Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

BattMon_SMBus_I2C: use get_PEC to check reads

This commit is contained in:
Randy Mackay 2014-12-15 22:51:06 +09:00
parent bf0e5a350c
commit 022c549339
1 changed files with 21 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_I2C.cpp
View File

@ -56,8 +56,6 @@ void AP_BattMonitor_SMBus_I2C::read()
// returns true if read was succesful, false if failed
bool AP_BattMonitor_SMBus_I2C::read_word(uint8_t reg, uint16_t& data) const
{
uint8_t buff[2]; // buffer to hold results
// get pointer to i2c bus semaphore
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
@ -67,8 +65,17 @@ bool AP_BattMonitor_SMBus_I2C::read_word(uint8_t reg, uint16_t& data) const
return false;
}
// read two bytes
if (hal.i2c->readRegisters(BATTMONITOR_SMBUS_I2C_ADDR, reg, 2, buff) != 0) {
uint8_t buff[3]; // buffer to hold results
// read three bytes and place in last three bytes of buffer
if (hal.i2c->readRegisters(BATTMONITOR_SMBUS_I2C_ADDR, reg, 3, buff) != 0) {
i2c_sem->give();
return false;
}
// check PEC
uint8_t pec = get_PEC(BATTMONITOR_SMBUS_I2C_ADDR, reg, true, buff, 2);
if (pec != buff[2]) {
i2c_sem->give();
return false;
}
@ -86,7 +93,7 @@ bool AP_BattMonitor_SMBus_I2C::read_word(uint8_t reg, uint16_t& data) const
// read_block - returns number of characters read if successful, zero if unsuccessful
uint8_t AP_BattMonitor_SMBus_I2C::read_block(uint8_t reg, uint8_t* data, uint8_t max_len, bool append_zero) const
{
uint8_t buff[max_len+1]; // buffer to hold results
uint8_t buff[max_len+2]; // buffer to hold results (2 extra byte returned holding length and PEC)
// get pointer to i2c bus semaphore
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
@ -98,7 +105,7 @@ uint8_t AP_BattMonitor_SMBus_I2C::read_block(uint8_t reg, uint8_t* data, uint8_t
}
// read bytes
if (hal.i2c->readRegisters(BATTMONITOR_SMBUS_I2C_ADDR, reg, max_len+1, buff) != 0) {
if (hal.i2c->readRegisters(BATTMONITOR_SMBUS_I2C_ADDR, reg, max_len+2, buff) != 0) {
i2c_sem->give();
return 0;
}
@ -114,7 +121,14 @@ uint8_t AP_BattMonitor_SMBus_I2C::read_block(uint8_t reg, uint8_t* data, uint8_t
return 0;
}
// copy data
// check PEC
uint8_t pec = get_PEC(BATTMONITOR_SMBUS_I2C_ADDR, reg, true, buff, bufflen+1);
if (pec != buff[bufflen+1]) {
i2c_sem->give();
return 0;
}
// copy data (excluding PEC)
memcpy(data, &buff[1], bufflen);
// optionally add zero to end