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116 lines
3.1 KiB
C
116 lines
3.1 KiB
C
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <stdlib.h>
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#include <string.h>
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#include <assert.h>
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#include <upm_utilities.h>
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#include "mb704x.h"
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// The delay to wait (in ms) for a ranging command to complete before
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// requesting the range data.
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#define MB704X_RANGE_DELAY (100)
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// range command
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#define MB704X_CMD_RANGE (81)
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mb704x_context mb704x_init(unsigned int bus, int addr)
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{
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// make sure MRAA is initialized
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int mraa_rv;
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if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
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{
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printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
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return NULL;
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}
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mb704x_context dev =
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(mb704x_context)malloc(sizeof(struct _mb704x_context));
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if (!dev)
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return NULL;
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// zero out context
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memset((void *)dev, 0, sizeof(struct _mb704x_context));
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// initialize the MRAA contexts
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if (!(dev->i2c = mraa_i2c_init(bus)))
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{
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printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__);
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mb704x_close(dev);
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return NULL;
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}
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if (mraa_i2c_address(dev->i2c, (uint8_t)addr))
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{
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printf("%s: mraa_i2c_address() failed.\n", __FUNCTION__);
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mb704x_close(dev);
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return NULL;
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}
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// max power up delay
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upm_delay_ms(135);
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return dev;
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}
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void mb704x_close(mb704x_context dev)
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{
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assert(dev != NULL);
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if (dev->i2c)
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mraa_i2c_stop(dev->i2c);
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free(dev);
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}
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int mb704x_get_range(const mb704x_context dev)
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{
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assert(dev != NULL);
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// first, send the range command.
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uint8_t cmd = MB704X_CMD_RANGE;
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if (mraa_i2c_write(dev->i2c, &cmd, 1))
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{
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printf("%s: mraa_i2c_write() failed.\n", __FUNCTION__);
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return -1;
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}
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// delay for measurement
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upm_delay_ms(MB704X_RANGE_DELAY);
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// At this point, we should be able to do our read of the data
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uint8_t buffer[2];
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if (mraa_i2c_read(dev->i2c, buffer, 2) != 2)
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{
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printf("%s: mraa_i2c_read() failed.\n", __FUNCTION__);
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return -1;
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}
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return ((buffer[0] << 8) | buffer[1]);
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}
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