Change SBC to Jetson Orin

2025-02-25 07:35:38 +07:00
parent 21e8ab1e82
commit ce5c8d5946
16 changed files with 1057 additions and 80 deletions
--- a/src/main/java/SBC/I2C_Device.java
+++ b/src/main/java/SBC/I2C_Device.java
@@ -0,0 +1,147 @@
+package SBC;
+
+import lombok.Getter;
+
+@SuppressWarnings("unused")
+public class I2C_Device {
+
+
+    Linux_C_lib C = Linux_C_lib.INSTANCE;
+    private @Getter int bus_handle;
+    private @Getter int device_address;
+    private @Getter int dev_handle;
+    private @Getter boolean opened = false;
+
+    /**
+     * Create I2C Device
+     * @param bus_handle I2C Bus Handle, from opening I2C_Bus
+     * @param device_address I2C Device Address
+     */
+    public I2C_Device(int bus_handle, int device_address){
+        opened = false;
+        if (bus_handle<0 || device_address<0) return;
+        this.bus_handle = bus_handle;
+        this.device_address = device_address;
+    }
+
+    /**
+     * Open I2C Device in Slave mode
+     * @return true if successfully opened
+     */
+    public boolean Open_Slave(){
+        boolean sucess = false;
+        dev_handle = C.ioctl(bus_handle, I2C_Flags.I2C_SLAVE, device_address);
+        if (dev_handle>=0){
+            sucess = true;
+        }
+        opened = sucess;
+        return  opened;
+    }
+
+    /**
+     * Open I2C Device in Slave mode with Force
+     * @return true if successfully opened
+     */
+    public boolean Open_SlaveForce(){
+        boolean sucess = false;
+        dev_handle = C.ioctl(bus_handle, I2C_Flags.I2C_SLAVE_FORCE, device_address);
+        if (dev_handle>=0){
+            C.ioctl(bus_handle,I2C_Flags.I2C_RETRIES, 3);
+            C.ioctl(bus_handle,I2C_Flags.I2C_TIMEOUT, 1000);
+            sucess = true;
+        }
+        opened = sucess;
+        return  opened;
+    }
+
+    /**
+     * Open I2C Device in Read Write mode
+     * @return true if successfully opened
+     */
+    public boolean Open_RDWR(){
+        boolean sucess = false;
+        dev_handle = C.ioctl(bus_handle, I2C_Flags.I2C_RDWR, device_address);
+        if (dev_handle>=0){
+            sucess = true;
+        }
+        opened = sucess;
+        return  opened;
+    }
+
+    /**
+     * Open I2C Device in SMBus mode
+     * @return true if successfully opened
+     */
+    public boolean Open_SMBus(){
+        boolean sucess = false;
+        dev_handle = C.ioctl(bus_handle, I2C_Flags.I2C_SMBUS, device_address);
+        if (dev_handle>=0){
+            sucess = true;
+        }
+        opened = sucess;
+        return  opened;
+    }
+
+    /**
+     * Close I2C Device
+     */
+    public void Close(){
+        C.close(dev_handle);
+        opened = false;
+        dev_handle = -1;
+    }
+
+    /**
+     * Write Bytes to I2C Device
+     * @param data bytes to write
+     * @return number of bytes written
+     */
+    public int WriteBytes(byte[] data){
+        if (bus_handle<0 || dev_handle<0 || device_address<0) return -1;
+        return C.write(bus_handle, data, data.length);
+    }
+
+    /**
+     * Write Byte to I2C Device
+     * @param register_address register address
+     * @param data byte to write
+     * @return number of bytes written
+     */
+    public int WriteBytes(int register_address, byte data){
+        byte[] cmd = new byte[2];
+        cmd[0] = (byte) register_address;
+        cmd[1] = data;
+        return WriteBytes(cmd);
+    }
+
+    /**
+     * Write Bytes to I2C Device
+     * @param register_address register address
+     * @param data bytes to write
+     * @return number of bytes written
+     */
+    public int WriteBytes(int register_address, byte[] data){
+        byte[] cmd = new byte[data.length+1];
+        cmd[0] = (byte) register_address;
+        System.arraycopy(data, 0, cmd, 1, data.length);
+        return WriteBytes(cmd);
+    }
+
+    /**
+     * Read Bytes from I2C Device
+     * @param readsize number of bytes to read
+     * @return bytes read
+     */
+    public byte[] ReadBytes(int readsize){
+        if (bus_handle<0 || dev_handle<0 || device_address<0) return null;
+        byte[] data = new byte[readsize];
+        int read = C.read(bus_handle, data, readsize);
+        if (read<0) return null;
+        if (read<readsize){
+            byte[] temp = new byte[read];
+            System.arraycopy(data, 0, temp, 0, read);
+            return temp;
+        }
+        return data;
+    }
+}