forked from Archive/PX4-Autopilot
141 lines
3.9 KiB
C
141 lines
3.9 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file i2c.c
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*
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* i2c hacking tool
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdbool.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/mount.h>
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#include <sys/ioctl.h>
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#include <sys/stat.h>
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#include <nuttx/i2c.h>
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#include <arch/board/board.h>
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#include "systemlib/systemlib.h"
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#include "systemlib/err.h"
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#ifndef PX4_I2C_BUS_ONBOARD
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# error PX4_I2C_BUS_ONBOARD not defined, no device interface
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#endif
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#ifndef PX4_I2C_OBDEV_PX4IO
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# error PX4_I2C_OBDEV_PX4IO not defined
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#endif
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__EXPORT int i2c_main(int argc, char *argv[]);
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static int transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
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static struct i2c_dev_s *i2c;
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int i2c_main(int argc, char *argv[])
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{
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/* find the right I2C */
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i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
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if (i2c == NULL)
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errx(1, "failed to locate I2C bus");
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usleep(100000);
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uint8_t buf[] = { 0, 4};
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int ret = transfer(PX4_I2C_OBDEV_PX4IO, buf, sizeof(buf), NULL, 0);
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if (ret)
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errx(1, "send failed - %d", ret);
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uint32_t val;
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ret = transfer(PX4_I2C_OBDEV_PX4IO, NULL, 0, (uint8_t *)&val, sizeof(val));
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if (ret)
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errx(1, "recive failed - %d", ret);
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errx(0, "got 0x%08x", val);
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}
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static int
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transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
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{
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struct i2c_msg_s msgv[2];
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unsigned msgs;
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int ret;
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// debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
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msgs = 0;
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if (send_len > 0) {
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msgv[msgs].addr = address;
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msgv[msgs].flags = 0;
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msgv[msgs].buffer = send;
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msgv[msgs].length = send_len;
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msgs++;
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}
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if (recv_len > 0) {
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msgv[msgs].addr = address;
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msgv[msgs].flags = I2C_M_READ;
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msgv[msgs].buffer = recv;
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msgv[msgs].length = recv_len;
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msgs++;
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}
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if (msgs == 0)
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return -1;
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/*
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* I2C architecture means there is an unavoidable race here
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* if there are any devices on the bus with a different frequency
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* preference. Really, this is pointless.
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*/
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I2C_SETFREQUENCY(i2c, 400000);
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ret = I2C_TRANSFER(i2c, &msgv[0], msgs);
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// reset the I2C bus to unwedge on error
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if (ret != OK)
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up_i2creset(i2c);
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return ret;
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}
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