mrb_value
mrb_mraa_i2c_init(mrb_state *mrb, mrb_value self){
mrb_int bus;
mrb_bool raw;
mraa_i2c_context i2c;
raw = false;
mrb_get_args(mrb, "i|b", &bus, &raw);
if (raw == false){
i2c = mraa_i2c_init(bus);
}
else {
i2c = mraa_i2c_init_raw(bus);
}
if (i2c == NULL){
mrb_raisef(mrb, E_RUNTIME_ERROR, "Failed to initialize BUS:%S.", mrb_fixnum_value(bus));
}
DATA_TYPE(self) = &mrb_mraa_i2c_ctx_type;
DATA_PTR(self) = i2c;
return self;
}
/**
* Instantiates an i2c bus. Multiple instances of the same bus can
* exist and the bus is not guarranteed to be on the correct address
* before read/write.
*
* @param bus The i2c bus to use
* @param raw Whether to disable pinmapper for your board
*/
I2c(int bus, bool raw=false) {
if (raw) {
m_i2c = mraa_i2c_init_raw(bus);
}
else {
m_i2c = mraa_i2c_init(bus);
}
if (m_i2c == NULL) {
throw std::invalid_argument("Invalid i2c bus");
}
}
int atlsci_init()
{
i2c_context = mraa_i2c_init_raw(6);
if (i2c_context == NULL)
{
DEBUG("atlsci_init(): mraa_i2c_init_raw() failure. Failed to initialize I2C\n");
return ATLSCI_FAILURE;
}
return ATLSCI_SUCCESS;
}
/*
* Wake up the sensors and set up scales and rates
*/
void lsm_init() {
int i2c_bus = 1;
i2c = mraa_i2c_init_raw(i2c_bus);
if (i2c == NULL) {
printf("LSM9DS0: Failed to init i2c bus %d\n", i2c_bus);
return;
}
lsm_gyro_start(G_SCALE_500DPS, G_ODR_190_BW_25);
lsm_accel_start(A_SCALE_4G, A_ODR_400, A_ABW_50);
lsm_magn_start(M_SCALE_2GS, M_ODR_100);
nanosleep((const struct timespec[]){{0, 500000000L}}, NULL); // Wait 500ms for sensors to wake-up
mraa_i2c_context
mraa_i2c_init(int bus)
{
int checked_pin = mraa_setup_i2c(bus);
if (checked_pin < 0) {
switch(checked_pin) {
case -1:
fprintf(stderr, "No i2c on board\n");
return NULL;
case -2:
fprintf(stderr, "Failed to set-up i2c multiplexer!\n");
return NULL;
case -3:
fprintf(stderr, "Platform Not Initialised");
return NULL;
default: return NULL;
}
}
return mraa_i2c_init_raw((unsigned int) checked_pin);
}
mraa_i2c_context
mraa_i2c_init(int bus)
{
if (plat == NULL) {
syslog(LOG_ERR, "i2c: Platform Not Initialised");
return NULL;
}
if (plat->i2c_bus_count == 0) {
syslog(LOG_ERR, "No i2c buses defined in platform");
return NULL;
}
if (bus >= plat->i2c_bus_count) {
syslog(LOG_ERR, "Above i2c bus count");
return NULL;
}
if (plat->i2c_bus[bus].bus_id == -1) {
syslog(LOG_ERR, "Invalid i2c bus, moving to default i2c bus");
bus = plat->def_i2c_bus;
}
int pos = plat->i2c_bus[bus].sda;
if (plat->pins[pos].i2c.mux_total > 0) {
if (mraa_setup_mux_mapped(plat->pins[pos].i2c) != MRAA_SUCCESS) {
syslog(LOG_ERR, "i2c: Failed to set-up i2c sda multiplexer");
return NULL;
}
}
pos = plat->i2c_bus[bus].scl;
if (plat->pins[pos].i2c.mux_total > 0) {
if (mraa_setup_mux_mapped(plat->pins[pos].i2c) != MRAA_SUCCESS) {
syslog(LOG_ERR, "i2c: Failed to set-up i2c scl multiplexer");
return NULL;
}
}
return mraa_i2c_init_raw((unsigned int) plat->i2c_bus[bus].bus_id);
}
int main(void)
{
mraa_i2c_init_raw(6);
}
