static long i2c_ioctl(struct file *file, unsigned int cmd, unsigned long arg)
{
if(_IOC_TYPE(cmd) != ETRAXI2C_IOCTYPE) {
return -EINVAL;
}
switch (_IOC_NR(cmd)) {
case I2C_WRITEREG:
/* write to an i2c slave */
D(printk(KERN_DEBUG "i2cw %d %d %d\n",
I2C_ARGSLAVE(arg),
I2C_ARGREG(arg),
I2C_ARGVALUE(arg)));
return i2c_writereg(I2C_ARGSLAVE(arg),
I2C_ARGREG(arg),
I2C_ARGVALUE(arg));
case I2C_READREG:
{
unsigned char val;
/* read from an i2c slave */
D(printk(KERN_DEBUG "i2cr %d %d ",
I2C_ARGSLAVE(arg),
I2C_ARGREG(arg)));
val = i2c_readreg(I2C_ARGSLAVE(arg), I2C_ARGREG(arg));
D(printk(KERN_DEBUG "= %d\n", val));
return val;
}
default:
return -EINVAL;
}
return 0;
}
void sixaxis_init( void)
{
// gyro soft reset
i2c_writereg( 107 , 128);
delay(40000);
// clear sleep bit on old type gyro (mpu-6050)
i2c_writereg( 107 , 0);
// gyro scale 2000 deg (FS =3)
i2c_writereg( 27 , 24);
// Gyro DLPF low pass filter
i2c_writereg( 26 , GYRO_LOW_PASS_FILTER);
}
void light_init(void) {
unsigned char b;
light_sleep();
// configure integration rate and interrupt
b = 0b00000001; // 01 integ field, scale 0.252, time=101ms
if ( i2c_writereg(LIGHT_ADDR, COMMAND_DEFAULT | TIMING, 1, &b) ) {
kputs("Error configuring light sensor\n");
}
}
static long
i2c_ioctl(struct file *file, unsigned int cmd, unsigned long arg)
{
int ret;
if(_IOC_TYPE(cmd) != ETRAXI2C_IOCTYPE) {
return -ENOTTY;
}
switch (_IOC_NR(cmd)) {
case I2C_WRITEREG:
D(printk("i2cw %d %d %d\n",
I2C_ARGSLAVE(arg),
I2C_ARGREG(arg),
I2C_ARGVALUE(arg)));
mutex_lock(&i2c_mutex);
ret = i2c_writereg(I2C_ARGSLAVE(arg),
I2C_ARGREG(arg),
I2C_ARGVALUE(arg));
mutex_unlock(&i2c_mutex);
return ret;
case I2C_READREG:
{
unsigned char val;
D(printk("i2cr %d %d ",
I2C_ARGSLAVE(arg),
I2C_ARGREG(arg)));
mutex_lock(&i2c_mutex);
val = i2c_readreg(I2C_ARGSLAVE(arg), I2C_ARGREG(arg));
mutex_unlock(&i2c_mutex);
D(printk("= %d\n", val));
return val;
}
default:
return -EINVAL;
}
return 0;
}
void light_sleep() {
unsigned char b = 0x00;
if ( i2c_writereg(LIGHT_ADDR, COMMAND_DEFAULT | CONTROL, 1, &b) ) {
kputs("Error turning off light sensor\n");
}
}
/*#---------------------------------------------------------------------------
*#
*# FUNCTION NAME: i2c_ioctl
*#
*# DESCRIPTION : Main device API: ioctl's to write/read
*# to/from i2c registers
*#
*# PARAMETERS : *inode: reference to inode
*# *filp : reference to file pointer
*# cmd : command to be executed during the ioctl call
*# arg : pointer to a structure with the data???
*#
*# RETURN : result of the ioctl call
*#
*#---------------------------------------------------------------------------
*/
static int i2c_ioctl( struct inode *inode
, struct file *file
, unsigned int cmd
, unsigned long arg
)
{
/* the acme ioctls */
I2C_DATA i2cdata;
int RetVal = EI2CNOERRORS;
if ( _IOC_TYPE( cmd ) != ETRAXI2C_IOCTYPE )
{
return ( -EINVAL );
}
switch ( _IOC_NR( cmd ) )
{
case I2C_WRITEREG:
/* write to an i2c slave */
RetVal = i2c_writereg( I2C_ARGSLAVE( arg )
, I2C_ARGREG( arg )
, I2C_ARGVALUE( arg )
);
break;
case I2C_READREG:
RetVal = i2c_readreg( I2C_ARGSLAVE( arg ), I2C_ARGREG( arg ) );
break;
/* New functions added by GVC */
case I2C_READ:
copy_from_user( (char*)&i2cdata, (char*)arg, sizeof( I2C_DATA ) );
{
int RetryCntr = MAXRETRIES;
do
{
RetVal = i2c_command( i2cdata.slave
, NULL
, 0
, i2cdata.rbuf
, i2cdata.rlen
);
} while ( ( EI2CNOERRORS != RetVal )
&&( --RetryCntr )
);
}
copy_to_user( (char*)arg, (char*)&i2cdata, sizeof( I2C_DATA ) );
break;
case I2C_WRITE:
copy_from_user( (char*)&i2cdata, (char*)arg, sizeof( I2C_DATA ) );
{
int RetryCntr = MAXRETRIES;
do
{
RetVal = i2c_command( i2cdata.slave
, i2cdata.wbuf
, i2cdata.wlen
, NULL
, 0
);
} while ( ( EI2CNOERRORS != RetVal )
&&( --RetryCntr )
);
}
break;
case I2C_WRITEREAD:
copy_from_user( (char*)&i2cdata, (char*)arg, sizeof( I2C_DATA ) );
{
int RetryCntr = MAXRETRIES;
do
{
RetVal = i2c_command( i2cdata.slave
, i2cdata.wbuf
, i2cdata.wlen
, i2cdata.rbuf
, i2cdata.rlen
);
} while ( ( EI2CNOERRORS != RetVal )
&&( --RetryCntr )
);
}
copy_to_user( (char*)arg, (char*)&i2cdata, sizeof( I2C_DATA ) );
break;
default:
RetVal = -EINVAL;
}
return ( -RetVal );
} /* i2c_ioctl */
int cmd_i2c(int argc, char **argv)
{
uint8_t i2c = 255;
rt_dev_t i2c_dev;
char c;
uint16_t addr, regaddr, value;
#if !defined (I2C_COUNT) || I2C_COUNT==0
puts("No i2c module");
return 1;
#else
// no args -> print number of i2cs buses
if(argc == 1)
{
printf("count: %d\r\n", (int)I2C_COUNT);
return 0;
}
// help
if(strcmp(argv[1], "help")==0)
{
puts("i2c <bus-id>");
puts("i2c <bus-id> setspeed <speed>");
puts("i2c <bus-id> readreg <addr> <regaddr>");
puts("i2c <bus-id> writereg <addr> <regaddr> <value>");
return 0;
}
// first arg numeric : convert to i2c id
c = argv[1][0];
if(isdigit(c))
{
i2c = c - '0';
c = argv[1][1];
if(isdigit(c))
i2c = i2c * 10 + (c - '0');
}
if (i2c >= I2C_COUNT)
{
printf("Invalid i2c id %d\r\n", i2c);
return 0;
}
i2c_dev = MKDEV(DEV_CLASS_I2C, i2c);
// if no more arg, print properties of i2c
// > i2c <bus-id>
if(argc == 2)
{
printf("Config: %d bits address %luHz (%luHz)\r\n",
(int)i2c_addressWidth(i2c_dev),
i2c_effectiveBaudSpeed(i2c_dev),
i2c_baudSpeed(i2c_dev));
return 0;
}
// parse argv 2
// == setspeed > i2c <bus-id> setspeed <speed>
if(strcmp(argv[2], "setspeed")==0)
{
if(argc < 4)
return 1;
uint32_t baudSpeed;
baudSpeed = atol(argv[3]);
i2c_setBaudSpeed(i2c_dev, baudSpeed);
return 0;
}
if(argc < 5)
return 1;
addr = atoi(argv[3]);
regaddr = atoi(argv[4]);
// == readreg > i2c <bus-id> readreg <addr> <regaddr>
if(strcmp(argv[2], "readreg")==0)
{
value = i2c_readreg(i2c_dev, addr, regaddr, I2C_REG8 | I2C_REGADDR8);
printf("'%d' 0x%X\r\n", value, value);
return 0;
}
if(argc < 6)
return 1;
value = atoi(argv[5]);
// == writereg > i2c <bus-id> writereg <addr> <regaddr> <value>
if(strcmp(argv[2], "writereg")==0)
{
i2c_writereg(i2c_dev, addr, regaddr, value, I2C_REG8 | I2C_REGADDR8);
puts("ok");
return 0;
}
return 1;
#endif
}
