mirror of https://github.com/ArduPilot/ardupilot
217 lines
4.4 KiB
C++
217 lines
4.4 KiB
C++
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE
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#include "I2CDriver.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <sys/ioctl.h>
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#include <linux/i2c-dev.h>
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#ifndef I2C_SMBUS_BLOCK_MAX
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#include <linux/i2c.h>
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#endif
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using namespace Linux;
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/*
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constructor
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*/
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LinuxI2CDriver::LinuxI2CDriver(AP_HAL::Semaphore* semaphore, const char *device) :
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_semaphore(semaphore),
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_fd(-1),
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_device(device)
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{
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}
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/*
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called from HAL class init()
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*/
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void LinuxI2CDriver::begin()
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{
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if (_fd != -1) {
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close(_fd);
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}
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_fd = open(_device, O_RDWR);
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}
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void LinuxI2CDriver::end()
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{
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if (_fd != -1) {
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::close(_fd);
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_fd = -1;
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}
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}
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/*
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tell the I2C library what device we want to talk to
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*/
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bool LinuxI2CDriver::set_address(uint8_t addr)
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{
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if (_fd == -1) {
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return false;
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}
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if (_addr != addr) {
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ioctl(_fd, I2C_SLAVE, addr);
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_addr = addr;
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}
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return true;
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}
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void LinuxI2CDriver::setTimeout(uint16_t ms)
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{
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// unimplemented
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}
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void LinuxI2CDriver::setHighSpeed(bool active)
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{
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// unimplemented
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}
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uint8_t LinuxI2CDriver::write(uint8_t addr, uint8_t len, uint8_t* data)
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{
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if (!set_address(addr)) {
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return 1;
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}
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if (::write(_fd, data, len) != len) {
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return 1;
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}
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return 0; // success
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}
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uint8_t LinuxI2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data)
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{
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uint8_t buf[len+1];
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buf[0] = reg;
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if (len != 0) {
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memcpy(&buf[1], data, len);
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}
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return write(addr, len+1, buf);
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}
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/*
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this is a copy of i2c_smbus_access() from i2c-dev.h. We need it for
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platforms with older headers
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*/
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static inline __s32 _i2c_smbus_access(int file, char read_write, __u8 command,
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int size, union i2c_smbus_data *data)
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{
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struct i2c_smbus_ioctl_data args;
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args.read_write = read_write;
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args.command = command;
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args.size = size;
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args.data = data;
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return ioctl(file,I2C_SMBUS,&args);
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}
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uint8_t LinuxI2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val)
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{
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if (!set_address(addr)) {
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return 1;
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}
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union i2c_smbus_data data;
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data.byte = val;
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if (_i2c_smbus_access(_fd,I2C_SMBUS_WRITE, reg,
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I2C_SMBUS_BYTE_DATA, &data) == -1) {
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return 1;
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}
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return 0;
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}
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uint8_t LinuxI2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data)
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{
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if (!set_address(addr)) {
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return 1;
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}
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if (::read(_fd, data, len) != len) {
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return 1;
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}
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return 0;
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}
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uint8_t LinuxI2CDriver::readRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data)
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{
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struct i2c_msg msgs[] = {
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{
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addr : addr,
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flags : 0,
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len : 1,
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buf : ®
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},
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{
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addr : addr,
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flags : I2C_M_RD,
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len : len,
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buf : data,
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}
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};
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struct i2c_rdwr_ioctl_data i2c_data = {
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msgs : msgs,
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nmsgs : 2
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};
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if (ioctl(_fd, I2C_RDWR, &i2c_data) == -1) {
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return 1;
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}
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return 0;
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}
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uint8_t LinuxI2CDriver::readRegistersMultiple(uint8_t addr, uint8_t reg,
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uint8_t len,
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uint8_t count, uint8_t* data)
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{
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while (count > 0) {
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uint8_t n = count>8?8:count;
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struct i2c_msg msgs[2*n];
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struct i2c_rdwr_ioctl_data i2c_data = {
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msgs : msgs,
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nmsgs : 2*n
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};
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for (uint8_t i=0; i<n; i++) {
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msgs[i*2].addr = addr;
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msgs[i*2].flags = 0;
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msgs[i*2].len = 1;
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msgs[i*2].buf = ®
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msgs[i*2+1].addr = addr;
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msgs[i*2+1].flags = I2C_M_RD;
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msgs[i*2+1].len = len;
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msgs[i*2+1].buf = data;
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data += len;
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};
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if (ioctl(_fd, I2C_RDWR, &i2c_data) == -1) {
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return 1;
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}
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count -= n;
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}
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return 0;
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}
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uint8_t LinuxI2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data)
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{
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if (!set_address(addr)) {
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return 1;
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}
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union i2c_smbus_data v;
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if (_i2c_smbus_access(_fd,I2C_SMBUS_READ, reg,
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I2C_SMBUS_BYTE_DATA, &v)) {
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return 1;
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}
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*data = v.byte;
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return 0;
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}
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uint8_t LinuxI2CDriver::lockup_count()
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{
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return 0;
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}
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#endif // CONFIG_HAL_BOARD
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