X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fi2c.py;h=2bb9f94026849106394d92e9f3210d7feff14de6;hp=c597c85b150e042d33d5cd51d24a69044a30c1b3;hb=9349f21c7fb8f1629fe4154cc054fc894a9e600d;hpb=6bbe85b249210dd265f51cfde4288530d9bb05fb

diff --git a/scripts/i2c.py b/scripts/i2c.py
index c597c85..2bb9f94 100755
--- a/scripts/i2c.py
+++ b/scripts/i2c.py
@@ -6,10 +6,12 @@ import inspect
 import os
 import logging
 import struct
+import fcntl
 from ctypes import *
 from time import sleep
 
 DEBUG=0
+I2C_FILENAME = "/dev/i2c-2"
 logger = logging.getLogger(__name__)
 
 class i2c:
@@ -32,9 +34,10 @@ class i2c:
 					logger.warning("Error: (%s) I2C blocked %fs by %s!", parent, count*0.001, parent_owner)
 				i2c.__parent_owner = inspect.stack()[1]
 			i2c.__single = True
-		self.dev = i2c.libc.open("/dev/i2c-2", os.O_RDWR)
+		self.dev = i2c.libc.open(I2C_FILENAME, os.O_RDWR)
 		if self.dev < 0:
 			raise IOError("open")
+		fcntl.flock(self.dev, fcntl.LOCK_EX)
 		err = i2c.libc.ioctl(self.dev, i2c.I2C_SLAVE, addr>>1)
 		if err < 0:
 			raise IOError("ioctl")