aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_HAL_AVR: I2CDriver increments lockup count on any error

Browse Source 
tridge made these changes to the "I2c" lib in a3589f2956
This commit is contained in:
Pat Hickey 2012-11-27 14:22:06 -08:00 committed by Andrew Tridgell
parent 93f6267334
commit 47f555feac
3 changed files with 85 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_HAL/I2CDriver.h
View File

@ -14,10 +14,21 @@ public:
virtual void setTimeout(uint16_t ms) = 0;
virtual void setHighSpeed(bool active) = 0;
/* write: for i2c devices which do not obey register conventions */
virtual uint8_t write(uint8_t addr, uint8_t len, uint8_t* data) = 0;
/* writeRegister: write a single 8-bit value to a register */
virtual uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val) = 0;
/* writeRegisters: write bytes to contigious registers */
virtual uint8_t writeRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data) = 0;
/* read: for i2c devices which do not obey register conventions */
virtual uint8_t read(uint8_t addr, uint8_t len, uint8_t* data) = 0;
/* readRegister: read from a device register - writes the register,
* then reads back an 8-bit value. */
virtual uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data) = 0;
/* readRegister: read contigious device registers - writes the first
* register, then reads back multiple bytes */
virtual uint8_t readRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data) = 0;

86
libraries/AP_HAL_AVR/I2CDriver.cpp
View File

@ -89,20 +89,42 @@ void AVRI2CDriver::setHighSpeed(bool active) {
}
}
uint8_t AVRI2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data){
uint8_t AVRI2CDriver::write(uint8_t addr, uint8_t len, uint8_t* data){
uint8_t stat = _start();
if (stat) return stat;
if (stat) goto error;
stat = _sendAddress(SLA_W(addr));
if (stat) return stat;
stat = _sendByte(reg);
if (stat) return stat;
if (stat) goto error;
for (uint8_t i = 0; i < len; i++)
{
stat = _sendByte(data[i]);
if (stat) return stat;
if (stat) goto error;
}
stat = _stop();
if (stat) goto error;
return stat;
error:
_lockup_count++;
return stat;
}
uint8_t AVRI2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data){
uint8_t stat = _start();
if (stat) goto error;
stat = _sendAddress(SLA_W(addr));
if (stat) goto error;
stat = _sendByte(reg);
if (stat) goto error;
for (uint8_t i = 0; i < len; i++)
{
stat = _sendByte(data[i]);
if (stat) goto error;
}
stat = _stop();
if (stat) goto error;
return stat;
error:
_lockup_count++;
return stat;
}
@ -113,6 +135,38 @@ uint8_t AVRI2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val) {
return writeRegisters(addr, reg, 1, data);
}
uint8_t AVRI2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data){
uint8_t stat;
if ( len == 0)
len = 1;
uint8_t nackposition = len - 1;
stat = 0;
stat = _start();
if(stat) goto error;
stat = _sendAddress(SLA_W(addr));
if(stat) goto error;
stat = _start();
if(stat) goto error;
stat = _sendAddress(SLA_R(addr));
if(stat) goto error;
for(uint8_t i = 0; i < len ; i++) {
if ( i == nackposition ) {
stat = _receiveByte(false);
if (stat != MR_DATA_NACK) goto error;
} else {
stat = _receiveByte(true);
if (stat != MR_DATA_ACK) goto error;
}
data[i] = TWDR;
}
stat = _stop();
if (stat) goto error;
return stat;
error:
_lockup_count++;
return stat;
}
uint8_t AVRI2CDriver::readRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data){
uint8_t stat;
@ -121,26 +175,30 @@ uint8_t AVRI2CDriver::readRegisters(uint8_t addr, uint8_t reg,
uint8_t nackposition = len - 1;
stat = 0;
stat = _start();
if(stat) return stat;
if(stat) goto error;
stat = _sendAddress(SLA_W(addr));
if(stat) return stat;
if(stat) goto error;
stat = _sendByte(reg);
if(stat) return stat;
if(stat) goto error;
stat = _start();
if(stat) return stat;
if(stat) goto error;
stat = _sendAddress(SLA_R(addr));
if(stat) return stat;
if(stat) goto error;
for(uint8_t i = 0; i < len ; i++) {
if ( i == nackposition ) {
stat = _receiveByte(false);
if (stat != MR_DATA_NACK) return stat;
if (stat != MR_DATA_NACK) goto error;
} else {
stat = _receiveByte(true);
if (stat != MR_DATA_ACK) return stat;
if (stat != MR_DATA_ACK) goto error;
}
data[i] = TWDR;
}
stat = _stop();
if (stat) goto error;
return stat;
error:
_lockup_count++;
return stat;
}

2
libraries/AP_HAL_AVR/I2CDriver.h
View File

@ -16,9 +16,11 @@ public:
void setTimeout(uint16_t ms) { _timeoutDelay = ms; }
void setHighSpeed(bool active);
uint8_t write(uint8_t addr, uint8_t len, uint8_t* data);
uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val);
uint8_t writeRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data);
uint8_t read(uint8_t addr, uint8_t len, uint8_t* data);
uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data);
uint8_t readRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data);