mirror of https://github.com/ArduPilot/ardupilot
131 lines
4.0 KiB
C++
131 lines
4.0 KiB
C++
/*
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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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#pragma once
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#include <inttypes.h>
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#include <AP_HAL/HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)
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#include <AP_HAL/I2CDevice.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#include "AP_HAL_SITL_Namespace.h"
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#include "Semaphores.h"
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class I2CBus;
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class HALSITL::I2CDevice : public AP_HAL::I2CDevice {
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public:
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static I2CDevice *from(AP_HAL::I2CDevice *dev) {
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return static_cast<I2CDevice*>(dev);
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}
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/* AP_HAL::I2CDevice implementation */
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I2CDevice(I2CBus &bus, uint8_t address);
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~I2CDevice() {}
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/* See AP_HAL::I2CDevice::set_address() */
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void set_address(uint8_t address) override { _address = address; }
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/* See AP_HAL::I2CDevice::set_retries() */
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void set_retries(uint8_t retries) override { _retries = retries; }
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/* AP_HAL::Device implementation */
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/* See AP_HAL::Device::set_speed(): Empty implementation, not supported. */
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bool set_speed(enum Device::Speed speed) override { return true; }
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/* See AP_HAL::Device::transfer() */
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bool transfer(const uint8_t *send, uint32_t send_len,
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uint8_t *recv, uint32_t recv_len) override;
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bool read_registers_multiple(uint8_t first_reg, uint8_t *recv,
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uint32_t recv_len, uint8_t times) override;
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/* See AP_HAL::Device::get_semaphore() */
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AP_HAL::Semaphore *get_semaphore() override;
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/* See AP_HAL::Device::register_periodic_callback() */
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AP_HAL::Device::PeriodicHandle register_periodic_callback(
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uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
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/* See AP_HAL::Device::adjust_periodic_callback() */
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bool adjust_periodic_callback(
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AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
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/* set split transfers flag */
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void set_split_transfers(bool set) override {
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_split_transfers = set;
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}
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static void sitl_update();
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// the following must be identical to the structure in SITL/SIM_I2C.h!
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#define I2C_M_RD 1
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#define I2C_RDWR 0
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struct i2c_msg {
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uint8_t addr;
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uint8_t flags;
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uint8_t *buf;
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uint16_t len; // FIXME: what type should this be?
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};
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struct i2c_rdwr_ioctl_data {
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i2c_msg *msgs;
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uint8_t nmsgs;
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};
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// end "the following"
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protected:
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I2CBus &_bus;
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uint8_t _address;
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uint8_t _retries;
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bool _split_transfers = false;
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bool _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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class HALSITL::I2CDeviceManager : public AP_HAL::I2CDeviceManager {
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public:
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friend class I2CDevice;
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static I2CDeviceManager *from(AP_HAL::I2CDeviceManager *i2c_mgr)
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{
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return static_cast<I2CDeviceManager*>(i2c_mgr);
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}
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I2CDeviceManager();
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~I2CDeviceManager() {};
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void _timer_tick(); // in lieu of a thread-per-bus
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/* AP_HAL::I2CDeviceManager implementation */
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
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uint32_t bus_clock=400000,
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bool use_smbus = false,
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uint32_t timeout_ms=4) override;
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protected:
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#define NUM_SITL_I2C_BUSES 4
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static I2CBus buses[];
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};
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#endif //#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)
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