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IIC added (#870)

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* IIC added

* Fixed bug with not detecting device
This commit is contained in:
Max 2019-08-28 03:57:21 +03:00 committed by Peli de Halleux
parent fb255edafe
commit db9b6a995b
2 changed files with 186 additions and 8 deletions
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193
libs/core/input.ts
View File

@ -25,8 +25,17 @@ namespace sensors.internal {
})
}
export function bufferToString(buf: Buffer): string {
let s = ''
for (let i = 0; i < buf.length; i++)
s += String.fromCharCode(buf[i])
return s
}
let analogMM: MMap
let uartMM: MMap
let IICMM: MMap
let devcon: Buffer
let sensorInfos: SensorInfo[]
@ -36,11 +45,13 @@ namespace sensors.internal {
sensors: Sensor[]
connType: number
devType: number
iicid: string
constructor(p: number) {
this.port = p
this.connType = DAL.CONN_NONE
this.devType = DAL.DEVICE_TYPE_NONE
this.iicid = ''
this.sensors = []
}
}
@ -57,6 +68,9 @@ namespace sensors.internal {
uartMM = control.mmap("/dev/lms_uart", UartOff.Size, 0)
if (!uartMM) control.fail("no uart sensor")
IICMM = control.mmap("/dev/lms_iic", IICOff.Size, 0)
if(!IICMM) control.fail("no iic sensor")
forever(() => {
detectDevices()
pause(500)
@ -89,6 +103,15 @@ namespace sensors.internal {
//serial.writeLine("UART " + port + " / " + mode + " - " + info)
}
export function readIICID(port: number) {
let buf = output.createBuffer(IICStr.Size)
buf[IICStr.Port] = port
IICMM.ioctl(IO.IIC_READ_TYPE_INFO, buf)
let Manufacturer = bufferToString(buf.slice(IICStr.Manufacturer, 8))
let SensorType = bufferToString(buf.slice(IICStr.SensorType, 8))
return Manufacturer + SensorType ;
}
export function getBatteryInfo(): { temp: number; current: number } {
init();
return {
@ -97,6 +120,7 @@ namespace sensors.internal {
}
}
let nonActivated = 0;
function detectDevices() {
let conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
let numChanged = 0
@ -114,6 +138,11 @@ namespace sensors.internal {
let uinfo = readUartInfo(info.port, 0)
info.devType = uinfo[TypesOff.Type]
control.dmesg(`UART type ${info.devType}`)
} else if(newConn == DAL.CONN_NXT_IIC){
control.dmesg(`new IIC connection at ${info.port}`)
info.devType = DAL.DEVICE_TYPE_IIC_UNKNOWN
info.iicid = readIICID(info.port)
control.dmesg(`IIC ID ${info.iicid.length}`)
} else if (newConn == DAL.CONN_INPUT_DUMB) {
control.dmesg(`new DUMB connection at ${info.port}`)
// TODO? for now assume touch
@ -125,19 +154,26 @@ namespace sensors.internal {
}
}
if (numChanged == 0)
if (numChanged == 0 && nonActivated == 0)
return
nonActivated = 0;
for (let si of sensorInfos) {
if (si.sensor && si.sensor._deviceType() != si.devType) {
si.sensor = null
}
if (si.devType != DAL.DEVICE_TYPE_NONE) {
// TODO figure out compiler problem when '|| null' is added here!
if(si.devType == DAL.DEVICE_TYPE_IIC_UNKNOWN){
si.sensor = si.sensors.filter(s => s._IICId() == si.iicid)[0]
if (!si.sensor) {
control.dmesg(`sensor not found for iicid=${si.iicid} at ${si.port}`)
nonActivated++;
}else{
control.dmesg(`sensor connected iicid=${si.iicid} at ${si.port}`)
si.sensor._activated()
}
}else if (si.devType != DAL.DEVICE_TYPE_NONE) {
si.sensor = si.sensors.filter(s => s._deviceType() == si.devType)[0]
if (si.sensor == null) {
if (!si.sensor) {
control.dmesg(`sensor not found for type=${si.devType} at ${si.port}`)
} else {
nonActivated++;
}else{
control.dmesg(`sensor connected type=${si.devType} at ${si.port}`)
si.sensor._activated()
}
@ -187,6 +223,10 @@ namespace sensors.internal {
_deviceType() {
return 0
}
_IICId() {
return ''
}
}
export class AnalogSensor extends Sensor {
@ -242,6 +282,55 @@ namespace sensors.internal {
}
}
export class IICSensor extends Sensor {
protected mode: number // the mode user asked for
protected realmode: number // the mode the hardware is in
private readLength: number
constructor(port: number) {
super(port)
this.mode = 0
this.realmode = 0
this.readLength = 1;
}
_activated() {
this.realmode = 0
this._setMode(this.mode)
}
protected _setMode(m: number) {
let v = m | 0
this.mode = v
if (!this.isActive()) return
if (this.realmode != this.mode) {
this.realmode = v
setIICMode(this._port, this._deviceType() ,v)
}
}
getBytes(): Buffer {
return getIICBytes(this.isActive() ? this._port : -1, this.readLength)
}
getNumber(fmt: NumberFormat, off: number) {
if (!this.isActive())
return 0
return getIICNumber(this.readLength, fmt, off, this._port)
}
transaction(deviceAddress: number, write: number[], read: number){
this.readLength = read;
transactionIIC(this._port, deviceAddress, write, read)
}
_deviceType (){
return DAL.DEVICE_TYPE_IIC_UNKNOWN
}
}
export const iicsensor = new IICSensor(3)
function uartReset(port: number) {
if (port < 0) return
control.dmesg(`UART reset at ${port}`)
@ -321,6 +410,48 @@ namespace sensors.internal {
UartOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index + off)
}
export function setIICMode(port: number, type: number, mode: number){
if(port < 0)return;
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NXT_IIC)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, type)
devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
IICMM.ioctl(IO.IIC_SET_CONN, devcon)
}
export function transactionIIC(port: number, deviceAddress: number, writeBuf: number[], readLen: number){
if(port < 0)return;
let iicdata = output.createBuffer(IICDat.Size)
iicdata.setNumber(NumberFormat.Int8LE, IICDat.Port, port)
iicdata.setNumber(NumberFormat.Int8LE, IICDat.Repeat, 0)
iicdata.setNumber(NumberFormat.Int16LE, IICDat.Time, 0)
iicdata.setNumber(NumberFormat.Int8LE, IICDat.WrLng, writeBuf.length + 1)
for(let i = 0; i< writeBuf.length; i++)
iicdata.setNumber(NumberFormat.Int8LE, IICDat.WrData + i + 1, writeBuf[i])
iicdata.setNumber(NumberFormat.Int8LE, IICDat.WrData, deviceAddress)
iicdata.setNumber(NumberFormat.Int8LE, IICDat.RdLng, readLen)
IICMM.ioctl(IO.IIC_SETUP, iicdata)
}
export function getIICBytes(port: number, length: number) {
if (port < 0) return output.createBuffer(length);
let index = IICMM.getNumber(NumberFormat.UInt16LE, IICOff.Actual + port * 2);
let buf = IICMM.slice(
IICOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index,
length
);
// Reverse
for (let i = 0; i < length / 2; i++) {
let c = buf[i]
buf[i] = buf[length - i - 1]
buf[length - i - 1] = c
}
return buf;
}
export function getIICNumber(length: number, format: NumberFormat, off: number, port: number) {
return getIICBytes(port, length).getNumber(format, off)
}
const enum NxtColOff {
Calibration = 0, // uint32[4][3]
@ -404,6 +535,52 @@ namespace sensors.internal {
Size = 58
}
const enum IICOff {
TypeData = 0, // Types[8][4]
Repeat = 1792, // uint16[300][4]
Raw = 4192, // int8[32][300][4]
Actual = 42592, // uint16[4]
LogIn = 42600, // uint16[4]
Status = 42608, // int8[4]
Output = 42612, // int8[32][4]
OutputLength = 42740, // int8[4]
Size = 42744
}
const enum IICCtlOff {
TypeData = 0, // Types
Port = 56, // int8
Mode = 57, // int8
Size = 58
}
const enum IICDat {
Result = 0, // result
Port = 4, // int8
Repeat = 5, // int8
Time = 6, // int16
WrLng = 8, // int8
WrData = 9, // int8[32]
RdLng = 41, // int8
RdData = 42, //int8[32]
Size = 74,
}
const enum IICStr {
Port = 0, // int8
Time = 2, // int16
Type = 4, // int8
Mode = 5, // int8
Manufacturer = 6, // int8[9]
SensorType = 15, // int[9]
SetupLng = 24, // int8
SetupString = 28, // ulong
PollLng = 32, // int8
PollString = 36, // ulong
ReadLng = 40, // int8
Size = 44
}
const enum IO {
UART_SET_CONN = 0xc00c7500,
UART_READ_MODE_INFO = 0xc03c7501,

1
sim/state/input.ts
View File

@ -27,6 +27,7 @@ namespace pxsim.sensors {
export function __sensorUsed(port: number, type: number) {
//console.log("SENSOR INIT " + port + ", type: " + type);
if (type == DAL.DEVICE_TYPE_IIC_UNKNOWN) return; // Ignore IIC
if (!ev3board().hasSensor(port)) {
const sensor = ev3board().getSensor(port, type);
runtime.queueDisplayUpdate();