86 lines
1.7 KiB
C++
86 lines
1.7 KiB
C++
#include "selfdrive/common/i2c.h"
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#include <fcntl.h>
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#include <stdio.h>
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#include <sys/ioctl.h>
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#include <unistd.h>
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#include <cassert>
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#include <stdexcept>
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#include "selfdrive/common/swaglog.h"
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#define UNUSED(x) (void)(x)
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#ifdef QCOM2
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// TODO: decide if we want to isntall libi2c-dev everywhere
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extern "C" {
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#include <linux/i2c-dev.h>
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#include <i2c/smbus.h>
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}
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I2CBus::I2CBus(uint8_t bus_id){
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char bus_name[20];
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snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
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i2c_fd = open(bus_name, O_RDWR);
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if(i2c_fd < 0){
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throw std::runtime_error("Failed to open I2C bus");
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}
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}
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I2CBus::~I2CBus(){
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if(i2c_fd >= 0){ close(i2c_fd); }
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}
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int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len){
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int ret = 0;
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ret = ioctl(i2c_fd, I2C_SLAVE, device_address);
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if(ret < 0) { goto fail; }
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ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer);
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if((ret < 0) || (ret != len)) { goto fail; }
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fail:
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return ret;
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}
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int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data){
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int ret = 0;
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ret = ioctl(i2c_fd, I2C_SLAVE, device_address);
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if(ret < 0) { goto fail; }
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ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data);
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if(ret < 0) { goto fail; }
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fail:
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return ret;
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}
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#else
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I2CBus::I2CBus(uint8_t bus_id){
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UNUSED(bus_id);
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i2c_fd = -1;
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}
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I2CBus::~I2CBus(){}
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int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len){
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UNUSED(device_address);
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UNUSED(register_address);
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UNUSED(buffer);
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UNUSED(len);
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return -1;
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}
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int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data){
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UNUSED(device_address);
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UNUSED(register_address);
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UNUSED(data);
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return -1;
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}
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#endif
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