ardupilot/libraries/SITL/SIM_I2C.cpp

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/*
This program 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 program 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/>.
*/
/*
Simulated i2c buses and devices
*/
#include <GCS_MAVLink/GCS.h>
#include <SITL/SITL.h>
#include "SIM_I2C.h"
#include "SIM_ToshibaLED.h"
#include "SIM_MaxSonarI2CXL.h"
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#include "SIM_BattMonitor_SMBus_Maxell.h"
#include "SIM_BattMonitor_SMBus_Rotoye.h"
#include "SIM_Airspeed_DLVR.h"
#include "SIM_Temperature_TSYS01.h"
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#include "SIM_ICM40609.h"
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#include <signal.h>
using namespace SITL;
enum class IOCtlType {
RDWR = 0,
};
class IgnoredI2CDevice : public I2CDevice
{
public:
int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override {
return -1;
}
};
static IgnoredI2CDevice ignored;
static ToshibaLED toshibaled;
static MaxSonarI2CXL maxsonari2cxl;
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static MaxSonarI2CXL maxsonari2cxl_2;
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static Maxell maxell;
static Rotoye rotoye;
static Airspeed_DLVR airspeed_dlvr;
static TSYS01 tsys01;
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static ICM40609 icm40609;
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struct i2c_device_at_address {
uint8_t bus;
uint8_t addr;
I2CDevice &device;
} i2c_devices[] {
{ 0, 0x70, maxsonari2cxl },
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{ 0, 0x71, maxsonari2cxl_2 },
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{ 1, 0x01, icm40609 },
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{ 1, 0x55, toshibaled },
{ 1, 0x38, ignored }, // NCP5623
{ 1, 0x39, ignored }, // NCP5623C
{ 1, 0x40, ignored }, // KellerLD
{ 1, 0x76, ignored }, // MS56XX
{ 1, 0x77, tsys01 },
{ 1, 0x0B, rotoye },
{ 2, 0x0B, maxell },
{ 2, 0x28, airspeed_dlvr },
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};
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void I2C::init()
{
for (auto &i : i2c_devices) {
i.device.init();
}
// sanity check the i2c_devices structure to ensure we don't have
// two devices at the same address on the same bus:
for (uint8_t i=0; i<ARRAY_SIZE(i2c_devices)-1; i++) {
const auto &dev_i = i2c_devices[i];
for (uint8_t j=i+1; j<ARRAY_SIZE(i2c_devices); j++) {
const auto &dev_j = i2c_devices[j];
if (dev_i.bus == dev_j.bus &&
dev_i.addr == dev_j.addr) {
AP_HAL::panic("Two devices at the same address on the same bus");
}
}
}
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}
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void I2C::update(const class Aircraft &aircraft)
{
for (auto daa : i2c_devices) {
daa.device.update(aircraft);
}
}
int I2C::ioctl_rdwr(i2c_rdwr_ioctl_data *data)
{
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const uint8_t addr = data->msgs[0].addr;
const uint8_t bus = data->msgs[0].bus;
for (auto &dev_at_address : i2c_devices) {
if (dev_at_address.addr != addr) {
continue;
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}
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if (dev_at_address.bus != bus) {
continue;
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}
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return dev_at_address.device.rdwr(data);
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}
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// ::fprintf(stderr, "Unhandled i2c message: bus=%u addr=0x%02x flags=%u len=%u\n", msg.bus, msg.addr, msg.flags, msg.len);
return -1; // ?!
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}
int I2C::ioctl(uint8_t ioctl_type, void *data)
{
switch ((IOCtlType) ioctl_type) {
case IOCtlType::RDWR:
return ioctl_rdwr((i2c_rdwr_ioctl_data*)data);
}
return -1;
}