mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-03 03:01:44 +00:00
* Add WriteBulk and ReadOnly to C++ I2C
Change-Id: If6082f6b92b4be5e328278ba536d5a7681082c9f (+4 squashed commit) Squashed commit: [86b4ae7] * Port I2C to roboRIO in JNI and Java. Left read method as a transaction and added readOnly. Left write as a single byte and added writeBulk. Need to go back to C++ and update to match. Change-Id: I290d84211a4b7bb942d785730c0e6929449cf69f [7d37419] * Remove HiTechnic sensors from Java. May be added back later as examples Change-Id: Ie93e23a70fd953c99c03d50d9529220f86d32e03 [e62bfbf] * I2C ported to roboRIO i2clib in HAL and C++ Change-Id: Idb0e8cee5a1e8c1a0b0733ca94b528f659352915 [1059a48] * Remove HiTechnic sensors (Lego connector) may be added back as examples later Change-Id: I84b8e1e022db2c69d487ed9ad5b3ec0e7ea57282 (+2 squashed commit) Squashed commit: [e62bfbf] * I2C ported to roboRIO i2clib in HAL and C++ Change-Id: Idb0e8cee5a1e8c1a0b0733ca94b528f659352915 [1059a48] * Remove HiTechnic sensors (Lego connector) may be added back as examples later Change-Id: I84b8e1e022db2c69d487ed9ad5b3ec0e7ea57282
This commit is contained in:
Kevin O'Connor
@@ -9,6 +9,7 @@
|
||||
#include "NetworkCommunication/LoadOut.h"
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include "i2clib/i2c-lib.h"
|
||||
|
||||
static const uint32_t kExpectedLoopTiming = 40;
|
||||
static const uint32_t kDigitalPins = 20;
|
||||
@@ -52,7 +53,9 @@ struct DigitalPort {
|
||||
MUTEX_ID digitalDIOSemaphore = NULL;
|
||||
MUTEX_ID digitalRelaySemaphore = NULL;
|
||||
MUTEX_ID digitalPwmSemaphore = NULL;
|
||||
MUTEX_ID digitalI2CSemaphore = NULL;
|
||||
MUTEX_ID digitalI2COnBoardSemaphore = NULL;
|
||||
MUTEX_ID digitalI2CMXPSemaphore = NULL;
|
||||
|
||||
tDIO* digitalSystem = NULL;
|
||||
tRelay* relaySystem = NULL;
|
||||
tPWM* pwmSystem = NULL;
|
||||
@@ -61,6 +64,11 @@ Resource *DO_PWMGenerators = NULL;
|
||||
|
||||
bool digitalSystemsInitialized = false;
|
||||
|
||||
uint8_t i2COnboardObjCount = 0;
|
||||
uint8_t i2CMXPObjCount = 0;
|
||||
uint8_t i2COnBoardHandle = 0;
|
||||
uint8_t i2CMXPHandle = 0;
|
||||
|
||||
/**
|
||||
* Initialize the digital modules.
|
||||
*/
|
||||
@@ -76,7 +84,8 @@ void initializeDigital(int32_t *status) {
|
||||
// Create a semaphore to protect changes to the DO PWM config
|
||||
digitalPwmSemaphore = initializeMutexRecursive();
|
||||
|
||||
digitalI2CSemaphore = initializeMutexRecursive();
|
||||
digitalI2COnBoardSemaphore = initializeMutexRecursive();
|
||||
digitalI2CMXPSemaphore = initializeMutexRecursive();
|
||||
|
||||
Resource::CreateResourceObject(&DIOChannels, tDIO::kNumSystems * kDigitalPins);
|
||||
Resource::CreateResourceObject(&DO_PWMGenerators, tDIO::kNumPWMDutyCycleAElements + tDIO::kNumPWMDutyCycleBElements);
|
||||
@@ -1539,86 +1548,153 @@ uint32_t readSPI(void* spi_pointer, bool initiate, int32_t *status) {return 0;}
|
||||
void resetSPI(void* spi_pointer, int32_t *status) {}
|
||||
void clearSPIReceivedData(void* spi_pointer, int32_t *status) {}
|
||||
|
||||
/**
|
||||
* Generic transaction.
|
||||
*
|
||||
* This is a lower-level interface to the I2C hardware giving you more control over each transaction.
|
||||
*
|
||||
* @param dataToSend Buffer of data to send as part of the transaction.
|
||||
* @param sendSize Number of bytes to send as part of the transaction. [0..6]
|
||||
* @param dataReceived Buffer to read data into.
|
||||
* @param receiveSize Number of byted to read from the device. [0..7]
|
||||
* @return Transfer Aborted... false for success, true for aborted.
|
||||
/*
|
||||
* Initialize the I2C port. Opens the port if necessary and saves the handle.
|
||||
* If opening the MXP port, also sets up the pin functions appropriately
|
||||
* @param port The port to open, 0 for the on-board, 1 for the MXP.
|
||||
*/
|
||||
bool doI2CTransaction(uint8_t address, bool compatibilityMode, uint8_t *dataToSend,
|
||||
uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize,
|
||||
int32_t *status) {
|
||||
return doI2CTransactionWithModule(1, address, compatibilityMode, dataToSend, sendSize,
|
||||
dataReceived, receiveSize, status);
|
||||
void i2CInitialize(uint8_t port, int32_t *status) {
|
||||
if(port > 1)
|
||||
{
|
||||
//Set port out of range error here
|
||||
return;
|
||||
}
|
||||
|
||||
MUTEX_ID lock = port == 0 ? digitalI2COnBoardSemaphore:digitalI2CMXPSemaphore;
|
||||
{
|
||||
Synchronized sync(lock);
|
||||
if(port == 0) {
|
||||
i2COnboardObjCount++;
|
||||
if (i2COnBoardHandle > 0) return;
|
||||
i2COnBoardHandle = i2clib_open("/dev/i2c-2");
|
||||
} else if(port == 1) {
|
||||
i2CMXPObjCount++;
|
||||
if (i2CMXPHandle > 0) return;
|
||||
initializeDigital(status);
|
||||
digitalSystem->writeEnableMXPSpecialFunction(digitalSystem->readEnableMXPSpecialFunction(status)|0xC000, status);
|
||||
i2CMXPHandle = i2clib_open("/dev/i2c-1");
|
||||
}
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Generic transaction.
|
||||
*
|
||||
*
|
||||
* This is a lower-level interface to the I2C hardware giving you more control over each transaction.
|
||||
*
|
||||
*
|
||||
* @param dataToSend Buffer of data to send as part of the transaction.
|
||||
* @param sendSize Number of bytes to send as part of the transaction. [0..6]
|
||||
* @param dataReceived Buffer to read data into.
|
||||
* @param receiveSize Number of byted to read from the device. [0..7]
|
||||
* @param receiveSize Number of bytes to read from the device. [0..7]
|
||||
* @return Transfer Aborted... false for success, true for aborted.
|
||||
*/
|
||||
bool doI2CTransactionWithModule(uint8_t module, uint8_t address, bool compatibilityMode,
|
||||
uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived,
|
||||
uint8_t receiveSize, int32_t *status) {
|
||||
// initializeDigital(status);
|
||||
// if (sendSize > 6) {
|
||||
// *status = PARAMETER_OUT_OF_RANGE;
|
||||
// // TODO: wpi_setWPIErrorWithContext(ParameterOutOfRange, "sendSize");
|
||||
// return true;
|
||||
// }
|
||||
// if (receiveSize > 7) {
|
||||
// *status = PARAMETER_OUT_OF_RANGE;
|
||||
// // TODO: wpi_setWPIErrorWithContext(ParameterOutOfRange, "receiveSize");
|
||||
// return true;
|
||||
// }
|
||||
int i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize)
|
||||
{
|
||||
if(port > 1) {
|
||||
//Set port out of range error here
|
||||
return -1;
|
||||
}
|
||||
/*if (sendSize > 6) // Optional, provides better error message. TODO: Are these limits still right? Implement error. Check for null buffer
|
||||
{
|
||||
wpi_setWPIErrorWithContext(ParameterOutOfRange, "sendSize");
|
||||
return true;
|
||||
}
|
||||
if (receiveSize > 7) // Optional, provides better error message.
|
||||
{
|
||||
wpi_setWPIErrorWithContext(ParameterOutOfRange, "receiveSize");
|
||||
return true;
|
||||
}*/
|
||||
int32_t handle = port == 0 ? i2COnBoardHandle:i2CMXPHandle;
|
||||
MUTEX_ID lock = port == 0 ? digitalI2COnBoardSemaphore:digitalI2CMXPSemaphore;
|
||||
|
||||
// uint32_t data=0;
|
||||
// uint32_t dataHigh=0;
|
||||
// uint32_t i;
|
||||
// for(i=0; i<sendSize && i<sizeof(data); i++) {
|
||||
// data |= (uint32_t)dataToSend[i] << (8*i);
|
||||
// }
|
||||
// for(; i<sendSize; i++) {
|
||||
// dataHigh |= (uint32_t)dataToSend[i] << (8*(i-sizeof(data)));
|
||||
// }
|
||||
{
|
||||
Synchronized sync(lock);
|
||||
return i2clib_writeread(handle, deviceAddress, (const char*) dataToSend, (int32_t) sendSize, (char*) dataReceived, (int32_t) receiveSize);
|
||||
}
|
||||
}
|
||||
|
||||
// bool aborted = true;
|
||||
// {
|
||||
// Synchronized sync(digitalI2CSemaphore);
|
||||
// digitalModules[module]->writeI2CConfig_Address(address, status);
|
||||
// digitalModules[module]->writeI2CConfig_BytesToWrite(sendSize, status);
|
||||
// digitalModules[module]->writeI2CConfig_BytesToRead(receiveSize, status);
|
||||
// if (sendSize > 0) digitalModules[module]->writeI2CDataToSend(data, status);
|
||||
// if (sendSize > sizeof(data)) digitalModules[module]->writeI2CConfig_DataToSendHigh(dataHigh, status);
|
||||
// digitalModules[module]->writeI2CConfig_BitwiseHandshake(compatibilityMode, status);
|
||||
// uint8_t transaction = digitalModules[module]->readI2CStatus_Transaction(status);
|
||||
// digitalModules[module]->strobeI2CStart(status);
|
||||
// while(transaction == digitalModules[module]->readI2CStatus_Transaction(status)) delayTicks(1);
|
||||
// while(!digitalModules[module]->readI2CStatus_Done(status)) delayTicks(1);
|
||||
// aborted = digitalModules[module]->readI2CStatus_Aborted(status);
|
||||
// if (receiveSize > 0) data = digitalModules[module]->readI2CDataReceived(status);
|
||||
// if (receiveSize > sizeof(data)) dataHigh = digitalModules[module]->readI2CStatus_DataReceivedHigh(status);
|
||||
// }
|
||||
/**
|
||||
* Execute a write transaction with the device.
|
||||
*
|
||||
* Write a single byte to a register on a device and wait until the
|
||||
* transaction is complete.
|
||||
*
|
||||
* @param registerAddress The address of the register on the device to be written.
|
||||
* @param data The byte to write to the register on the device.
|
||||
* @return Transfer Aborted... false for success, true for aborted.
|
||||
*/
|
||||
int i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend, uint8_t sendSize)
|
||||
{
|
||||
if(port > 1) {
|
||||
//Set port out of range error here
|
||||
return -1;
|
||||
}
|
||||
/*if (sendSize > 6) // Optional, provides better error message. TODO: Are these limits still right? Implement error. Check for null buffer
|
||||
{
|
||||
wpi_setWPIErrorWithContext(ParameterOutOfRange, "sendSize");
|
||||
return true;
|
||||
}*/
|
||||
int32_t handle = port == 0 ? i2COnBoardHandle:i2CMXPHandle;
|
||||
MUTEX_ID lock = port == 0 ? digitalI2COnBoardSemaphore:digitalI2CMXPSemaphore;
|
||||
{
|
||||
Synchronized sync(lock);
|
||||
return i2clib_write(handle, deviceAddress, (const char*) dataToSend, (int32_t) sendSize);
|
||||
}
|
||||
}
|
||||
|
||||
// for(i=0; i<receiveSize && i<sizeof(data); i++) {
|
||||
// dataReceived[i] = (data >> (8*i)) & 0xFF;
|
||||
// }
|
||||
// for(; i<receiveSize; i++) {
|
||||
// dataReceived[i] = (dataHigh >> (8*(i-sizeof(data)))) & 0xFF;
|
||||
// }
|
||||
// return aborted;
|
||||
return false; // XXX: What happened to I2C?
|
||||
/**
|
||||
* Execute a read transaction with the device.
|
||||
*
|
||||
* Read 1 to 7 bytes from a device.
|
||||
* Most I2C devices will auto-increment the register pointer internally
|
||||
* allowing you to read up to 7 consecutive registers on a device in a
|
||||
* single transaction.
|
||||
*
|
||||
* @param registerAddress The register to read first in the transaction.
|
||||
* @param count The number of bytes to read in the transaction. [1..7]
|
||||
* @param buffer A pointer to the array of bytes to store the data read from the device.
|
||||
* @return Transfer Aborted... false for success, true for aborted.
|
||||
*/
|
||||
int i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t count)
|
||||
{
|
||||
if(port > 1) {
|
||||
//Set port out of range error here
|
||||
return -1;
|
||||
}
|
||||
/* if (count < 1 || count > 7) Todo: Are these limits still right? Implement error
|
||||
{
|
||||
wpi_setWPIErrorWithContext(ParameterOutOfRange, "count");
|
||||
return true;
|
||||
}
|
||||
if (buffer == NULL)
|
||||
{
|
||||
wpi_setWPIErrorWithContext(NullParameter, "buffer");
|
||||
return true;
|
||||
}*/
|
||||
int32_t handle = port == 0 ? i2COnBoardHandle:i2CMXPHandle;
|
||||
MUTEX_ID lock = port == 0 ? digitalI2COnBoardSemaphore:digitalI2CMXPSemaphore;
|
||||
{
|
||||
Synchronized sync(lock);
|
||||
return i2clib_read(handle, deviceAddress, (char*) buffer, (int32_t) count);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void i2CClose(uint8_t port) {
|
||||
if(port > 1) {
|
||||
//Set port out of range error here
|
||||
return;
|
||||
}
|
||||
MUTEX_ID lock = port == 0 ? digitalI2COnBoardSemaphore:digitalI2CMXPSemaphore;
|
||||
{
|
||||
Synchronized sync(lock);
|
||||
if((port == 0 ? i2COnboardObjCount--:i2CMXPObjCount--) == 0) {
|
||||
int32_t handle = port == 0 ? i2COnBoardHandle:i2CMXPHandle;
|
||||
i2clib_close(handle);
|
||||
}
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user