mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.1 KiB
C++
70 lines
2.1 KiB
C++
#include "SIM_SMBusDevice.h"
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int SITL::SMBusDevice::rdwr(I2C::i2c_rdwr_ioctl_data *&data)
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{
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// see if this is a block...
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const uint8_t addr = data->msgs[0].buf[0];
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if (blockname[addr] == nullptr) {
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// not a block
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return I2CRegisters_16Bit::rdwr(data);
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}
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// it is a block.
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if (data->nmsgs == 2) {
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// data read request
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if (data->msgs[0].flags != 0) {
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AP_HAL::panic("Unexpected flags");
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}
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if (data->msgs[1].flags != I2C_M_RD) {
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AP_HAL::panic("Unexpected flags");
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}
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data->msgs[1].buf[0] = value_lengths[addr];
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const uint8_t to_copy = MIN(data->msgs[1].len-1, value_lengths[addr]);
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memcpy(&data->msgs[1].buf[1], values[addr], to_copy);
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data->msgs[1].len = to_copy + 1;
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return 0;
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}
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if (data->nmsgs == 1) {
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// data write request
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if (data->msgs[0].flags != 0) {
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AP_HAL::panic("Unexpected flags");
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}
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AP_HAL::panic("block writes not implemented");
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}
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return -1;
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}
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void SITL::SMBusDevice::add_block(const char *name, uint8_t reg, I2CRegisters::RegMode mode)
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{
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// ::fprintf(stderr, "Adding block %u (0x%02x) (%s)\n", reg, reg, name);
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blockname[reg] = name;
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if (mode == I2CRegisters::RegMode::RDONLY ||
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mode == I2CRegisters::RegMode::RDWR) {
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readable_blocks.set((uint8_t)reg);
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}
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if (mode == I2CRegisters::RegMode::WRONLY ||
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mode == I2CRegisters::RegMode::RDWR) {
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writable_blocks.set((uint8_t)reg);
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}
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}
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void SITL::SMBusDevice::set_block(uint8_t block, uint8_t *value, uint8_t valuelen)
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{
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if (blockname[block] == nullptr) {
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AP_HAL::panic("Setting un-named block %u", block);
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}
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// ::fprintf(stderr, "Setting %u (0x%02x) (%s) to 0x%02x (%c)\n", (unsigned)reg, (unsigned)reg, regname[reg], (unsigned)value, value);
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if (valuelen == 0) {
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AP_HAL::panic("Zero-length values not permitted by spec");
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}
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if (values[block] != nullptr) {
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free(values[block]);
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}
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values[block] = (char*)malloc(valuelen);
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memcpy(values[block], value, valuelen);
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value_lengths[block] = valuelen;
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}
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