316 lines
11 KiB
C#
316 lines
11 KiB
C#
using System.Net;
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using DotNext;
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namespace Peripherals.I2cClient;
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static class I2cAddr
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{
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const UInt32 Base = 0x6000_0000;
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/// <summary>
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/// 0x0000_0000:
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/// [7:0] 本次传输的i2c地址(最高位总为0);
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/// [8] 1为读，0为写;
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/// [16] 1为SCCB协议，0为I2C协议;
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/// [24] 1为开启本次传输，自动置零
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/// </summary>
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public const UInt32 BaseConfig = Base + 0x0000_0000;
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/// <summary>
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/// 0x0000_0001:
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/// [15:0] 本次传输的数据量（以字节为单位，0为传1个字节）;
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/// [31:16] 若本次传输为读的DUMMY数据量（字节为单位，0为传1个字节）
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/// </summary>
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public const UInt32 TranConfig = Base + 0x0000_0001;
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/// <summary>
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/// 0x0000_0002: [0] cmd_done; [8] cmd_error;
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/// </summary>
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public const UInt32 Flag = Base + 0x0000_0002;
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/// <summary>
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/// 0x0000_0003: FIFO写入口，仅低8位有效，只写
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/// </summary>
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public const UInt32 Write = Base + 0x0000_0003;
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/// <summary>
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/// 0x0000_0004: FIFO读出口，仅低8位有效，只读
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/// </summary>
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public const UInt32 Read = Base + 0x0000_0004;
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/// <summary>
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/// 0x0000_0005: [0] FIFO写入口清空；[8] FIFO读出口清空；
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/// </summary>
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public const UInt32 Clear = Base + 0x0000_0005;
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}
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/// <summary>
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/// [TODO:Enum]
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/// </summary>
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public enum I2cProtocol
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{
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/// <summary>
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/// [TODO:Enum]
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/// </summary>
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I2c = 0,
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/// <summary>
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/// [TODO:Enum]
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/// </summary>
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SCCB = 1
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}
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/// <summary>
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/// [TODO:description]
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/// </summary>
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public class I2c
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{
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private static readonly NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
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readonly int timeout = 2000;
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readonly int taskID;
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readonly int port;
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readonly string address;
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private IPEndPoint ep;
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/// <summary>
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/// [TODO:description]
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/// </summary>
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/// <param name="address">[TODO:parameter]</param>
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/// <param name="port">[TODO:parameter]</param>
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/// <param name="taskID">[TODO:parameter]</param>
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/// <param name="timeout">[TODO:parameter]</param>
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/// <returns>[TODO:return]</returns>
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public I2c(string address, int port, int taskID, int timeout = 2000)
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{
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if (timeout < 0)
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throw new ArgumentException("Timeout couldn't be negative", nameof(timeout));
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this.address = address;
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this.taskID = taskID;
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this.port = port;
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this.ep = new IPEndPoint(IPAddress.Parse(address), port);
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this.timeout = timeout;
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}
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/// <summary>
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/// 向指定I2C设备写入数据
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/// </summary>
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/// <param name="devAddr">I2C设备地址</param>
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/// <param name="data">要写入的数据</param>
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/// <param name="proto">I2C协议类型</param>
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/// <returns>操作结果，成功返回true，否则返回异常信息</returns>
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public async ValueTask<Result<bool>> WriteData(UInt32 devAddr, byte[] data, I2cProtocol proto)
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{
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if (data.Length > 0x0000_FFFF)
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{
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logger.Error($"Data length {data.Length} exceeds maximum allowed 0x0000_FFFF");
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return new(new ArgumentException($"Data length {data.Length} exceeds maximum allowed 0x0000_FFFF"));
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}
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// 清除UDP服务器接收缓冲区
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MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
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logger.Trace($"Clear up udp server {this.address} receive data");
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// 写入数据到I2C FIFO写入口
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{
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var i2cData = new byte[data.Length * 4];
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int i = 0;
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foreach (var item in data)
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{
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i2cData[i++] = 0x00;
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i2cData[i++] = 0x00;
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i2cData[i++] = 0x00;
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i2cData[i++] = item;
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}
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var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, I2cAddr.Write, i2cData);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to write data to I2C FIFO: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error("WriteAddr to I2C FIFO returned false");
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return new(new Exception("Failed to write data to I2C FIFO"));
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}
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}
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// 配置本次传输数据量
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{
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var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, I2cAddr.TranConfig, ((uint)(data.Length - 1)));
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to configure transfer length: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error("WriteAddr to TranConfig returned false");
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return new(new Exception("Failed to configure transfer length"));
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}
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}
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// 配置I2C地址、协议及启动传输
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{
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var ret = await UDPClientPool.WriteAddr(
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this.ep, this.taskID, I2cAddr.BaseConfig, (devAddr) | (((uint)proto) << 16) | (1 << 24));
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to configure I2C address/protocol/start: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error("WriteAddr to BaseConfig returned false");
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return new(new Exception("Failed to configure I2C address/protocol/start"));
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}
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}
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// 等待I2C命令完成
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{
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var ret = await UDPClientPool.ReadAddrWithWait(this.ep, this.taskID, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF, 10);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to wait for I2C command completion: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error("ReadAddrWithWait for I2C command completion returned false");
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return new(new Exception("I2C command did not complete successfully"));
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}
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}
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return true;
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}
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/// <summary>
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/// 从指定I2C设备读取数据
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/// </summary>
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/// <param name="devAddr">I2C设备地址</param>
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/// <param name="data">要写入的数据（dummy数据）</param>
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/// <param name="dataReadLength">要读取的数据长度</param>
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/// <param name="proto">I2C协议类型</param>
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/// <returns>操作结果，成功返回读取到的数据，否则返回异常信息</returns>
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public async ValueTask<Result<byte[]>> ReadData(UInt32 devAddr, byte[] data, int dataReadLength, I2cProtocol proto)
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{
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if (dataReadLength < 1 || dataReadLength > 0x0000_FFFF)
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{
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logger.Error($"Read length {dataReadLength} is invalid or exceeds maximum allowed 0x0000_FFFF");
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return new(new ArgumentException($"Read length {dataReadLength} is invalid or exceeds maximum allowed 0x0000_FFFF"));
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}
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if (data.Length > 0x0000_FFFF)
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{
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logger.Error($"Data length {data.Length} exceeds maximum allowed 0x0000_FFFF");
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return new(new ArgumentException($"Data length {data.Length} exceeds maximum allowed 0x0000_FFFF"));
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}
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// 清除UDP服务器接收缓冲区
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MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
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logger.Trace($"Clear up udp server {this.address} receive data");
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// 配置写FIFO内容，内容为data[]
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{
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var i2cData = new byte[data.Length * 4];
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int i = 0;
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foreach (var item in data)
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{
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i2cData[i++] = 0x00;
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i2cData[i++] = 0x00;
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i2cData[i++] = 0x00;
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i2cData[i++] = item;
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}
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var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, I2cAddr.Write, i2cData);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to write data to I2C FIFO: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error("WriteAddr to I2C FIFO returned false");
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return new(new Exception("Failed to write data to I2C FIFO"));
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}
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}
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// 配置本次传输数据量：[15:0]为读长度（length-1），[31:16]为dummy长度（data.Length-1）
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{
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uint tranConfig = ((uint)(dataReadLength - 1)) | (((uint)(data.Length - 1)) << 16);
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var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, I2cAddr.TranConfig, tranConfig);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to configure transfer length: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error("WriteAddr to TranConfig returned false");
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return new(new Exception("Failed to configure transfer length"));
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}
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}
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// 配置I2C地址、协议及启动传输（读操作）
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{
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var ret = await UDPClientPool.WriteAddr(
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this.ep, this.taskID, I2cAddr.BaseConfig, (devAddr) | (1 << 8) | (((uint)proto) << 16) | (1 << 24));
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to configure I2C address/protocol/start: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error("WriteAddr to BaseConfig returned false");
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return new(new Exception("Failed to configure I2C address/protocol/start"));
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}
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}
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// 等待I2C命令完成
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{
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var ret = await UDPClientPool.ReadAddrWithWait(this.ep, this.taskID, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF, 10);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to wait for I2C command completion: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error("ReadAddrWithWait for I2C command completion returned false");
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return new(new Exception("I2C command did not complete successfully"));
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}
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}
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// 读取数据
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{
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var ret = await UDPClientPool.ReadAddr(this.ep, this.taskID, I2cAddr.Read);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to read data from I2C FIFO: {ret.Error}");
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return new(ret.Error);
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}
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if (ret.Value.Options.Data == null)
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{
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logger.Error($"ReadAddr returned unexpected data length: {ret.Value.Options.Data?.Length ?? 0}");
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return new(new Exception("Failed to read expected amount of data from I2C FIFO"));
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}
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return ret.Value.Options.Data[3..]; // 返回读取到的数据，跳过前3个字节
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}
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}
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}
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