a752c7ab
 elopes
add first test an...
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/*
* Copyright (C) 2017 Inria
*
* This file is subject to the terms and conditions of the GNU Lesser General
* Public License v2.1. See the file LICENSE in the top level directory for more
* details.
*/
/**
* @ingroup drivers_feetech
* @{
*
* @file
* @brief Driver implementation for Feetech devices
*
* @author Loïc Dauphin <loic.dauphin@inria.fr>
*
* @}
*/
#include "feetech.h"
#include "feetech_protocol.h"
#include "feetech_reader.h"
#include "feetech_writer.h"
#include "periph/uart.h"
#include "xtimer.h"
#include "byteorder.h"
#include <string.h>
void feetech_init(feetech_t *device, uart_half_duplex_t *stream, feetech_id_t id)
{
device->stream = stream;
device->id = id;
}
int feetech_ping(uart_half_duplex_t *stream, feetech_id_t id)
{
feetech_writer_t pw;
uart_half_duplex_set_tx(stream);
feetech_writer_init(&pw, stream->buffer, stream->size);
feetech_writer_ping_make(&pw, id);
uart_half_duplex_send(stream, pw.size);
uart_half_duplex_set_rx(stream);
if (uart_half_duplex_recv(stream, FEETECH_ACK_SIZE) != FEETECH_ACK_SIZE) {
return FEETECH_TIMEOUT;
}
return FEETECH_OK;
}
int feetech_write(const feetech_t *device, feetech_addr_t reg, const uint8_t *data, size_t length)
{
uart_half_duplex_set_tx(device->stream);
if (device->stream->size < length) {
return FEETECH_BUFFER_TOO_SMALL;
}
feetech_writer_t pw;
feetech_writer_init(&pw, device->stream->buffer, device->stream->size);
feetech_writer_write_make(&pw, device->id, reg, data, length);
uart_half_duplex_send(device->stream, pw.size);
uart_half_duplex_set_rx(device->stream);
if (uart_half_duplex_recv(device->stream, FEETECH_ACK_SIZE) != FEETECH_ACK_SIZE) {
return FEETECH_TIMEOUT;
}
return FEETECH_OK;
}
int feetech_write8(const feetech_t *device, feetech_addr_t reg, uint8_t value)
{
return feetech_write(device, reg, &value, 1);
}
int feetech_write16(const feetech_t *device, feetech_addr_t reg, uint16_t value)
{
value = htons(value);
return feetech_write(device, reg, (uint8_t*)&value, 2);
}
int feetech_read(const feetech_t *device, feetech_addr_t reg, uint8_t *data, size_t length)
{
uart_half_duplex_set_tx(device->stream);
if (device->stream->size < length) {
return FEETECH_BUFFER_TOO_SMALL;
}
feetech_writer_t pw;
feetech_writer_init(&pw, device->stream->buffer, device->stream->size);
feetech_writer_read_make(&pw, device->id, reg, length);
uart_half_duplex_send(device->stream, pw.size);
uart_half_duplex_set_rx(device->stream);
const size_t esize = FEETECH_RESPONSE_SIZE(length);
if (uart_half_duplex_recv(device->stream, esize) != esize) {
return FEETECH_TIMEOUT;
}
feetech_reader_t pr;
feetech_reader_init(&pr, device->stream->buffer, esize);
if (!feetech_reader_is_valid(&pr)) {
return FEETECH_INVALID_MESSAGE;
}
if (feetech_reader_response_get_payload_size(&pr) != length) {
return FEETECH_INVALID_MESSAGE;
}
memcpy(data, feetech_reader_response_get_payload(&pr), length);
return FEETECH_OK;
}
int feetech_read8(const feetech_t *device, feetech_addr_t reg, uint8_t *value)
{
return feetech_read(device, reg, value, 1);
}
int feetech_read16(const feetech_t *device, feetech_addr_t reg, uint16_t *value)
{
const int ret = feetech_read(device, reg, (uint8_t*)value, 2);
if (ret == FEETECH_OK) {
*value = ntohs(*value);
}
return ret;
}
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