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HAL_Linux: make I2CDriver more portable 

this allows it to build on the Beaglebone
This commit is contained in:
Andrew Tridgell 2013-10-01 12:23:57 +10:00
parent 453581b25a
commit bcc9cdbf43
1 changed files with 29 additions and 4 deletions
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33
libraries/AP_HAL_Linux/I2CDriver.cpp
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@ -11,6 +11,9 @@
#include <stdio.h>
#include <sys/ioctl.h>
#include <linux/i2c-dev.h>
#ifndef I2C_SMBUS_BLOCK_MAX
#include <linux/i2c.h>
#endif
using namespace Linux;
@ -91,12 +94,33 @@ uint8_t LinuxI2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
return write(addr, len+1, buf);
}
/*
this is a copy of i2c_smbus_access() from i2c-dev.h. We need it for
platforms with older headers
*/
static inline __s32 _i2c_smbus_access(int file, char read_write, __u8 command,
int size, union i2c_smbus_data *data)
{
struct i2c_smbus_ioctl_data args;
args.read_write = read_write;
args.command = command;
args.size = size;
args.data = data;
return ioctl(file,I2C_SMBUS,&args);
}
uint8_t LinuxI2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val)
{
if (!set_address(addr)) {
return 1;
}
return i2c_smbus_write_byte_data(_fd, reg, val);
union i2c_smbus_data data;
data.byte = val;
if (_i2c_smbus_access(_fd,I2C_SMBUS_WRITE, reg,
I2C_SMBUS_BYTE_DATA, &data) == -1) {
return 1;
}
return 0;
}
uint8_t LinuxI2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data)
@ -132,11 +156,12 @@ uint8_t LinuxI2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data)
if (!set_address(addr)) {
return 1;
}
int32_t v = i2c_smbus_read_byte_data(_fd, reg);
if (v == -1) {
union i2c_smbus_data v;
if (_i2c_smbus_access(_fd,I2C_SMBUS_READ, reg,
I2C_SMBUS_BYTE_DATA, &v)) {
return 1;
}
*data = v & 0xFF;
*data = v.byte;
return 0;
}