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[hal] Enable an I2C bus on systemcore (#7485)

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This commit is contained in:
Thad House
2024-12-04 20:19:51 -08:00
committed by GitHub
parent a954091ea2
commit d7cd71589a
1 changed files with 105 additions and 6 deletions
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111
hal/src/main/native/systemcore/I2C.cpp
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@@ -12,6 +12,8 @@
#include <cstring>
#include <fmt/format.h>
#include <wpi/mutex.h>
#include <wpi/print.h>
#include "HALInitializer.h"
@@ -21,6 +23,10 @@
using namespace hal;
static wpi::mutex digitalI2COnBoardMutex;
static uint8_t i2COnboardObjCount{0};
static int i2COnBoardHandle{-1};
namespace hal::init {
void InitializeI2C() {}
} // namespace hal::init
@@ -29,26 +35,119 @@ extern "C" {
void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
hal::init::CheckInit();
*status = HAL_HANDLE_ERROR;
return;
if (port != 0) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for I2C", 0, 0,
port);
return;
}
std::scoped_lock lock(digitalI2COnBoardMutex);
i2COnboardObjCount++;
if (i2COnboardObjCount > 1) {
return;
}
int handle = open("/dev/i2c-1", O_RDWR);
if (handle < 0) {
int err = errno;
*status = NO_AVAILABLE_RESOURCES;
hal::SetLastError(status, fmt::format("Failed to open onboard i2c bus: {}",
std::strerror(err)));
wpi::print("Failed to open onboard i2c bus: {}\n", std::strerror(err));
handle = -1;
i2COnboardObjCount--;
return;
}
i2COnBoardHandle = handle;
}
int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
const uint8_t* dataToSend, int32_t sendSize,
uint8_t* dataReceived, int32_t receiveSize) {
return -1;
if (port != 0) {
int32_t status = 0;
hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 0,
port);
return -1;
}
struct i2c_msg msgs[2];
msgs[0].addr = deviceAddress;
msgs[0].flags = 0;
msgs[0].len = sendSize;
msgs[0].buf = const_cast<uint8_t*>(dataToSend);
msgs[1].addr = deviceAddress;
msgs[1].flags = I2C_M_RD;
msgs[1].len = receiveSize;
msgs[1].buf = dataReceived;
struct i2c_rdwr_ioctl_data rdwr;
rdwr.msgs = msgs;
rdwr.nmsgs = 2;
std::scoped_lock lock(digitalI2COnBoardMutex);
return ioctl(i2COnBoardHandle, I2C_RDWR, &rdwr);
}
int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
const uint8_t* dataToSend, int32_t sendSize) {
return -1;
if (port != 0) {
int32_t status = 0;
hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 0,
port);
return -1;
}
struct i2c_msg msg;
msg.addr = deviceAddress;
msg.flags = 0;
msg.len = sendSize;
msg.buf = const_cast<uint8_t*>(dataToSend);
struct i2c_rdwr_ioctl_data rdwr;
rdwr.msgs = &msg;
rdwr.nmsgs = 1;
std::scoped_lock lock(digitalI2COnBoardMutex);
return ioctl(i2COnBoardHandle, I2C_RDWR, &rdwr);
}
int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer,
int32_t count) {
return -1;
if (port != 0) {
int32_t status = 0;
hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 0,
port);
return -1;
}
struct i2c_msg msg;
msg.addr = deviceAddress;
msg.flags = I2C_M_RD;
msg.len = count;
msg.buf = buffer;
struct i2c_rdwr_ioctl_data rdwr;
rdwr.msgs = &msg;
rdwr.nmsgs = 1;
std::scoped_lock lock(digitalI2COnBoardMutex);
return ioctl(i2COnBoardHandle, I2C_RDWR, &rdwr);
}
void HAL_CloseI2C(HAL_I2CPort port) {}
void HAL_CloseI2C(HAL_I2CPort port) {
if (port != 0) {
int32_t status = 0;
hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 0,
port);
return;
}
std::scoped_lock lock(digitalI2COnBoardMutex);
if (i2COnboardObjCount-- == 0) {
close(i2COnBoardHandle);
}
}
} // extern "C"