AP_Scripting: add maunal i2c binding allowing read of sequentual registers

This commit is contained in:
Iampete1 2022-09-10 17:08:12 +01:00 committed by Andrew Tridgell
parent a65cced4e2
commit 934173a55a
4 changed files with 56 additions and 4 deletions

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@ -737,10 +737,12 @@ local AP_HAL__I2CDevice_ud = {}
---@param address integer
function AP_HAL__I2CDevice_ud:set_address(address) end
-- desc
-- If no read length is provided a single register will be read and returned.
-- If read length is provided a table of register values are returned.
---@param register_num integer
---@return integer|nil
function AP_HAL__I2CDevice_ud:read_registers(register_num) end
---@param read_length? integer
---@return integer|table|nil
function AP_HAL__I2CDevice_ud:read_registers(register_num, read_length) end
-- desc
---@param register_num integer

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@ -415,7 +415,7 @@ include AP_HAL/I2CDevice.h
ap_object AP_HAL::I2CDevice semaphore-pointer
ap_object AP_HAL::I2CDevice method set_retries void uint8_t 0 20
ap_object AP_HAL::I2CDevice method write_register boolean uint8_t 0 UINT8_MAX uint8_t 0 UINT8_MAX
ap_object AP_HAL::I2CDevice method read_registers boolean uint8_t 0 UINT8_MAX &uint8_t'Null 1'literal
ap_object AP_HAL::I2CDevice manual read_registers AP_HAL__I2CDevice_read_registers
ap_object AP_HAL::I2CDevice method set_address void uint8_t 0 UINT8_MAX

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@ -320,6 +320,55 @@ int lua_get_i2c_device(lua_State *L) {
return 1;
}
int AP_HAL__I2CDevice_read_registers(lua_State *L) {
const int args = lua_gettop(L);
bool multi_register;
if (args == 2) {
multi_register = false;
} else if (args == 3) {
multi_register = true;
} else {
return luaL_argerror(L, args, "expected 1 or 2 arguments");
}
AP_HAL::I2CDevice * ud = *check_AP_HAL__I2CDevice(L, 1);
if (ud == NULL) {
return luaL_error(L, "Internal error, null pointer");
}
const lua_Integer raw_first_reg = luaL_checkinteger(L, 2);
luaL_argcheck(L, ((raw_first_reg >= MAX(0, 0)) && (raw_first_reg <= MIN(UINT8_MAX, UINT8_MAX))), 2, "argument out of range");
const uint8_t first_reg = static_cast<uint8_t>(raw_first_reg);
uint8_t recv_length = 1;
if (multi_register) {
const lua_Integer raw_recv_length = luaL_checkinteger(L, 3);
luaL_argcheck(L, ((raw_recv_length >= MAX(0, 0)) && (raw_recv_length <= MIN(UINT8_MAX, UINT8_MAX))), 3, "argument out of range");
recv_length = static_cast<uint8_t>(raw_recv_length);
}
uint8_t data[recv_length];
ud->get_semaphore()->take_blocking();
const bool success = static_cast<bool>(ud->read_registers(first_reg, data, recv_length));
ud->get_semaphore()->give();
if (success) {
if (!multi_register) {
lua_pushinteger(L, data[0]);
} else {
// push to table
lua_newtable(L);
for (uint8_t i=0; i < recv_length; i++) {
lua_pushinteger(L, i+1);
lua_pushinteger(L, data[i]);
lua_settable(L, -3);
}
}
}
return success;
}
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
int lua_get_CAN_device(lua_State *L) {

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@ -7,5 +7,6 @@ int lua_micros(lua_State *L);
int lua_mission_receive(lua_State *L);
int AP_Logger_Write(lua_State *L);
int lua_get_i2c_device(lua_State *L);
int AP_HAL__I2CDevice_read_registers(lua_State *L);
int lua_get_CAN_device(lua_State *L);
int lua_get_CAN_device2(lua_State *L);