M350b版本

Source/M300/PSDK_Qt/hal/hal_i2c.c

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+/**
+ ********************************************************************
+ * @file    hal_i2c.c
+ * @brief
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "hal_i2c.h"
+#include <string.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <linux/i2c-dev.h>
+#include <linux/i2c.h>
+
+/* Private constants ---------------------------------------------------------*/
+#define I2C_DEVICE_RESET_TIME_US       (25 * 1000)
+#define I2C_DEVICE_RESET_GPIO_NUM      (4)
+#define DJI_SYSTEM_CMD_STR_MAX_SIZE    (64)
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    int32_t i2cFd;
+} T_I2cHandleStruct;
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+static void HalI2c_ResetDevice(void);
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode HalI2c_Init(T_DjiHalI2cConfig i2cConfig, T_DjiI2cHandle *i2cHandle)
+{
+    T_I2cHandleStruct *i2CHandleStruct = NULL;
+
+    //attention: suggest reset the i2c device before init it.
+    HalI2c_ResetDevice();
+
+    i2CHandleStruct = malloc(sizeof(T_I2cHandleStruct));
+    if (i2CHandleStruct == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    i2CHandleStruct->i2cFd = open(LINUX_I2C_DEV1, O_RDWR);
+    if (i2CHandleStruct->i2cFd < 0) {
+        printf("Open i2c device failed, fd: %d\r\n", i2CHandleStruct->i2cFd);
+        return -1;
+    }
+
+    *i2cHandle = i2CHandleStruct;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalI2c_DeInit(T_DjiI2cHandle i2cHandle)
+{
+    T_I2cHandleStruct *i2CHandleStruct = (T_I2cHandleStruct *) i2cHandle;
+
+    close(i2CHandleStruct->i2cFd);
+    free(i2CHandleStruct);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalI2c_WriteData(T_DjiI2cHandle i2cHandle, uint16_t devAddress, const uint8_t *buf,
+                                 uint32_t len, uint32_t *realLen)
+{
+    struct i2c_rdwr_ioctl_data data;
+    struct i2c_msg messages;
+    int32_t ret = 0;
+    T_I2cHandleStruct *i2CHandleStruct = (T_I2cHandleStruct *) i2cHandle;
+
+    messages.addr = devAddress;
+    messages.flags = 0;
+    messages.len = len;
+    messages.buf = (uint8_t *) buf;
+
+    data.msgs = &messages;
+    data.nmsgs = 1;
+
+    ret = ioctl(i2CHandleStruct->i2cFd, I2C_RDWR, &data);
+    if (ret < 0) {
+        *realLen = 0;
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    *realLen = ret;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalI2c_ReadData(T_DjiI2cHandle i2cHandle, uint16_t devAddress, uint8_t *buf,
+                                uint32_t len, uint32_t *realLen)
+{
+    struct i2c_rdwr_ioctl_data data;
+    struct i2c_msg messages;
+    int32_t ret = 0;
+    T_I2cHandleStruct *i2CHandleStruct = (T_I2cHandleStruct *) i2cHandle;
+
+    messages.addr = devAddress;
+    messages.flags = I2C_M_RD;
+    messages.len = len;
+    messages.buf = buf;
+
+    data.msgs = &messages;
+    data.nmsgs = 1;
+
+    ret = ioctl(i2CHandleStruct->i2cFd, I2C_RDWR, &data);
+    if (ret < 0) {
+        *realLen = 0;
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    *realLen = ret;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static void HalI2c_ResetDevice(void)
+{
+    char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE] = {0};
+    int32_t ret;
+
+    sprintf(systemCmd, "echo %d > /sys/class/gpio/export", I2C_DEVICE_RESET_GPIO_NUM);
+    ret = system(systemCmd);
+    if (ret != 0) {
+        printf("Export reset gpio failed, %d\r\n", ret);
+    }
+
+    sprintf(systemCmd, "echo out > /sys/class/gpio/gpio4/direction");
+    ret = system(systemCmd);
+    if (ret != 0) {
+        printf("Set gpio direction failed, %d\r\n", ret);
+    }
+
+    sprintf(systemCmd, "echo 0 > /sys/class/gpio/gpio4/value");
+    ret = system(systemCmd);
+    if (ret != 0) {
+        printf("Set gpio value failed, %d\r\n", ret);
+    }
+
+    usleep(I2C_DEVICE_RESET_TIME_US);
+
+    sprintf(systemCmd, "echo 1 > /sys/class/gpio/gpio4/value");
+    ret = system(systemCmd);
+    if (ret != 0) {
+        printf("Set gpio value failed, %d\r\n", ret);
+    }
+
+    sprintf(systemCmd, "echo %d > /sys/class/gpio/unexport", I2C_DEVICE_RESET_GPIO_NUM);
+    ret = system(systemCmd);
+    if (ret != 0) {
+        printf("Unexport reset gpio failed, %d\r\n", ret);
+    }
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/