_detach_thread();
+                }
             }
-#endif
+
             return NULL;
         }
     }
@@ -417,7 +323,12 @@ mraa_gpio_interrupt_handler(void* arg)
 mraa_result_t
 mraa_gpio_edge_mode(mraa_gpio_context dev, mraa_gpio_edge_t mode)
 {
-    if (IS_FUNC_DEFINED(dev, gpio_edge_mode_replace))
+    if (dev == NULL) {
+        syslog(LOG_ERR, "gpio: edge_mode: context is invalid");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
+   if (IS_FUNC_DEFINED(dev, gpio_edge_mode_replace))
         return dev->advance_func->gpio_edge_mode_replace(dev, mode);
 
     if (dev->value_fp != -1) {
@@ -430,7 +341,7 @@ mraa_gpio_edge_mode(mraa_gpio_context dev, mraa_gpio_edge_t mode)
 
     int edge = open(filepath, O_RDWR);
     if (edge == -1) {
-        syslog(LOG_ERR, "gpio: Failed to open edge for writing");
+        syslog(LOG_ERR, "gpio%i: edge_mode: Failed to open 'edge' for writing: %s", dev->pin, strerror(errno));
         return MRAA_ERROR_INVALID_RESOURCE;
     }
 
@@ -454,9 +365,9 @@ mraa_gpio_edge_mode(mraa_gpio_context dev, mraa_gpio_edge_t mode)
             return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED;
     }
     if (write(edge, bu, length * sizeof(char)) == -1) {
-        syslog(LOG_ERR, "gpio: Failed to write to edge");
+        syslog(LOG_ERR, "gpio%i: edge_mode: Failed to write to 'edge': %s", dev->pin, strerror(errno));
         close(edge);
-        return MRAA_ERROR_INVALID_RESOURCE;
+        return MRAA_ERROR_UNSPECIFIED;
     }
 
     close(edge);
@@ -466,26 +377,31 @@ mraa_gpio_edge_mode(mraa_gpio_context dev, mraa_gpio_edge_t mode)
 mraa_result_t
 mraa_gpio_isr(mraa_gpio_context dev, mraa_gpio_edge_t mode, void (*fptr)(void*), void* args)
 {
+    if (dev == NULL) {
+        syslog(LOG_ERR, "gpio: isr: context is invalid");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
     // we only allow one isr per mraa_gpio_context
     if (dev->thread_id != 0) {
         return MRAA_ERROR_NO_RESOURCES;
     }
 
-    if (MRAA_SUCCESS != mraa_gpio_edge_mode(dev, mode)) {
-        return MRAA_ERROR_UNSPECIFIED;
+    mraa_result_t ret = mraa_gpio_edge_mode(dev, mode);
+    if (ret != MRAA_SUCCESS) {
+        return ret;
     }
 
     dev->isr = fptr;
-#if defined(SWIGJAVA) || defined(JAVACALLBACK)
-    JNIEnv *jenv;
-    /* Most UPM sensors use the C API, the global ref must be created here. */
+
+    /* Most UPM sensors use the C API, the Java global ref must be created here. */
     /* The reason for checking the callback function is internal callbacks. */
-    if (fptr == mraa_java_isr_callback) {
-        (*globVM)->GetEnv(globVM, (void **)&jenv, JNI_VERSION_1_8);
-        jobject grunnable = (*jenv)->NewGlobalRef(jenv, (jobject) args);
-        args = (void *) grunnable;
+    if (lang_func->java_create_global_ref != NULL) {
+        if (dev->isr == lang_func->java_isr_callback) {
+            args = lang_func->java_create_global_ref(args);
+        }
     }
-#endif
+
     dev->isr_args = args;
     pthread_create(&dev->thread_id, NULL, mraa_gpio_interrupt_handler, (void*) dev);
 
@@ -497,6 +413,10 @@ mraa_gpio_isr_exit(mraa_gpio_context dev)
 {
     mraa_result_t ret = MRAA_SUCCESS;
 
+    if (dev == NULL) {
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
     // wasting our time, there is no isr to exit from
     if (dev->thread_id == 0 && dev->isr_value_fp == -1) {
         return ret;
@@ -510,12 +430,12 @@ mraa_gpio_isr_exit(mraa_gpio_context dev)
     if ((dev->thread_id != 0)) {
 #ifdef HAVE_PTHREAD_CANCEL
         if ((pthread_cancel(dev->thread_id) != 0) || (pthread_join(dev->thread_id, NULL) != 0)) {
-            ret = MRAA_ERROR_INVALID_HANDLE;
+            ret = MRAA_ERROR_INVALID_RESOURCE;
         }
 #else
         close(dev->isr_control_pipe[1]);
         if (pthread_join(dev->thread_id, NULL) != 0)
-            ret = MRAA_ERROR_INVALID_HANDLE;
+            ret = MRAA_ERROR_INVALID_RESOURCE;
 
         close(dev->isr_control_pipe[0]);
         dev->isr_control_pipe[0] =  dev->isr_control_pipe[1] = -1;
@@ -525,7 +445,7 @@ mraa_gpio_isr_exit(mraa_gpio_context dev)
     // close the filehandle in case it's still open
     if (dev->isr_value_fp != -1) {
         if (close(dev->isr_value_fp) != 0) {
-            ret = MRAA_ERROR_INVALID_PARAMETER;
+            ret = MRAA_ERROR_INVALID_RESOURCE;
         }
     }
 
@@ -539,6 +459,11 @@ mraa_gpio_isr_exit(mraa_gpio_context dev)
 mraa_result_t
 mraa_gpio_mode(mraa_gpio_context dev, mraa_gpio_mode_t mode)
 {
+    if (dev == NULL) {
+        syslog(LOG_ERR, "gpio: mode: context is invalid");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
     if (IS_FUNC_DEFINED(dev, gpio_mode_replace))
         return dev->advance_func->gpio_mode_replace(dev, mode);
 
@@ -558,7 +483,7 @@ mraa_gpio_mode(mraa_gpio_context dev, mraa_gpio_mode_t mode)
 
     int drive = open(filepath, O_WRONLY);
     if (drive == -1) {
-        syslog(LOG_ERR, "gpio: Failed to open drive for writing");
+        syslog(LOG_ERR, "gpio%i: mode: Failed to open 'drive' for writing: %s", dev->pin, strerror(errno));
         return MRAA_ERROR_INVALID_RESOURCE;
     }
 
@@ -582,8 +507,8 @@ mraa_gpio_mode(mraa_gpio_context dev, mraa_gpio_mode_t mode)
             return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED;
     }
     if (write(drive, bu, length * sizeof(char)) == -1) {
-        syslog(LOG_ERR, "gpio: Failed to write to drive mode");
-        close(drive);
+        syslog(LOG_ERR, "gpio%i: mode: Failed to write to 'drive': %s", dev->pin, strerror(errno));
+       close(drive);
         return MRAA_ERROR_INVALID_RESOURCE;
     }
 
@@ -596,6 +521,11 @@ mraa_gpio_mode(mraa_gpio_context dev, mraa_gpio_mode_t mode)
 mraa_result_t
 mraa_gpio_dir(mraa_gpio_context dev, mraa_gpio_dir_t dir)
 {
+    if (dev == NULL) {
+        syslog(LOG_ERR, "gpio: dir: context is invalid");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
     if (IS_FUNC_DEFINED(dev, gpio_dir_replace)) {
         return dev->advance_func->gpio_dir_replace(dev, dir);
     }
@@ -607,9 +537,6 @@ mraa_gpio_dir(mraa_gpio_context dev, mraa_gpio_dir_t dir)
         }
     }
 
-    if (dev == NULL) {
-        return MRAA_ERROR_INVALID_HANDLE;
-    }
     if (dev->value_fp != -1) {
         close(dev->value_fp);
         dev->value_fp = -1;
@@ -628,8 +555,9 @@ mraa_gpio_dir(mraa_gpio_context dev, mraa_gpio_dir_t dir)
             case MRAA_GPIO_OUT_LOW:
                 return mraa_gpio_write(dev, 0);
             default:
+                syslog(LOG_ERR, "gpio%i: dir: Failed to open 'direction' for writing: %s", dev->pin, strerror(errno));
                 return MRAA_ERROR_INVALID_RESOURCE;
-        }
+       }
     }
 
     char bu[MAX_SIZE];
@@ -654,7 +582,8 @@ mraa_gpio_dir(mraa_gpio_context dev, mraa_gpio_dir_t dir)
 
     if (write(direction, bu, length * sizeof(char)) == -1) {
         close(direction);
-        return MRAA_ERROR_INVALID_RESOURCE;
+        syslog(LOG_ERR, "gpio%i: dir: Failed to write to 'direction': %s", dev->pin, strerror(errno));
+        return MRAA_ERROR_UNSPECIFIED;
     }
 
     close(direction);
@@ -671,9 +600,15 @@ mraa_gpio_read_dir(mraa_gpio_context dev, mraa_gpio_dir_t *dir)
     int fd, rc;
     mraa_result_t result = MRAA_SUCCESS;
 
+    if (dev == NULL) {
+        syslog(LOG_ERR, "gpio: read_dir: context is invalid");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
     snprintf(filepath, MAX_SIZE, SYSFS_CLASS_GPIO "/gpio%d/direction", dev->pin);
     fd = open(filepath, O_RDONLY);
     if (fd == -1) {
+        syslog(LOG_ERR, "gpio%i: read_dir: Failed to open 'direction' for reading: %s", dev->pin, strerror(errno));
         return MRAA_ERROR_INVALID_RESOURCE;
     }
 
@@ -681,6 +616,7 @@ mraa_gpio_read_dir(mraa_gpio_context dev, mraa_gpio_dir_t *dir)
     rc = read(fd, value, sizeof(value));
     close(fd);
     if (rc <= 0) {
+        syslog(LOG_ERR, "gpio%i: read_dir: Failed to read 'direction': %s", dev->pin, strerror(errno));
         return MRAA_ERROR_INVALID_RESOURCE;
     }
 
@@ -689,7 +625,8 @@ mraa_gpio_read_dir(mraa_gpio_context dev, mraa_gpio_dir_t *dir)
     } else if (strcmp(value, "in\n") == 0) {
         *dir = MRAA_GPIO_IN;
     } else {
-        result = MRAA_ERROR_INVALID_RESOURCE;
+        syslog(LOG_ERR, "gpio%i: read_dir: unknown direction: %s", dev->pin, value);
+        result = MRAA_ERROR_UNSPECIFIED;
     }
 
     return result;
@@ -698,8 +635,10 @@ mraa_gpio_read_dir(mraa_gpio_context dev, mraa_gpio_dir_t *dir)
 int
 mraa_gpio_read(mraa_gpio_context dev)
 {
-    if (dev == NULL)
+    if (dev == NULL) {
+        syslog(LOG_ERR, "gpio: read: context is invalid");
         return -1;
+    }
 
     if (IS_FUNC_DEFINED(dev, gpio_read_replace))
         return dev->advance_func->gpio_read_replace(dev);
@@ -709,7 +648,6 @@ mraa_gpio_read(mraa_gpio_context dev)
 
     if (dev->value_fp == -1) {
         if (mraa_gpio_get_valfp(dev) != MRAA_SUCCESS) {
-            syslog(LOG_ERR, "gpio: Failed to get value file pointer");
             return -1;
         }
     } else {
@@ -718,7 +656,7 @@ mraa_gpio_read(mraa_gpio_context dev)
     }
     char bu[2];
     if (read(dev->value_fp, bu, 2 * sizeof(char)) != 2) {
-        syslog(LOG_ERR, "gpio: Failed to read a sensible value from sysfs");
+        syslog(LOG_ERR, "gpio%i: read: Failed to read a sensible value from sysfs: %s", dev->pin, strerror(errno));
         return -1;
     }
     lseek(dev->value_fp, 0, SEEK_SET);
@@ -729,8 +667,10 @@ mraa_gpio_read(mraa_gpio_context dev)
 mraa_result_t
 mraa_gpio_write(mraa_gpio_context dev, int value)
 {
-    if (dev == NULL)
+    if (dev == NULL) {
+        syslog(LOG_ERR, "gpio: write: context is invalid");
         return MRAA_ERROR_INVALID_HANDLE;
+    }
 
     if (dev->mmap_write != NULL)
         return dev->mmap_write(dev, value);
@@ -752,13 +692,15 @@ mraa_gpio_write(mraa_gpio_context dev, int value)
     }
 
     if (lseek(dev->value_fp, 0, SEEK_SET) == -1) {
-        return MRAA_ERROR_INVALID_RESOURCE;
+        syslog(LOG_ERR, "gpio%i: write: Failed to lseek 'value': %s", dev->pin, strerror(errno));
+          return MRAA_ERROR_UNSPECIFIED;
     }
 
     char bu[MAX_SIZE];
     int length = snprintf(bu, sizeof(bu), "%d", value);
     if (write(dev->value_fp, bu, length * sizeof(char)) == -1) {
-        return MRAA_ERROR_INVALID_HANDLE;
+        syslog(LOG_ERR, "gpio%i: write: Failed to write to 'value': %s", dev->pin, strerror(errno));
+        return MRAA_ERROR_UNSPECIFIED;
     }
 
     if (IS_FUNC_DEFINED(dev, gpio_write_post))
@@ -771,16 +713,16 @@ mraa_gpio_unexport_force(mraa_gpio_context dev)
 {
     int unexport = open(SYSFS_CLASS_GPIO "/unexport", O_WRONLY);
     if (unexport == -1) {
-        syslog(LOG_ERR, "gpio: Failed to open unexport for writing");
+        syslog(LOG_ERR, "gpio%i: Failed to open 'unexport' for writing: %s", dev->pin, strerror(errno));
         return MRAA_ERROR_INVALID_RESOURCE;
     }
 
     char bu[MAX_SIZE];
     int length = snprintf(bu, sizeof(bu), "%d", dev->pin);
     if (write(unexport, bu, length * sizeof(char)) == -1) {
-        syslog(LOG_ERR, "gpio: Failed to write to unexport");
+        syslog(LOG_ERR, "gpio%i: Failed to write to 'unexport': %s", dev->pin, strerror(errno));
         close(unexport);
-        return MRAA_ERROR_INVALID_RESOURCE;
+        return MRAA_ERROR_UNSPECIFIED;
     }
 
     close(unexport);
@@ -790,10 +732,15 @@ mraa_gpio_unexport_force(mraa_gpio_context dev)
 static mraa_result_t
 mraa_gpio_unexport(mraa_gpio_context dev)
 {
+    if (dev == NULL) {
+        syslog(LOG_ERR, "gpio: unexport: context is invalid");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
     if (dev->owner) {
         return mraa_gpio_unexport_force(dev);
     }
-    return MRAA_ERROR_INVALID_RESOURCE;
+    return MRAA_ERROR_INVALID_PARAMETER;
 }
 
 mraa_result_t
@@ -801,6 +748,16 @@ mraa_gpio_close(mraa_gpio_context dev)
 {
     mraa_result_t result = MRAA_SUCCESS;
 
+    if (dev == NULL) {
+        syslog(LOG_ERR, "gpio: close: context is invalid");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
+    if (IS_FUNC_DEFINED(dev, gpio_close_replace)) {
+        return dev->advance_func->gpio_close_replace(dev);
+    }
+
+
     if (IS_FUNC_DEFINED(dev, gpio_close_pre)) {
         result = dev->advance_func->gpio_close_pre(dev);
     }
@@ -817,9 +774,10 @@ mraa_result_t
 mraa_gpio_owner(mraa_gpio_context dev, mraa_boolean_t own)
 {
     if (dev == NULL) {
-        return MRAA_ERROR_INVALID_RESOURCE;
+        syslog(LOG_ERR, "gpio: owner: context is invalid");
+        return MRAA_ERROR_INVALID_HANDLE;
     }
-    syslog(LOG_DEBUG, "gpio: Set owner to %d", (int) own);
+    syslog(LOG_DEBUG, "gpio%i: owner: Set owner to %d", dev->pin, (int) own);
     dev->owner = own;
     return MRAA_SUCCESS;
 }
@@ -827,11 +785,16 @@ mraa_gpio_owner(mraa_gpio_context dev, mraa_boolean_t own)
 mraa_result_t
 mraa_gpio_use_mmaped(mraa_gpio_context dev, mraa_boolean_t mmap_en)
 {
+    if (dev == NULL) {
+        syslog(LOG_ERR, "gpio: use_mmaped: context is invalid");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
     if (IS_FUNC_DEFINED(dev, gpio_mmap_setup)) {
         return dev->advance_func->gpio_mmap_setup(dev, mmap_en);
     }
 
-    syslog(LOG_ERR, "gpio: mmap not implemented on this platform");
+    syslog(LOG_ERR, "gpio%i: use_mmaped: mmap not implemented on this platform", dev->pin);
     return MRAA_ERROR_FEATURE_NOT_IMPLEMENTED;
 }
 
@@ -839,7 +802,7 @@ int
 mraa_gpio_get_pin(mraa_gpio_context dev)
 {
     if (dev == NULL) {
-        syslog(LOG_ERR, "gpio: context is invalid");
+        syslog(LOG_ERR, "gpio: get_pin: context is invalid");
         return -1;
     }
     return dev->phy_pin;
@@ -849,7 +812,7 @@ int
 mraa_gpio_get_pin_raw(mraa_gpio_context dev)
 {
     if (dev == NULL) {
-        syslog(LOG_ERR, "gpio: context is invalid");
+        syslog(LOG_ERR, "gpio: get_pin: context is invalid");
         return -1;
     }
     return dev->pin;

src/i2c/i2c.c

@@ -36,7 +36,8 @@
 #include <sys/errno.h>
 #include <sys/ioctl.h>
 #include "linux/i2c-dev.h"
-
+#include <errno.h>
+#include <string.h>
 
 typedef union i2c_smbus_data_union {
     uint8_t byte;        ///< data byte
@@ -78,7 +79,7 @@ mraa_i2c_init_internal(mraa_adv_func_t* advance_func, unsigned int bus)
 
     mraa_i2c_context dev = (mraa_i2c_context) calloc(1, sizeof(struct _i2c));
     if (dev == NULL) {
-        syslog(LOG_CRIT, "i2c: Failed to allocate memory for context");
+        syslog(LOG_CRIT, "i2c%i_init: Failed to allocate memory for context", bus);
         return NULL;
     }
 
@@ -99,13 +100,13 @@ mraa_i2c_init_internal(mraa_adv_func_t* advance_func, unsigned int bus)
         char filepath[32];
         snprintf(filepath, 32, "/dev/i2c-%u", bus);
         if ((dev->fh = open(filepath, O_RDWR)) < 1) {
-            syslog(LOG_ERR, "i2c: Failed to open requested i2c port %s", filepath);
-            status = MRAA_ERROR_NO_RESOURCES;
+            syslog(LOG_ERR, "i2c%i_init: Failed to open requested i2c port %s: %s", bus, filepath, strerror(errno));
+            status = MRAA_ERROR_INVALID_RESOURCE;
             goto init_internal_cleanup;
         }
 
         if (ioctl(dev->fh, I2C_FUNCS, &dev->funcs) < 0) {
-            syslog(LOG_CRIT, "i2c: Failed to get I2C_FUNC map from device");
+            syslog(LOG_CRIT, "i2c%i_init: Failed to get I2C_FUNC map from device: %s", bus, strerror(errno));
             dev->funcs = 0;
         }
     }
@@ -133,39 +134,39 @@ mraa_i2c_init(int bus)
 {
     mraa_board_t* board = plat;
     if (board == NULL) {
-        syslog(LOG_ERR, "i2c: Platform Not Initialised");
+        syslog(LOG_ERR, "i2c%i_init: Platform Not Initialised", bus);
         return NULL;
     }
 
     if (mraa_is_sub_platform_id(bus)) {
-        syslog(LOG_NOTICE, "i2c: Using sub platform");
+        syslog(LOG_NOTICE, "i2c%i_init: Using sub platform", bus);
         board = board->sub_platform;
         if (board == NULL) {
-            syslog(LOG_ERR, "i2c: Sub platform Not Initialised");
+            syslog(LOG_ERR, "i2c%i_init: Sub platform Not Initialised", bus);
             return NULL;
         }
         bus = mraa_get_sub_platform_index(bus);
     }
-    syslog(LOG_NOTICE, "i2c: Selected bus %d", bus);
+    syslog(LOG_NOTICE, "i2c_init: Selected bus %d", bus);
 
     if (board->i2c_bus_count == 0) {
-        syslog(LOG_ERR, "No i2c buses defined in platform");
+        syslog(LOG_ERR, "i2c_init: No i2c buses defined in platform");
         return NULL;
     }
     if (bus >= board->i2c_bus_count) {
-        syslog(LOG_ERR, "Above i2c bus count");
+        syslog(LOG_ERR, "i2c_init: i2c%i over i2c bus count", bus);
         return NULL;
     }
 
     if (board->i2c_bus[bus].bus_id == -1) {
-        syslog(LOG_ERR, "Invalid i2c bus, moving to default i2c bus");
+        syslog(LOG_ERR, "Invalid i2c bus %i, moving to default i2c bus %i", bus, board->def_i2c_bus);
         bus = board->def_i2c_bus;
     }
     if (!board->no_bus_mux) {
         int pos = board->i2c_bus[bus].sda;
         if (board->pins[pos].i2c.mux_total > 0) {
             if (mraa_setup_mux_mapped(board->pins[pos].i2c) != MRAA_SUCCESS) {
-                syslog(LOG_ERR, "i2c: Failed to set-up i2c sda multiplexer");
+                syslog(LOG_ERR, "i2c%i_init: Failed to set-up i2c sda multiplexer", bus);
                 return NULL;
             }
         }
@@ -173,7 +174,7 @@ mraa_i2c_init(int bus)
         pos = board->i2c_bus[bus].scl;
         if (board->pins[pos].i2c.mux_total > 0) {
             if (mraa_setup_mux_mapped(board->pins[pos].i2c) != MRAA_SUCCESS) {
-                syslog(LOG_ERR, "i2c: Failed to set-up i2c scl multiplexer");
+                syslog(LOG_ERR, "i2c%i_init: Failed to set-up i2c scl multiplexer", bus);
                 return NULL;
             }
         }
@@ -213,44 +214,44 @@ mraa_i2c_read(mraa_i2c_context dev, uint8_t* data, int length)
         return length;
     }
 
-    return 0;
+    return -1;
 }
 
-uint8_t
+int
 mraa_i2c_read_byte(mraa_i2c_context dev)
 {
     if (IS_FUNC_DEFINED(dev, i2c_read_byte_replace))
         return dev->advance_func->i2c_read_byte_replace(dev);
     i2c_smbus_data_t d;
     if (mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_READ, I2C_NOCMD, I2C_SMBUS_BYTE, &d) < 0) {
-        syslog(LOG_ERR, "i2c: Failed to write");
-        return 0;
+        syslog(LOG_ERR, "i2c%i: read_byte: Access error: %s", dev->busnum, strerror(errno));
+        return -1;
     }
     return 0x0FF & d.byte;
 }
 
-uint8_t
+int
 mraa_i2c_read_byte_data(mraa_i2c_context dev, uint8_t command)
 {
     if (IS_FUNC_DEFINED(dev, i2c_read_byte_data_replace))
         return dev->advance_func->i2c_read_byte_data_replace(dev, command);
     i2c_smbus_data_t d;
     if (mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_READ, command, I2C_SMBUS_BYTE_DATA, &d) < 0) {
-        syslog(LOG_ERR, "i2c: Failed to write");
-        return 0;
+       syslog(LOG_ERR, "i2c%i: read_byte_data: Access error: %s", dev->busnum, strerror(errno));
+       return -1;
     }
     return 0x0FF & d.byte;
 }
 
-uint16_t
+int
 mraa_i2c_read_word_data(mraa_i2c_context dev, uint8_t command)
 {
     if (IS_FUNC_DEFINED(dev, i2c_read_word_data_replace))
         return dev->advance_func->i2c_read_word_data_replace(dev, command);
     i2c_smbus_data_t d;
     if (mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_READ, command, I2C_SMBUS_WORD_DATA, &d) < 0) {
-        syslog(LOG_ERR, "i2c: Failed to write");
-        return 0;
+        syslog(LOG_ERR, "i2c%i: read_word_data: Access error: %s", dev->busnum, strerror(errno));
+        return -1;
     }
     return 0xFFFF & d.word;
 }
@@ -266,16 +267,23 @@ mraa_i2c_read_bytes_data(mraa_i2c_context dev, uint8_t command, uint8_t* data, i
     m[0].addr = dev->addr;
     m[0].flags = 0x00;
     m[0].len = 1;
-    m[0].buf = &command;
+    m[0].buf = (char*) &command;
     m[1].addr = dev->addr;
     m[1].flags = I2C_M_RD;
     m[1].len = length;
-    m[1].buf = data;
+    m[1].buf = (char*) data;
 
     d.msgs = m;
     d.nmsgs = 2;
 
-    return ioctl(dev->fh, I2C_RDWR, &d) < 0 ? -1 : length;
+    int ret = ioctl(dev->fh, I2C_RDWR, &d);
+
+    if (ret < 0)
+    {
+        syslog(LOG_ERR, "i2c%i: read_bytes_data: Access error: %s", dev->busnum, strerror(errno));
+        return -1;
+    }
+    return length;
 }
 
 mraa_result_t
@@ -298,7 +306,11 @@ mraa_i2c_write(mraa_i2c_context dev, const uint8_t* data, int length)
     }
     d.block[0] = length;
 
-    return mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_WRITE, command, I2C_SMBUS_I2C_BLOCK_DATA, &d);
+    if (mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_WRITE, command, I2C_SMBUS_I2C_BLOCK_DATA, &d) < 0) {
+        syslog(LOG_ERR, "i2c%i: write: Access error: %s", dev->busnum, strerror(errno));
+        return MRAA_ERROR_UNSPECIFIED;
+    }
+    return MRAA_SUCCESS;
 }
 
 mraa_result_t
@@ -308,8 +320,8 @@ mraa_i2c_write_byte(mraa_i2c_context dev, const uint8_t data)
         return dev->advance_func->i2c_write_byte_replace(dev, data);
     } else {
         if (mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_WRITE, data, I2C_SMBUS_BYTE, NULL) < 0) {
-            syslog(LOG_ERR, "i2c: Failed to write");
-            return MRAA_ERROR_INVALID_HANDLE;
+            syslog(LOG_ERR, "i2c%i: write_byte: Access error: %s", dev->busnum, strerror(errno));
+            return MRAA_ERROR_UNSPECIFIED;
         }
         return MRAA_SUCCESS;
     }
@@ -323,8 +335,8 @@ mraa_i2c_write_byte_data(mraa_i2c_context dev, const uint8_t data, const uint8_t
     i2c_smbus_data_t d;
     d.byte = data;
     if (mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_WRITE, command, I2C_SMBUS_BYTE_DATA, &d) < 0) {
-        syslog(LOG_ERR, "i2c: Failed to write");
-        return MRAA_ERROR_INVALID_HANDLE;
+        syslog(LOG_ERR, "i2c%i: write_byte_data: Access error: %s", dev->busnum, strerror(errno));
+        return MRAA_ERROR_UNSPECIFIED;
     }
     return MRAA_SUCCESS;
 }
@@ -337,8 +349,8 @@ mraa_i2c_write_word_data(mraa_i2c_context dev, const uint16_t data, const uint8_
     i2c_smbus_data_t d;
     d.word = data;
     if (mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_WRITE, command, I2C_SMBUS_WORD_DATA, &d) < 0) {
-        syslog(LOG_ERR, "i2c: Failed to write");
-        return MRAA_ERROR_INVALID_HANDLE;
+        syslog(LOG_ERR, "i2c%i: write_word_data: Access error: %s", dev->busnum, strerror(errno));
+        return MRAA_ERROR_UNSPECIFIED;
     }
     return MRAA_SUCCESS;
 }
@@ -355,8 +367,8 @@ mraa_i2c_address(mraa_i2c_context dev, uint8_t addr)
         return dev->advance_func->i2c_address_replace(dev, addr);
     } else {
         if (ioctl(dev->fh, I2C_SLAVE_FORCE, addr) < 0) {
-            syslog(LOG_ERR, "i2c: Failed to set slave address %d", addr);
-            return MRAA_ERROR_INVALID_HANDLE;
+            syslog(LOG_ERR, "i2c%i: address: Failed to set slave address %d: %s", dev->busnum, addr, strerror(errno));
+            return MRAA_ERROR_UNSPECIFIED;
         }
         return MRAA_SUCCESS;
     }

src/iio/iio.c

@@ -83,6 +83,7 @@ mraa_iio_get_channel_data(mraa_iio_context dev)
     int padint = 0;
     int curr_bytes = 0;
     char shortbuf, signchar;
+    int i = 0;
 
     dev->datasize = 0;
 
@@ -129,12 +130,6 @@ mraa_iio_get_channel_data(mraa_iio_context dev)
                     ret = sscanf(readbuf, "%ce:%c%u/%u>>%u", &shortbuf, &signchar, &chan->bits_used,
                                  &padint, &chan->shift);
                     chan->bytes = padint / 8;
-                    if (curr_bytes % chan->bytes == 0) {
-                        chan->location = curr_bytes;
-                    } else {
-                        chan->location = curr_bytes - curr_bytes % chan->bytes + chan->bytes;
-                    }
-                    curr_bytes = chan->location + chan->bytes;
                     // probably should be 5?
                     if (ret < 0) {
                         // cleanup
@@ -175,6 +170,18 @@ mraa_iio_get_channel_data(mraa_iio_context dev)
     }
     closedir(dir);
 
+    // channel location has to be done in channel index order so do it afetr we
+    // have grabbed all the correct info
+    for (i = 0; i < dev->chan_num; i++) {
+	chan = &dev->channels[i];
+        if (curr_bytes % chan->bytes == 0) {
+            chan->location = curr_bytes;
+        } else {
+            chan->location = curr_bytes - curr_bytes % chan->bytes + chan->bytes;
+        }
+        curr_bytes = chan->location + chan->bytes;
+    }
+
     return MRAA_SUCCESS;
 }
 
@@ -277,7 +284,7 @@ mraa_iio_write_string(mraa_iio_context dev, const char* attr_name, const char* d
     snprintf(buf, MAX_SIZE, IIO_SYSFS_DEVICE "%d/%s", dev->num, attr_name);
     int fd = open(buf, O_WRONLY);
     if (fd != -1) {
-        size_t len = strlen(data);
+        int len = strlen(data);
         ssize_t status = write(fd, data, len);
         if (status == len)
              result = MRAA_SUCCESS;

src/java/CMakeLists.txt

@@ -1,5 +1,4 @@
 FIND_PACKAGE (JNI REQUIRED)
-
 include_directories (
   ${JAVA_INCLUDE_PATH}
   ${JAVA_INCLUDE_PATH2}
@@ -15,7 +14,7 @@ set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DJAVACALLBACK")
 
 if (NOT DEFINED ENV{JAVA_HOME_NATIVE})
   if (NOT DEFINED ENV{JAVA_HOME})
-    message (FATAL_ERROR " - Neither JAVA_HOME nor JAVA_HOME_NATIVE are set")
+    message (FATAL_ERROR "Neither JAVA_HOME nor JAVA_HOME_NATIVE are set")
   endif()
   set (JAVA_HOME_NATIVE $ENV{JAVA_HOME})
   set (JAVAC $ENV{JAVA_HOME}/bin/javac)
@@ -25,8 +24,8 @@ else ()
   set (JAR $ENV{JAVA_HOME_NATIVE}/bin/jar)
 endif ()
 
-swig_add_module (mraajava java mraajava.i ${mraa_LIB_SRCS})
-swig_link_libraries (mraajava ${JAVA_LIBRARIES} ${mraa_LIBS})
+swig_add_module (mraajava java mraajava.i mraajni.c)
+swig_link_libraries (mraajava ${JAVA_LIBRARIES} mraa)
 
 add_custom_command (TARGET mraajava
   POST_BUILD
@@ -34,7 +33,7 @@ add_custom_command (TARGET mraajava
   COMMAND cmake -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/mraa
   COMMAND ${JAVAC} *.java -d ${CMAKE_CURRENT_BINARY_DIR}
   COMMAND cmake -E echo "Creating jar"
-  COMMAND ${JAR} cvf mraa.jar mraa
+  COMMAND ${JAR} cvmf manifest.txt mraa.jar mraa
 )
 
 if (DOXYGEN_FOUND)
@@ -43,7 +42,7 @@ if (DOXYGEN_FOUND)
   endforeach ()
 endif ()
 
-mraa_create_install_pkgconfig (mraajava.pc ${CMAKE_INSTALL_LIBDIR}/pkgconfig)
+mraa_create_install_pkgconfig (mraajava.pc ${LIB_INSTALL_DIR}/pkgconfig)
 
-install (TARGETS mraajava LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})
-install (FILES ${CMAKE_CURRENT_BINARY_DIR}/mraa.jar DESTINATION ${CMAKE_INSTALL_LIBDIR}/../lib/java)
+install (TARGETS mraajava LIBRARY DESTINATION ${LIB_INSTALL_DIR})
+install (FILES ${CMAKE_CURRENT_BINARY_DIR}/mraa.jar DESTINATION ${LIB_INSTALL_DIR}/../lib/java)

src/java/manifest.txt.in

@@ -0,0 +1,9 @@
+Manifest-version: 1.0
+
+Name: mraa/
+Specification-Title: mraa
+Specification-Version: @VERSION_SHORT@
+Specification-Vendor: Intel Corp.
+Package-Title: mraa
+Package-Version: @VERSION_SHORT@
+Package-Vendor: Intel Corp.

src/java/mraajava.i

@@ -65,13 +65,26 @@ class Spi;
 %include ../mraa.i
 
 %wrapper %{
-    JavaVM *globVM;
+    #include "java/mraajni.h"
+    #include "mraa_lang_func.h"
+    extern mraa_lang_func_t* lang_func;
 
     jint JNI_OnLoad(JavaVM *vm, void *reserved) {
-        /* initialize mraa */
-        globVM = vm;
-        mraa_init();
-        return JNI_VERSION_1_8;
+        /* initialize mraa and set jni functions */
+        mraa_result_t res = mraa_init();
+        if (res == MRAA_SUCCESS) {
+            mraa_java_set_jvm(vm);
+            lang_func->java_isr_callback = &mraa_java_isr_callback;
+            lang_func->java_attach_thread  = &mraa_java_attach_thread;
+            lang_func->java_detach_thread = &mraa_java_detach_thread;
+            lang_func->java_create_global_ref = &mraa_java_create_global_ref;
+            lang_func->java_delete_global_ref = &mraa_java_delete_global_ref;
+        } else {
+            JNIEnv* jenv;
+            vm->GetEnv((void**)&jenv, JNI_REQUIRED_VERSION);
+            SWIG_JavaException(jenv, SWIG_RuntimeError, "mraa_init() failed");
+        }
+        return JNI_REQUIRED_VERSION;
     }
 %}
 
@@ -83,5 +96,34 @@ class Spi;
             System.err.println("Native code library failed to load. \n" + e);
             System.exit(1);
         }
+
+        String javaAPIVersion = mraa.class.getPackage().getSpecificationVersion();
+        String nativeAPIVersion = mraa.getVersion().substring(1);
+
+        String javaMajor = javaAPIVersion.substring(0, javaAPIVersion.indexOf('.'));
+        String nativeMajor = nativeAPIVersion.substring(0, nativeAPIVersion.indexOf('.'));
+
+        if(Integer.parseInt(javaMajor) < Integer.parseInt(nativeMajor)){
+            System.err.println("Java library is out of date. Please update the Java library.");
+            System.err.println("Native library version is " + nativeAPIVersion + ". Java library version is " + javaAPIVersion + ".");
+            System.exit(1);
+        }
+        if(Integer.parseInt(javaMajor) > Integer.parseInt(nativeMajor)){
+            System.err.println("Native library is out of date. Please update the Native library.");
+            System.err.println("Native library version is " + nativeAPIVersion + ". Java library version is " + javaAPIVersion + ".");
+            System.exit(1);
+        }
+
+        String javaMinor = javaAPIVersion.substring(javaMajor.length() + 1, javaAPIVersion.indexOf('.', javaMajor.length() + 1));
+        String nativeMinor = nativeAPIVersion.substring(nativeMajor.length() + 1, nativeAPIVersion.indexOf('.', nativeMajor.length() + 1));
+
+        if(Integer.parseInt(javaMinor) < Integer.parseInt(nativeMinor)){
+            System.err.println("Java library is out of date. Please consider updating the Java library.");
+            System.err.println("Native library version is " + nativeAPIVersion + ". Java library version is " + javaAPIVersion + ".");
+        }
+        if(Integer.parseInt(javaMinor) > Integer.parseInt(nativeMinor)){
+            System.err.println("Native library is out of date. Please consider updating the Native library.");
+            System.err.println("Native library version is " + nativeAPIVersion + ". Java library version is " + javaAPIVersion + ".");
+        }
     }
 %}

src/java/mraajni.c

@@ -0,0 +1,102 @@
+/*
+ * Author: Henry Bruce <henry.bruce@intel.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * 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 <pthread.h>
+#include "java/mraajni.h"
+
+static pthread_key_t env_key;
+static pthread_once_t env_key_init = PTHREAD_ONCE_INIT;
+static jmethodID runGlobal;
+static JavaVM* globVM = NULL;
+
+
+void
+mraa_java_set_jvm(JavaVM* vm)
+{
+    globVM = vm;
+}
+
+static void
+mraa_java_make_env_key(void)
+{
+    if (globVM != NULL) {
+        JNIEnv* jenv;
+        (*globVM)->GetEnv(globVM, (void**) &jenv, JNI_REQUIRED_VERSION);
+        jclass rcls = (*jenv)->FindClass(jenv, "java/lang/Runnable");
+        jmethodID runm = (*jenv)->GetMethodID(jenv, rcls, "run", "()V");
+        runGlobal = (jmethodID)(*jenv)->NewGlobalRef(jenv, (jobject) runm);
+        pthread_key_create(&env_key, NULL);
+    }
+}
+
+void
+mraa_java_isr_callback(void* data)
+{
+    JNIEnv* jenv = (JNIEnv*) pthread_getspecific(env_key);
+    (*jenv)->CallVoidMethod(jenv, (jobject) data, runGlobal);
+}
+
+mraa_result_t
+mraa_java_attach_thread()
+{
+    if (globVM != NULL) {
+        JNIEnv* jenv;
+        jint err = (*globVM)->AttachCurrentThreadAsDaemon(globVM, (void**) &jenv, NULL);
+        if (err == JNI_OK) {
+            pthread_once(&env_key_init, mraa_java_make_env_key);
+            pthread_setspecific(env_key, jenv);
+            return MRAA_SUCCESS;
+        }
+    }
+    return MRAA_ERROR_UNSPECIFIED;
+}
+
+void
+mraa_java_detach_thread()
+{
+    if (globVM != NULL)
+        (*globVM)->DetachCurrentThread(globVM);
+}
+
+void*
+mraa_java_create_global_ref(void* args)
+{
+    if (globVM != NULL) {
+        JNIEnv* jenv;
+        (*globVM)->GetEnv(globVM, (void**) &jenv, JNI_REQUIRED_VERSION);
+        jobject grunnable = (*jenv)->NewGlobalRef(jenv, (jobject) args);
+        return (void*) grunnable;
+    } else
+        return NULL;
+}
+
+void
+mraa_java_delete_global_ref(void* ref)
+{
+    if (globVM != NULL) {
+        JNIEnv* jenv;
+        (*globVM)->GetEnv(globVM, (void**) &jenv, JNI_REQUIRED_VERSION);
+        (*jenv)->DeleteGlobalRef(jenv, (jobject) ref);
+    }
+}

src/javascript/CMakeLists.txt

@@ -13,7 +13,7 @@ set (V8_VERSION_HEX 0x0${V8_VERSION_MAJOR}${V8_VERSION_MINOR}${V8_VERSION_PATCH}
 string (LENGTH "${V8_VERSION_HEX}" V8_VERSION_HEX_length)
 while (V8_VERSION_HEX_length LESS 8)
   set (V8_VERSION_HEX "${V8_VERSION_HEX}0")
-  message (DEBUG " - Padded V8 version to match SWIG format")
+  message (STATUS "INFO - Padded V8 version to match SWIG format")
   string (LENGTH "${V8_VERSION_HEX}" V8_VERSION_HEX_length)
 endwhile ()
 
@@ -21,8 +21,8 @@ set_property (SOURCE mraajs.i PROPERTY SWIG_FLAGS "-node"
               "-I${CMAKE_BINARY_DIR}/src" "-DV8_VERSION=${V8_VERSION_HEX}")
 set_source_files_properties (mraajs.i PROPERTIES CPLUSPLUS ON)
 
-swig_add_module (mraajs javascript mraajs.i ${mraa_LIB_SRCS})
-swig_link_libraries (mraajs ${mraa_LIBS})
+swig_add_module (mraajs javascript mraajs.i)
+swig_link_libraries (mraajs mraa)
 
 set_target_properties (mraajs PROPERTIES
   COMPILE_FLAGS " -DBUILDING_NODE_EXTENSION -DSWIGJAVASCRIPT=${SWIG_FOUND}"
@@ -31,35 +31,45 @@ set_target_properties (mraajs PROPERTIES
   SUFFIX ".node"
 )
 
-message (INFO " - swig Version ${SWIG_VERSION}")
-message (INFO " - CXX compiler Version ${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER_VERSION}")
+message (STATUS "INFO - swig Version ${SWIG_VERSION}")
+message (STATUS "INFO - CXX compiler Version ${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER_VERSION}")
 
 if (${V8_VERSION_MAJOR} GREATER 3)
-  message (INFO " - Using V8 version > 3 so requiring C++11 compiler")
+  message (STATUS "INFO - Using V8 version > 3 so requiring C++11 compiler")
   # Node 0.12.x V8 engine major version is '3'.
   # Node 2.1.0  V8 engine major version is '4'.
   set_property (TARGET mraajs PROPERTY CXX_STANDARD 11)
   set_property (TARGET mraajs PROPERTY CXX_STANDARD_REQUIRED ON)
-  if(CMAKE_VERSION VERSION_LESS "3.1")
-    message(INFO " - **WARNING** Need to use CMAKE version 3.1+, but it is ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION}")
-    message(INFO " -             So a workaround will be used.")
-    if(CMAKE_COMPILER_IS_GNUCXX)
-      if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "4.7")
-        message(FATAL_ERROR " FATAL ERROR: GNU gcc compiler is also too old (need 4.7+, but ${CMAKE_CXX_COMPILER_VERSION}) and does not support C++11 standard.")
-      endif()
-      set(MRAA_CXX11_WORKAROUND_OPTION "-std=gnu++11")
-    else()
-      set(MRAA_CXX11_WORKAROUND_OPTION "-std=c++11")
-    endif()
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MRAA_CXX11_WORKAROUND_OPTION} ")
-  endif()
+  if (CMAKE_VERSION VERSION_LESS "3.1")
+    message (WARNING "Need to use CMAKE version 3.1+, but it is ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION}, using a workaround.")
+    if (CMAKE_COMPILER_IS_GNUCXX)
+      if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "4.7")
+        message (FATAL_ERROR "GNU gcc compiler is also too old (need 4.7+, but ${CMAKE_CXX_COMPILER_VERSION}) and does not support C++11 standard.")
+      endif ()
+      set (MRAA_CXX11_WORKAROUND_OPTION "-std=gnu++11")
+    else ()
+      set (MRAA_CXX11_WORKAROUND_OPTION "-std=c++11")
+    endif ()
+    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MRAA_CXX11_WORKAROUND_OPTION} ")
+  endif ()
 endif ()
 
+# If a CMAKE_INSTALL_PREFIX has NOT been provided, set NODE_MODULE_INSTALL_PATH
+# base on the NODE_ROOT_DIR.
+if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+  set (NODE_MODULE_INSTALL_PATH ${NODE_ROOT_DIR}/lib/node_modules/mraa/)
+# If a CMAKE_INSTALL_PREFIX has been provided, set NODE_MODULE_INSTALL_PATH
+# relative to the provide install directory.
+else (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+  set (NODE_MODULE_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib/node_modules/mraa/)
+endif (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+message (STATUS "INFO - install NODE modules to ${NODE_MODULE_INSTALL_PATH}")
+
 macro (mraa_CREATE_INSTALL_PACKAGE_JSON generated_file install_location)
   configure_file (${generated_file}.cmake ${CMAKE_CURRENT_BINARY_DIR}/${generated_file} @ONLY)
   install (FILES ${CMAKE_CURRENT_BINARY_DIR}/${generated_file} DESTINATION ${install_location})
 endmacro (mraa_CREATE_INSTALL_PACKAGE_JSON)
-mraa_create_install_package_json (package.json lib/node_modules/mraa)
+mraa_create_install_package_json (package.json ${NODE_MODULE_INSTALL_PATH})
 
 macro (mraa_CREATE_BINDING_GYP generated_file)
   set (mraa_LIB_SRCS_GYP "")
@@ -106,9 +116,9 @@ if (BUILDDOC)
       COMMENT "Generating API documentation with Yuidoc" VERBATIM
   )
   else ()
-    message (INFO " - Failed to find Yuidoc. node.js API doc will not be generated")
+    message (STATUS "INFO - Failed to find Yuidoc. node.js API doc will not be generated")
   endif ()
 endif ()
 
 install (FILES ${CMAKE_CURRENT_BINARY_DIR}/mraa.node
-         DESTINATION lib/node_modules/mraa)
+         DESTINATION ${NODE_MODULE_INSTALL_PATH})

src/javascript/binding.gyp.cmake

@@ -3,34 +3,39 @@
     {
       'target_name': 'mraa',
       'sources': [
-@mraa_LIB_SRCS_GYP@
-'src/version.c',
-'src/mraajsJAVASCRIPT_wrap.cxx' ],
+        @mraa_LIB_SRCS_GYP@
+        'src/version.c',
+        'src/mraajsJAVASCRIPT_wrap.cxx'
+      ],
       'include_dirs': [
-@mraa_LIB_INCLUDE_DIRS_GYP@
-                      ],
+        @mraa_LIB_INCLUDE_DIRS_GYP@
+      ],
       'variables': {
-          "v8_version%": "<!(node -e 'console.log(process.versions.v8)' | sed 's/\.//g' | cut -c 1-5)",
-          "arch%": "<!(node -e 'console.log(process.arch)')"
+        "v8_version%": "<!(node -e 'console.log(process.versions.v8)' | sed 's/\.//g' | cut -c 1-5)",
+        "arch%": "<!(node -e 'console.log(process.arch)')"
       },
       'cflags_cc!': [ '-fno-rtti', '-fno-exceptions' ],
       'cflags!': [ '-fno-exceptions' ],
       'conditions' : [
-          [ 'arch=="x64"',
-            { 'defines' : [ 'X86PLAT=ON' ], },
-          ],
-          [ 'arch=="ia32"',
-            { 'defines' : [ 'X86PLAT=ON'], },
-          ],
-          [ 'arch=="arm"',
-            { 'defines' : [ 'ARMPLAT=ON'], },
-          ],
+        ['OS=="android"', {
+          'sources' : [ 'src/glob/glob.c' ],
+          'include_dirs' : [ 'src/glob' ],
+        }],
+        [ 'arch=="x64" or arch=="ia32"', {
+          'defines' : [ 'X86PLAT=ON' ],
+        }],
+        [ 'arch=="arm"', {
+          'defines' : [ 'ARMPLAT=ON'],
+        }],
       ],
-      'defines' : [ 'SWIG',
-                    'SWIGJAVASCRIPT',
-                    'BUILDING_NODE_EXTENSION=1',
-                    'SWIG_V8_VERSION=0x0<(v8_version)',
-                    'V8_VERSION=0x0<(v8_version)'
+      'defines' : [
+        'SWIG',
+        'SWIGJAVASCRIPT',
+        'FIRMATA=ON',
+        'ONEWIRE=ON',
+        'BUILDING_NODE_EXTENSION=1',
+        'SWIG_V8_VERSION=0x0<(v8_version)',
+        'V8_VERSION=0x0<(v8_version)'
       ]
     }
   ]

src/javascript/doxygen2jsdoc_custom.json

@@ -65,7 +65,7 @@
         },
         "func": {
           "type": "Function",
-          "description": "Function to be called when interupt is triggered"
+          "description": "Function to be called when interrupt is triggered"
         }
       },
       "return": {

src/javascript/mraajs.i

@@ -135,5 +135,10 @@ class Spi;
 
 %init %{
     //Adding mraa_init() to the module initialisation process
-    mraa_init();
+    if (mraa_init() != MRAA_SUCCESS) {
+      // FIXME: Figure out why SWIG_Error causes seg fault.
+      // Warn on stderr for time being
+      // SWIG_Error(SWIG_RuntimeError, "mraa_init() failed");
+      fprintf(stderr, "Javascript Runtime Error: mraa_init() failed.\n");
+    }
 %}

src/javascript/package.json.cmake

@@ -1,7 +1,7 @@
 {
   "name" : "mraa",
   "description": "IO library that helps you use I2c, SPI, gpio, uart, pwm, analog inputs (aio) and more on a number of platforms such as the Intel galileo, the Intel edison and others",
-  "keywords":["gpio", "edison","galileo","io", "mraajs", "spi", "i2c", "minnow", "intel"],
+  "keywords":["gpio", "edison","galileo","io", "mraajs", "spi", "i2c", "minnow", "intel", "firmata"],
   "homepage": "http://github.com/intel-iot-devkit/mraa",
   "main" : "./mraa.node",
   "engines": {

src/mraa.c

@@ -40,14 +40,32 @@
 #include <fcntl.h>
 #include <string.h>
 #include <stdio.h>
+#include <stdbool.h>
+#include <errno.h>
+#include <ctype.h>
+#include <limits.h>
+
+#if defined(IMRAA)
+#include <json-c/json.h>
+#include <sys/stat.h>
+#include <sys/mman.h>
+#endif
 
 #include "mraa_internal.h"
+#include "firmata/firmata_mraa.h"
 #include "gpio.h"
 #include "version.h"
+#include "i2c.h"
+#include "pwm.h"
+#include "aio.h"
+#include "spi.h"
+#include "uart.h"
+
 
 #define IIO_DEVICE_WILDCARD "iio:device*"
 mraa_board_t* plat = NULL;
 mraa_iio_info_t* plat_iio = NULL;
+mraa_lang_func_t* lang_func = NULL;
 
 static char* platform_name = NULL;
 static char* platform_long_name = NULL;
@@ -73,16 +91,15 @@ mraa_set_log_level(int level)
     return MRAA_ERROR_INVALID_PARAMETER;
 }
 
-
-#if (defined SWIGPYTHON) || (defined SWIG)
+/**
+ * Whilst the actual mraa init function is now called imraa_init, it's only
+ * callable externally if IMRAA is enabled
+ */
 mraa_result_t
-#else
-mraa_result_t __attribute__((constructor))
-#endif
-mraa_init()
+imraa_init()
 {
     if (plat != NULL) {
-        return MRAA_ERROR_PLATFORM_ALREADY_INITIALISED;
+        return MRAA_SUCCESS;
     }
 
     uid_t proc_euid = geteuid();
@@ -98,13 +115,6 @@ mraa_init()
     syslog(LOG_NOTICE, "libmraa version %s initialised by user '%s' with EUID %d",
            mraa_get_version(), (proc_user != NULL) ? proc_user->pw_name : "<unknown>", proc_euid);
 
-#ifdef SWIGPYTHON
-    // Initialise python threads, this allows use to grab the GIL when we are
-    // required to do so
-    Py_InitializeEx(0);
-    PyEval_InitThreads();
-#endif
-
     mraa_platform_t platform_type;
 #if defined(X86PLAT)
     // Use runtime x86 platform detection
@@ -122,8 +132,7 @@ mraa_init()
         platform_name = NULL;
     }
 
-#if defined(USBPLAT)
-    // This is a platform extender so create null base platform if one doesn't already exist
+    // Create null base platform if one doesn't already exist
     if (plat == NULL) {
         plat = (mraa_board_t*) calloc(1, sizeof(mraa_board_t));
         if (plat != NULL) {
@@ -131,6 +140,8 @@ mraa_init()
             plat->platform_name = "Unknown platform";
         }
     }
+
+#if defined(USBPLAT)
     // Now detect sub platform, note this is not an else since we could be in
     // an error case and fall through to MRAA_ERROR_PLATFORM_NOT_INITIALISED
     if (plat != NULL) {
@@ -146,6 +157,11 @@ mraa_init()
     }
 #endif
 
+#if defined(IMRAA)
+    const char* subplatform_lockfile = "/tmp/imraa.lock";
+    mraa_add_from_lockfile(subplatform_lockfile);
+#endif
+
     // Look for IIO devices
     mraa_iio_detect();
 
@@ -163,10 +179,29 @@ mraa_init()
         }
     }
 
+    lang_func = (mraa_lang_func_t*) calloc(1, sizeof(mraa_lang_func_t));
+    if (lang_func == NULL) {
+        return MRAA_ERROR_NO_RESOURCES;
+    }
+
     syslog(LOG_NOTICE, "libmraa initialised for platform '%s' of type %d", mraa_get_platform_name(), mraa_get_platform_type());
     return MRAA_SUCCESS;
 }
 
+#if (defined SWIGPYTHON) || (defined SWIG)
+mraa_result_t
+#else
+mraa_result_t __attribute__((constructor))
+#endif
+mraa_init()
+{
+    if (plat != NULL) {
+        return MRAA_SUCCESS;
+    } else {
+        return imraa_init();
+    }
+}
+
 void
 mraa_deinit()
 {
@@ -191,7 +226,7 @@ mraa_deinit()
 }
 
 int
-mraa_set_priority(const unsigned int priority)
+mraa_set_priority(const int priority)
 {
     struct sched_param sched_s;
 
@@ -253,27 +288,167 @@ mraa_iio_detect()
     return MRAA_SUCCESS;
 }
 
-
 mraa_result_t
 mraa_setup_mux_mapped(mraa_pin_t meta)
 {
-    int mi;
+    unsigned int mi;
+    mraa_result_t ret;
+    mraa_gpio_context mux_i = NULL;
+    int last_pin = -1;
 
     for (mi = 0; mi < meta.mux_total; mi++) {
-        mraa_gpio_context mux_i;
-        mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
-        if (mux_i == NULL) {
-            return MRAA_ERROR_INVALID_HANDLE;
-        }
-        // this function will sometimes fail, however this is not critical as
-        // long as the write succeeds - Test case galileo gen2 pin2
-        mraa_gpio_dir(mux_i, MRAA_GPIO_OUT);
-        mraa_gpio_owner(mux_i, 0);
 
-        if (mraa_gpio_write(mux_i, meta.mux[mi].value) != MRAA_SUCCESS) {
-            mraa_gpio_close(mux_i);
-            return MRAA_ERROR_INVALID_RESOURCE;
+        switch(meta.mux[mi].pincmd) {
+            case PINCMD_UNDEFINED:              // used for backward compatibility
+                if(meta.mux[mi].pin != last_pin) {
+                    if (mux_i != NULL) {
+                        mraa_gpio_owner(mux_i, 0);
+                        mraa_gpio_close(mux_i);
+                    }
+                    mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
+                    if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE;
+                    last_pin = meta.mux[mi].pin;
+                }
+                // this function will sometimes fail, however this is not critical as
+                // long as the write succeeds - Test case galileo gen2 pin2
+                mraa_gpio_dir(mux_i, MRAA_GPIO_OUT);
+                ret = mraa_gpio_write(mux_i, meta.mux[mi].value);
+                if(ret != MRAA_SUCCESS) {
+                    if (mux_i != NULL) {
+                        mraa_gpio_owner(mux_i, 0);
+                        mraa_gpio_close(mux_i);
+                    }
+                    return MRAA_ERROR_INVALID_RESOURCE;
+                }
+                break;
+
+            case PINCMD_SET_VALUE:
+                if(meta.mux[mi].pin != last_pin) {
+                    if (mux_i != NULL) {
+                        mraa_gpio_owner(mux_i, 0);
+                        mraa_gpio_close(mux_i);
+                    }
+                    mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
+                    if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE;
+                    last_pin = meta.mux[mi].pin;
+                }
+
+                ret = mraa_gpio_write(mux_i, meta.mux[mi].value);
+
+                if(ret != MRAA_SUCCESS) {
+                    if (mux_i != NULL) {
+                        mraa_gpio_owner(mux_i, 0);
+                        mraa_gpio_close(mux_i);
+                    }
+                    return MRAA_ERROR_INVALID_RESOURCE;
+                }
+                break;
+
+            case PINCMD_SET_DIRECTION:
+                if(meta.mux[mi].pin != last_pin) {
+                    if (mux_i != NULL) {
+                        mraa_gpio_owner(mux_i, 0);
+                        mraa_gpio_close(mux_i);
+                    }
+                    mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
+                    if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE;
+                    last_pin = meta.mux[mi].pin;
+                }
+
+                ret = mraa_gpio_dir(mux_i, meta.mux[mi].value);
+
+                if(ret != MRAA_SUCCESS) {
+                    if (mux_i != NULL) {
+                        mraa_gpio_owner(mux_i, 0);
+                        mraa_gpio_close(mux_i);
+                    }
+                    return MRAA_ERROR_INVALID_RESOURCE;
+                }
+                break;
+
+            case PINCMD_SET_IN_VALUE:
+                if(meta.mux[mi].pin != last_pin) {
+                    if (mux_i != NULL) {
+                        mraa_gpio_owner(mux_i, 0);
+                        mraa_gpio_close(mux_i);
+                    }
+                    mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
+                    if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE;
+                    last_pin = meta.mux[mi].pin;
+                }
+
+                ret = mraa_gpio_dir(mux_i, MRAA_GPIO_IN);
+
+                if(ret == MRAA_SUCCESS)
+                    ret = mraa_gpio_write(mux_i, meta.mux[mi].value);
+
+                if(ret != MRAA_SUCCESS) {
+                    if (mux_i != NULL) {
+                        mraa_gpio_owner(mux_i, 0);
+                        mraa_gpio_close(mux_i);
+                    }
+                    return MRAA_ERROR_INVALID_RESOURCE;
+                }
+                break;
+
+            case PINCMD_SET_OUT_VALUE:
+                if(meta.mux[mi].pin != last_pin) {
+                    if (mux_i != NULL) {
+                        mraa_gpio_owner(mux_i, 0);
+                        mraa_gpio_close(mux_i);
+                    }
+                    mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
+                    if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE;
+                    last_pin = meta.mux[mi].pin;
+                }
+
+                ret = mraa_gpio_dir(mux_i, MRAA_GPIO_OUT);
+
+                if(ret == MRAA_SUCCESS)
+                    ret = mraa_gpio_write(mux_i, meta.mux[mi].value);
+
+                if(ret != MRAA_SUCCESS) {
+                    if (mux_i != NULL) {
+                        mraa_gpio_owner(mux_i, 0);
+                        mraa_gpio_close(mux_i);
+                    }
+                    return MRAA_ERROR_INVALID_RESOURCE;
+                }
+                break;
+
+            case PINCMD_SET_MODE:
+                if(meta.mux[mi].pin != last_pin) {
+                    if (mux_i != NULL) {
+                        mraa_gpio_owner(mux_i, 0);
+                        mraa_gpio_close(mux_i);
+                    }
+                    mux_i = mraa_gpio_init_raw(meta.mux[mi].pin);
+                    if (mux_i == NULL) return MRAA_ERROR_INVALID_HANDLE;
+                    last_pin = meta.mux[mi].pin;
+                }
+
+                ret = mraa_gpio_mode(mux_i, meta.mux[mi].value);
+
+                if(ret != MRAA_SUCCESS) {
+                    if (mux_i != NULL) {
+                        mraa_gpio_owner(mux_i, 0);
+                        mraa_gpio_close(mux_i);
+                    }
+                    return MRAA_ERROR_INVALID_RESOURCE;
+                }
+                break;
+
+            case PINCMD_SKIP:
+                break;
+
+            default:
+                syslog(LOG_NOTICE, "mraa_setup_mux_mapped: wrong command %d on pin %d with value %d", meta.mux[mi].pincmd, meta.mux[mi].pin, meta.mux[mi].value);
+                break;
         }
+    }
+
+    if (mux_i != NULL) {
+        mraa_gpio_owner(mux_i, 0);
         mraa_gpio_close(mux_i);
     }
 
@@ -320,8 +495,14 @@ mraa_result_print(mraa_result_t result)
         case MRAA_ERROR_PLATFORM_NOT_INITIALISED:
             fprintf(stdout, "MRAA: Platform not initialised.\n");
             break;
-        case MRAA_ERROR_PLATFORM_ALREADY_INITIALISED:
-            fprintf(stdout, "MRAA: Platform already initialised.\n");
+        case MRAA_ERROR_UART_OW_SHORTED:
+            fprintf(stdout, "MRAA: UART OW: Bus short detected.\n");
+            break;
+        case MRAA_ERROR_UART_OW_NO_DEVICES:
+            fprintf(stdout, "MRAA: UART OW: No devices detected on bus.\n");
+            break;
+        case MRAA_ERROR_UART_OW_DATA_ERROR:
+            fprintf(stdout, "MRAA: UART OW: Data or Bus error detected.\n");
             break;
         case MRAA_ERROR_UNSPECIFIED:
             fprintf(stdout, "MRAA: Unspecified Error.\n");
@@ -355,7 +536,7 @@ mraa_pin_mode_test(int pin, mraa_pinmodes_t mode)
         pin = mraa_get_sub_platform_index(pin);
     }
 
-    if (current_plat == NULL || current_plat->platform_type == MRAA_UNKNOWN_PLATFORM) {
+    if (current_plat == NULL || current_plat->platform_type == MRAA_UNKNOWN_PLATFORM || current_plat->platform_type == MRAA_NULL_PLATFORM) {
         return 0;
     }
     if (pin > (current_plat->phy_pin_count - 1) || pin < 0)
@@ -503,7 +684,7 @@ mraa_get_i2c_bus_count()
 }
 
 int
-mraa_get_i2c_bus_id(unsigned i2c_bus)
+mraa_get_i2c_bus_id(int i2c_bus)
 {
     if (plat == NULL) {
         return -1;
@@ -804,3 +985,248 @@ mraa_get_iio_device_count()
 {
     return plat_iio->iio_device_count;
 }
+
+mraa_result_t
+mraa_add_subplatform(mraa_platform_t subplatformtype, const char* uart_dev)
+{
+#if defined(FIRMATA)
+    if (subplatformtype == MRAA_GENERIC_FIRMATA) {
+        if (plat->sub_platform != NULL) {
+            return MRAA_ERROR_INVALID_PARAMETER;
+        }
+        if (mraa_firmata_platform(plat, uart_dev) == MRAA_GENERIC_FIRMATA) {
+            syslog(LOG_NOTICE, "mraa: Added firmata subplatform");
+            return MRAA_SUCCESS;
+        }
+        syslog(LOG_NOTICE, "mraa: Failed to add firmata subplatform");
+    }
+#endif
+
+    return MRAA_ERROR_INVALID_PARAMETER;
+}
+
+mraa_result_t
+mraa_remove_subplatform(mraa_platform_t subplatformtype)
+{
+#if defined(FIRMATA)
+    if (subplatformtype == MRAA_GENERIC_FIRMATA) {
+        if (plat == NULL || plat->sub_platform == NULL) {
+            return MRAA_ERROR_INVALID_PARAMETER;
+        }
+        free(plat->sub_platform->adv_func);
+        free(plat->sub_platform->pins);
+        free(plat->sub_platform);
+    }
+#endif
+    return MRAA_ERROR_INVALID_PARAMETER;
+}
+
+#if defined(IMRAA)
+mraa_result_t
+mraa_add_from_lockfile(const char* imraa_lock_file)
+{
+    mraa_result_t ret = MRAA_SUCCESS;
+    mraa_platform_t type = plat->platform_type;
+    char* buffer = NULL;
+    off_t file_size;
+    struct stat st;
+    int i = 0;
+    uint32_t subplat_num = 0;
+    int flock = open(imraa_lock_file, O_RDONLY);
+    if (flock == -1) {
+        syslog(LOG_ERR, "imraa: Failed to open lock file");
+        return MRAA_ERROR_INVALID_RESOURCE;
+    }
+    if (fstat(flock, &st) != 0 || (!S_ISREG(st.st_mode))) {
+        close(flock);
+        return MRAA_ERROR_INVALID_RESOURCE;
+    }
+    buffer = mmap(0, st.st_size, PROT_READ, MAP_SHARED, flock, 0);
+    close(flock);
+    if (buffer == MAP_FAILED) {
+        syslog(LOG_ERR, "imraa: lockfile read error");
+        return MRAA_ERROR_INVALID_RESOURCE;
+    }
+    json_object* jobj_lock = json_tokener_parse(buffer);
+
+    struct json_object* ioarray;
+    if (json_object_object_get_ex(jobj_lock, "Platform", &ioarray) == true &&
+        json_object_is_type(ioarray, json_type_array)) {
+        subplat_num = json_object_array_length(ioarray);
+        int id = -1;
+        const char* uartdev = NULL;
+        for (i = 0; i < subplat_num; i++) {
+            struct json_object *ioobj = json_object_array_get_idx(ioarray, i);
+            json_object_object_foreach(ioobj, key, val) {
+                if (strcmp(key, "id") == 0) {
+                    id = atoi(json_object_get_string(val));
+                } else if (strcmp(key, "uart") == 0) {
+                    uartdev = json_object_get_string(val);
+                }
+            }
+            if (id != -1 && id != MRAA_NULL_PLATFORM && id != MRAA_UNKNOWN_PLATFORM && uartdev != NULL) {
+                if (mraa_add_subplatform(id, uartdev) == MRAA_SUCCESS) {
+                    syslog(LOG_NOTICE, "imraa: automatically added subplatform %d, %s", id, uartdev);
+                } else {
+                    syslog(LOG_ERR, "imraa: Failed to add subplatform (%d on %s) from lockfile", id, uartdev);
+                }
+                id = -1;
+                uartdev = NULL;
+            }
+        }
+    } else {
+        ret = MRAA_ERROR_INVALID_RESOURCE;
+    }
+    json_object_put(jobj_lock);
+    munmap(buffer, st.st_size);
+    return ret;
+}
+#endif
+
+void
+mraa_to_upper(char* s)
+{
+    char* t = s;
+    for (; *t; ++t) {
+        *t = toupper(*t);
+    }
+}
+
+mraa_result_t
+mraa_atoi(char* intStr, int* value)
+{
+    char* end;
+    // here 10 determines the number base in which strol is to work
+    long val = strtol(intStr, &end, 10);
+    if (*end != '\0' || errno == ERANGE || end == intStr || val > INT_MAX || val < INT_MIN) {
+        *value = 0;
+        return MRAA_ERROR_UNSPECIFIED;
+    }
+    *value = (int) val;
+    return MRAA_SUCCESS;
+}
+
+mraa_result_t
+mraa_init_io_helper(char** str, int* value, const char* delim)
+{
+    // This function is a result of a repeated pattern within mraa_init_io
+    // when determining if a value can be derived from a string
+    char* token;
+    token = strsep(str, delim);
+    // check to see if empty string returned
+    if (token == NULL) {
+        *value = 0;
+        return MRAA_ERROR_NO_DATA_AVAILABLE;
+    }
+    return mraa_atoi(token, value);
+}
+
+void*
+mraa_init_io(const char* desc)
+{
+    const char* delim = "-";
+    int length = 0, raw = 0;
+    int pin = 0, id = 0;
+    // 256 denotes the maximum size of our buffer
+    // 8 denotes the maximum size of our type rounded to the nearest power of 2
+    // max size is 4 + 1 for the \0 = 5 rounded to 8
+    char buffer[256] = { 0 }, type[8] = { 0 };
+    char *token = 0, *str = 0;
+    length = strlen(desc);
+    // Check to see the length is less than or equal to 255 which means
+    // byte 256 is supposed to be \0
+    if (length > 255 || desc == NULL || length == 0) {
+        return NULL;
+    }
+    strncpy(buffer, desc, length);
+
+    str = buffer;
+    token = strsep(&str, delim);
+    length = strlen(token);
+    // Check to see they haven't given us a type whose length is greater than the
+    // largest type we know about
+    if (length > 4) {
+        syslog(LOG_ERR, "mraa_init_io: An invalid IO type was provided");
+        return NULL;
+    }
+    strncpy(type, token, length);
+    mraa_to_upper(type);
+    token = strsep(&str, delim);
+    // Check that they've given us more information than just the type
+    if (token == NULL) {
+        syslog(LOG_ERR, "mraa_init_io: Missing information after type");
+        return NULL;
+    }
+    // If we cannot convert the pin to a number maybe it says raw?
+    if (mraa_atoi(token, &pin) != MRAA_SUCCESS) {
+        mraa_to_upper(token);
+        if (strncmp(token, "RAW", 3)) {
+            syslog(LOG_ERR, "mraa_init_io: Description does not adhere to a known format");
+            return NULL;
+        }
+        raw = 1;
+    }
+    if (!raw && str != NULL) {
+        syslog(LOG_ERR, "mraa_init_io: More information than required was provided");
+        return NULL;
+    }
+
+    if (strncmp(type, "GPIO", 4) == 0) {
+        if (raw) {
+            if (mraa_init_io_helper(&str, &pin, delim) == MRAA_SUCCESS) {
+                return (void*) mraa_gpio_init_raw(pin);
+            }
+            syslog(LOG_ERR, "mraa_init_io: Invalid Raw description for GPIO");
+            return NULL;
+        }
+        return (void*) mraa_gpio_init(pin);
+    } else if (strncmp(type, "I2C", 3) == 0) {
+        if (raw) {
+            if (mraa_init_io_helper(&str, &pin, delim) == MRAA_SUCCESS) {
+                return (void*) mraa_i2c_init_raw(pin);
+            }
+            syslog(LOG_ERR, "mraa_init_io: Invalid Raw description for I2C");
+            return NULL;
+        }
+        return (void*) mraa_i2c_init(pin);
+    } else if (strncmp(type, "AIO", 3) == 0) {
+        if (raw) {
+            syslog(LOG_ERR, "mraa_init_io: Aio doesn't have a RAW mode");
+            return NULL;
+        }
+        return (void*) mraa_aio_init(pin);
+    } else if (strncmp(type, "PWM", 3) == 0) {
+        if (raw) {
+            if (mraa_init_io_helper(&str, &id, delim) != MRAA_SUCCESS) {
+                syslog(LOG_ERR, "mraa_init_io: Pwm, unable to convert the chip id string into a useable Int");
+                return NULL;
+            }
+            if (mraa_init_io_helper(&str, &pin, delim) != MRAA_SUCCESS) {
+                syslog(LOG_ERR, "mraa_init_io: Pwm, unable to convert the pin string into a useable Int");
+                return NULL;
+            }
+            return (void*) mraa_pwm_init_raw(id, pin);
+        }
+        return (void*) mraa_pwm_init(pin);
+    } else if (strncmp(type, "SPI", 3) == 0) {
+        if (raw) {
+            if (mraa_init_io_helper(&str, &id, delim) != MRAA_SUCCESS) {
+                syslog(LOG_ERR, "mraa_init_io: Spi, unable to convert the bus string into a useable Int");
+                return NULL;
+            }
+            if (mraa_init_io_helper(&str, &pin, delim) != MRAA_SUCCESS) {
+                syslog(LOG_ERR, "mraa_init_io: Spi, unable to convert the cs string into a useable Int");
+                return NULL;
+            }
+            return (void*) mraa_spi_init_raw(id, pin);
+        }
+        return (void*) mraa_spi_init(pin);
+    } else if (strncmp(type, "UART", 4) == 0) {
+        if (raw) {
+            return (void*) mraa_uart_init_raw(str);
+        }
+        return (void*) mraa_uart_init(pin);
+    }
+    syslog(LOG_ERR, "mraa_init_io: Invalid IO type given.");
+    return NULL;
+}

src/mraa.i

@@ -41,6 +41,19 @@
 %include "types.hpp"
 
 %include "common.hpp"
+%template (gpioFromDesc) mraa::initIo<mraa::Gpio>;
+%template (aioFromDesc) mraa::initIo<mraa::Aio>;
+%template (uartFromDesc) mraa::initIo<mraa::Uart>;
+%template (spiFromDesc) mraa::initIo<mraa::Spi>;
+%template (i2cFromDesc) mraa::initIo<mraa::I2c>;
+%template (pwmFromDesc) mraa::initIo<mraa::Pwm>;
+
+%ignore Aio(void* aio_context);
+%ignore Pwm(void* pwm_context);
+%ignore Uart(void* uart_context);
+%ignore Spi(void* spi_context);
+%ignore I2c(void* i2c_context);
+%ignore Gpio(void* gpio_context);
 
 %ignore Gpio::nop(uv_work_t* req);
 %ignore Gpio::v8isr(uv_work_t* req);

src/mraa.pc.cmake

@@ -1,6 +1,6 @@
 prefix=@CMAKE_INSTALL_PREFIX@
 exec_prefix=${prefix}
-libdir=${exec_prefix}/lib@LIB_SUFFIX@
+libdir=${exec_prefix}/@LIB_INSTALL_DIR@
 includedir=${prefix}/include
 
 Name: mraa

src/pwm/pwm.c

@@ -27,6 +27,8 @@
 #include <sys/stat.h>
 #include <unistd.h>
 #include <limits.h>
+#include <errno.h>
+#include <string.h>
 
 #include "pwm.h"
 #include "mraa_internal.h"
@@ -50,6 +52,11 @@ mraa_pwm_setup_duty_fp(mraa_pwm_context dev)
 static mraa_result_t
 mraa_pwm_write_period(mraa_pwm_context dev, int period)
 {
+    if (!dev) {
+        syslog(LOG_ERR, "pwm: write_period: context is NULL");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
     if (IS_FUNC_DEFINED(dev, pwm_period_replace)) {
         mraa_result_t result = dev->advance_func->pwm_period_replace(dev, period);
         if (result == MRAA_SUCCESS) {
@@ -62,13 +69,14 @@ mraa_pwm_write_period(mraa_pwm_context dev, int period)
 
     int period_f = open(bu, O_RDWR);
     if (period_f == -1) {
-        syslog(LOG_ERR, "pwm: Failed to open period for writing");
+        syslog(LOG_ERR, "pwm%i write_period: Failed to open period for writing: %s", dev->pin, strerror(errno));
         return MRAA_ERROR_INVALID_RESOURCE;
     }
     char out[MAX_SIZE];
     int length = snprintf(out, MAX_SIZE, "%d", period);
     if (write(period_f, out, length * sizeof(char)) == -1) {
         close(period_f);
+        syslog(LOG_ERR, "pwm%i write_period: Failed to write to period: %s", dev->pin, strerror(errno));
         return MRAA_ERROR_INVALID_RESOURCE;
     }
 
@@ -80,48 +88,67 @@ mraa_pwm_write_period(mraa_pwm_context dev, int period)
 static mraa_result_t
 mraa_pwm_write_duty(mraa_pwm_context dev, int duty)
 {
+    if (!dev) {
+        syslog(LOG_ERR, "pwm: write_duty: context is NULL");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
+    if (IS_FUNC_DEFINED(dev, pwm_write_replace)) {
+        return dev->advance_func->pwm_write_replace(dev, duty);
+    }
     if (dev->duty_fp == -1) {
         if (mraa_pwm_setup_duty_fp(dev) == 1) {
-            return MRAA_ERROR_INVALID_HANDLE;
+            syslog(LOG_ERR, "pwm%i write_duty: Failed to open duty_cycle for writing: %s", dev->pin, strerror(errno));
+            return MRAA_ERROR_INVALID_RESOURCE;
         }
     }
     char bu[64];
     int length = sprintf(bu, "%d", duty);
     if (write(dev->duty_fp, bu, length * sizeof(char)) == -1)
+    {
+        syslog(LOG_ERR, "pwm%i write_duty: Failed to write to duty_cycle: %s", dev->pin, strerror(errno));
         return MRAA_ERROR_INVALID_RESOURCE;
+    }
     return MRAA_SUCCESS;
 }
 
 static int
 mraa_pwm_read_period(mraa_pwm_context dev)
 {
+    if (!dev) {
+        syslog(LOG_ERR, "pwm: read_period: context is NULL");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
+    if (IS_FUNC_DEFINED(dev, pwm_read_replace)) {
+        return dev->period;
+    }
+
     char bu[MAX_SIZE];
     char output[MAX_SIZE];
     snprintf(bu, MAX_SIZE, "/sys/class/pwm/pwmchip%d/pwm%d/period", dev->chipid, dev->pin);
 
     int period_f = open(bu, O_RDWR);
     if (period_f == -1) {
-        syslog(LOG_ERR, "pwm: Failed to open period for reading");
+        syslog(LOG_ERR, "pwm%i read_period: Failed to open period for reading: %s", dev->pin, strerror(errno));
         return 0;
     }
-    off_t size = lseek(period_f, 0, SEEK_END);
-    lseek(period_f, 0, SEEK_SET);
 
-    ssize_t rb = read(period_f, output, size + 1);
+    ssize_t rb = read(period_f, output, MAX_SIZE);
     close(period_f);
 
     if (rb < 0) {
-        syslog(LOG_ERR, "pwm: Error in reading period");
+        syslog(LOG_ERR, "pwm%i read_period: Failed to read period: %s", dev->pin, strerror(errno));
         return -1;
     }
 
     char* endptr;
     long int ret = strtol(output, &endptr, 10);
     if ('\0' != *endptr && '\n' != *endptr) {
-        syslog(LOG_ERR, "pwm: Error in string conversion");
+        syslog(LOG_ERR, "pwm%i read_period: Error in string conversion", dev->pin);
         return -1;
     } else if (ret > INT_MAX || ret < INT_MIN) {
-        syslog(LOG_ERR, "pwm: Number is invalid");
+        syslog(LOG_ERR, "pwm%i read_period: Number is invalid", dev->pin);
         return -1;
     }
     dev->period = (int) ret;
@@ -131,29 +158,39 @@ mraa_pwm_read_period(mraa_pwm_context dev)
 static int
 mraa_pwm_read_duty(mraa_pwm_context dev)
 {
+    if (!dev) {
+       syslog(LOG_ERR, "pwm: read_duty: context is NULL");
+       return MRAA_ERROR_INVALID_HANDLE;
+    }
+
+    if (IS_FUNC_DEFINED(dev, pwm_read_replace)) {
+        return dev->advance_func->pwm_read_replace(dev);
+    }
+
     if (dev->duty_fp == -1) {
         if (mraa_pwm_setup_duty_fp(dev) == 1) {
-            return MRAA_ERROR_INVALID_HANDLE;
+            syslog(LOG_ERR, "pwm%i read_duty: Failed to open duty_cycle for reading: %s",
+                    dev->pin, strerror(errno));
+            return -1;
         }
     } else {
         lseek(dev->duty_fp, 0, SEEK_SET);
     }
-    off_t size = lseek(dev->duty_fp, 0, SEEK_END);
-    lseek(dev->duty_fp, 0, SEEK_SET);
+
     char output[MAX_SIZE];
-    ssize_t rb = read(dev->duty_fp, output, size + 1);
+    ssize_t rb = read(dev->duty_fp, output, MAX_SIZE);
     if (rb < 0) {
-        syslog(LOG_ERR, "pwm: Error in reading duty");
+        syslog(LOG_ERR, "pwm%i read_duty: Failed to read duty_cycle: %s", dev->pin, strerror(errno));
         return -1;
     }
 
     char* endptr;
     long int ret = strtol(output, &endptr, 10);
     if ('\0' != *endptr && '\n' != *endptr) {
-        syslog(LOG_ERR, "pwm: Error in string converstion");
+        syslog(LOG_ERR, "pwm%i read_duty: Error in string conversion", dev->pin);
         return -1;
     } else if (ret > INT_MAX || ret < INT_MIN) {
-        syslog(LOG_ERR, "pwm: Number is invalid");
+        syslog(LOG_ERR, "pwm%i read_duty: Number is invalid", dev->pin);
         return -1;
     }
     return (int) ret;
@@ -178,66 +215,75 @@ mraa_pwm_init_internal(mraa_adv_func_t* func_table, int chipin, int pin)
 mraa_pwm_context
 mraa_pwm_init(int pin)
 {
-    if (plat == NULL) {
-        syslog(LOG_ERR, "pwm: Platform Not Initialised");
+    mraa_board_t* board = plat;
+    if (board == NULL) {
+        syslog(LOG_ERR, "pwm_init: Platform Not Initialised");
         return NULL;
     }
     if (mraa_is_sub_platform_id(pin)) {
-        syslog(LOG_NOTICE, "pwm: Using sub platform is not supported");
+        syslog(LOG_NOTICE, "pwm_init: Using sub platform");
+        board = board->sub_platform;
+        if (board == NULL) {
+            syslog(LOG_ERR, "pwm_init: Sub platform Not Initialised");
+            return NULL;
+        }
+        pin = mraa_get_sub_platform_index(pin);
+    }
+    if (pin < 0 || pin > board->phy_pin_count) {
+        syslog(LOG_ERR, "pwm_init: pin %i beyond platform definition", pin);
         return NULL;
     }
-    if (pin < 0 || pin > plat->phy_pin_count) {
-        syslog(LOG_ERR, "pwm: pin %i beyond platform definition", pin);
-        return NULL;
-    }
-    if (plat->pins[pin].capabilites.pwm != 1) {
-        syslog(LOG_ERR, "pwm: pin not capable of pwm");
+    if (board->pins[pin].capabilites.pwm != 1) {
+        syslog(LOG_ERR, "pwm_init: pin %i not capable of pwm", pin);
         return NULL;
     }
 
-    if (plat->adv_func->pwm_init_replace != NULL) {
-        return plat->adv_func->pwm_init_replace(pin);
+    if (board->adv_func->pwm_init_replace != NULL) {
+        return board->adv_func->pwm_init_replace(pin);
     }
-    if (plat->adv_func->pwm_init_pre != NULL) {
-        if (plat->adv_func->pwm_init_pre(pin) != MRAA_SUCCESS)
+    if (board->adv_func->pwm_init_internal_replace != NULL) {
+        return board->adv_func->pwm_init_internal_replace(board->adv_func, pin);
+    }
+    if (board->adv_func->pwm_init_pre != NULL) {
+        if (board->adv_func->pwm_init_pre(pin) != MRAA_SUCCESS)
             return NULL;
     }
 
-    if (plat->pins[pin].capabilites.gpio == 1) {
+    if (board->pins[pin].capabilites.gpio == 1) {
         // This deserves more investigation
         mraa_gpio_context mux_i;
-        mux_i = mraa_gpio_init_raw(plat->pins[pin].gpio.pinmap);
+        mux_i = mraa_gpio_init_raw(board->pins[pin].gpio.pinmap);
         if (mux_i == NULL) {
-            syslog(LOG_ERR, "pwm: error in gpio->pwm transition");
+            syslog(LOG_ERR, "pwm_init: error in gpio->pwm%i transition. gpio_init", pin);
             return NULL;
         }
         if (mraa_gpio_dir(mux_i, MRAA_GPIO_OUT) != MRAA_SUCCESS) {
-            syslog(LOG_ERR, "pwm: error in gpio->pwm transition");
+            syslog(LOG_ERR, "pwm_init: error in gpio->pwm%i transition. gpio_dir", pin);
             return NULL;
         }
         if (mraa_gpio_write(mux_i, 1) != MRAA_SUCCESS) {
-            syslog(LOG_ERR, "pwm: error in gpio->pwm transition");
+            syslog(LOG_ERR, "pwm_init: error in gpio->pwm%i transition. gpio_write", pin);
             return NULL;
         }
         if (mraa_gpio_close(mux_i) != MRAA_SUCCESS) {
-            syslog(LOG_ERR, "pwm: error in gpio->pwm transition");
+            syslog(LOG_ERR, "pwm_init: error in gpio->pwm%i transition. gpio_close", pin);
             return NULL;
         }
     }
 
-    if (plat->pins[pin].pwm.mux_total > 0) {
-        if (mraa_setup_mux_mapped(plat->pins[pin].pwm) != MRAA_SUCCESS) {
-            syslog(LOG_ERR, "pwm: Failed to set-up multiplexer");
+    if (board->pins[pin].pwm.mux_total > 0) {
+        if (mraa_setup_mux_mapped(board->pins[pin].pwm) != MRAA_SUCCESS) {
+            syslog(LOG_ERR, "pwm_init: Failed to set-up pwm%i multiplexer", pin);
             return NULL;
         }
     }
 
-    int chip = plat->pins[pin].pwm.parent_id;
-    int pinn = plat->pins[pin].pwm.pinmap;
+    int chip = board->pins[pin].pwm.parent_id;
+    int pinn = board->pins[pin].pwm.pinmap;
 
-    if (plat->adv_func->pwm_init_post != NULL) {
+    if (board->adv_func->pwm_init_post != NULL) {
         mraa_pwm_context pret = mraa_pwm_init_raw(chip, pinn);
-        mraa_result_t ret = plat->adv_func->pwm_init_post(pret);
+        mraa_result_t ret = board->adv_func->pwm_init_post(pret);
         if (ret != MRAA_SUCCESS) {
             free(pret);
             return NULL;
@@ -258,14 +304,14 @@ mraa_pwm_init_raw(int chipin, int pin)
     snprintf(directory, MAX_SIZE, SYSFS_PWM "/pwmchip%d/pwm%d", dev->chipid, dev->pin);
     struct stat dir;
     if (stat(directory, &dir) == 0 && S_ISDIR(dir.st_mode)) {
-        syslog(LOG_NOTICE, "pwm: Pin already exported, continuing");
+        syslog(LOG_NOTICE, "pwm_init: pwm%i already exported, continuing", pin);
         dev->owner = 0; // Not Owner
     } else {
         char buffer[MAX_SIZE];
         snprintf(buffer, MAX_SIZE, "/sys/class/pwm/pwmchip%d/export", dev->chipid);
         int export_f = open(buffer, O_WRONLY);
         if (export_f == -1) {
-            syslog(LOG_ERR, "pwm: Failed to open export for writing");
+            syslog(LOG_ERR, "pwm_init: pwm%i. Failed to open export for writing: %s", pin, strerror(errno));
             free(dev);
             return NULL;
         }
@@ -273,7 +319,7 @@ mraa_pwm_init_raw(int chipin, int pin)
         char out[MAX_SIZE];
         int size = snprintf(out, MAX_SIZE, "%d", dev->pin);
         if (write(export_f, out, size * sizeof(char)) == -1) {
-            syslog(LOG_WARNING, "pwm: Failed to write to export! Potentially already enabled");
+            syslog(LOG_WARNING, "pwm_init: pwm%i. Failed to write to export! (%s) Potentially already in use.", pin, strerror(errno));
             close(export_f);
             free(dev);
             return NULL;
@@ -289,13 +335,18 @@ mraa_pwm_init_raw(int chipin, int pin)
 mraa_result_t
 mraa_pwm_write(mraa_pwm_context dev, float percentage)
 {
+    if (!dev) {
+        syslog(LOG_ERR, "pwm: write: context is NULL");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
     if (dev->period == -1) {
         if (mraa_pwm_read_period(dev) <= 0)
             return MRAA_ERROR_NO_DATA_AVAILABLE;
     }
 
     if (percentage > 1.0f) {
-        syslog(LOG_WARNING, "pwm: number greater than 1 entered, defaulting to 100%%");
+        syslog(LOG_WARNING, "pwm_write: %i%% entered, defaulting to 100%%",(int) percentage * 100);
         return mraa_pwm_write_duty(dev, dev->period);
     }
     return mraa_pwm_write_duty(dev, percentage * dev->period);
@@ -304,6 +355,11 @@ mraa_pwm_write(mraa_pwm_context dev, float percentage)
 float
 mraa_pwm_read(mraa_pwm_context dev)
 {
+    if (!dev) {
+        syslog(LOG_ERR, "pwm: read: context is NULL");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
     int period = mraa_pwm_read_period(dev);
     if (period > 0) {
         return (mraa_pwm_read_duty(dev) / (float) period);
@@ -326,8 +382,22 @@ mraa_pwm_period_ms(mraa_pwm_context dev, int ms)
 mraa_result_t
 mraa_pwm_period_us(mraa_pwm_context dev, int us)
 {
-    if (us < plat->pwm_min_period || us > plat->pwm_max_period) {
-        syslog(LOG_ERR, "pwm: period value outside platform range");
+    int min, max;
+
+    if (!dev) {
+        syslog(LOG_ERR, "pwm: period: context is NULL");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
+    if (mraa_is_sub_platform_id(dev->chipid)) {
+        min = plat->sub_platform->pwm_min_period;
+        max = plat->sub_platform->pwm_max_period;
+    } else {
+        min = plat->pwm_min_period;
+        max = plat->pwm_max_period;
+    }
+    if (us < min || us > max) {
+        syslog(LOG_ERR, "pwm_period: pwm%i: %i uS outside platform range", dev->pin, us);
         return MRAA_ERROR_INVALID_PARAMETER;
     }
     return mraa_pwm_write_period(dev, us * 1000);
@@ -354,27 +424,30 @@ mraa_pwm_pulsewidth_us(mraa_pwm_context dev, int us)
 mraa_result_t
 mraa_pwm_enable(mraa_pwm_context dev, int enable)
 {
-    int status;
-    if (enable != 0) {
-        status = 1;
-    } else {
-        status = enable;
+    if (!dev) {
+        syslog(LOG_ERR, "pwm: enable: context is NULL");
+        return MRAA_ERROR_INVALID_HANDLE;
     }
+
+    if (IS_FUNC_DEFINED(dev, pwm_enable_replace)) {
+        return dev->advance_func->pwm_enable_replace(dev, enable);
+    }
+
     char bu[MAX_SIZE];
     snprintf(bu, MAX_SIZE, "/sys/class/pwm/pwmchip%d/pwm%d/enable", dev->chipid, dev->pin);
 
     int enable_f = open(bu, O_RDWR);
 
     if (enable_f == -1) {
-        syslog(LOG_ERR, "pwm: Failed to open enable for writing");
+        syslog(LOG_ERR, "pwm_enable: pwm%i: Failed to open enable for writing: %s", dev->pin, strerror(errno));
         return MRAA_ERROR_INVALID_RESOURCE;
     }
     char out[2];
     int size = snprintf(out, sizeof(out), "%d", enable);
     if (write(enable_f, out, size * sizeof(char)) == -1) {
-        syslog(LOG_ERR, "pwm: Failed to write to enable");
+        syslog(LOG_ERR, "pwm_enable: pwm%i: Failed to write to enable: %s", dev->pin, strerror(errno));
         close(enable_f);
-        return MRAA_ERROR_INVALID_RESOURCE;
+        return MRAA_ERROR_UNSPECIFIED;
     }
     close(enable_f);
     return MRAA_SUCCESS;
@@ -388,16 +461,16 @@ mraa_pwm_unexport_force(mraa_pwm_context dev)
 
     int unexport_f = open(filepath, O_WRONLY);
     if (unexport_f == -1) {
-        syslog(LOG_ERR, "pwm: Failed to open unexport for writing");
+        syslog(LOG_ERR, "pwm_unexport: pwm%i: Failed to open unexport for writing: %s", dev->pin, strerror(errno));
         return MRAA_ERROR_INVALID_RESOURCE;
     }
 
     char out[MAX_SIZE];
     int size = snprintf(out, MAX_SIZE, "%d", dev->pin);
     if (write(unexport_f, out, size * sizeof(char)) == -1) {
-        syslog(LOG_ERR, "pwm: Failed to write to unexport");
+        syslog(LOG_ERR, "pwm_unexport: pwm%i: Failed to write to unexport: %s", dev->pin, strerror(errno));
         close(unexport_f);
-        return MRAA_ERROR_INVALID_RESOURCE;
+        return MRAA_ERROR_UNSPECIFIED;
     }
 
     close(unexport_f);
@@ -407,16 +480,26 @@ mraa_pwm_unexport_force(mraa_pwm_context dev)
 mraa_result_t
 mraa_pwm_unexport(mraa_pwm_context dev)
 {
+    if (!dev) {
+        syslog(LOG_ERR, "pwm: unexport: context is NULL");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
     mraa_pwm_enable(dev, 0);
     if (dev->owner) {
         return mraa_pwm_unexport_force(dev);
     }
-    return MRAA_ERROR_INVALID_RESOURCE;
+    return MRAA_ERROR_INVALID_PARAMETER;
 }
 
 mraa_result_t
 mraa_pwm_close(mraa_pwm_context dev)
 {
+    if (!dev) {
+        syslog(LOG_ERR, "pwm: close: context is NULL");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
     mraa_pwm_unexport(dev);
     free(dev);
     return MRAA_SUCCESS;
@@ -425,74 +508,46 @@ mraa_pwm_close(mraa_pwm_context dev)
 mraa_result_t
 mraa_pwm_owner(mraa_pwm_context dev, mraa_boolean_t owner_new)
 {
-    if (dev == NULL)
-        return MRAA_ERROR_INVALID_RESOURCE;
+    if (!dev) {
+        syslog(LOG_ERR, "pwm: owner: context is NULL");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
     dev->owner = owner_new;
     return MRAA_SUCCESS;
 }
 
-mraa_result_t
-mraa_pwm_config_ms(mraa_pwm_context dev, int ms, float ms_float)
-{
-    int old_dutycycle, old_period, status;
-    old_dutycycle = mraa_pwm_read_duty(dev);
-    old_period = mraa_pwm_read_period(dev);
-    status = mraa_pwm_period_us(dev, ms * 1000);
-    if (status != MRAA_SUCCESS) {
-        mraa_pwm_write_duty(dev, old_dutycycle);
-        return status;
-    }
-    status = mraa_pwm_write_duty(dev, 0);
-    if (status != MRAA_SUCCESS) {
-        return status;
-    }
-    status = mraa_pwm_pulsewidth_us(dev, ms_float * 1000);
-    if (status != MRAA_SUCCESS) {
-        mraa_pwm_write_duty(dev, old_dutycycle);
-        mraa_pwm_write_period(dev, old_period);
-        return status;
-    }
-    return MRAA_SUCCESS;
-}
-
-mraa_result_t
-mraa_pwm_config_percent(mraa_pwm_context dev, int ms, float percentage)
-{
-    int old_dutycycle, old_period, status;
-    old_dutycycle = mraa_pwm_read_duty(dev);
-    old_period = mraa_pwm_read_period(dev);
-    status = mraa_pwm_period_us(dev, ms * 1000);
-    if (status != MRAA_SUCCESS) {
-        mraa_pwm_write_duty(dev, old_dutycycle);
-        return status;
-    }
-    status = mraa_pwm_write_duty(dev, 0);
-    if (status != MRAA_SUCCESS) {
-        return status;
-    }
-    status = mraa_pwm_pulsewidth_us(dev, (ms * 1000) * percentage);
-    if (status != MRAA_SUCCESS) {
-        mraa_pwm_write_duty(dev, old_dutycycle);
-        mraa_pwm_write_period(dev, old_period);
-        return status;
-    }
-    return MRAA_SUCCESS;
-}
-
 int
-mraa_pwm_get_max_period()
+mraa_pwm_get_max_period(mraa_pwm_context dev)
 {
     if (plat == NULL) {
         return -1;
     }
+
+    if (!dev) {
+        syslog(LOG_ERR, "pwm: get_max_period: context is NULL");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
+    if (mraa_is_sub_platform_id(dev->chipid)) {
+        return plat->sub_platform->pwm_max_period;
+    }
     return plat->pwm_max_period;
 }
 
 int
-mraa_pwm_get_min_period()
+mraa_pwm_get_min_period(mraa_pwm_context dev)
 {
     if (plat == NULL) {
         return -1;
     }
+
+    if (!dev) {
+        syslog(LOG_ERR, "pwm: get_min_period: context is NULL");
+        return MRAA_ERROR_INVALID_HANDLE;
+    }
+
+    if (mraa_is_sub_platform_id(dev->chipid)) {
+        return plat->sub_platform->pwm_min_period;
+    }
     return plat->pwm_min_period;
 }

src/python/CMakeLists.txt

@@ -1,52 +1,5 @@
-find_package (PythonLibs ${PYTHONBUILD_VERSION} REQUIRED)
+set_source_files_properties (mraapython.i PROPERTIES CPLUSPLUS ON)
+set_source_files_properties (mraapython.i PROPERTIES SWIG_FLAGS "-I${CMAKE_BINARY_DIR}/src")
 
-INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
-
-include_directories(
-  ${CMAKE_CURRENT_SOURCE_DIR}/..
-  ${PYTHON_INCLUDE_DIRS}
-)
-
-set_source_files_properties (mraa.i PROPERTIES CPLUSPLUS ON)
-set_source_files_properties (mraa.i PROPERTIES SWIG_FLAGS "-I${CMAKE_BINARY_DIR}/src")
-swig_add_module (python-mraa python mraa.i ${mraa_LIB_SRCS})
-swig_link_libraries (python-mraa ${PYTHON_LIBRARIES} ${mraa_LIBS})
-
-if (DOXYGEN_FOUND)
-  foreach (_file ${DOCCLASSES})
-    add_dependencies (${SWIG_MODULE_python-mraa_REAL_NAME} ${_file}class_doc_i)
-  endforeach ()
-  add_dependencies (${SWIG_MODULE_python-mraa_REAL_NAME} common_hpp_doc_i)
-
-  add_custom_target (pydoc
-    pydoc -w ${CMAKE_CURRENT_BINARY_DIR}/mraa.py ${CMAKE_CURRENT_BINARY_DIR}/
-    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-    COMMENT "Generating API documentation with pydoc" VERBATIM
-  )
-endif ()
-
-set_target_properties (${SWIG_MODULE_python-mraa_REAL_NAME} PROPERTIES
-  OUTPUT_NAME _mraa
-  COMPILE_FLAGS "${CMAKE_C_FLAGS} -DSWIGPYTHON=${SWIG_FOUND}"
-)
-
-execute_process (
-   COMMAND ${PYTHON_EXECUTABLE} -c
-       "import site, sys; sys.stdout.write(site.PREFIXES[-1])"
-   OUTPUT_VARIABLE PYTHON_PREFIX
-)
-file (TO_CMAKE_PATH "${PYTHON_PREFIX}" PYTHON_PREFIX)
-execute_process (
-   COMMAND ${PYTHON_EXECUTABLE} -c
-       "import site, sys; sys.stdout.write(site.getusersitepackages().replace(site.getuserbase(), site.PREFIXES[-1]))"
-   OUTPUT_VARIABLE PYTHON_SITE_DIR
-)
-file (TO_CMAKE_PATH "${PYTHON_SITE_DIR}" PYTHON_SITE_DIR)
-string (REGEX REPLACE "^${PYTHON_PREFIX}/" ""
-   PYTHON_SITE_DIR "${PYTHON_SITE_DIR}")
-
-install (FILES ${CMAKE_CURRENT_BINARY_DIR}/_mraa.so
-         ${CMAKE_CURRENT_BINARY_DIR}/mraa.py
-         DESTINATION ${PYTHON_SITE_DIR})
-
-add_subdirectory (docs)
+add_subdirectory (python2)
+add_subdirectory (python3)