// Read a char from servo ic
uint8_t i2c_slave_read(uint8_t slave_address, uint8_t address)
{
uint8_t read_byte;
// Read one byte (i.e. servo pos of one servo)
i2c_Start(); // send Start
i2c_Address(slave_address, I2C_WRITE); // Send slave address with write operation
i2c_Write(address); // Set register for servo 0
i2c_Restart(); // Restart
i2c_Address(slave_address, I2C_READ); // Send slave address with read operation
read_byte = i2c_Read(0); // Read one byte
// If more than one byte to be read, (0) should
// be on last byte only
// e.g.3 bytes= i2c_Read(1); i2c_Read(1); i2c_Read(0);
i2c_Stop(); // send Stop
return read_byte; // return byte. If reading more than one byte
// store in an array
}
unsigned int mem_Read(unsigned int addr,unsigned char *data, unsigned int data_len)
{
unsigned int i=0;
unsigned char b;
i2c_Start();
i2c_Write(MEM_ADDRESS);
if (i2c_Timeout()) goto Timeout;
b = addr>>8;
i2c_Write(b);
if (i2c_Timeout()) goto Timeout;
b = addr&0xFF;
i2c_Write(b);
if (i2c_Timeout()) goto Timeout;
//i2c_Stop();
i2c_Start();
i2c_Write(MEM_ADDRESS | 1);
if (i2c_Timeout()) goto Timeout;
for (i=0; i<data_len; i++)
{
data[i] = i2c_Read();
clear_CPU_operation_detection();
if (i<data_len-1)
i2c_Ack();
else
i2c_Nack();
}
i2c_Stop();
return i;
Timeout:
return i;
}
/*************************************************************************
Read one byte from the I2C device, read is followed by a stop condition
Return: byte read from I2C device
*************************************************************************/
unsigned char i2c_readNak(void)
{
return i2c_Read(0);
}/* i2c_readNak */
/*************************************************************************
Read one byte from the I2C device, request more data from device
Return: byte read from I2C device
*************************************************************************/
unsigned char i2c_readAck(void)
{
return i2c_Read(1);
}/* i2c_readAck */
/**
* Perform continuous reading accesses on I2C buses.
* @param[in] threadData data needed for I2C processing.
*/
static void tatl06_03I2C_Process(void *threadData)
{
DTH_I2C_PROCESS_DATA *i2cData ;
int vl_error = 0;
int fd = 0;
int count = 1;
char buf[1024];
i2cData = (DTH_I2C_PROCESS_DATA *) threadData ;
memset(buf, 0, 1024);
if (strcmp(i2cData->deviceName, I2C3_DEVICE_NAME) == 0) {
/* on 8520 no I2C3. Need to check board type */
fd = open("/sys/devices/platform/ab8505-i2c.0/ab8500-usb.0/boot_time_device",O_RDWR);
if (fd<0){
/* board 8500 */
count = 6;
}
else {
/* board 8520 : just need to return OK*/
close (fd);
while (i2cData->order == START) {
i2cData->state = ACTIVATED ;
i2cData->error = NO_ERROR ;
usleep(1000);
}
i2cData->state = DEACTIVATED ;
pthread_exit(NULL);
}
}
buf[0] = i2cData->registerAddress ; /* register address to be read. */
i2cData->state = ACTIVATED ;
fd = i2c_Open(i2cData->deviceName, O_RDWR);
if (fd < 0) {
i2cData->error = I2cOpenError ;
i2cData->state = DEACTIVATED ;
pthread_exit(NULL);
}
if (i2cData->order == START)
printf("dev=%s slave_addr=%x reg_addr=%x count=%d\n",
i2cData->deviceName, i2cData->deviceAddress,
i2cData->registerAddress, count);
while (i2cData->order == START) {
vl_error = i2c_Read(fd, i2cData->deviceAddress, buf, count);
if (vl_error < 0) {
i2c_Close(fd);
i2cData->error = I2cReadError ;
i2cData->state = DEACTIVATED ;
pthread_exit(NULL);
}
i2cData->error = NO_ERROR ;
usleep(1000);
}
i2c_Close(fd);
i2cData->error = NO_ERROR ;
i2cData->state = DEACTIVATED ;
pthread_exit(NULL);
}
