2020-08-03 00:24:26 -03:00
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/*
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* Copyright (C) 2020 Peter Barker. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "I2CDevice.h"
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#include <AP_HAL/AP_HAL.h>
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2020-09-12 16:04:38 -03:00
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)
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2020-08-03 00:24:26 -03:00
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#include <SITL/SITL.h>
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extern const AP_HAL::HAL& hal;
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using namespace HALSITL;
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/*
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* I2CBus
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*/
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class I2CBus {
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friend class I2CDeviceManager;
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public:
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2020-10-11 22:24:49 -03:00
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I2CBus() { bus = i2c_buscount++; }
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2020-08-03 00:24:26 -03:00
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uint8_t bus;
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Semaphore sem;
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int ioctl(uint8_t ioctl_number, void *data) {
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return _ioctl(ioctl_number, data);
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}
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void _timer_tick(); // in lieu of a thread-per-bus
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AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb);
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private:
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int _ioctl(uint8_t ioctl_number, void *data);
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struct callback_info {
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struct callback_info *next;
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AP_HAL::Device::PeriodicCb cb;
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uint32_t period_usec;
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uint64_t next_usec;
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} *callbacks;
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2020-10-11 22:24:49 -03:00
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static uint8_t i2c_buscount;
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2020-08-03 00:24:26 -03:00
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};
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2020-10-11 22:24:49 -03:00
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uint8_t I2CBus::i2c_buscount;
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2020-08-03 00:24:26 -03:00
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int I2CBus::_ioctl(uint8_t ioctl_number, void *data)
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{
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SITL::SITL *sitl = AP::sitl();
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return sitl->i2c_ioctl(ioctl_number, data);
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}
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AP_HAL::Device::PeriodicHandle I2CBus::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
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{
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// mostly swiped from ChibiOS:
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I2CBus::callback_info *callback = new I2CBus::callback_info;
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if (callback == nullptr) {
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return nullptr;
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}
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callback->cb = cb;
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callback->period_usec = period_usec;
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callback->next_usec = AP_HAL::micros64() + period_usec;
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// add to linked list of callbacks on thread
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callback->next = callbacks;
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callbacks = callback;
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return callback;
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}
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void I2CBus::_timer_tick()
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{
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const uint64_t now = AP_HAL::micros64();
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for (struct callback_info *ci = callbacks; ci != nullptr; ci = ci->next) {
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2021-01-03 08:32:23 -04:00
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if (ci->next_usec < now) {
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WITH_SEMAPHORE(sem);
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ci->cb();
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ci->next_usec += ci->period_usec;
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}
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}
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}
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/*
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* I2CDeviceManager
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*/
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2020-10-11 22:24:49 -03:00
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I2CBus I2CDeviceManager::buses[NUM_SITL_I2C_BUSES] {};
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2020-08-03 00:24:26 -03:00
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I2CDeviceManager::I2CDeviceManager()
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{
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2020-08-19 01:57:37 -03:00
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for (uint8_t i=0; i<ARRAY_SIZE(buses); i++) {
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buses[i].bus = i;
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}
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2020-08-03 00:24:26 -03:00
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}
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AP_HAL::OwnPtr<AP_HAL::I2CDevice>
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I2CDeviceManager::get_device(uint8_t bus,
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uint8_t address,
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uint32_t bus_clock,
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bool use_smbus,
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uint32_t timeout_ms)
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{
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if (bus >= ARRAY_SIZE(buses)) {
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return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(nullptr);
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}
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auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(buses[bus], address));
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return dev;
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}
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void I2CDeviceManager::_timer_tick()
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{
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2020-10-11 22:24:49 -03:00
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for (auto &bus : buses) {
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2020-08-03 00:24:26 -03:00
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bus._timer_tick();
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}
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}
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/*
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* I2CDevice
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*/
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I2CDevice::I2CDevice(I2CBus &bus, uint8_t address)
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: _bus(bus)
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, _address(address)
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{
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2020-08-19 01:57:37 -03:00
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::fprintf(stderr, "bus.bus=%u address=0x%02x\n", bus.bus, address);
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2020-08-03 00:24:26 -03:00
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set_device_bus(bus.bus);
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set_device_address(address);
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}
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#include <stdio.h>
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#include <signal.h>
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bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
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uint8_t *recv, uint32_t recv_len)
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{
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2020-10-11 22:24:49 -03:00
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_bus.sem.check_owner();
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2020-08-03 00:24:26 -03:00
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// combined transfer
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2021-02-03 10:04:38 -04:00
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return _transfer(send, send_len, recv, recv_len);
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2020-08-03 00:24:26 -03:00
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}
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bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
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uint8_t *recv, uint32_t recv_len)
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{
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struct i2c_msg msgs[2] = { };
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unsigned nmsgs = 0;
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if (send && send_len != 0) {
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2020-08-19 01:57:37 -03:00
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msgs[nmsgs].bus = _bus.bus;
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2020-08-03 00:24:26 -03:00
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msgs[nmsgs].addr = _address;
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msgs[nmsgs].flags = 0;
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msgs[nmsgs].buf = const_cast<uint8_t*>(send);
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msgs[nmsgs].len = send_len;
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nmsgs++;
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}
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if (recv && recv_len != 0) {
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2021-02-16 21:20:07 -04:00
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msgs[nmsgs].bus = _bus.bus;
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2020-08-03 00:24:26 -03:00
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msgs[nmsgs].addr = _address;
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msgs[nmsgs].flags = I2C_M_RD;
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msgs[nmsgs].buf = recv;
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msgs[nmsgs].len = recv_len;
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nmsgs++;
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}
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/* interpret it as an input error if nothing has to be done */
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if (!nmsgs) {
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return false;
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}
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struct i2c_rdwr_ioctl_data i2c_data = { };
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i2c_data.msgs = msgs;
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i2c_data.nmsgs = nmsgs;
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int r;
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unsigned retries = _retries;
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do {
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r = _bus.ioctl(I2C_RDWR, &i2c_data);
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} while (r == -1 && retries-- > 0);
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return r != -1;
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}
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bool I2CDevice::read_registers_multiple(uint8_t first_reg, uint8_t *recv,
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uint32_t recv_len, uint8_t times)
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{
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::fprintf(stderr, "read_registers_multiple called\n");
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return false;
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}
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AP_HAL::Semaphore *I2CDevice::get_semaphore() {
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return &_bus.sem;
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}
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AP_HAL::Device::PeriodicHandle I2CDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
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{
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return _bus.register_periodic_callback(period_usec, cb);
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}
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bool I2CDevice::adjust_periodic_callback(Device::PeriodicHandle h, uint32_t period_usec)
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{
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return false;
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}
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2020-09-12 16:04:38 -03:00
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#endif //#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)
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