spdis
158 lines
3.8 KiB
C++
158 lines
3.8 KiB
C++
/*
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* @Author: Ilikara 3435193369@qq.com
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* @Date: 2025-02-11 15:23:11
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* @LastEditors: ilikara 3435193369@qq.com
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* @LastEditTime: 2025-03-10 13:06:56
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* @FilePath: /2k300_smartcar/wonderEcho_demo/wonderEcho_demo.cpp
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* @Description:
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*
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* Copyright (c) 2025 by ${git_name_email}, All Rights Reserved.
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*/
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#include <iostream>
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#include <fcntl.h>
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#include <unistd.h>
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#include <sys/ioctl.h>
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#include <linux/i2c-dev.h>
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#include <linux/i2c.h>
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#include <thread>
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#include <atomic>
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#include <mutex>
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std::mutex i2c_mutex; // 互斥锁，用于保护I2C设备访问
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std::atomic<bool> running{true}; // 控制线程运行状态
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int i2c_read_byte_data(int file, __u8 reg)
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{
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union i2c_smbus_data data;
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struct i2c_smbus_ioctl_data args;
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args.read_write = I2C_SMBUS_READ;
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args.command = reg;
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args.size = I2C_SMBUS_BYTE_DATA;
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args.data = &data;
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if (ioctl(file, I2C_SMBUS, &args) == -1)
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{
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return -1;
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}
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return data.byte & 0xFF;
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}
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int i2c_write_i2c_block_data(int file, __u8 reg, __u8 length, const __u8 *values)
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{
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union i2c_smbus_data data;
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struct i2c_smbus_ioctl_data args;
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if (length > I2C_SMBUS_BLOCK_MAX)
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{
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return -1;
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}
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for (int i = 0; i < length; i++)
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{
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data.block[i + 1] = values[i];
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}
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data.block[0] = length;
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args.read_write = I2C_SMBUS_WRITE;
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args.command = reg;
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args.size = I2C_SMBUS_I2C_BLOCK_DATA;
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args.data = &data;
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if (ioctl(file, I2C_SMBUS, &args) == -1)
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{
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return -1;
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}
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return 0;
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}
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// 轮询线程函数
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void poll_i2c_device(int file)
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{
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while (running)
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{
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{
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std::lock_guard<std::mutex> lock(i2c_mutex); // 加锁
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__u8 reg = 0x64;
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__u8 value = i2c_read_byte_data(file, reg);
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if (value != 0x00)
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{
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std::cout << "Value at 0x64 is not 0x00: " << std::hex << (int)value << std::endl;
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}
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(1000)); // 1Hz轮询
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}
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}
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// 用户输入线程函数
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void handle_user_input(int file)
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{
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while (running)
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{
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__u8 data[2];
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std::cout << "Enter two bytes to send to 0x6e (first byte must be 0x00 or 0xFF): ";
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std::cin >> std::hex >> (int &)data[0] >> (int &)data[1];
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// 检查第一个字节是否为0x00或0xFF
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if (data[0] != 0x00 && data[0] != 0xFF)
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{
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std::cerr << "First byte must be 0x00 or 0xFF!" << std::endl;
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continue;
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}
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{
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std::lock_guard<std::mutex> lock(i2c_mutex); // 加锁
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__u8 reg = 0x6e;
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if (i2c_write_i2c_block_data(file, reg, sizeof(data), data) < 0)
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{
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std::cerr << "Failed to write to the i2c device" << std::endl;
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}
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else
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{
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std::cout << "Data sent successfully: " << std::hex << (int)data[0] << " " << (int)data[1] << std::endl;
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}
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}
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}
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}
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int main()
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{
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int file;
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const char *filename = "/dev/i2c-2"; // I2C总线设备文件
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int addr = 0x34; // I2C设备地址
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// 打开I2C设备
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if ((file = open(filename, O_RDWR)) < 0)
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{
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std::cerr << "Failed to open the i2c bus" << std::endl;
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return 1;
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}
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// 设置I2C设备地址
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if (ioctl(file, I2C_SLAVE, addr) < 0)
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{
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std::cerr << "Failed to acquire bus access and/or talk to slave" << std::endl;
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close(file);
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return 1;
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}
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// 创建轮询线程和用户输入线程
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std::thread poll_thread(poll_i2c_device, file);
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std::thread input_thread(handle_user_input, file);
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// 等待用户输入线程结束（按Ctrl+C退出）
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input_thread.join();
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// 停止轮询线程
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running = false;
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poll_thread.join();
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// 关闭I2C设备
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close(file);
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return 0;
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}
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