mirror of https://github.com/ArduPilot/ardupilot
140 lines
3.8 KiB
C++
140 lines
3.8 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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handle device operations over MAVLink
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/Device.h>
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#include <AP_HAL/I2CDevice.h>
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#include "GCS.h"
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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/*
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handle DEVICE_OP_READ message
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*/
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void GCS_MAVLINK::handle_device_op_read(const mavlink_message_t &msg)
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{
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mavlink_device_op_read_t packet;
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mavlink_msg_device_op_read_decode(&msg, &packet);
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AP_HAL::OwnPtr<AP_HAL::Device> dev = nullptr;
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uint8_t retcode = 0;
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uint8_t data[sizeof(mavlink_device_op_read_reply_t::data)] {};
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bool ret = false;
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uint8_t regstart = packet.regstart;
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if (packet.bustype == DEVICE_OP_BUSTYPE_I2C) {
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dev = hal.i2c_mgr->get_device(packet.bus, packet.address);
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} else if (packet.bustype == DEVICE_OP_BUSTYPE_SPI) {
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dev = hal.spi->get_device(packet.busname);
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} else {
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retcode = 1;
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goto fail;
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}
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if (!dev) {
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retcode = 2;
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goto fail;
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}
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if (packet.count > sizeof(data)) {
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retcode = 5;
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goto fail;
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}
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if (!dev->get_semaphore()->take(10)) {
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retcode = 3;
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goto fail;
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}
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if (regstart == 0xff) {
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// assume raw transfer, non-register interface
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ret = dev->transfer_bank(packet.bank, nullptr, 0, data, packet.count);
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// reply using register start 0 for display purposes
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regstart = 0;
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} else {
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ret = dev->read_bank_registers(packet.bank, packet.regstart, data, packet.count);
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}
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dev->get_semaphore()->give();
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if (!ret) {
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retcode = 4;
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goto fail;
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}
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mavlink_msg_device_op_read_reply_send(
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chan,
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packet.request_id,
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retcode,
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regstart,
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packet.count,
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data,
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packet.bank);
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return;
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fail:
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mavlink_msg_device_op_read_reply_send(
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chan,
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packet.request_id,
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retcode,
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packet.regstart,
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0,
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nullptr,
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packet.bank);
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}
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/*
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handle DEVICE_OP_WRITE message
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*/
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void GCS_MAVLINK::handle_device_op_write(const mavlink_message_t &msg)
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{
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mavlink_device_op_write_t packet;
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mavlink_msg_device_op_write_decode(&msg, &packet);
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AP_HAL::OwnPtr<AP_HAL::Device> dev = nullptr;
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uint8_t retcode = 0;
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if (packet.bustype == DEVICE_OP_BUSTYPE_I2C) {
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dev = hal.i2c_mgr->get_device(packet.bus, packet.address);
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} else if (packet.bustype == DEVICE_OP_BUSTYPE_SPI) {
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dev = hal.spi->get_device(packet.busname);
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} else {
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retcode = 1;
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goto fail;
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}
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if (!dev) {
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retcode = 2;
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goto fail;
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}
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if (!dev->get_semaphore()->take(10)) {
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retcode = 3;
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goto fail;
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}
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if (packet.regstart == 0xff) {
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// assume raw transfer, non-register interface
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if (!dev->transfer_bank(packet.bank, packet.data, packet.count, nullptr, 0)) {
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retcode = 4;
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}
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} else {
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for (uint8_t i=0; i<packet.count; i++) {
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if (!dev->write_bank_register(packet.bank, packet.regstart+i, packet.data[i])) {
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retcode = 4;
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break;
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}
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}
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}
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dev->get_semaphore()->give();
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fail:
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mavlink_msg_device_op_write_reply_send(
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chan,
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packet.request_id,
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retcode);
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}
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