ardupilot/libraries/AP_HAL_SITL/I2CDevice.cpp

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/*
* Copyright (C) 2020 Peter Barker. 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/>.
*/
#include "I2CDevice.h"
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)
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#include <SITL/SITL.h>
extern const AP_HAL::HAL& hal;
using namespace HALSITL;
/*
* I2CBus
*/
class I2CBus {
friend class I2CDeviceManager;
public:
I2CBus() { bus = i2c_buscount++; }
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uint8_t bus;
Semaphore sem;
int ioctl(uint8_t ioctl_number, void *data) {
return _ioctl(ioctl_number, data);
}
void _timer_tick(); // in lieu of a thread-per-bus
AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb);
private:
int _ioctl(uint8_t ioctl_number, void *data);
struct callback_info {
struct callback_info *next;
AP_HAL::Device::PeriodicCb cb;
uint32_t period_usec;
uint64_t next_usec;
} *callbacks;
static uint8_t i2c_buscount;
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};
uint8_t I2CBus::i2c_buscount;
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int I2CBus::_ioctl(uint8_t ioctl_number, void *data)
{
SITL::SIM *sitl = AP::sitl();
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return sitl->i2c_ioctl(ioctl_number, data);
}
AP_HAL::Device::PeriodicHandle I2CBus::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
{
// mostly swiped from ChibiOS:
I2CBus::callback_info *callback = new I2CBus::callback_info;
if (callback == nullptr) {
return nullptr;
}
callback->cb = cb;
callback->period_usec = period_usec;
callback->next_usec = AP_HAL::micros64() + period_usec;
// add to linked list of callbacks on thread
callback->next = callbacks;
callbacks = callback;
return callback;
}
void I2CBus::_timer_tick()
{
const uint64_t now = AP_HAL::micros64();
for (struct callback_info *ci = callbacks; ci != nullptr; ci = ci->next) {
if (ci->next_usec < now) {
WITH_SEMAPHORE(sem);
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ci->cb();
ci->next_usec += ci->period_usec;
}
}
}
/*
* I2CDeviceManager
*/
I2CBus I2CDeviceManager::buses[NUM_SITL_I2C_BUSES] {};
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I2CDeviceManager::I2CDeviceManager()
{
for (uint8_t i=0; i<ARRAY_SIZE(buses); i++) {
buses[i].bus = i;
}
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}
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)
{
if (bus >= ARRAY_SIZE(buses)) {
return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(nullptr);
}
auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(buses[bus], address));
return dev;
}
void I2CDeviceManager::_timer_tick()
{
for (auto &bus : buses) {
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bus._timer_tick();
}
}
/*
* I2CDevice
*/
I2CDevice::I2CDevice(I2CBus &bus, uint8_t address)
: _bus(bus)
, _address(address)
{
::fprintf(stderr, "bus.bus=%u address=0x%02x\n", bus.bus, address);
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set_device_bus(bus.bus);
set_device_address(address);
}
#include <stdio.h>
#include <signal.h>
bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
_bus.sem.check_owner();
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// combined transfer
return _transfer(send, send_len, recv, recv_len);
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}
bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
struct i2c_msg msgs[2] = { };
unsigned nmsgs = 0;
if (send && send_len != 0) {
msgs[nmsgs].bus = _bus.bus;
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msgs[nmsgs].addr = _address;
msgs[nmsgs].flags = 0;
msgs[nmsgs].buf = const_cast<uint8_t*>(send);
msgs[nmsgs].len = send_len;
nmsgs++;
}
if (recv && recv_len != 0) {
msgs[nmsgs].bus = _bus.bus;
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msgs[nmsgs].addr = _address;
msgs[nmsgs].flags = I2C_M_RD;
msgs[nmsgs].buf = recv;
msgs[nmsgs].len = recv_len;
nmsgs++;
}
/* interpret it as an input error if nothing has to be done */
if (!nmsgs) {
return false;
}
struct i2c_rdwr_ioctl_data i2c_data = { };
i2c_data.msgs = msgs;
i2c_data.nmsgs = nmsgs;
int r;
unsigned retries = _retries;
do {
r = _bus.ioctl(I2C_RDWR, &i2c_data);
} while (r == -1 && retries-- > 0);
return r != -1;
}
bool I2CDevice::read_registers_multiple(uint8_t first_reg, uint8_t *recv,
uint32_t recv_len, uint8_t times)
{
::fprintf(stderr, "read_registers_multiple called\n");
return false;
}
AP_HAL::Semaphore *I2CDevice::get_semaphore() {
return &_bus.sem;
}
AP_HAL::Device::PeriodicHandle I2CDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
{
return _bus.register_periodic_callback(period_usec, cb);
}
bool I2CDevice::adjust_periodic_callback(Device::PeriodicHandle h, uint32_t period_usec)
{
return false;
}
#endif //#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)