Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-26 18:48:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Scripting: add manual i2c get device bindings

Browse Source
This commit is contained in:
Iampete1 2021-03-03 07:43:45 +00:00 committed by Andrew Tridgell
parent 166aedf1be
commit 58860205ea
2 changed files with 74 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_Scripting/AP_Scripting.h
View File

@ -20,6 +20,11 @@
#include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Filesystem/AP_Filesystem.h>
#include <AP_HAL/I2CDevice.h>
#ifndef SCRIPTING_MAX_NUM_I2C_DEVICE
#define SCRIPTING_MAX_NUM_I2C_DEVICE 4
#endif
class AP_Scripting
{
@ -56,6 +61,10 @@ public:
};
uint16_t get_disabled_dir() { return uint16_t(_dir_disable.get());}
// the number of and storage for i2c devices
uint8_t num_i2c_devices;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> *_i2c_dev[SCRIPTING_MAX_NUM_I2C_DEVICE];
private:
bool repl_start(void);

65
libraries/AP_Scripting/lua_bindings.cpp
View File

@ -8,6 +8,8 @@
#include "lua_boxed_numerics.h"
#include <AP_Scripting/lua_generated_bindings.h>
#include <AP_Scripting/AP_Scripting.h>
extern const AP_HAL::HAL& hal;
int check_arguments(lua_State *L, int expected_arguments, const char *fn_name);
@ -250,11 +252,74 @@ const luaL_Reg AP_Logger_functions[] = {
{NULL, NULL}
};
static int lua_get_i2c_device(lua_State *L) {
const int args = lua_gettop(L);
if (args < 2) {
return luaL_argerror(L, args, "require i2c bus and address");
}
if (args > 4) {
return luaL_argerror(L, args, "too many arguments");
}
const lua_Integer bus_in = luaL_checkinteger(L, 1);
luaL_argcheck(L, ((bus_in >= 0) && (bus_in <= 4)), 1, "bus out of range");
const uint8_t bus = static_cast<uint8_t>(bus_in);
const lua_Integer address_in = luaL_checkinteger(L, 2);
luaL_argcheck(L, ((address_in >= 0) && (address_in <= 128)), 2, "address out of range");
const uint8_t address = static_cast<uint8_t>(address_in);
// optional arguments, use the same defaults as the hal get_device function
uint32_t bus_clock = 400000;
bool use_smbus = false;
if (args > 2) {
bus_clock = coerce_to_uint32_t(L, 3);
if (args > 3) {
use_smbus = static_cast<bool>(lua_toboolean(L, 4));
}
}
static_assert(SCRIPTING_MAX_NUM_I2C_DEVICE >= 0, "There cannot be a negative number of I2C devices");
if (AP::scripting()->num_i2c_devices >= SCRIPTING_MAX_NUM_I2C_DEVICE) {
return luaL_argerror(L, 1, "no i2c devices available");;
}
AP::scripting()->_i2c_dev[AP::scripting()->num_i2c_devices] = new AP_HAL::OwnPtr<AP_HAL::I2CDevice>;
if (AP::scripting()->_i2c_dev[AP::scripting()->num_i2c_devices] == nullptr) {
return luaL_argerror(L, 1, "i2c device nullptr");;
}
*AP::scripting()->_i2c_dev[AP::scripting()->num_i2c_devices] = std::move(hal.i2c_mgr->get_device(bus, address, bus_clock, use_smbus));
if (AP::scripting()->_i2c_dev[AP::scripting()->num_i2c_devices] == nullptr || AP::scripting()->_i2c_dev[AP::scripting()->num_i2c_devices]->get() == nullptr) {
return luaL_argerror(L, 1, "i2c device nullptr");;
}
new_AP_HAL__I2CDevice(L);
*check_AP_HAL__I2CDevice(L, -1) = AP::scripting()->_i2c_dev[AP::scripting()->num_i2c_devices]->get();
AP::scripting()->num_i2c_devices++;
return 1;
}
const luaL_Reg i2c_functions[] = {
{"get_device", lua_get_i2c_device},
{NULL, NULL}
};
void load_lua_bindings(lua_State *L) {
lua_pushstring(L, "logger");
luaL_newlib(L, AP_Logger_functions);
lua_settable(L, -3);
lua_pushstring(L, "i2c");
luaL_newlib(L, i2c_functions);
lua_settable(L, -3);
luaL_setfuncs(L, global_functions, 0);
}