ev3 iic poc

iic.c

#include <fcntl.h>
#include <stdio.h>
#include  <string.h>
#include  <sys/mman.h>
#include  <sys/ioctl.h>
#include "lms2012.h"
//The ports are designated as PORT_NUMBER-1
const char PORT = 0x0;
const int MAX_SAMPLES  = 100;
int main()
{
    int file,dcmfile;
    IIC     *pIic;
    IICDAT IicDat;
    int i;
    int idx;
    //Open the device file
    if((file = open(IIC_DEVICE_NAME, O_RDWR | O_SYNC)) == -1)
    {
        printf("Failed to open device\n");
        return -1;
    }
    pIic  =  (IIC*)mmap(0, sizeof(IIC), PROT_READ | PROT_WRITE, MAP_FILE | MAP_SHARED, file, 0);
    if (pIic == MAP_FAILED)
    {
        printf("Map failed\n");
        return -1;
    }


    if ((dcmfile=open(DCM_DEVICE_NAME,O_RDWR | O_SYNC))==-1)
    {
        printf("Failed to open dcm device");
        return -1;
    }
    DEVCON devcon;
    devcon.Connection[PORT]=CONN_NONE;
    devcon.Type[PORT]=0;
    devcon.Mode[PORT]=0;
    ioctl(file,IIC_SET_CONN, &devcon);
    sleep(1);
    devcon.Connection[PORT]=CONN_NXT_IIC;
    devcon.Type[PORT]=TYPE_IIC_UNKNOWN;
    devcon.Mode[PORT]=255;
    
    ioctl(file, IIC_SET_CONN, &devcon);   
    sleep(1);
    ioctl(file, IIC_SET_CONN, &devcon);
    sleep(1);

    DATA8 buf[4] = {'-','-','-','-'};
    
    buf[PORT]='F';
    write(dcmfile,buf,4);


    
    // Setup I2C comunication
    
    printf("Device is ready\n");
    

    // setup mindsensor psp controller command
    IicDat.Port = PORT;
    IicDat.Time = 0;
    IicDat.Repeat = 0;
    IicDat.RdLng = -8;
    IicDat.WrLng = 3;
    // Set the device I2C address
    IicDat.WrData[0] = 0x01;
    // Specify the register that will be read (0x41 = command)
    IicDat.WrData[1] = 0x41;
    IicDat.WrData[2] = 0x49;
    IicDat.Result=-1;
    while (IicDat.Result)
    {
        ioctl(file,IIC_SETUP,&IicDat);    
    };

    // read the button bits
    int round;
    for (round=0;round<100;round++)
    {
        IicDat.Port = PORT;
        IicDat.Time = 0;
        IicDat.Repeat = 0;
        IicDat.RdLng = -8;
        IicDat.WrLng = 2;
        // Set the device I2C address
        IicDat.WrData[0] = 0x01;
        // Specify the register that will be read (0x42 = button bits map)
        IicDat.WrData[1] = 0x42;
        IicDat.Result=-1;
        memset (IicDat.RdData,0x00,IIC_DATA_LENGTH);
        while (IicDat.Result)
        {
            ioctl(file,IIC_SETUP,&IicDat);    
        };

     
        printf("%02X\n",(unsigned)(unsigned char)IicDat.RdData[0]);
     
        
    }
    

    
    // Close the device file
    printf("Clossing device\n");
    close(dcmfile);
    close(file);
    return 0;
}