mirror of https://github.com/ArduPilot/ardupilot
94 lines
2.6 KiB
C++
94 lines
2.6 KiB
C++
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "I2CDriver.h"
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#include <drivers/device/i2c.h>
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#include <arch/board/board.h>
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#include "board_config.h"
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extern const AP_HAL::HAL& hal;
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using namespace PX4;
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/*
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wrapper class for I2C to expose protected functions from PX4Firmware
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*/
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class PX4::PX4_I2C : public device::I2C {
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public:
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PX4_I2C(uint8_t bus);
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bool do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len);
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};
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// constructor
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PX4_I2C::PX4_I2C(uint8_t bus) :
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I2C("AP_I2C", "/dev/api2c", bus, 0, 400000UL)
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{
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/*
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attach to the bus. Return value can be ignored as we have no probe function
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*/
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init();
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}
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/*
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main transfer function
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*/
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bool PX4_I2C::do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len)
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{
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set_address(address);
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return transfer(send, send_len, recv, recv_len) == OK;
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}
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// constructor for main i2c class
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PX4I2CDriver::PX4I2CDriver(void)
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{
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px4_i2c = new PX4_I2C(PX4_I2C_BUS_EXPANSION);
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if (px4_i2c == nullptr) {
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hal.scheduler->panic("Unable to allocate PX4 I2C driver");
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}
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}
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/* write: for i2c devices which do not obey register conventions */
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uint8_t PX4I2CDriver::write(uint8_t addr, uint8_t len, uint8_t* data)
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{
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return px4_i2c->do_transfer(addr, data, len, nullptr, 0) ? 0:1;
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}
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/* writeRegister: write a single 8-bit value to a register */
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uint8_t PX4I2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val)
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{
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uint8_t d[2] = { reg, val };
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return px4_i2c->do_transfer(addr, d, sizeof(d), nullptr, 0) ? 0:1;
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}
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/* writeRegisters: write bytes to contigious registers */
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uint8_t PX4I2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data)
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{
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return write(addr, 1, ®) == 0 && write(addr, len, data) == 0;
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}
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/* read: for i2c devices which do not obey register conventions */
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uint8_t PX4I2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data)
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{
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return px4_i2c->do_transfer(addr, nullptr, 0, data, len) ? 0:1;
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}
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/* readRegister: read from a device register - writes the register,
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* then reads back an 8-bit value. */
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uint8_t PX4I2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data)
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{
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return px4_i2c->do_transfer(addr, ®, 1, data, 1) ? 0:1;
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}
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/* readRegister: read contigious device registers - writes the first
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* register, then reads back multiple bytes */
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uint8_t PX4I2CDriver::readRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data)
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{
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return px4_i2c->do_transfer(addr, ®, 1, data, len) ? 0:1;
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}
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#endif // CONFIG_HAL_BOARD
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