simplified i2c code
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101a7696c3
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0045cd2062
@ -6,6 +6,7 @@
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#include <fsfw/objectmanager/SystemObject.h>
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class GpioCookie;
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/**
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* @brief This class implements the GpioIF for a linux based system. The
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* implementation is based on the libgpiod lib which requires linux 4.8
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@ -14,191 +14,184 @@ I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
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I2cComIF::~I2cComIF() {}
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ReturnValue_t I2cComIF::initializeInterface(CookieIF * cookie) {
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ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
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address_t i2cAddress;
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std::string deviceFile;
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address_t i2cAddress;
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std::string deviceFile;
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if(cookie == nullptr) {
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return NULLPOINTER;
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}
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF: Invalid I2C Cookie!"
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<< std::endl;
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return NULLPOINTER;
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}
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if(cookie == nullptr) {
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sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
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return NULLPOINTER;
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}
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
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return NULLPOINTER;
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}
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i2cAddress = i2cCookie->getAddress();
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i2cAddress = i2cCookie->getAddress();
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if(i2cDeviceMapIter == i2cDeviceMap.end()) {
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size_t maxReplyLen = i2cCookie->getMaxReplyLen();
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I2cInstance_t i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
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std::pair status = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
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if (status.second == false) {
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sif::error << "I2cComIF::initializeInterface: Failed to insert "
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<< "device with address " << i2cAddress << "to I2C device "
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<< "map" << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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}
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else {
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sif::error << "I2cComIF: Device with address " << i2cAddress
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<< "already in use" << std::endl;
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}
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if(i2cDeviceMapIter == i2cDeviceMap.end()) {
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size_t maxReplyLen = i2cCookie->getMaxReplyLen();
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I2cInstance_t i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
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auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
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if (not statusPair.second) {
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sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
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i2cAddress << "to I2C device " << "map" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if(i2cDeviceMapIter == i2cDeviceMap.end()) {
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sif::error << "Failure" << std::endl;
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}
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return HasReturnvaluesIF::RETURN_OK;
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sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
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"already in use" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
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const uint8_t *sendData, size_t sendLen) {
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ReturnValue_t result;
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int fd;
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std::string deviceFile;
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ReturnValue_t result;
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int fd;
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std::string deviceFile;
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if(sendData == nullptr) {
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sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
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<< std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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if(sendData == nullptr) {
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sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
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<< std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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if(sendLen == 0) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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if(sendLen == 0) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF::sendMessasge: Invalid I2C Cookie!"
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<< std::endl;
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return NULLPOINTER;
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}
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF::sendMessasge: Invalid I2C Cookie!"
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<< std::endl;
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return NULLPOINTER;
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}
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address_t i2cAddress = i2cCookie->getAddress();
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if (i2cDeviceMapIter == i2cDeviceMap.end()) {
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sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
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<< "registered in i2cDeviceMap" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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address_t i2cAddress = i2cCookie->getAddress();
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if (i2cDeviceMapIter == i2cDeviceMap.end()) {
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sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
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<< "registered in i2cDeviceMap" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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deviceFile = i2cCookie->getDeviceFile();
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result = openDevice(deviceFile, i2cAddress, &fd);
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if (result != HasReturnvaluesIF::RETURN_OK){
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return result;
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}
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deviceFile = i2cCookie->getDeviceFile();
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result = openDevice(deviceFile, i2cAddress, &fd);
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if (result != HasReturnvaluesIF::RETURN_OK){
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return result;
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}
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if (write(fd, sendData, sendLen) != (int)sendLen) {
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sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
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"device with error code " << errno << ". Error description: "
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<< strerror(errno) << std::endl;
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close(fd);
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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close(fd);
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return HasReturnvaluesIF::RETURN_OK;
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if (write(fd, sendData, sendLen) != (int)sendLen) {
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sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
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"device with error code " << errno << ". Error description: "
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<< strerror(errno) << std::endl;
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close(fd);
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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close(fd);
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
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return HasReturnvaluesIF::RETURN_OK;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
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size_t requestLen) {
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size_t requestLen) {
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ReturnValue_t result;
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int fd;
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std::string deviceFile;
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ReturnValue_t result;
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int fd;
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std::string deviceFile;
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if (requestLen == 0) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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if (requestLen == 0) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!"
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<< std::endl;
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i2cDeviceMapIter->second.replyLen = 0;
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return NULLPOINTER;
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}
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!"
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<< std::endl;
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i2cDeviceMapIter->second.replyLen = 0;
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return NULLPOINTER;
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}
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address_t i2cAddress = i2cCookie->getAddress();
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if (i2cDeviceMapIter == i2cDeviceMap.end()) {
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sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
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<< "registered in i2cDeviceMap" << std::endl;
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i2cDeviceMapIter->second.replyLen = 0;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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address_t i2cAddress = i2cCookie->getAddress();
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if (i2cDeviceMapIter == i2cDeviceMap.end()) {
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sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
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<< "registered in i2cDeviceMap" << std::endl;
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i2cDeviceMapIter->second.replyLen = 0;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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deviceFile = i2cCookie->getDeviceFile();
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result = openDevice(deviceFile, i2cAddress, &fd);
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if (result != HasReturnvaluesIF::RETURN_OK){
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i2cDeviceMapIter->second.replyLen = 0;
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return result;
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}
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deviceFile = i2cCookie->getDeviceFile();
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result = openDevice(deviceFile, i2cAddress, &fd);
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if (result != HasReturnvaluesIF::RETURN_OK){
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i2cDeviceMapIter->second.replyLen = 0;
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return result;
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}
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uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
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uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
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if (read(fd, replyBuffer, requestLen) != (int)requestLen) {
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sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
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<< "device failed with error code " << errno <<". Description"
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<< " of error: " << strerror(errno) << std::endl;
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close(fd);
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i2cDeviceMapIter->second.replyLen = 0;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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if (read(fd, replyBuffer, requestLen) != (int)requestLen) {
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sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
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<< "device failed with error code " << errno <<". Description"
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<< " of error: " << strerror(errno) << std::endl;
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close(fd);
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i2cDeviceMapIter->second.replyLen = 0;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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i2cDeviceMapIter->second.replyLen = requestLen;
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i2cDeviceMapIter->second.replyLen = requestLen;
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close(fd);
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close(fd);
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return HasReturnvaluesIF::RETURN_OK;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
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uint8_t **buffer, size_t* size) {
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!"
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<< std::endl;
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return NULLPOINTER;
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}
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uint8_t **buffer, size_t* size) {
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!"
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<< std::endl;
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return NULLPOINTER;
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}
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address_t i2cAddress = i2cCookie->getAddress();
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if (i2cDeviceMapIter == i2cDeviceMap.end()) {
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sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
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<< "found in i2cDeviceMap" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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*buffer = i2cDeviceMapIter->second.replyBuffer.data();
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*size = i2cDeviceMapIter->second.replyLen;
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address_t i2cAddress = i2cCookie->getAddress();
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if (i2cDeviceMapIter == i2cDeviceMap.end()) {
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sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
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<< "found in i2cDeviceMap" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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*buffer = i2cDeviceMapIter->second.replyBuffer.data();
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*size = i2cDeviceMapIter->second.replyLen;
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return HasReturnvaluesIF::RETURN_OK;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
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address_t i2cAddress, int* fileDescriptor) {
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*fileDescriptor = open(deviceFile.c_str(), O_RDWR);
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if (*fileDescriptor < 0) {
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sif::error << "I2cComIF: Opening i2c device failed with error code "
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<< errno << ". Error description: " << strerror(errno)
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<< std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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address_t i2cAddress, int* fileDescriptor) {
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*fileDescriptor = open(deviceFile.c_str(), O_RDWR);
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if (*fileDescriptor < 0) {
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sif::error << "I2cComIF: Opening i2c device failed with error code "
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<< errno << ". Error description: " << strerror(errno)
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<< std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
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sif::error << "I2cComIF: Specifying target device failed with error "
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<< "code " << errno << ". Error description "
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<< strerror(errno) << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
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sif::error << "I2cComIF: Specifying target device failed with error "
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<< "code " << errno << ". Error description "
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<< strerror(errno) << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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