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AP_HAL_PX4: remove I2CDriver 

I2CDevice now serves for the same purpose.
This commit is contained in:
Lucas De Marchi 2016-07-28 18:06:16 -03:00
parent 73bb371918
commit 2ef78051c1
3 changed files with 0 additions and 122 deletions
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5
libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
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@ -15,7 +15,6 @@
#include "AnalogIn.h"
#include "Util.h"
#include "GPIO.h"
#include "I2CDriver.h"
#include "I2CDevice.h"
#include <AP_HAL_Empty/AP_HAL_Empty.h>
@ -32,7 +31,6 @@
using namespace PX4;
static PX4I2CDriver i2cDriver;
static Empty::SPIDeviceManager spiDeviceManager;
//static Empty::GPIO gpioDriver;
@ -86,9 +84,6 @@ HAL_PX4::HAL_PX4() :
&uartEDriver, /* uartE */
&uartFDriver, /* uartF */
&i2c_mgr_instance,
&i2cDriver, /* i2c */
NULL, /* only one i2c */
NULL, /* only one i2c */
&spiDeviceManager, /* spi */
&analogIn, /* analogin */
&storageDriver, /* storage */

70
libraries/AP_HAL_PX4/I2CDriver.cpp
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@ -1,70 +0,0 @@
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include "I2CDriver.h"
#include "I2CWrapper.h"
extern const AP_HAL::HAL& hal;
using namespace PX4;
// constructor for main i2c class
PX4I2CDriver::PX4I2CDriver(void)
{
px4_i2c = new PX4_I2C(PX4_I2C_BUS_EXPANSION);
if (px4_i2c == nullptr) {
AP_HAL::panic("Unable to allocate PX4 I2C driver");
}
}
/*
expose transfer function
*/
bool PX4I2CDriver::do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len)
{
return px4_i2c->do_transfer(address, send, send_len, recv, recv_len);
}
/* write: for i2c devices which do not obey register conventions */
uint8_t PX4I2CDriver::write(uint8_t addr, uint8_t len, uint8_t* data)
{
return do_transfer(addr, data, len, nullptr, 0) ? 0:1;
}
/* writeRegister: write a single 8-bit value to a register */
uint8_t PX4I2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val)
{
uint8_t d[2] = { reg, val };
return do_transfer(addr, d, sizeof(d), nullptr, 0) ? 0:1;
}
/* writeRegisters: write bytes to contiguous registers */
uint8_t PX4I2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data)
{
return write(addr, 1, &reg) == 0 && write(addr, len, data) == 0;
}
/* read: for i2c devices which do not obey register conventions */
uint8_t PX4I2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data)
{
return do_transfer(addr, nullptr, 0, data, len) ? 0:1;
}
/* readRegister: read from a device register - writes the register,
* then reads back an 8-bit value. */
uint8_t PX4I2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data)
{
return do_transfer(addr, &reg, 1, data, 1) ? 0:1;
}
/* readRegister: read contiguous device registers - writes the first
* register, then reads back multiple bytes */
uint8_t PX4I2CDriver::readRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data)
{
return do_transfer(addr, &reg, 1, data, len) ? 0:1;
}
#endif // CONFIG_HAL_BOARD

47
libraries/AP_HAL_PX4/I2CDriver.h
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@ -1,47 +0,0 @@
#pragma once
#include "AP_HAL_PX4.h"
#include <AP_HAL_Empty/AP_HAL_Empty.h>
#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
class PX4::PX4I2CDriver : public AP_HAL::I2CDriver {
public:
PX4I2CDriver(void);
void begin() override {}
void end() override {}
void setTimeout(uint16_t ms) override {}
void setHighSpeed(bool active) override {}
// main transfer function
bool do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len) override;
/* write: for i2c devices which do not obey register conventions */
uint8_t write(uint8_t addr, uint8_t len, uint8_t* data) override;
/* writeRegister: write a single 8-bit value to a register */
uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val) override;
/* writeRegisters: write bytes to contiguous registers */
uint8_t writeRegisters(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* data) override;
/* read: for i2c devices which do not obey register conventions */
uint8_t read(uint8_t addr, uint8_t len, uint8_t* data) override;
/* readRegister: read from a device register - writes the register,
* then reads back an 8-bit value. */
uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data) override;
/* readRegister: read contiguous device registers - writes the first
* register, then reads back multiple bytes */
uint8_t readRegisters(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* data) override;
uint8_t lockup_count() override { return 0; }
AP_HAL::Semaphore* get_semaphore() override { return &semaphore; }
private:
// we use an empty semaphore as the underlying I2C class already has a semaphore
Empty::Semaphore semaphore;
PX4_I2C *px4_i2c = nullptr;
};