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This commit is contained in:
Jake Dahl
2018-10-16 09:45:28 +02:00
committed by Beat Küng
parent 985c5f4d73
commit d3b54c3599
1 changed files with 17 additions and 34 deletions
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src/lib/drivers/smbus/SMBus.cpp
+17 -34
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@@ -69,33 +69,23 @@ int SMBus::read_word(const uint8_t cmd_code, void *data)
int SMBus::block_read(const uint8_t cmd_code, void *data, const uint8_t length, bool use_pec)
{
unsigned byte_count = 0;
// Length of data (32max). byte_count(1), cmd_code(2) (sometimes), pec(1) (optional)
uint8_t rx_data[32 + 4];
// addr(wr), cmd_code, addr(r), byte_count, data (32 bytes max), pec
uint8_t rx_data[32 + 5];
int result = transfer(&cmd_code, 1, (uint8_t *)rx_data, length + 2);
int result = transfer(&cmd_code, 1, (uint8_t *)&rx_data[3], length + 2);
byte_count = rx_data[0];
uint8_t device_address = get_device_address();
rx_data[0] = (device_address << 1) | 0x00;
rx_data[1] = cmd_code;
rx_data[2] = (device_address << 1) | 0x01;
byte_count = rx_data[3];
// byte_count, data[length], PEC
memcpy(data, &rx_data[1], byte_count);
memcpy(data, &rx_data[4], byte_count);
if (use_pec) {
uint8_t pec = get_pec(rx_data, byte_count + 4);
// addr(wr), cmd_code, addr(r), byte_count, rx_data[]
uint8_t device_address = get_device_address();
uint8_t full_data_packet[32 + 4] = {};
full_data_packet[0] = (device_address << 1) | 0x00;
full_data_packet[1] = cmd_code;
full_data_packet[2] = (device_address << 1) | 0x01;
full_data_packet[3] = byte_count;
memcpy(&full_data_packet[4], &rx_data[1], byte_count);
uint8_t pec = get_pec(full_data_packet, byte_count + 4);
// First byte is byte count, followed by data.
if (pec != ((uint8_t *)rx_data)[byte_count + 1]) {
if (pec != rx_data[byte_count + 4]) {
result = -EINVAL;
}
}
@@ -122,20 +112,13 @@ int SMBus::block_write(const uint8_t cmd_code, void *data, uint8_t byte_count, b
int result = 0;
// If block_write fails, try up to 10 times.
while (i < 10) {
result = transfer((uint8_t *)buf, byte_count + 2, nullptr, 0);
while (i < 10 && (result = transfer((uint8_t *)buf, byte_count + 2, nullptr, 0)) != PX4_OK) {
i++;
}
if (result != PX4_OK) {
i++;
if (i == 10) {
PX4_WARN("Block_write failed 10 times");
result = -EINVAL;
}
} else {
break;
}
if (i == 10) {
PX4_WARN("Block_write failed 10 times");
result = -EINVAL;
}
return result;