/* 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" #include "SIM_BattMonitor_SMBus_Maxell.h" #include "SIM_BattMonitor_SMBus_Rotoye.h" #include "SIM_Airspeed_DLVR.h" #include "SIM_Temperature_TSYS01.h" #include "SIM_ICM40609.h" #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; static MaxSonarI2CXL maxsonari2cxl_2; static Maxell maxell; static Rotoye rotoye; static Airspeed_DLVR airspeed_dlvr; static TSYS01 tsys01; static ICM40609 icm40609; struct i2c_device_at_address { uint8_t bus; uint8_t addr; I2CDevice &device; } i2c_devices[] { { 0, 0x70, maxsonari2cxl }, { 0, 0x71, maxsonari2cxl_2 }, { 1, 0x01, icm40609 }, { 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 }, }; 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"); } } } } 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) { 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; } if (dev_at_address.bus != bus) { continue; } return dev_at_address.device.rdwr(data); } // ::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; // ?! } 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; }