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#include "veye_i2c.h"
#include <arpa/inet.h>
#include <errno.h>
#include <fcntl.h>
#include <iostream>
#include <linux/i2c-dev.h>
#include <linux/i2c.h>
#include <string.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include "veyeimx287m_types.h"
bool veye::imx287m::i2cRead(int fd, uint8_t i2c_addr, uint16_t reg, uint32_t &value)
{
int err;
uint8_t bufin[2] = {reg >> 8, reg & 0xff};
uint8_t bufout[4] = {0};
struct i2c_msg msgs[2] = {
{
//
.addr = i2c_addr,
.flags = 0,
.len = 2,
.buf = bufin
//
},
{
.addr = i2c_addr,
.flags = I2C_M_RD,
.len = 4,
.buf = bufout,
},
};
struct i2c_rdwr_ioctl_data msgset;
msgset.msgs = msgs;
msgset.nmsgs = 2;
err = ioctl(fd, I2C_RDWR, &msgset);
//printf("Read i2c addr %02X\n", i2c_addr);
if (err != msgset.nmsgs) {
std::cerr << "read i2c err " << err << std::endl;
return false;
}
value = ntohl(*(uint32_t *) bufout);
// fprintf(stderr, "addr %04x : value %08x \n", reg + i, value);
return true;
}
bool veye::imx287m::test(uint32_t value)
{
// const std::string i2cDevName{"/dev/i2c-10"};
const std::string i2cDevName{"/dev/i2c-2"};
constexpr uint32_t i2cDevAddr{0x3b};
int fd = open(i2cDevName.c_str(), O_RDWR);
if (!fd) {
std::cerr << "cannot open i2c device " << i2cDevName << ", error: " << strerror(errno)
<< std::endl;
return false;
}
if (ioctl(fd, I2C_SLAVE_FORCE, i2cDevAddr) < 0) {
std::cerr << "cannot set i2c slave. dev: " << i2cDevName << ", addr: " << i2cDevAddr
<< ", error: " << strerror(errno) << std::endl;
return false;
}
uint32_t expTime{0};
// if (!i2cRead(fd, i2cDevAddr, (uint16_t) veye::imx287m::Register::ME_Time, expTime)) {
// return false;
// }
// std::cout << "exp time is: " << expTime << std::endl;
std::cout << "set exp time to " << value;
if (!i2cWrite(fd, (uint16_t) veye::imx287m::Register::ME_Time, value)) {
return false;
}
if (!i2cRead(fd, i2cDevAddr, (uint16_t) veye::imx287m::Register::ME_Time, expTime)) {
return false;
}
std::cout << "\texp time is: " << expTime << std::endl;
return true;
}
bool veye::imx287m::i2cWrite(int fd, uint16_t reg, const uint32_t value)
{
uint8_t msg[] = {reg >> 8, reg & 0xff, value >> 24, value >> 16, value >> 8, value >> 0};
int len = sizeof(msg) / sizeof(msg[0]);
if (write(fd, msg, len) != len) {
std::cerr << "cannot write value. reg: " << reg << ", error: " << strerror(errno)
<< std::endl;
return false;
}
// TODO: find a best way to get up-to-date values
usleep(100);
return true;
}
veye::imx287m::i2c::i2c(const std::string &name, const int address)
: m_name{name}
, m_address{address}
{}
veye::imx287m::i2c::~i2c()
{
if (m_fd > 0) {
close(m_fd);
}
}
bool veye::imx287m::i2c::open()
{
m_fd = ::open(m_name.c_str(), O_RDWR);
if (!m_fd) {
std::cerr << "cannot open i2c device " << m_name << ", error: " << strerror(errno)
<< std::endl;
return false;
}
if (ioctl(m_fd, I2C_SLAVE_FORCE, m_address) < 0) {
std::cerr << "cannot set i2c slave. dev: " << m_name << ", addr: " << m_address
<< ", error: " << strerror(errno) << std::endl;
return false;
}
return true;
}
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