/*
- * Author: Brendan Le Foll
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
+ * Code is modified from the RoadNarrows-robotics i2c library (distributed under
+ * the MIT license, license is included verbatim under src/i2c/LICENSE)
+ *
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
*/
#include "i2c.h"
-#include "smbus.h"
+#include "mraa_internal.h"
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <inttypes.h>
+#include <sys/types.h>
+#include <sys/errno.h>
+#include <sys/ioctl.h>
+#include "linux/i2c-dev.h"
+
+
+typedef union i2c_smbus_data_union {
+ uint8_t byte; ///< data byte
+ unsigned short word; ///< data short word
+ uint8_t block[I2C_SMBUS_BLOCK_MAX + 2];
+ ///< block[0] is used for length and one more for PEC
+} i2c_smbus_data_t;
+
+typedef struct i2c_smbus_ioctl_data_struct {
+ uint8_t read_write; ///< operation direction
+ uint8_t command; ///< ioctl command
+ int size; ///< data size
+ i2c_smbus_data_t* data; ///< data
+} i2c_smbus_ioctl_data_t;
+
-maa_i2c_context*
-maa_i2c_init(int bus)
+// static mraa_adv_func_t* func_table;
+
+int
+mraa_i2c_smbus_access(int fh, uint8_t read_write, uint8_t command, int size, i2c_smbus_data_t* data)
{
- unsigned int checked_pin = maa_check_i2c(bus);
- if (checked_pin < 0) {
- switch(checked_pin) {
- case -1:
- fprintf(stderr, "No i2c on board\n");
- return NULL;
- case -2:
- fprintf(stderr, "Failed to set-up i2c multiplexer!\n");
- return NULL;
- case -3:
- fprintf(stderr, "Platform Not Initialised");
- return NULL;
- default: return NULL;
+ i2c_smbus_ioctl_data_t args;
+
+ args.read_write = read_write;
+ args.command = command;
+ args.size = size;
+ args.data = data;
+
+ return ioctl(fh, I2C_SMBUS, &args);
+}
+
+static mraa_i2c_context
+mraa_i2c_init_internal(mraa_adv_func_t* advance_func, unsigned int bus)
+{
+ mraa_result_t status = MRAA_SUCCESS;
+
+ if (advance_func == NULL)
+ return NULL;
+
+ mraa_i2c_context dev = (mraa_i2c_context) malloc(sizeof(struct _i2c));
+ if (dev == NULL) {
+ syslog(LOG_CRIT, "i2c: Failed to allocate memory for context");
+ return NULL;
+ }
+
+ dev->advance_func = advance_func;
+ dev->busnum = bus;
+
+ if (IS_FUNC_DEFINED(dev, i2c_init_pre)) {
+ status = advance_func->i2c_init_pre(bus);
+ if (status != MRAA_SUCCESS)
+ goto init_internal_cleanup;
+ }
+
+ if (IS_FUNC_DEFINED(dev, i2c_init_bus_replace)) {
+ status = dev->advance_func->i2c_init_bus_replace(dev);
+ if (status != MRAA_SUCCESS)
+ goto init_internal_cleanup;
+ } else {
+ char filepath[32];
+ snprintf(filepath, 32, "/dev/i2c-%u", bus);
+ if ((dev->fh = open(filepath, O_RDWR)) < 1) {
+ syslog(LOG_ERR, "i2c: Failed to open requested i2c port %s", filepath);
+ status = MRAA_ERROR_NO_RESOURCES;
+ goto init_internal_cleanup;
+ }
+
+ if (ioctl(dev->fh, I2C_FUNCS, &dev->funcs) < 0) {
+ syslog(LOG_CRIT, "i2c: Failed to get I2C_FUNC map from device");
+ dev->funcs = 0;
}
}
- return maa_i2c_init_raw(checked_pin);
+
+ if (IS_FUNC_DEFINED(dev, i2c_init_post)) {
+ status = dev->advance_func->i2c_init_post(dev);
+ if (status != MRAA_SUCCESS)
+ goto init_internal_cleanup;
+ }
+
+
+init_internal_cleanup:
+ if (status == MRAA_SUCCESS) {
+ return dev;
+ } else {
+ if (dev != NULL)
+ free(dev);
+ return NULL;
+ }
}
-maa_i2c_context*
-maa_i2c_init_raw(unsigned int bus)
+
+mraa_i2c_context
+mraa_i2c_init(int bus)
{
- if (bus < 0) {
- fprintf(stderr, "Bus -%u- bellow zero\n", bus);
+ mraa_board_t* board = plat;
+ if (board == NULL) {
+ syslog(LOG_ERR, "i2c: Platform Not Initialised");
return NULL;
}
- maa_i2c_context* dev = (maa_i2c_context*) malloc(sizeof(maa_i2c_context));
- if (dev == NULL)
+
+ if (mraa_is_sub_platform_id(bus)) {
+ syslog(LOG_NOTICE, "i2c: Using sub platform");
+ board = board->sub_platform;
+ if (board == NULL) {
+ syslog(LOG_ERR, "i2c: Sub platform Not Initialised");
+ return NULL;
+ }
+ bus = mraa_get_sub_platform_index(bus);
+ }
+ syslog(LOG_NOTICE, "i2c: Selected bus %d", bus);
+
+ if (board->i2c_bus_count == 0) {
+ syslog(LOG_ERR, "No i2c buses defined in platform");
+ return NULL;
+ }
+ if (bus >= board->i2c_bus_count) {
+ syslog(LOG_ERR, "Above i2c bus count");
return NULL;
+ }
+
+ if (board->i2c_bus[bus].bus_id == -1) {
+ syslog(LOG_ERR, "Invalid i2c bus, moving to default i2c bus");
+ bus = board->def_i2c_bus;
+ }
+ if (!board->no_bus_mux) {
+ int pos = board->i2c_bus[bus].sda;
+ if (board->pins[pos].i2c.mux_total > 0) {
+ if (mraa_setup_mux_mapped(board->pins[pos].i2c) != MRAA_SUCCESS) {
+ syslog(LOG_ERR, "i2c: Failed to set-up i2c sda multiplexer");
+ return NULL;
+ }
+ }
- char filepath[32];
- snprintf(filepath, 32, "/dev/i2c-%u", bus);
- if ((dev->fh = open(filepath, O_RDWR)) < 1) {
- fprintf(stderr, "Failed to open requested i2c port %s", filepath);
+ pos = board->i2c_bus[bus].scl;
+ if (board->pins[pos].i2c.mux_total > 0) {
+ if (mraa_setup_mux_mapped(board->pins[pos].i2c) != MRAA_SUCCESS) {
+ syslog(LOG_ERR, "i2c: Failed to set-up i2c scl multiplexer");
+ return NULL;
+ }
+ }
}
- return dev;
+
+ return mraa_i2c_init_internal(board->adv_func, (unsigned int) board->i2c_bus[bus].bus_id);
}
-maa_result_t
-maa_i2c_frequency(maa_i2c_context* dev, int hz)
+
+mraa_i2c_context
+mraa_i2c_init_raw(unsigned int bus)
{
- dev->hz = hz;
+ return mraa_i2c_init_internal(plat == NULL ? NULL : plat->adv_func, bus);
+}
+
- return MAA_SUCCESS;
+mraa_result_t
+mraa_i2c_frequency(mraa_i2c_context dev, mraa_i2c_mode_t mode)
+{
+ if (IS_FUNC_DEFINED(dev, i2c_set_frequency_replace)) {
+ return dev->advance_func->i2c_set_frequency_replace(dev, mode);
+ }
+ return MRAA_ERROR_FEATURE_NOT_SUPPORTED;
}
-maa_result_t
-maa_i2c_read(maa_i2c_context* dev, char *data, int length)
+int
+mraa_i2c_read(mraa_i2c_context dev, uint8_t* data, int length)
{
- // this is the read(3) syscall not maa_i2c_read()
- if (read(dev->fh, data, length) == length) {
+ int bytes_read = 0;
+ if (IS_FUNC_DEFINED(dev, i2c_read_replace)) {
+ bytes_read = dev->advance_func->i2c_read_replace(dev, data, length);
+ }
+ else {
+ bytes_read = read(dev->fh, data, length);
+ }
+ if (bytes_read == length) {
return length;
}
- return MAA_ERROR_NO_DATA_AVAILABLE;
+
+ return 0;
+}
+
+uint8_t
+mraa_i2c_read_byte(mraa_i2c_context dev)
+{
+ if (IS_FUNC_DEFINED(dev, i2c_read_byte_replace))
+ return dev->advance_func->i2c_read_byte_replace(dev);
+ i2c_smbus_data_t d;
+ if (mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_READ, I2C_NOCMD, I2C_SMBUS_BYTE, &d) < 0) {
+ syslog(LOG_ERR, "i2c: Failed to write");
+ return 0;
+ }
+ return 0x0FF & d.byte;
+}
+
+uint8_t
+mraa_i2c_read_byte_data(mraa_i2c_context dev, uint8_t command)
+{
+ if (IS_FUNC_DEFINED(dev, i2c_read_byte_data_replace))
+ return dev->advance_func->i2c_read_byte_data_replace(dev, command);
+ i2c_smbus_data_t d;
+ if (mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_READ, command, I2C_SMBUS_BYTE_DATA, &d) < 0) {
+ syslog(LOG_ERR, "i2c: Failed to write");
+ return 0;
+ }
+ return 0x0FF & d.byte;
+}
+
+uint16_t
+mraa_i2c_read_word_data(mraa_i2c_context dev, uint8_t command)
+{
+ if (IS_FUNC_DEFINED(dev, i2c_read_word_data_replace))
+ return dev->advance_func->i2c_read_word_data_replace(dev, command);
+ i2c_smbus_data_t d;
+ if (mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_READ, command, I2C_SMBUS_WORD_DATA, &d) < 0) {
+ syslog(LOG_ERR, "i2c: Failed to write");
+ return 0;
+ }
+ return 0xFFFF & d.word;
}
int
-maa_i2c_read_byte(maa_i2c_context* dev)
+mraa_i2c_read_bytes_data(mraa_i2c_context dev, uint8_t command, uint8_t* data, int length)
+{
+ if (IS_FUNC_DEFINED(dev, i2c_read_bytes_data_replace))
+ return dev->advance_func->i2c_read_bytes_data_replace(dev, command, data, length);
+ struct i2c_rdwr_ioctl_data d;
+ struct i2c_msg m[2];
+
+ m[0].addr = dev->addr;
+ m[0].flags = 0x00;
+ m[0].len = 1;
+ m[0].buf = &command;
+ m[1].addr = dev->addr;
+ m[1].flags = I2C_M_RD;
+ m[1].len = length;
+ m[1].buf = data;
+
+ d.msgs = m;
+ d.nmsgs = 2;
+
+ return ioctl(dev->fh, I2C_RDWR, &d) < 0 ? -1 : length;
+}
+
+mraa_result_t
+mraa_i2c_write(mraa_i2c_context dev, const uint8_t* data, int length)
+{
+ if (IS_FUNC_DEFINED(dev, i2c_write_replace))
+ return dev->advance_func->i2c_write_replace(dev, data, length);
+ i2c_smbus_data_t d;
+ int i;
+ uint8_t command = data[0];
+
+ data = &data[1];
+ length = length - 1;
+ if (length > I2C_SMBUS_I2C_BLOCK_MAX) {
+ length = I2C_SMBUS_I2C_BLOCK_MAX;
+ }
+
+ for (i = 1; i <= length; i++) {
+ d.block[i] = data[i - 1];
+ }
+ d.block[0] = length;
+
+ return mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_WRITE, command, I2C_SMBUS_I2C_BLOCK_DATA, &d);
+}
+
+mraa_result_t
+mraa_i2c_write_byte(mraa_i2c_context dev, const uint8_t data)
{
- int byte;
- byte = i2c_smbus_read_byte(dev->fh);
- if (byte < 0) {
- return -1;
+ if (IS_FUNC_DEFINED(dev, i2c_write_byte_replace)) {
+ return dev->advance_func->i2c_write_byte_replace(dev, data);
+ } else {
+ if (mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_WRITE, data, I2C_SMBUS_BYTE, NULL) < 0) {
+ syslog(LOG_ERR, "i2c: Failed to write");
+ return MRAA_ERROR_INVALID_HANDLE;
+ }
+ return MRAA_SUCCESS;
}
- return byte;
}
-maa_result_t
-maa_i2c_write(maa_i2c_context* dev, const char* data, int length)
+mraa_result_t
+mraa_i2c_write_byte_data(mraa_i2c_context dev, const uint8_t data, const uint8_t command)
{
- if (i2c_smbus_write_i2c_block_data(dev->fh, data[0], length-1, (uint8_t*) data+1) < 0) {
- fprintf(stderr, "Failed to write to i2c\n");
- return MAA_ERROR_INVALID_HANDLE;
+ if (IS_FUNC_DEFINED(dev, i2c_write_byte_data_replace))
+ return dev->advance_func->i2c_write_byte_data_replace(dev, data, command);
+ i2c_smbus_data_t d;
+ d.byte = data;
+ if (mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_WRITE, command, I2C_SMBUS_BYTE_DATA, &d) < 0) {
+ syslog(LOG_ERR, "i2c: Failed to write");
+ return MRAA_ERROR_INVALID_HANDLE;
}
- return MAA_SUCCESS;
+ return MRAA_SUCCESS;
}
-maa_result_t
-maa_i2c_write_byte(maa_i2c_context* dev, int data)
+mraa_result_t
+mraa_i2c_write_word_data(mraa_i2c_context dev, const uint16_t data, const uint8_t command)
{
- if (i2c_smbus_write_byte(dev->fh, data) < 0) {
- fprintf(stderr, "Failed to write to i2c\n");
- return MAA_ERROR_INVALID_HANDLE;
+ if (IS_FUNC_DEFINED(dev, i2c_write_word_data_replace))
+ return dev->advance_func->i2c_write_word_data_replace(dev, data, command);
+ i2c_smbus_data_t d;
+ d.word = data;
+ if (mraa_i2c_smbus_access(dev->fh, I2C_SMBUS_WRITE, command, I2C_SMBUS_WORD_DATA, &d) < 0) {
+ syslog(LOG_ERR, "i2c: Failed to write");
+ return MRAA_ERROR_INVALID_HANDLE;
}
- return MAA_SUCCESS;
+ return MRAA_SUCCESS;
}
-maa_result_t
-maa_i2c_address(maa_i2c_context* dev, int addr)
+mraa_result_t
+mraa_i2c_address(mraa_i2c_context dev, uint8_t addr)
{
- dev->addr = addr;
- if (ioctl(dev->fh, I2C_SLAVE_FORCE, addr) < 0) {
- fprintf(stderr, "Failed to set slave address %d\n", addr);
- return MAA_ERROR_INVALID_HANDLE;
+ if (dev == NULL) {
+ return MRAA_ERROR_INVALID_HANDLE;
+ }
+
+ dev->addr = (int) addr;
+ if (IS_FUNC_DEFINED(dev, i2c_address_replace)) {
+ return dev->advance_func->i2c_address_replace(dev, addr);
+ } else {
+ if (ioctl(dev->fh, I2C_SLAVE_FORCE, addr) < 0) {
+ syslog(LOG_ERR, "i2c: Failed to set slave address %d", addr);
+ return MRAA_ERROR_INVALID_HANDLE;
+ }
+ return MRAA_SUCCESS;
}
- return MAA_SUCCESS;
}
-maa_result_t
-maa_i2c_stop(maa_i2c_context* dev)
+
+mraa_result_t
+mraa_i2c_stop(mraa_i2c_context dev)
{
free(dev);
- return MAA_SUCCESS;
+ return MRAA_SUCCESS;
}
+
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