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fix: 修改I2C读逻辑

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alivender
2025-07-14 13:37:48 +08:00
parent c5f0e706a4
commit 2b1ee90af7
1 changed files with 39 additions and 5 deletions
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44
server/src/Peripherals/I2cClient.cs
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@@ -37,12 +37,12 @@ static class I2cAddr
/// <summary>
/// 0x0000_0004: FIFO读出口，仅低8位有效，只读
/// </summary>
public const UInt32 Read = Base + 0x0000_0003;
public const UInt32 Read = Base + 0x0000_0004;
/// <summary>
/// 0x0000_0005: [0] FIFO写入口清空；[8] FIFO读出口清空；
/// </summary>
public const UInt32 Clear = Base + 0x0000_0003;
public const UInt32 Clear = Base + 0x0000_0005;
}
/// <summary>
@@ -195,10 +195,11 @@ public class I2c
/// 从指定I2C设备读取数据
/// </summary>
/// <param name="devAddr">I2C设备地址</param>
/// <param name="data">要写入的数据（dummy数据）</param>
/// <param name="length">要读取的数据长度</param>
/// <param name="proto">I2C协议类型</param>
/// <returns>操作结果，成功返回读取到的数据，否则返回异常信息</returns>
public async ValueTask<Result<byte[]>> ReadData(UInt32 devAddr, int length, I2cProtocol proto)
public async ValueTask<Result<byte[]>> ReadData(UInt32 devAddr, byte[] data, int length, I2cProtocol proto)
{
if (length <= 0 || length > 0x0000_FFFF)
{
@@ -206,14 +207,47 @@ public class I2c
return new(new ArgumentException($"Read length {length} is invalid or exceeds maximum allowed 0x0000_FFFF"));
}
if (data.Length > 0x0000_FFFF)
{
logger.Error($"Data length {data.Length} exceeds maximum allowed 0x0000_FFFF");
return new(new ArgumentException($"Data length {data.Length} exceeds maximum allowed 0x0000_FFFF"));
}
// 清除UDP服务器接收缓冲区
await MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
logger.Trace($"Clear up udp server {this.address} receive data");
// 配置本次传输数据量
// 配置写FIFO内容，内容为data[]
{
var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, I2cAddr.TranConfig, ((uint)(length - 1)));
var i2cData = new byte[data.Length * 4];
int i = 0;
foreach (var item in data)
{
i2cData[i++] = 0x00;
i2cData[i++] = 0x00;
i2cData[i++] = 0x00;
i2cData[i++] = item;
}
var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, I2cAddr.Write, i2cData);
if (!ret.IsSuccessful)
{
logger.Error($"Failed to write data to I2C FIFO: {ret.Error}");
return new(ret.Error);
}
if (!ret.Value)
{
logger.Error("WriteAddr to I2C FIFO returned false");
return new(new Exception("Failed to write data to I2C FIFO"));
}
}
// 配置本次传输数据量：[15:0]为dummy长度（data.Length-1），[31:16]为读长度（length-1）
{
uint tranConfig = ((uint)(data.Length - 1)) | (((uint)(length - 1)) << 16);
var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, I2cAddr.TranConfig, tranConfig);
if (!ret.IsSuccessful)
{
logger.Error($"Failed to configure transfer length: {ret.Error}");