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AP_HAL_SITL: add support for multiple i2c buses

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This commit is contained in:
Peter Barker 2020-08-19 14:57:37 +10:00 committed by Peter Barker
parent 230ca049c1
commit bddea9e046
2 changed files with 6 additions and 0 deletions
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5
libraries/AP_HAL_SITL/I2CDevice.cpp
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@ -101,6 +101,9 @@ I2CBus I2CDeviceManager::buses[NUM_SITL_I2C_BUSES] {};
I2CDeviceManager::I2CDeviceManager() I2CDeviceManager::I2CDeviceManager()
{ {
for (uint8_t i=0; i<ARRAY_SIZE(buses); i++) {
buses[i].bus = i;
}
} }
AP_HAL::OwnPtr<AP_HAL::I2CDevice> AP_HAL::OwnPtr<AP_HAL::I2CDevice>
@ -132,6 +135,7 @@ I2CDevice::I2CDevice(I2CBus &bus, uint8_t address)
: _bus(bus) : _bus(bus)
, _address(address) , _address(address)
{ {
::fprintf(stderr, "bus.bus=%u address=0x%02x\n", bus.bus, address);
set_device_bus(bus.bus); set_device_bus(bus.bus);
set_device_address(address); set_device_address(address);
} }
@ -159,6 +163,7 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
unsigned nmsgs = 0; unsigned nmsgs = 0;
if (send && send_len != 0) { if (send && send_len != 0) {
msgs[nmsgs].bus = _bus.bus;
msgs[nmsgs].addr = _address; msgs[nmsgs].addr = _address;
msgs[nmsgs].flags = 0; msgs[nmsgs].flags = 0;
msgs[nmsgs].buf = const_cast<uint8_t*>(send); msgs[nmsgs].buf = const_cast<uint8_t*>(send);

1
libraries/AP_HAL_SITL/I2CDevice.h
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@ -81,6 +81,7 @@ public:
#define I2C_M_RD 1 #define I2C_M_RD 1
#define I2C_RDWR 0 #define I2C_RDWR 0
struct i2c_msg { struct i2c_msg {
uint8_t bus;
uint8_t addr; uint8_t addr;
uint8_t flags; uint8_t flags;
uint8_t *buf; uint8_t *buf;