mirror of https://github.com/ArduPilot/ardupilot
136 lines
4.1 KiB
C++
136 lines
4.1 KiB
C++
/*
|
|
* Copyright (C) 2015-2016 Intel Corporation. All rights reserved.
|
|
*
|
|
* This file 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 file 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/>.
|
|
*/
|
|
#pragma once
|
|
|
|
#include <inttypes.h>
|
|
#include <vector>
|
|
|
|
#include <AP_HAL/HAL.h>
|
|
#include <AP_HAL/I2CDevice.h>
|
|
#include <AP_HAL/utility/OwnPtr.h>
|
|
|
|
#include "Semaphores.h"
|
|
|
|
namespace Linux {
|
|
|
|
class I2CBus;
|
|
|
|
class I2CDevice : public AP_HAL::I2CDevice {
|
|
public:
|
|
static I2CDevice *from(AP_HAL::I2CDevice *dev)
|
|
{
|
|
return static_cast<I2CDevice*>(dev);
|
|
}
|
|
|
|
/* AP_HAL::I2CDevice implementation */
|
|
|
|
I2CDevice(I2CBus &bus, uint8_t address);
|
|
|
|
~I2CDevice();
|
|
|
|
/* See AP_HAL::I2CDevice::set_address() */
|
|
void set_address(uint8_t address) override { _address = address; }
|
|
|
|
/* See AP_HAL::I2CDevice::set_retries() */
|
|
void set_retries(uint8_t retries) override { _retries = retries; }
|
|
|
|
/* AP_HAL::Device implementation */
|
|
|
|
/* See AP_HAL::Device::set_speed(): Empty implementation, not supported. */
|
|
bool set_speed(enum Device::Speed speed) override { return true; }
|
|
|
|
/* See AP_HAL::Device::transfer() */
|
|
bool transfer(const uint8_t *send, uint32_t send_len,
|
|
uint8_t *recv, uint32_t recv_len) override;
|
|
|
|
bool read_registers_multiple(uint8_t first_reg, uint8_t *recv,
|
|
uint32_t recv_len, uint8_t times) override;
|
|
|
|
/* See AP_HAL::Device::get_semaphore() */
|
|
AP_HAL::Semaphore *get_semaphore() override;
|
|
|
|
/* See AP_HAL::Device::register_periodic_callback() */
|
|
AP_HAL::Device::PeriodicHandle register_periodic_callback(
|
|
uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
|
|
|
|
/* See AP_HAL::Device::adjust_periodic_callback() */
|
|
bool adjust_periodic_callback(
|
|
AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
|
|
|
|
/* set split transfers flag */
|
|
void set_split_transfers(bool set) override {
|
|
_split_transfers = set;
|
|
}
|
|
|
|
protected:
|
|
I2CBus &_bus;
|
|
uint8_t _address;
|
|
uint8_t _retries = 0;
|
|
bool _split_transfers = false;
|
|
};
|
|
|
|
class I2CDeviceManager : public AP_HAL::I2CDeviceManager {
|
|
public:
|
|
friend class I2CDevice;
|
|
|
|
static I2CDeviceManager *from(AP_HAL::I2CDeviceManager *i2c_mgr)
|
|
{
|
|
return static_cast<I2CDeviceManager*>(i2c_mgr);
|
|
}
|
|
|
|
I2CDeviceManager();
|
|
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(
|
|
std::vector<const char *> devpaths, uint8_t address) override;
|
|
|
|
/* AP_HAL::I2CDeviceManager implementation */
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
|
|
uint32_t bus_clock=400000,
|
|
bool use_smbus = false,
|
|
uint32_t timeout_ms=4) override;
|
|
|
|
/*
|
|
* Stop all I2C threads and block until they are finalized. This doesn't
|
|
* free memory because they can still be used by devices, however device
|
|
* drivers won't receive any new event
|
|
*/
|
|
void teardown();
|
|
|
|
/*
|
|
get mask of bus numbers for all configured I2C buses
|
|
*/
|
|
uint32_t get_bus_mask(void) const override;
|
|
|
|
/*
|
|
get mask of bus numbers for all configured external I2C buses
|
|
*/
|
|
uint32_t get_bus_mask_external(void) const override;
|
|
|
|
/*
|
|
get mask of bus numbers for all configured internal I2C buses
|
|
*/
|
|
uint32_t get_bus_mask_internal(void) const override;
|
|
|
|
protected:
|
|
void _unregister(I2CBus &b);
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _create_device(I2CBus &b, uint8_t address) const;
|
|
|
|
std::vector<I2CBus*> _buses;
|
|
};
|
|
|
|
}
|