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139 lines
3.8 KiB
139 lines
3.8 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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handle device operations over MAVLink |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_HAL/Device.h> |
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#include <AP_HAL/I2CDevice.h> |
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#include "GCS.h" |
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#include <stdio.h> |
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extern const AP_HAL::HAL& hal; |
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/* |
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handle DEVICE_OP_READ message |
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*/ |
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void GCS_MAVLINK::handle_device_op_read(const mavlink_message_t &msg) |
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{ |
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mavlink_device_op_read_t packet; |
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mavlink_msg_device_op_read_decode(&msg, &packet); |
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AP_HAL::OwnPtr<AP_HAL::Device> dev = nullptr; |
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uint8_t retcode = 0; |
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uint8_t data[sizeof(mavlink_device_op_read_reply_t::data)] {}; |
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bool ret = false; |
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uint8_t regstart = packet.regstart; |
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if (packet.bustype == DEVICE_OP_BUSTYPE_I2C) { |
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dev = hal.i2c_mgr->get_device(packet.bus, packet.address); |
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} else if (packet.bustype == DEVICE_OP_BUSTYPE_SPI) { |
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dev = hal.spi->get_device(packet.busname); |
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} else { |
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retcode = 1; |
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goto fail; |
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} |
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if (!dev) { |
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retcode = 2; |
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goto fail; |
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} |
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if (packet.count > sizeof(data)) { |
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retcode = 5; |
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goto fail; |
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} |
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if (!dev->get_semaphore()->take(10)) { |
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retcode = 3; |
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goto fail; |
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} |
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if (regstart == 0xff) { |
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// assume raw transfer, non-register interface |
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ret = dev->transfer_bank(packet.bank, nullptr, 0, data, packet.count); |
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// reply using register start 0 for display purposes |
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regstart = 0; |
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} else { |
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ret = dev->read_bank_registers(packet.bank, packet.regstart, data, packet.count); |
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} |
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dev->get_semaphore()->give(); |
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if (!ret) { |
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retcode = 4; |
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goto fail; |
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} |
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mavlink_msg_device_op_read_reply_send( |
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chan, |
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packet.request_id, |
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retcode, |
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regstart, |
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packet.count, |
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data, |
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packet.bank); |
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return; |
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fail: |
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mavlink_msg_device_op_read_reply_send( |
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chan, |
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packet.request_id, |
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retcode, |
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packet.regstart, |
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0, |
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nullptr, |
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packet.bank); |
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} |
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/* |
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handle DEVICE_OP_WRITE message |
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*/ |
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void GCS_MAVLINK::handle_device_op_write(const mavlink_message_t &msg) |
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{ |
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mavlink_device_op_write_t packet; |
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mavlink_msg_device_op_write_decode(&msg, &packet); |
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AP_HAL::OwnPtr<AP_HAL::Device> dev = nullptr; |
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uint8_t retcode = 0; |
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if (packet.bustype == DEVICE_OP_BUSTYPE_I2C) { |
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dev = hal.i2c_mgr->get_device(packet.bus, packet.address); |
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} else if (packet.bustype == DEVICE_OP_BUSTYPE_SPI) { |
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dev = hal.spi->get_device(packet.busname); |
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} else { |
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retcode = 1; |
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goto fail; |
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} |
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if (!dev) { |
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retcode = 2; |
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goto fail; |
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} |
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if (!dev->get_semaphore()->take(10)) { |
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retcode = 3; |
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goto fail; |
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} |
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if (packet.regstart == 0xff) { |
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// assume raw transfer, non-register interface |
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if (!dev->transfer_bank(packet.bank, packet.data, packet.count, nullptr, 0)) { |
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retcode = 4; |
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} |
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} else { |
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for (uint8_t i=0; i<packet.count; i++) { |
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if (!dev->write_bank_register(packet.bank, packet.regstart+i, packet.data[i])) { |
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retcode = 4; |
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break; |
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} |
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} |
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} |
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dev->get_semaphore()->give(); |
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fail: |
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mavlink_msg_device_op_write_reply_send( |
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chan, |
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packet.request_id, |
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retcode); |
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}
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