First cut at I2C tool

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@3927 42af7a65-404d-4744-a932-0658087f49c3

8 files changed, 448 insertions, 138 deletions

diff --git a/apps/system/i2c/Makefile b/apps/system/i2c/Makefile
index 02ca64aa3..9f15f0ce8 100644
--- a/apps/system/i2c/Makefile
+++ b/apps/system/i2c/Makefile
@@ -40,7 +40,7 @@ include $(APPDIR)/Make.defs
 # I2C tool
 
 ASRCS	=
-CSRCS	= i2c_bus.c i2c_common.c i2c_dev.c i2c_dump.c i2c_get.c i2c_main.c i2c_set.c
+CSRCS	= i2c_bus.c i2c_common.c i2c_dev.c i2c_get.c i2c_main.c i2c_set.c
 
 
 AOBJS		= $(ASRCS:.S=$(OBJEXT))
@@ -58,6 +58,10 @@ endif
 ROOTDEPPATH	= --dep-path .
 VPATH		= 
 
+APPNAME		= i2c
+PRIORITY	= SCHED_PRIORITY_DEFAULT
+STACKSIZE	= 2048
+
 # Build targets
 
 all:	.built
@@ -76,6 +80,8 @@ $(COBJS): %$(OBJEXT): %.c
 	@touch .built
 
 context:
+	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
+	@touch $@
 
 .depend: Makefile $(SRCS)
 	@$(MKDEP) $(ROOTDEPPATH) \
diff --git a/apps/system/i2c/i2c_common.c b/apps/system/i2c/i2c_common.c
index 2d7a9f171..1a97e40b6 100644
--- a/apps/system/i2c/i2c_common.c
+++ b/apps/system/i2c/i2c_common.c
@@ -108,6 +108,16 @@ int common_args(FAR struct i2ctool_s *i2ctool, FAR char **arg)
         i2ctool->bus = (uint8_t) value;
         return ret;
 
+      case 'f':
+        ret = arg_decimal(arg, &value);
+        if (value == 0)
+          {
+            goto out_of_range;
+          }
+
+        i2ctool->freq = value;
+        return ret;
+
       case 'n':
         i2ctool->start = false;
         return 1;
@@ -141,11 +151,11 @@ int common_args(FAR struct i2ctool_s *i2ctool, FAR char **arg)
     }
 
 invalid_argument:
-  i2ctool_printf(i2ctool, g_fmtarginvalid, arg);
+  i2ctool_printf(i2ctool, g_i2carginvalid, arg);
   return ERROR;
 
 out_of_range:
-  i2ctool_printf(i2ctool, g_fmtargrange, arg);
+  i2ctool_printf(i2ctool, g_i2cargrange, arg);
   return ERROR;
 }
 
diff --git a/apps/system/i2c/i2c_dev.c b/apps/system/i2c/i2c_dev.c
index 2458aec18..a8340f0d8 100644
--- a/apps/system/i2c/i2c_dev.c
+++ b/apps/system/i2c/i2c_dev.c
@@ -39,6 +39,10 @@
 
 #include <nuttx/config.h>
 
+#include <stdlib.h>
+
+#include <nuttx/i2c.h>
+
 #include "i2ctool.h"
 
 /****************************************************************************
@@ -75,5 +79,156 @@
 
 int cmd_dev(FAR struct i2ctool_s *i2ctool, int argc, char **argv)
 {
+  FAR struct i2c_dev_s *dev;
+  struct i2c_msg_s msg[2];
+  FAR char *ptr;
+  union
+  {
+    uint16_t data16;
+    uint8_t  data8;
+  } u;
+
+  uint8_t regaddr;
+  long first;
+  long last;
+  int addr;
+  int nargs;
+  int argndx;
+  int ret;
+  int i;
+  int j;
+
+  /* Parse any command line arguments */
+
+  for (argndx = 1; argndx < argc; )
+    {
+      /* Break out of the look when the last option has been parsed */
+
+      ptr = argv[argndx];
+      if (*ptr != '-')
+        {
+          break;
+        }
+
+      /* Otherwise, check for common options */
+
+      nargs = common_args(i2ctool, &argv[argndx]);
+      if (nargs < 0)
+        {
+          return ERROR;
+        }
+      argndx += nargs;
+    }
+
+  /* There should be exactly two more things on the command line:  The first and
+   * last addresses to be probed.
+   */
+
+  if (argndx+1 < argc)
+    {
+      first = strtol(argv[argndx], NULL, 16);
+      last  = strtol(argv[argndx+1], NULL, 16);
+      if (first < 0 || first > 0x7f || last < 0 || last > 0x7f || first > last)
+        {
+          i2ctool_printf(i2ctool, g_i2cargrange, argv[0]);
+          return ERROR;
+        }
+
+      argndx += 2;
+    }
+  else
+    {
+      i2ctool_printf(i2ctool, g_i2cargrequired, argv[0]);
+      return ERROR;
+    }
+
+  if (argndx != argc)
+    {
+      i2ctool_printf(i2ctool, g_i2ctoomanyargs, argv[0]);
+      return ERROR;
+    }
+
+  /* Get a handle to the I2C bus */
+
+  dev = up_i2cinitialize(i2ctool->bus);
+  if (!dev)
+    {
+       i2ctool_printf(i2ctool, "Failed to get bus %d\n", i2ctool->bus);
+       return ERROR;
+    }
+
+  /* Set the frequency and address (NOTE:  Only 7-bit address supported now) */
+
+  I2C_SETFREQUENCY(dev, i2ctool->freq);
+
+  /* Probe each address */
+
+  i2ctool_printf(i2ctool, "     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f\n");
+  for (i = 0; i < 128; i += 16)
+    {
+      i2ctool_printf(i2ctool, "%02x: ", i);
+      for (j = 0; j < 16; j++)
+        {
+          /* Skip addresses that are out of the selected range */
+
+          addr = i+j;
+          if (addr < first || addr > last)
+            {
+              i2ctool_printf(i2ctool, "   ");
+              continue;
+            }
+            
+          /* Set the I2C address */
+
+          I2C_SETADDRESS(dev, addr, 7);
+
+          /* Set up data structures */
+
+          regaddr       = 0;
+
+          msg[0].addr   = addr;
+          msg[0].flags  = 0;
+          msg[0].buffer = &regaddr;
+          msg[0].length = 1;
+
+          msg[1].addr   = addr;
+          msg[1].flags  = I2C_M_READ;
+          if (i2ctool->width == 8)
+            {
+              msg[1].buffer = &u.data8;
+              msg[1].length = 1;
+            }
+          else
+            {
+              msg[1].buffer = (uint8_t*)&u.data16;
+              msg[2].length = 2;
+            }
+
+          if (i2ctool->start)
+            {
+              ret = I2C_TRANSFER(dev, &msg[0], 1);
+              if (ret == OK)
+                {
+                  ret = I2C_TRANSFER(dev, &msg[1], 1);
+                }
+            }
+          else
+            {
+              ret = I2C_TRANSFER(dev, msg, 2);
+            }
+
+          if (ret == OK)
+            {
+              i2ctool_printf(i2ctool, "%02x ", addr);
+            }
+          else
+            {
+              i2ctool_printf(i2ctool, "-- ");
+            }
+        }
+      i2ctool_printf(i2ctool, "\n");
+    }
+
+  (void)up_i2cuninitialize(dev);
   return OK;
 }
diff --git a/apps/system/i2c/i2c_dump.c b/apps/system/i2c/i2c_dump.c
deleted file mode 100644
index 44b3ff8de..000000000
--- a/apps/system/i2c/i2c_dump.c
+++ /dev/null
@@ -1,79 +0,0 @@
-/****************************************************************************
- * apps/system/i2c/i2c_dump.c
- *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include "i2ctool.h"
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: cmd_dump
- ****************************************************************************/
-
-int cmd_dump(FAR struct i2ctool_s *i2ctool, int argc, char **argv)
-{
-  return OK;
-}
diff --git a/apps/system/i2c/i2c_get.c b/apps/system/i2c/i2c_get.c
index 4f07ab630..6c2083dd5 100644
--- a/apps/system/i2c/i2c_get.c
+++ b/apps/system/i2c/i2c_get.c
@@ -75,10 +75,18 @@
  * Name: cmd_get
  ****************************************************************************/
 
-int cmd_get(FAR struct i2ctool_s *i2ctool, int argc, char **argv)
+int cmd_get(FAR struct i2ctool_s *i2ctool, int argc, FAR char **argv)
 {
   FAR struct i2c_dev_s *dev;
+  struct i2c_msg_s msg[2];
+  union
+  {
+    uint16_t data16;
+    uint8_t  data8;
+  } u;
+
   int nargs;
+  int ret;
   int i;
 
   /* Parse any command line arguments */
@@ -102,8 +110,71 @@ int cmd_get(FAR struct i2ctool_s *i2ctool, int argc, char **argv)
        return ERROR;
     }
 
-#warning "missing logic"
+  /* Set the frequency and address (NOTE:  Only 7-bit address supported now) */
+
+  I2C_SETFREQUENCY(dev, i2ctool->freq);
+  I2C_SETADDRESS(dev, i2ctool->addr, 7);
+
+  /* Set up data structures */
+
+  msg[0].addr   = i2ctool->addr;
+  msg[0].flags  = 0;
+  msg[0].buffer = &i2ctool->regaddr;
+  msg[0].length = 1;
+
+  msg[1].addr   = i2ctool->addr;
+  msg[1].flags  = I2C_M_READ;
+  if (i2ctool->width == 8)
+    {
+      msg[1].buffer = &u.data8;
+      msg[1].length = 1;
+    }
+  else
+    {
+      msg[1].buffer = (uint8_t*)&u.data16;
+      msg[1].length = 2;
+    }
+
+  if (i2ctool->start)
+    {
+      ret = I2C_TRANSFER(dev, &msg[0], 1);
+      if (ret < 0)
+        {
+          i2ctool_printf(i2ctool, g_i2cxfrerror, argv[0], -ret);
+          goto errout;
+        }
+      ret = I2C_TRANSFER(dev, &msg[1], 1);
+      if (ret < 0)
+        {
+          i2ctool_printf(i2ctool, g_i2cxfrerror, argv[0], -ret);
+          goto errout;
+        }
+    }
+  else
+    {
+      ret = I2C_TRANSFER(dev, msg, 2);
+      if (ret < 0)
+        {
+          goto errout;
+        }
+    }
+
+  i2ctool_printf(i2ctool, "READ Bus: %d Addr: %02x Subaddr: %02x Value: ",
+                 i2ctool->bus, i2ctool->addr, i2ctool->regaddr);
+  if (i2ctool->width == 8)
+    {
+      i2ctool_printf(i2ctool, "%02x\n", u.data8);
+    }
+  else
+    {
+      i2ctool_printf(i2ctool, "%04x\n", u.data16);
+    }
 
   (void)up_i2cuninitialize(dev);
   return OK;
+
+errout:
+  i2ctool_printf(i2ctool, g_i2cxfrerror, argv[0], -ret);
+  (void)up_i2cuninitialize(dev);
+  return ERROR;
 }
diff --git a/apps/system/i2c/i2c_main.c b/apps/system/i2c/i2c_main.c
index 971889758..d3fe7f465 100644
--- a/apps/system/i2c/i2c_main.c
+++ b/apps/system/i2c/i2c_main.c
@@ -77,11 +77,10 @@ static const struct cmdmap_s g_i2ccmds[] =
 {
   { "?",    cmd_help, "Show help",       NULL },
   { "bus",  cmd_bus,  "List busses"      "[OPTIONS]" },
-  { "dev",  cmd_dev,  "List devices",    "[OPTIONS]" },
-  { "dump", cmd_dump, "Dump registers",  "[OPTIONS]" },
-  { "get",  cmd_get,  "Read registers",  "[OPTIONS]" },
+  { "dev",  cmd_dev,  "List devices",    "[OPTIONS] <first> <last>" },
+  { "get",  cmd_get,  "Read register",   "[OPTIONS]" },
   { "help", cmd_help, "Show help",       NULL },
-  { "set",  cmd_set,  "Write registers", "[OPTIONS]]" },
+  { "set",  cmd_set,  "Write register",  "[OPTIONS] <value>" },
 };
 
 /****************************************************************************
@@ -90,18 +89,13 @@ static const struct cmdmap_s g_i2ccmds[] =
 
 /* Common, message formats */
 
-const char g_syntax[]            = "i2ctool: %s: syntax error\n";
-const char g_fmtargrequired[]    = "i2ctool: %s: missing required argument(s)\n";
-const char g_fmtarginvalid[]     = "i2ctool: %s: argument invalid\n";
-const char g_fmtargrange[]       = "i2ctool: %s: value out of range\n";
-const char g_fmtcmdnotfound[]    = "i2ctool: %s: command not found\n";
-const char g_fmtnosuch[]         = "i2ctool: %s: no such %s: %s\n";
-const char g_fmttoomanyargs[]    = "i2ctool: %s: too many arguments\n";
-const char g_fmtdeepnesting[]    = "i2ctool: %s: nesting too deep\n";
-const char g_fmtcontext[]        = "i2ctool: %s: not valid in this context\n";
-const char g_fmtcmdfailed[]      = "i2ctool: %s: %s failed: %d\n";
-const char g_fmtcmdoutofmemory[] = "i2ctool: %s: out of memory\n";
-const char g_fmtinternalerror[]  = "i2ctool: %s: Internal error\n";
+const char g_i2cargrequired[]    = "i2ctool: %s: missing required argument(s)\n";
+const char g_i2carginvalid[]     = "i2ctool: %s: argument invalid\n";
+const char g_i2cargrange[]       = "i2ctool: %s: value out of range\n";
+const char g_i2ccmdnotfound[]    = "i2ctool: %s: command not found\n";
+const char g_i2ctoomanyargs[]    = "i2ctool: %s: too many arguments\n";
+const char g_i2ccmdfailed[]      = "i2ctool: %s: %s failed: %d\n";
+const char g_i2cxfrerror[]       = "i2ctool: %s: Transfer failed: %d\n";
 
 /****************************************************************************
  * Private Functions
@@ -129,14 +123,25 @@ static int cmd_help(FAR struct i2ctool_s *i2ctool, int argc, char **argv)
         }
     }
 
-  i2ctool_printf(i2ctool, "Where common OPTIONS include:\n");
-  i2ctool_printf(i2ctool, "[-a addr] is the I2C device address (hex).  Default: %02x\n",
-                 CONFIG_I2CTOOL_MINADDR);
-  i2ctool_printf(i2ctool, "[-b bus] is the I2C bus number (decimal).  Default: %d\n",
-                 CONFIG_I2CTOOL_MINBUS);
-  i2ctool_printf(i2ctool, "[-r regaddr] is the I2C device register address (hex).  Default: 0\n");
-  i2ctool_printf(i2ctool, "[-w width] is the data width (8 or 16 decimal). Default: 8 \n");
-  i2ctool_printf(i2ctool, "[-s|n], send/don't send start between command and data. Default: -n\n");
+  i2ctool_printf(i2ctool, "Where common \"sticky\" OPTIONS include:\n");
+  i2ctool_printf(i2ctool, "[-a addr] is the I2C device address (hex).  "
+                          "Default: %02x Current: %02x\n",
+                 CONFIG_I2CTOOL_MINADDR, i2ctool->addr);
+  i2ctool_printf(i2ctool, "[-b bus] is the I2C bus number (decimal).  "
+                          "Default: %d Current: %d\n",
+                 CONFIG_I2CTOOL_MINBUS, i2ctool->bus);
+  i2ctool_printf(i2ctool, "[-r regaddr] is the I2C device register address (hex).  "
+                          "Default: 00 Current: %02x\n",
+                 i2ctool->regaddr);
+  i2ctool_printf(i2ctool, "[-w width] is the data width (8 or 16 decimal).  "
+                          "Default: 8 Current: %d\n",
+                 i2ctool->width);
+  i2ctool_printf(i2ctool, "[-s|n], send/don't send start between command and data.  "
+                          "Default: -n Current: %s\n",
+                 i2ctool->start ? "-s" : "-n");
+  i2ctool_printf(i2ctool, "[-f freq] I2C frequency.  "
+                          "Default: %d Current: %d\n",
+                 CONFIG_I2CTOOL_DEFFREQ, i2ctool->freq);
   i2ctool_printf(i2ctool, "\nNOTES:\n");
 #ifndef CONFIG_DISABLE_ENVIRON
   i2ctool_printf(i2ctool, "o An environment variable like $PATH may be used for any argument.\n");
@@ -155,7 +160,7 @@ static int cmd_help(FAR struct i2ctool_s *i2ctool, int argc, char **argv)
 
 static int cmd_unrecognized(FAR struct i2ctool_s *i2ctool, int argc, char **argv)
 {
-  i2ctool_printf(i2ctool, g_fmtcmdnotfound, argv[0]);
+  i2ctool_printf(i2ctool, g_i2ccmdnotfound, argv[0]);
   return ERROR;
 }
 
@@ -303,7 +308,7 @@ static inline int i2c_setup(void)
   g_i2ctool.ss_outfd = open(CONFIG_I2CTOOL_OUTDEV, O_WRONLY);
   if (g_i2ctool.ss_outfd < 0)
     {
-      fprintf(stderr, g_fmtcmdfailed, "open", errno);
+      fprintf(stderr, g_i2ccmdfailed, "open", errno);
       return ERROR;
     }
 
@@ -312,7 +317,7 @@ static inline int i2c_setup(void)
   g_i2ctool.ss_outstream = fdopen(g_i2ctool.ss_outfd, "w");
   if (!g_i2ctool.ss_outstream)
     {
-      fprintf(stderr, g_fmtcmdfailed, "fdopen", errno);
+      fprintf(stderr, g_i2ccmdfailed, "fdopen", errno);
       return ERROR;
     }
 #endif
@@ -377,6 +382,11 @@ int MAIN_NAME(int argc, char *argv[])
       g_i2ctool.width = 8;
     }
 
+  if (g_i2ctool.freq == 0)
+    {
+      g_i2ctool.freq = CONFIG_I2CTOOL_DEFFREQ;
+    }
+  
   /* Parse process the command line */
 
   i2c_setup();
diff --git a/apps/system/i2c/i2c_set.c b/apps/system/i2c/i2c_set.c
index 1d276fd82..22706ff08 100644
--- a/apps/system/i2c/i2c_set.c
+++ b/apps/system/i2c/i2c_set.c
@@ -39,6 +39,8 @@
 
 #include <nuttx/config.h>
 
+#include <stdlib.h>
+
 #include <nuttx/i2c.h>
 
 #include "i2ctool.h"
@@ -75,22 +77,77 @@
  * Name: cmd_set
  ****************************************************************************/
 
-int cmd_set(FAR struct i2ctool_s *i2ctool, int argc, char **argv)
+int cmd_set(FAR struct i2ctool_s *i2ctool, int argc, FAR char **argv)
 {
   FAR struct i2c_dev_s *dev;
+  struct i2c_msg_s msg[2];
+  FAR char *ptr;
+  union
+  {
+    uint16_t data16;
+    uint8_t  data8;
+  } u;
+
+  long value;
   int nargs;
-  int i;
+  int argndx;
+  int ret;
 
   /* Parse any command line arguments */
 
-  for (i = 1; i < argc; )
+  for (argndx = 1; argndx < argc; )
     {
-      nargs = common_args(i2ctool, &argv[i]);
+      /* Break out of the look when the last option has been parsed */
+
+      ptr = argv[argndx];
+      if (*ptr != '-')
+        {
+          break;
+        }
+
+      /* Otherwise, check for common options */
+
+      nargs = common_args(i2ctool, &argv[argndx]);
       if (nargs < 0)
         {
           return ERROR;
         }
-      i += nargs;
+      argndx += nargs;
+    }
+
+  /* There should be exactly one more thing on the command line:  The value
+   * to be written.
+   */
+
+  if (argndx < argc)
+    {
+      value = strtol(argv[argndx], NULL, 16);
+      if (i2ctool->width == 8)
+        {
+          if (value < 0 || value > 255)
+            {
+              i2ctool_printf(i2ctool, g_i2cargrange, argv[0]);
+              return ERROR;
+            }
+        }
+      else if (value < 0 || value > 65535)
+        {
+          i2ctool_printf(i2ctool, g_i2cargrange, argv[0]);
+          return ERROR;
+        }
+
+      argndx++;
+    }
+  else
+    {
+      i2ctool_printf(i2ctool, g_i2cargrequired, argv[0]);
+      return ERROR;
+    }
+
+  if (argndx != argc)
+    {
+      i2ctool_printf(i2ctool, g_i2ctoomanyargs, argv[0]);
+      return ERROR;
     }
 
   /* Get a handle to the I2C bus */
@@ -102,8 +159,73 @@ int cmd_set(FAR struct i2ctool_s *i2ctool, int argc, char **argv)
        return ERROR;
     }
 
-#warning "missing logic"
+  /* Set the frequency and address (NOTE:  Only 7-bit address supported now) */
+
+  I2C_SETFREQUENCY(dev, i2ctool->freq);
+  I2C_SETADDRESS(dev, i2ctool->addr, 7);
+
+  /* Set up data structures */
+
+  msg[0].addr   = i2ctool->addr;
+  msg[0].flags  = 0;
+  msg[0].buffer = &i2ctool->regaddr;
+  msg[0].length = 1;
+
+  msg[1].addr   = i2ctool->addr;
+  msg[1].flags  = 0;
+  if (i2ctool->width == 8)
+    {
+      u.data8       = value;
+      msg[1].buffer = &u.data8;
+      msg[1].length = 1;
+    }
+  else
+    {
+      u.data16      = value;
+      msg[1].buffer = (uint8_t*)&u.data16;
+      msg[1].length = 2;
+    }
+
+  if (i2ctool->start)
+    {
+      ret = I2C_TRANSFER(dev, &msg[0], 1);
+      if (ret < 0)
+        {
+          i2ctool_printf(i2ctool, g_i2cxfrerror, argv[0], -ret);
+          goto errout;
+        }
+      ret = I2C_TRANSFER(dev, &msg[1], 1);
+      if (ret < 0)
+        {
+          i2ctool_printf(i2ctool, g_i2cxfrerror, argv[0], -ret);
+          goto errout;
+        }
+    }
+  else
+    {
+      ret = I2C_TRANSFER(dev, msg, 2);
+      if (ret < 0)
+        {
+          goto errout;
+        }
+    }
+
+  i2ctool_printf(i2ctool, "WROTE Bus: %d Addr: %02x Subaddr: %02x Value: ",
+                 i2ctool->bus, i2ctool->addr, i2ctool->regaddr);
+  if (i2ctool->width == 8)
+    {
+      i2ctool_printf(i2ctool, "%02x\n", u.data8);
+    }
+  else
+    {
+      i2ctool_printf(i2ctool, "%04x\n", u.data16);
+    }
 
   (void)up_i2cuninitialize(dev);
   return OK;
+
+errout:
+  i2ctool_printf(i2ctool, g_i2cxfrerror, argv[0], -ret);
+  (void)up_i2cuninitialize(dev);
+  return ERROR;
 }
diff --git a/apps/system/i2c/i2ctool.h b/apps/system/i2c/i2ctool.h
index dde1b7a13..962600f43 100644
--- a/apps/system/i2c/i2ctool.h
+++ b/apps/system/i2c/i2ctool.h
@@ -53,6 +53,19 @@
  * Definitions
  ****************************************************************************/
 /* Configuration ************************************************************/
+/* CONFIG_I2CTOOL_BUILTIN - Build the tools as an NSH built-in command
+ * CONFIG_I2CTOOL_MINBUS - Smallest bus index supported by the hardware (default 0).
+ * CONFIG_I2CTOOL_MAXBUS - Largest bus index supported by the hardware (default 3)
+ * CONFIG_I2CTOOL_MINADDR - Minium device address (default: 0x03)
+ * CONFIG_I2CTOOL_MAXADDR - Largest device address (default: 0x77)
+ * CONFIG_I2CTOOL_MAXREGADDR - Largest register address (default: 0xff)
+ * CONFIG_I2CTOOL_DEFFREQ - Default frequency (default: 4000000)
+ */
+
+#ifndef CONFIG_I2C_TRANSFER
+#  error "CONFIG_I2C_TRANSFER is required in the configuration"
+#endif
+
 #ifndef CONFIG_I2CTOOL_MINBUS
 #  define CONFIG_I2CTOOL_MINBUS 0
 #endif
@@ -73,6 +86,10 @@
 #  define CONFIG_I2CTOOL_MAXREGADDR 0xff
 #endif
 
+#ifndef CONFIG_I2CTOOL_DEFFREQ
+#  define CONFIG_I2CTOOL_DEFFREQ 400000
+#endif
+
 /* This is the maximum number of arguments that will be accepted for a
  * command
  */
@@ -117,11 +134,12 @@ struct i2ctool_s
 {
   /* Sticky options */
 
-  uint8_t addr;        /* [-a addr] is the I2C device address */
-  uint8_t bus;         /* [-b bus] is the I2C bus number */
-  uint8_t regaddr;     /* [-r regaddr] is the I2C device register address */
-  uint8_t width;       /* [-w width] is the data width (8 or 16) */
-  bool    start;       /* [-s|n], send/don't send start between command and data */
+  uint8_t  addr;       /* [-a addr] is the I2C device address */
+  uint8_t  bus;        /* [-b bus] is the I2C bus number */
+  uint8_t  regaddr;    /* [-r regaddr] is the I2C device register address */
+  uint8_t  width;      /* [-w width] is the data width (8 or 16) */
+  bool     start;      /* [-s|n], send/don't send start between command and data */
+  uint32_t freq;       /* [-f freq] I2C frequency */
 
   /* Output streams */
 
@@ -131,7 +149,7 @@ struct i2ctool_s
 #endif
 };
 
-typedef int  (*cmd_t)(FAR struct i2ctool_s *i2ctool, int argc, char **argv);
+typedef int  (*cmd_t)(FAR struct i2ctool_s *i2ctool, int argc, FAR char **argv);
 
 struct cmdmap_s
 {
@@ -145,16 +163,13 @@ struct cmdmap_s
  * Public Data
  ****************************************************************************/
 
-extern const char g_syntax[];
-extern const char g_fmtargrequired[];
-extern const char g_fmtarginvalid[];
-extern const char g_fmtargrange[];
-extern const char g_fmtcmdnotfound[];
-extern const char g_fmtnosuch[];
-extern const char g_fmttoomanyargs[];
-extern const char g_fmtcmdfailed[];
-extern const char g_fmtcmdoutofmemory[];
-extern const char g_fmtinternalerror[];
+extern const char g_i2cargrequired[];
+extern const char g_i2carginvalid[];
+extern const char g_i2cargrange[];
+extern const char g_i2ccmdnotfound[];
+extern const char g_i2ctoomanyargs[];
+extern const char g_i2ccmdfailed[];
+extern const char g_i2cxfrerror[];
 
 /****************************************************************************
  * Public Function Prototypes
@@ -167,11 +182,11 @@ int i2ctool_printf(FAR struct i2ctool_s *i2ctool, const char *fmt, ...);
 
 /* Command handlers */
 
-int cmd_bus(FAR struct i2ctool_s *i2ctool, int argc, char **argv);
-int cmd_dev(FAR struct i2ctool_s *i2ctool, int argc, char **argv);
-int cmd_dump(FAR struct i2ctool_s *i2ctool, int argc, char **argv);
-int cmd_get(FAR struct i2ctool_s *i2ctool, int argc, char **argv);
-int cmd_set(FAR struct i2ctool_s *i2ctool, int argc, char **argv);
+int cmd_bus(FAR struct i2ctool_s *i2ctool, int argc, FAR char **argv);
+int cmd_dev(FAR struct i2ctool_s *i2ctool, int argc, FAR char **argv);
+int cmd_dump(FAR struct i2ctool_s *i2ctool, int argc, FAR char **argv);
+int cmd_get(FAR struct i2ctool_s *i2ctool, int argc, FAR char **argv);
+int cmd_set(FAR struct i2ctool_s *i2ctool, int argc, FAR char **argv);
 
 /* Common logic */