hekateros::HekSysBoard Class Reference

Public Member Functions
	HekSysBoard ()
	Default constructor.
virtual	~HekSysBoard ()
	Destructor.
virtual int	open (const std::string &dev=HekI2CDevice)
	Open all interfaces monitoring hardware. More...
virtual int	close ()
	Close all interfaces to monitoring hardware. More...
virtual int	scan ()
	Scan and initialize hardware. More...
virtual int	cmdReadFwVersion (int &ver)
	Command to read firmware version. More...
virtual byte_t	cmdReadLimits ()
	Command to read limit bit state. More...
virtual byte_t	cmdReadAux ()
	Command to read auxilliary bit state. More...
virtual int	cmdReadPin (int id)
	Command to read one I/O pin. More...
virtual int	cmdWritePin (int id, int val)
	Command to write value to an I/O pin. More...
virtual int	cmdConfigPin (int id, char dir)
	Command to configure direction of an I/O pin. More...
virtual int	cmdSetAlarmLED (int val)
	Command to set Alarm LED. More...
virtual int	cmdSetStatusLED (int val)
	Command to set Status LED. More...
virtual int	cmdSetHaltingState ()
	Command to set monitoring state to halting. More...

Protected Member Functions
byte_t	readIOExp (byte_t byCmd)
	Read I/O expander byte. More...
byte_t	readIOExpPort0 ()
	Read I/O expander port 0. More...
byte_t	readIOExpPort1 ()
	Read I/O expander port 1. More...
int	writeIOExp (byte_t byCmd, byte_t byVal)
	Write byte to I/O expander. More...

Protected Attributes
i2c_struct	m_i2c
	i2c bus

Detailed Description

Definition at line 67 of file hekSysBoard.h.

Member Function Documentation

int HekSysBoard::close ( )

virtual

Close all interfaces to monitoring hardware.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 122 of file hekSysBoard.cxx.

Referenced by ~HekSysBoard().

{
  if( m_i2c.fd >= 0 )
  {
    i2c_close(&m_i2c);
    m_i2c.fd    = -1;
    m_i2c.addr  = 0;
  }

  return HEK_OK;
}

int HekSysBoard::cmdConfigPin ( int  id, char  dir  )

virtual

Command to configure direction of an I/O pin.

Parameters

id	Pin identifier.
dir	Pin direction 'i' or 'o'.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 254 of file hekSysBoard.cxx.

Referenced by ~HekSysBoard().

{
  // TODO
  return HEK_OK;
}

byte_t HekSysBoard::cmdReadAux ( )

virtual

Command to read auxilliary bit state.

Auxillary bits are usually End Effector GPIO, but allows room for additional bits.

Returns

Returns auxilliary switches state as a bit packed byte.

Definition at line 162 of file hekSysBoard.cxx.

Referenced by ~HekSysBoard().

{
  byte_t  cmd = HekIOExpCmdInput1;
  byte_t  val = 0;

#ifdef TGT_EMBEDDED
  if(i2c_transfer(&m_i2c, HekIOExpI2CAddr, &cmd, 1, &val, 1) < 0)
  {
    LOGSYSERROR("i2c_transfer: %s: addr=0x%.02x, command=%u.",
        HekI2CDevice, HekIOExpI2CAddr, cmd);
  }
#endif // TGT_EMBEDDED

  return val;
}

int HekSysBoard::cmdReadFwVersion ( int &  ver )

virtual

Command to read firmware version.

param [out] ver Version number.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 139 of file hekSysBoard.cxx.

Referenced by ~HekSysBoard().

{
  ver = 0;

  return HEK_OK;
}

byte_t HekSysBoard::cmdReadLimits ( )

virtual

Command to read limit bit state.

Returns

Returns limit switches state as a bit packed byte.

Definition at line 146 of file hekSysBoard.cxx.

Referenced by ~HekSysBoard().

{
  byte_t  cmd = HekIOExpCmdInput0;
  byte_t  val = 0;

#ifdef TGT_EMBEDDED
  if(i2c_transfer(&m_i2c, HekIOExpI2CAddr, &cmd, 1, &val, 1) < 0)
  {
    LOGSYSERROR("i2c_transfer: %s: addr=0x%.02x, command=%u.",
        HekI2CDevice, HekIOExpI2CAddr, cmd);
  }
#endif // TGT_EMBEDDED

  return val;
}

int HekSysBoard::cmdReadPin ( int  id )

virtual

Command to read one I/O pin.

Parameters

id	Pin identifier.

Returns

Return pin state 0 or 1.

Definition at line 178 of file hekSysBoard.cxx.

Referenced by ~HekSysBoard().

{
  byte_t  cmd;
  int     shift;
  byte_t  mask;
  byte_t  bits = 0;
  int     val = 0;

  if( id < 8 )
  {
    cmd = HekIOExpCmdInput0;
    shift = id;
  }
  else
  {
    cmd = HekIOExpCmdInput1;
    shift = id - 8;
  }

  mask = 0x01 << shift;

#ifdef TGT_EMBEDDED
  if(i2c_transfer(&m_i2c, HekIOExpI2CAddr, &cmd, 1, &bits, 1) < 0)
  {
    LOGSYSERROR("i2c_transfer: %s: addr=0x%.02x, command=%u.",
        HekI2CDevice, HekIOExpI2CAddr, cmd);
  }
  else if( bits & mask )
  {
    val = 1;
  }
#endif // TGT_EMBEDDED

  return val;
}

int HekSysBoard::cmdSetAlarmLED ( int  val )

virtual

Command to set Alarm LED.

Parameters

val	LED 0==off or 1==on value.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 260 of file hekSysBoard.cxx.

Referenced by ~HekSysBoard().

{
  // TODO overio gpio
  return HEK_OK;
}

int HekSysBoard::cmdSetHaltingState ( )

virtual

Command to set monitoring state to halting.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 272 of file hekSysBoard.cxx.

Referenced by ~HekSysBoard().

{
  // not supported
  return HEK_OK;
}

int HekSysBoard::cmdSetStatusLED ( int  val )

virtual

Command to set Status LED.

Parameters

val	LED 0==off or 1==on value.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 266 of file hekSysBoard.cxx.

Referenced by ~HekSysBoard().

{
  // not supported
  return HEK_OK;
}

int HekSysBoard::cmdWritePin ( int  id, int  val  )

virtual

Command to write value to an I/O pin.

Parameters

id	Pin identifier.
val	Pin state 0 or 1.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 214 of file hekSysBoard.cxx.

Referenced by ~HekSysBoard().

{
  byte_t  cmd;
  int     shift;
  byte_t  mask;
  byte_t  bits;
  byte_t  buf[2];

  if( id < 8 )
  {
    cmd = HekIOExpCmdInput0;
    shift = id;
    bits = cmdReadLimits();
  }
  else
  {
    cmd = HekIOExpCmdInput0;
    shift = id;
    bits = cmdReadAux();
  }

  mask = 0x01 << shift;
  bits = (bits & ~mask) | (val & mask);

  buf[0] = cmd;
  buf[1] = bits;

#ifdef TGT_EMBEDDED
  if(i2c_write(&m_i2c, HekIOExpI2CAddr, buf, 2) < 0)
  {
    LOGSYSERROR("i2c_write: %s: addr=0x%.02x, command=%u.",
        HekI2CDevice, HekIOExpI2CAddr, cmd);
    return -HEK_ECODE_SYS;
  }
#endif // TGT_EMBEDDED

  return HEK_OK;

}

int HekSysBoard::open ( const std::string &  dev = HekI2CDevice )

virtual

Open all interfaces monitoring hardware.

< off hekateros target

Parameters

dev	I2C device.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 72 of file hekSysBoard.cxx.

Referenced by ~HekSysBoard().

{
  byte_t  val;
  int     rc;

  m_i2c.fd    = -1;
  m_i2c.addr  = HekIOExpI2CAddr;

#ifdef TGT_EMBEDDED

  // open i2c device
  if( i2c_open(&m_i2c, dev.c_str()) < 0 )
  {
    LOGSYSERROR("%s.", dev.c_str());
    return -HEK_ECODE_NO_DEV;
  }

  LOGDIAG3("Hekateros i2c bus hardware initialized successfully.");

  //
  // Set required i/o expansion configuration.
  //
 
  // port 0 polarity
  val = readIOExp(HekIOExpCmdPolarity0);

  if( val != HekIOExpConstPolarity0 )
  {
    if( (rc = writeIOExp(HekIOExpCmdPolarity0, HekIOExpConstPolarity0)) < 0 )
    {
      return rc;
    } 
  }

  // port 0 input/output direction
  val = readIOExp(HekIOExpCmdConfig0);

  if( val != HekIOExpConstConfig0 )
  {
    if( (rc = writeIOExp(HekIOExpCmdConfig0, HekIOExpConstConfig0)) < 0 )
    {
      return rc;
    } 
  }

#endif // TGT_EMBEDDED

  return HEK_OK;
}

byte_t HekSysBoard::readIOExp ( byte_t  byCmd )

protected

Read I/O expander byte.

Parameters

byCmd

I/O expander command.

Returns

Byte value.

Definition at line 278 of file hekSysBoard.cxx.

Referenced by readIOExpPort0(), and readIOExpPort1().

{
  byte_t  byVal = 0;

#ifdef TGT_EMBEDDED
  if(i2c_transfer(&m_i2c, HekIOExpI2CAddr, &byCmd, 1, &byVal, 1) < 0)
  {
    LOGSYSERROR("i2c_transfer: %s: addr=0x%.02x, command=%u.",
        HekI2CDevice, HekIOExpI2CAddr, byCmd);
  }
#endif // TGT_EMBEDDED

  return byVal;
}

byte_t hekateros::HekSysBoard::readIOExpPort0 ( )

inlineprotected

Read I/O expander port 0.

All optical limit switches are tied to port 0.

Returns

Port 0 byte value.

Definition at line 210 of file hekSysBoard.h.

References hekateros::HekIOExpCmdInput0, and readIOExp().

    {
      return readIOExp(HekIOExpCmdInput0);
    }

byte_t hekateros::HekSysBoard::readIOExpPort1 ( )

inlineprotected

Read I/O expander port 1.

All end effector i/o are tied to port 1.

Returns

Port 1 byte value.

Definition at line 222 of file hekSysBoard.h.

References hekateros::HekIOExpCmdInput1, readIOExp(), and writeIOExp().

    {
      return readIOExp(HekIOExpCmdInput1);
    }

int HekSysBoard::scan ( )

virtual

Scan and initialize hardware.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 134 of file hekSysBoard.cxx.

Referenced by ~HekSysBoard().

{
  return HEK_OK;
}

int HekSysBoard::writeIOExp ( byte_t  byCmd, byte_t  byVal  )

protected

Write byte to I/O expander.

Parameters

byCmd	I/O expander command.
Byte	value.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 293 of file hekSysBoard.cxx.

Referenced by readIOExpPort1().

{
  byte_t  buf[2];

  buf[0] = byCmd;
  buf[1] = byVal;

#ifdef TGT_EMBEDDED
  if(i2c_write(&m_i2c, HekIOExpI2CAddr, buf, 2) < 0)
  {
    LOGSYSERROR("i2c_write: %s: addr=0x%.02x, command=%u.",
        HekI2CDevice, HekIOExpI2CAddr, byCmd);
    return -HEK_ECODE_SYS;
  }
#endif // TGT_EMBEDDED

  return HEK_OK;
}

---

The documentation for this class was generated from the following files:

• include/Hekateros/hekSysBoard.h
• sw/libhekateros/hekSysBoard.cxx