ardupilot/libraries/AP_HAL_PX4/I2CDevice.h

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/*
* Copyright (C) 2015-2016 Intel Corporation. All rights reserved.
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <inttypes.h>
#include <AP_HAL/HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/utility/OwnPtr.h>
#include "Semaphores.h"
#include "I2CWrapper.h"
#include "Device.h"
namespace PX4 {
class I2CDevice : public AP_HAL::I2CDevice {
public:
static I2CDevice *from(AP_HAL::I2CDevice *dev)
{
return static_cast<I2CDevice*>(dev);
}
I2CDevice(uint8_t bus, uint8_t address);
~I2CDevice();
/* See AP_HAL::I2CDevice::set_address() */
void set_address(uint8_t address) override { _address = address; }
/* See AP_HAL::I2CDevice::set_retries() */
void set_retries(uint8_t retries) override { _px4dev.set_retries(retries); }
/* See AP_HAL::Device::set_speed(): Empty implementation, not supported. */
bool set_speed(enum Device::Speed speed) override { return true; }
/* See AP_HAL::Device::transfer() */
bool transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len) override;
bool read_registers_multiple(uint8_t first_reg, uint8_t *recv,
uint32_t recv_len, uint8_t times) override;
/* See AP_HAL::Device::register_periodic_callback() */
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AP_HAL::Device::PeriodicHandle register_periodic_callback(
uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
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/* See AP_HAL::Device::adjust_periodic_callback() */
bool adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
AP_HAL::Semaphore* get_semaphore() override {
// if asking for invalid bus number use bus 0 semaphore
return &businfo[_busnum<num_buses?_busnum:0].semaphore;
}
private:
static const uint8_t num_buses = 2;
static DeviceBus businfo[num_buses];
uint8_t _busnum;
PX4_I2C _px4dev;
uint8_t _address;
perf_counter_t perf;
char *pname;
};
class I2CDeviceManager : public AP_HAL::I2CDeviceManager {
public:
friend class I2CDevice;
static I2CDeviceManager *from(AP_HAL::I2CDeviceManager *i2c_mgr)
{
return static_cast<I2CDeviceManager*>(i2c_mgr);
}
AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address) override;
};
}