ardupilot/libraries/AP_HAL_PX4/I2CDevice.cpp

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/*
* 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/>.
*/
#include "I2CDevice.h"
#include <AP_HAL/AP_HAL.h>
#include "Util.h"
#include "Scheduler.h"
namespace PX4 {
uint8_t PX4::PX4_I2C::instance;
pthread_mutex_t PX4::PX4_I2C::instance_lock;
DeviceBus I2CDevice::businfo[I2CDevice::num_buses];
/*
constructor for I2C wrapper class
*/
PX4_I2C::PX4_I2C(uint8_t bus) :
I2C(devname, devpath, map_bus_number(bus), 0, 100000UL)
{}
/*
map ArduPilot bus numbers to PX4 bus numbers
*/
uint8_t PX4_I2C::map_bus_number(uint8_t bus) const
{
switch (bus) {
case 0:
// map to internal bus
#ifdef PX4_I2C_BUS_ONBOARD
return PX4_I2C_BUS_ONBOARD;
#else
return 0;
#endif
case 1:
// map to expansion bus
#ifdef PX4_I2C_BUS_EXPANSION
return PX4_I2C_BUS_EXPANSION;
#else
return 1;
#endif
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case 2:
// map to expansion bus 2
#ifdef PX4_I2C_BUS_EXPANSION1
return PX4_I2C_BUS_EXPANSION1;
#else
return 2;
#endif
}
// default to bus 1
return 1;
}
/*
implement wrapper for PX4 I2C driver
*/
bool PX4_I2C::do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len, bool split_transfers)
{
set_address(address);
if (!init_done) {
if (pthread_mutex_lock(&instance_lock) != 0) {
return false;
}
init_done = true;
// we do late init() so we can setup the device paths
snprintf(devname, sizeof(devname), "AP_I2C_%u", instance);
snprintf(devpath, sizeof(devpath), "/dev/api2c%u", instance);
init_ok = (init() == OK);
if (init_ok) {
instance++;
}
pthread_mutex_unlock(&instance_lock);
}
if (!init_ok) {
return false;
}
if (split_transfers) {
/*
splitting the transfer() into two pieces avoids a stop condition
with SCL low which is not supported on some devices (such as
LidarLite blue label)
*/
if (send && send_len) {
if (transfer(send, send_len, nullptr, 0) != OK) {
return false;
}
}
if (recv && recv_len) {
if (transfer(nullptr, 0, recv, recv_len) != OK) {
return false;
}
}
} else {
// combined transfer
if (transfer(send, send_len, recv, recv_len) != OK) {
return false;
}
}
return true;
}
I2CDevice::I2CDevice(uint8_t bus, uint8_t address) :
_busnum(bus),
_px4dev(_busnum),
_address(address)
{
set_device_bus(bus);
set_device_address(address);
asprintf(&pname, "I2C:%u:%02x",
(unsigned)bus, (unsigned)address);
perf = perf_alloc(PC_ELAPSED, pname);
}
I2CDevice::~I2CDevice()
{
printf("I2C device bus %u address 0x%02x closed\n",
(unsigned)_busnum, (unsigned)_address);
perf_free(perf);
free(pname);
}
bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
perf_begin(perf);
bool ret = _px4dev.do_transfer(_address, send, send_len, recv, recv_len, _split_transfers);
perf_end(perf);
return ret;
}
bool I2CDevice::read_registers_multiple(uint8_t first_reg, uint8_t *recv,
uint32_t recv_len, uint8_t times)
{
return false;
}
/*
register a periodic callback
*/
AP_HAL::Device::PeriodicHandle I2CDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
{
if (_busnum >= num_buses) {
return nullptr;
}
struct DeviceBus &binfo = businfo[_busnum];
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return binfo.register_periodic_callback(period_usec, cb, this);
}
/*
adjust a periodic callback
*/
bool I2CDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
{
if (_busnum >= num_buses) {
return false;
}
struct DeviceBus &binfo = businfo[_busnum];
return binfo.adjust_timer(h, period_usec);
}
AP_HAL::OwnPtr<AP_HAL::I2CDevice>
I2CDeviceManager::get_device(uint8_t bus, uint8_t address,
uint32_t bus_clock,
bool use_smbus,
uint32_t timeout_ms)
{
auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(bus, address));
return dev;
}
}