ardupilot/libraries/SITL/SIM_I2C.cpp

169 lines
4.8 KiB
C++

/*
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 "SIM_config.h"
#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_Temperature_MCP9600.h"
#include "SIM_ICM40609.h"
#include "SIM_IS31FL3195.h"
#include "SIM_LP5562.h"
#include "SIM_LM2755.h"
#include "SIM_MS5525.h"
#include "SIM_MS5611.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;
#if AP_SIM_TOSHIBALED_ENABLED
static ToshibaLED toshibaled;
#endif
static MaxSonarI2CXL maxsonari2cxl;
static MaxSonarI2CXL maxsonari2cxl_2;
static Maxell maxell;
static Rotoye rotoye;
static SIM_BattMonitor_SMBus_Generic smbus_generic;
static Airspeed_DLVR airspeed_dlvr;
static TSYS01 tsys01;
static MCP9600 mcp9600;
static ICM40609 icm40609;
static MS5525 ms5525;
static MS5611 ms5611;
#if AP_SIM_LP5562_ENABLED
static LP5562 lp5562;
#endif
#if AP_SIM_LM2755_ENABLED
static LM2755 lm2755;
#endif
#if AP_SIM_IS31FL3195_ENABLED
static IS31FL3195 is31fl3195;
#define SIM_IS31FL3195_ADDR 0x54
#endif
struct i2c_device_at_address {
uint8_t bus;
uint8_t addr;
I2CDevice &device;
} i2c_devices[] {
{ 0, 0x70, maxsonari2cxl }, // RNGFNDx_TYPE = 2, RNGFNDx_ADDR = 112
{ 0, 0x60, mcp9600 }, // 0x60 is low address
{ 0, 0x71, maxsonari2cxl_2 }, // RNGFNDx_TYPE = 2, RNGFNDx_ADDR = 113
{ 1, 0x01, icm40609 },
#if AP_SIM_TOSHIBALED_ENABLED
{ 1, 0x55, toshibaled },
#endif
{ 1, 0x38, ignored }, // NCP5623
{ 1, 0x39, ignored }, // NCP5623C
{ 1, 0x40, ignored }, // KellerLD
{ 1, 0x76, ms5525 }, // MS5525: ARSPD_TYPE = 4
{ 1, 0x77, tsys01 },
{ 1, 0x0B, rotoye }, // Rotoye: BATTx_MONITOR 19, BATTx_I2C_ADDR 13
{ 2, 0x0B, maxell }, // Maxell: BATTx_MONITOR 16, BATTx_I2C_ADDR 13
{ 3, 0x0B, smbus_generic}, // BATTx_MONITOR 7, BATTx_I2C_ADDR 13
{ 2, 0x28, airspeed_dlvr }, // ARSPD_TYPE = 7 5inch H2O sensor
#if AP_SIM_LP5562_ENABLED
{ 2, 0x30, lp5562 }, // LP5562 RGB LED driver
#endif
#if AP_SIM_LM2755_ENABLED
{ 2, 0x67, lm2755 }, // LM2755 RGB LED driver
#endif
#if AP_SIM_IS31FL3195_ENABLED
{ 2, SIM_IS31FL3195_ADDR, is31fl3195 }, // IS31FL3195 RGB LED driver; see page 9
#endif
{ 2, 0x77, ms5611 }, // MS5611: BARO_PROBE_EXT = 2
};
void I2C::init()
{
for (auto &i : i2c_devices) {
i.device.init();
}
// IS31FL3195 needs to know its own address:
is31fl3195.set_product_id(SIM_IS31FL3195_ADDR);
// 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;
}