Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : /*
      16             :   handle device operations over MAVLink
      17             :  */
      18             : 
      19             : #include "GCS_config.h"
      20             : 
      21             : #if AP_MAVLINK_MSG_DEVICE_OP_ENABLED
      22             : 
      23             : #include <AP_HAL/AP_HAL.h>
      24             : #include <AP_HAL/Device.h>
      25             : #include <AP_HAL/I2CDevice.h>
      26             : #include "GCS.h"
      27             : #include <stdio.h>
      28             : 
      29             : extern const AP_HAL::HAL& hal;
      30             : 
      31             : /*
      32             :   handle DEVICE_OP_READ message
      33             :  */
      34           0 : void GCS_MAVLINK::handle_device_op_read(const mavlink_message_t &msg)
      35             : {
      36             :     mavlink_device_op_read_t packet;
      37           0 :     mavlink_msg_device_op_read_decode(&msg, &packet);
      38           0 :     AP_HAL::Device *dev = nullptr;
      39           0 :     uint8_t retcode = 0;
      40           0 :     uint8_t data[sizeof(mavlink_device_op_read_reply_t::data)] {};
      41           0 :     bool ret = false;
      42           0 :     uint8_t regstart = packet.regstart;
      43             : 
      44           0 :     if (packet.bustype == DEVICE_OP_BUSTYPE_I2C) {
      45           0 :         dev = hal.i2c_mgr->get_device_ptr(packet.bus, packet.address);
      46           0 :     } else if (packet.bustype == DEVICE_OP_BUSTYPE_SPI) {
      47           0 :         dev = hal.spi->get_device_ptr(packet.busname);
      48             :     } else {
      49           0 :         retcode = 1;
      50           0 :         goto fail;
      51             :     }
      52           0 :     if (!dev) {
      53           0 :         retcode = 2;
      54           0 :         goto fail;
      55             :     }
      56           0 :     if (packet.count > sizeof(data)) {
      57           0 :         retcode = 5;
      58           0 :         goto fail;
      59             :     }
      60           0 :     if (!dev->get_semaphore()->take(10)) {
      61           0 :         retcode = 3;
      62           0 :         goto fail;        
      63             :     }
      64           0 :     if (regstart == 0xff) {
      65             :         // assume raw transfer, non-register interface
      66           0 :         ret = dev->transfer_bank(packet.bank, nullptr, 0, data, packet.count);
      67             :         // reply using register start 0 for display purposes
      68           0 :         regstart = 0;
      69             :     } else {
      70           0 :         ret = dev->read_bank_registers(packet.bank, packet.regstart, data, packet.count);
      71             :     }
      72           0 :     dev->get_semaphore()->give();
      73           0 :     if (!ret) {
      74           0 :         retcode = 4;
      75           0 :         goto fail;
      76             :     }
      77           0 :     mavlink_msg_device_op_read_reply_send(
      78             :         chan,
      79             :         packet.request_id,
      80             :         retcode,
      81             :         regstart,
      82           0 :         packet.count,
      83             :         data,
      84           0 :         packet.bank);
      85           0 :     delete dev;
      86           0 :     return;
      87             : 
      88           0 : fail:
      89           0 :     mavlink_msg_device_op_read_reply_send(
      90             :         chan,
      91             :         packet.request_id,
      92             :         retcode,
      93           0 :         packet.regstart,
      94             :         0,
      95             :         nullptr,
      96           0 :         packet.bank);
      97           0 :     delete dev;
      98             : }
      99             : 
     100             : /*
     101             :   handle DEVICE_OP_WRITE message
     102             :  */
     103           0 : void GCS_MAVLINK::handle_device_op_write(const mavlink_message_t &msg)
     104             : {
     105             :     mavlink_device_op_write_t packet;
     106           0 :     mavlink_msg_device_op_write_decode(&msg, &packet);
     107           0 :     AP_HAL::Device *dev = nullptr;
     108           0 :     uint8_t retcode = 0;
     109             :     
     110           0 :     if (packet.bustype == DEVICE_OP_BUSTYPE_I2C) {
     111           0 :         dev = hal.i2c_mgr->get_device_ptr(packet.bus, packet.address);
     112           0 :     } else if (packet.bustype == DEVICE_OP_BUSTYPE_SPI) {
     113           0 :         dev = hal.spi->get_device_ptr(packet.busname);
     114             :     } else {
     115           0 :         retcode = 1;
     116           0 :         goto fail;
     117             :     }
     118           0 :     if (!dev) {
     119           0 :         retcode = 2;
     120           0 :         goto fail;
     121             :     }
     122           0 :     if (packet.count > sizeof(packet.data)) {
     123             :         // bound count against the payload buffer to prevent OOB read
     124             :         // from packet.data[i] in the register write loop and OOB read
     125             :         // in the raw transfer_bank() path below.
     126           0 :         retcode = 5;
     127           0 :         goto fail;
     128             :     }
     129           0 :     if (!dev->get_semaphore()->take(10)) {
     130           0 :         retcode = 3;
     131           0 :         goto fail;        
     132             :     }
     133           0 :     if (packet.regstart == 0xff) {
     134             :         // assume raw transfer, non-register interface
     135           0 :         if (!dev->transfer_bank(packet.bank, packet.data, packet.count, nullptr, 0)) {
     136           0 :             retcode = 4;
     137             :         }
     138             :     } else {
     139           0 :         for (uint8_t i=0; i<packet.count; i++) {
     140           0 :             if (!dev->write_bank_register(packet.bank, packet.regstart+i, packet.data[i])) {
     141           0 :                 retcode = 4;
     142           0 :                 break;
     143             :             }
     144             :         }
     145             :     }
     146           0 :     dev->get_semaphore()->give();
     147             : 
     148           0 : fail:
     149           0 :     mavlink_msg_device_op_write_reply_send(
     150             :         chan,
     151             :         packet.request_id,
     152             :         retcode);
     153             : 
     154           0 :     delete dev;
     155           0 : }
     156             : 
     157             : #endif  // AP_MAVLINK_MSG_DEVICE_OP_ENABLED