source: flair-src/trunk/lib/FlairCore/src/RTDM_I2cPort.cpp@ 3

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2013/09/04
//  filename:   RTDM_RTDM_I2cPort.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Class for real time i2c port using RTDM
//
//
/*********************************************************************/

#include "RTDM_I2cPort.h"

#ifdef __XENO__

#include <rtdm/rti2c.h>
#include <errno.h>
#include <cstring>

using std::string;

namespace flair
{
namespace core
{

RTDM_I2cPort::RTDM_I2cPort(const Object* parent,string name,string device) : I2cPort(parent,name)
{
    int err=0;
    struct rti2c_config write_config;

    //printf("i2c integer le mutex dans le driver, avec acces ioctl\n");
    fd = rt_dev_open(device.c_str(), 0);
    if (fd < 0)
        {
                Err("rt_dev_open (%s)\n",ObjectName().c_str(),strerror(-fd));
        }

        write_config.config_mask       = RTI2C_SET_BAUD|RTI2C_SET_TIMEOUT_RX|RTI2C_SET_TIMEOUT_TX;
        write_config.baud_rate         = 400000;
        write_config.rx_timeout        = 500000;
        write_config.tx_timeout        = 1000000;//5ms pour les xbldc, normalement 1ms
        // the rest implicitely remains default

        // config
        err = rt_dev_ioctl(fd, RTI2C_RTIOC_SET_CONFIG, &write_config );
        if (err)
        {
            Err("rt_dev_ioctl RTI2C_RTIOC_SET_CONFIG error (%s)\n",ObjectName().c_str(),strerror(-err));
        }
}

RTDM_I2cPort::~RTDM_I2cPort()
{
    rt_dev_close(fd);
}

int RTDM_I2cPort::SetSlave(uint16_t address)
{
        int err = rt_dev_ioctl(fd, RTI2C_RTIOC_SET_SLAVE, &address);
    if (err)
        {
            Err("rt_dev_ioctl RTI2C_RTIOC_SET_SLAVE error (%s)\n",strerror(-err));
        }

        return err;
}

void RTDM_I2cPort::SetRxTimeout(Time timeout_ns)
{
    struct rti2c_config write_config;

        write_config.config_mask       = RTI2C_SET_TIMEOUT_RX;
        write_config.rx_timeout        = timeout_ns;

        int err = rt_dev_ioctl(fd, RTI2C_RTIOC_SET_CONFIG, &write_config );
        if (err)
        {
            Err("rt_dev_ioctl RTI2C_RTIOC_SET_CONFIG (%s)\n",ObjectName().c_str(),strerror(-err));
        }
}

void RTDM_I2cPort::SetTxTimeout(Time timeout_ns)
{
    struct rti2c_config write_config;

        write_config.config_mask       = RTI2C_SET_TIMEOUT_TX;
        write_config.tx_timeout        = timeout_ns;

        int err = rt_dev_ioctl(fd, RTI2C_RTIOC_SET_CONFIG, &write_config );
        if (err)
        {
            Err("rt_dev_ioctl RTI2C_RTIOC_SET_CONFIG (%s)\n",ObjectName().c_str(),strerror(-err));
        }
}

ssize_t RTDM_I2cPort::Write(const void *buf,size_t nbyte)
{
    return rt_dev_write(fd, buf, nbyte);
}

ssize_t RTDM_I2cPort::Read(void *buf,size_t nbyte)
{
    return rt_dev_read(fd, buf, nbyte);
}

} // end namespace core
} // end namespace flair

#else //__XENO__

using std::string;
using namespace flair::core;


namespace flair
{
namespace core
{

RTDM_I2cPort::RTDM_I2cPort(const Object* parent,string name,string device) : I2cPort(parent,name)
{
    Err("not available in non real time\n");
}

RTDM_I2cPort::~RTDM_I2cPort()
{

}

int RTDM_I2cPort::SetSlave(uint16_t address)
{
        return -1;
}

void RTDM_I2cPort::SetRxTimeout(Time timeout_ns)
{
}

void RTDM_I2cPort::SetTxTimeout(Time timeout_ns)
{
}

ssize_t RTDM_I2cPort::Write(const void *buf,size_t nbyte)
{
    return -1;
}

ssize_t RTDM_I2cPort::Read(void *buf,size_t nbyte)
{
    return -1;
}

} // end namespace core
} // end namespace flair

#endif