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[hal,wpilib] Add support for second I2C port (#7878)

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This commit is contained in:
Thad House
2025-04-28 08:29:01 -07:00
committed by GitHub
parent 85a8fc9943
commit 08297430b5
9 changed files with 54 additions and 43 deletions
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68
hal/src/main/native/systemcore/I2C.cpp
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@@ -18,37 +18,46 @@
#include "HALInitializer.h"
#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/DIO.h"
#include "hal/HAL.h"
using namespace hal;
static wpi::mutex digitalI2COnBoardMutex;
static uint8_t i2COnboardObjCount{0};
static int i2COnBoardHandle{-1};
namespace {
constexpr const char* physicalPorts[kNumI2cBuses] = {"/dev/i2c-1",
"/dev/i2c-10"};
struct I2C {
wpi::mutex initMutex;
int objCount = 0;
int fd = -1;
};
static I2C i2cObjs[kNumI2cBuses];
} // namespace
namespace hal::init {
void InitializeI2C() {}
} // namespace hal::init
extern "C" {
void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
hal::init::CheckInit();
if (port != 0) {
if (port < 0 || port > 2) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for I2C", 0, 0,
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for I2C", 0, 1,
port);
return;
}
std::scoped_lock lock(digitalI2COnBoardMutex);
i2COnboardObjCount++;
if (i2COnboardObjCount > 1) {
std::scoped_lock lock(i2cObjs[port].initMutex);
i2cObjs[port].objCount++;
if (i2cObjs[port].objCount > 1) {
return;
}
int handle = open("/dev/i2c-1", O_RDWR);
int handle = open(physicalPorts[port], O_RDWR);
if (handle < 0) {
int err = errno;
*status = NO_AVAILABLE_RESOURCES;
@@ -56,18 +65,18 @@ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
std::strerror(err)));
wpi::print("Failed to open onboard i2c bus: {}\n", std::strerror(err));
handle = -1;
i2COnboardObjCount--;
i2cObjs[port].objCount--;
return;
}
i2COnBoardHandle = handle;
i2cObjs[port].fd = handle;
}
int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
const uint8_t* dataToSend, int32_t sendSize,
uint8_t* dataReceived, int32_t receiveSize) {
if (port != 0) {
if (port < 0 || port > 2) {
int32_t status = 0;
hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 0,
hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
port);
return -1;
}
@@ -86,15 +95,15 @@ int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
rdwr.msgs = msgs;
rdwr.nmsgs = 2;
std::scoped_lock lock(digitalI2COnBoardMutex);
return ioctl(i2COnBoardHandle, I2C_RDWR, &rdwr);
std::scoped_lock lock(i2cObjs[port].initMutex);
return ioctl(i2cObjs[port].fd, I2C_RDWR, &rdwr);
}
int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
const uint8_t* dataToSend, int32_t sendSize) {
if (port != 0) {
if (port < 0 || port > 2) {
int32_t status = 0;
hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 0,
hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 2,
port);
return -1;
}
@@ -109,15 +118,15 @@ int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
rdwr.msgs = &msg;
rdwr.nmsgs = 1;
std::scoped_lock lock(digitalI2COnBoardMutex);
return ioctl(i2COnBoardHandle, I2C_RDWR, &rdwr);
std::scoped_lock lock(i2cObjs[port].initMutex);
return ioctl(i2cObjs[port].fd, I2C_RDWR, &rdwr);
}
int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer,
int32_t count) {
if (port != 0) {
if (port < 0 || port > 2) {
int32_t status = 0;
hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 0,
hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
port);
return -1;
}
@@ -132,21 +141,22 @@ int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer,
rdwr.msgs = &msg;
rdwr.nmsgs = 1;
std::scoped_lock lock(digitalI2COnBoardMutex);
return ioctl(i2COnBoardHandle, I2C_RDWR, &rdwr);
std::scoped_lock lock(i2cObjs[port].initMutex);
return ioctl(i2cObjs[port].fd, I2C_RDWR, &rdwr);
}
void HAL_CloseI2C(HAL_I2CPort port) {
if (port != 0) {
if (port < 0 || port > 2) {
int32_t status = 0;
hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 0,
hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
port);
return;
}
std::scoped_lock lock(digitalI2COnBoardMutex);
if (i2COnboardObjCount-- == 0) {
close(i2COnBoardHandle);
std::scoped_lock lock(i2cObjs[port].initMutex);
if (i2cObjs[port].objCount-- == 0) {
close(i2cObjs[port].objCount);
i2cObjs[port].fd = -1;
}
}

1
hal/src/main/native/systemcore/PortsInternal.h
View File

@@ -10,6 +10,7 @@ namespace hal {
constexpr int32_t kNumCanBuses = 5;
constexpr int32_t kNumSmartIo = 6;
constexpr int32_t kNumI2cBuses = 2;
constexpr int32_t kNumAccumulators = 0;
constexpr int32_t kNumAnalogInputs = 8;
constexpr int32_t kNumAnalogOutputs = 0;