diff options
| -rw-r--r-- | mpm/include/mpm/i2c/i2c_iface.hpp | 8 | ||||
| -rw-r--r-- | mpm/lib/i2c/i2cdev_iface.cpp | 64 |
2 files changed, 48 insertions, 24 deletions
diff --git a/mpm/include/mpm/i2c/i2c_iface.hpp b/mpm/include/mpm/i2c/i2c_iface.hpp index aca5994b1..e3fe9e8ed 100644 --- a/mpm/include/mpm/i2c/i2c_iface.hpp +++ b/mpm/include/mpm/i2c/i2c_iface.hpp @@ -38,19 +38,23 @@ namespace mpm { namespace i2c { * \param tx_len Size (in bytes) of TX buffer * \param rx Buffer to hold read data * \param rx_len Number of bytes to read + * \param do_close If true, close file descriptor at end of function */ - virtual int transfer(uint8_t *tx, size_t tx_len, uint8_t *rx, size_t rx_len) = 0; + virtual int transfer(uint8_t *tx, size_t tx_len, uint8_t *rx, + size_t rx_len, bool do_close = true) = 0; /*! * \param tx Buffer of data to send * \param rx Buffer to hold read data + * \param do_close If true, close file descriptor at end of function * * All data in tx will be transmitted. * The amount of data read will be determined by the number of elements * in the rx vector. Those elements will be overwritten with the data. * Use the resize() function for a new rx vector. */ - virtual int transfer(std::vector<uint8_t> *tx, std::vector<uint8_t> *rx) = 0; + virtual int transfer(std::vector<uint8_t> *tx, std::vector<uint8_t> *rx, + bool do_close = true) = 0; }; }}; /* namespace mpm::i2c */ diff --git a/mpm/lib/i2c/i2cdev_iface.cpp b/mpm/lib/i2c/i2cdev_iface.cpp index d47d0f788..5b59e06f8 100644 --- a/mpm/lib/i2c/i2cdev_iface.cpp +++ b/mpm/lib/i2c/i2cdev_iface.cpp @@ -30,39 +30,38 @@ public: const std::string &device, const uint16_t addr, const bool ten_bit_addr, - const unsigned int timeout_ms - ) : _addr(addr), + const unsigned int timeout_ms, + const bool do_open = false + ) : _device(device), + _addr(addr), _ten_bit_addr(ten_bit_addr), _timeout_ms(timeout_ms) { - if (i2cdev_open( - &_fd, - device.c_str(), - timeout_ms) < 0) - { - throw mpm::runtime_error(str( - boost::format("Could not initialize i2cdev device %s") - % device)); - } - - if (_fd < 0) - { - throw mpm::runtime_error(str( - boost::format("Could not open i2cdev device %s") - % device)); - } + if (do_open) + _open(); + else + _fd = -ENODEV; } ~i2cdev_iface_impl() { - close(_fd); + if (_fd >= 0) + close(_fd); } - int transfer(uint8_t *tx, size_t tx_len, uint8_t *rx, size_t rx_len) + int transfer(uint8_t *tx, size_t tx_len, uint8_t *rx, size_t rx_len, bool do_close) { + if (_fd < 0) + _open(); + int ret = i2cdev_transfer(_fd, _addr, _ten_bit_addr, tx, tx_len, rx, rx_len); + if (do_close) { + close(_fd); + _fd = -ENODEV; + } + if (ret) { throw mpm::runtime_error(str( boost::format("I2C Transaction failed!") @@ -72,7 +71,7 @@ public: return ret; } - int transfer(std::vector<uint8_t> *tx, std::vector<uint8_t> *rx) + int transfer(std::vector<uint8_t> *tx, std::vector<uint8_t> *rx, bool do_close) { uint8_t *tx_data = NULL, *rx_data = NULL; size_t tx_len = 0, rx_len = 0; @@ -86,15 +85,36 @@ public: rx_data = rx->data(); rx_len = rx->size(); } - int ret = transfer(tx_data, tx_len, rx_data, rx_len); + int ret = transfer(tx_data, tx_len, rx_data, rx_len, do_close); + return ret; } private: + const std::string _device; int _fd; const uint16_t _addr; const bool _ten_bit_addr; const unsigned int _timeout_ms; + + int _open(void) { + if (i2cdev_open( + &_fd, + _device.c_str(), + _timeout_ms) < 0) + { + throw mpm::runtime_error(str( + boost::format("Could not initialize i2cdev device %s") + % _device)); + } + + if (_fd < 0) + { + throw mpm::runtime_error(str( + boost::format("Could not open i2cdev device %s") + % _device)); + } + } }; /****************************************************************************** |