mirror of https://github.com/ArduPilot/ardupilot
92 lines
2.9 KiB
C++
92 lines
2.9 KiB
C++
/*
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* Copyright (C) 2015-2016 Intel Corporation. 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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#include <AP_HAL/I2CDevice.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#include "Semaphores.h"
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#include "I2CWrapper.h"
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#include "Device.h"
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namespace PX4 {
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class 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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{
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return static_cast<I2CDevice*>(dev);
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}
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I2CDevice(uint8_t 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 { _px4dev.set_retries(retries); }
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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::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(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
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AP_HAL::Semaphore* get_semaphore() override {
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// if asking for invalid bus number use bus 0 semaphore
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return &businfo[_busnum<num_buses?_busnum:0].semaphore;
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}
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private:
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static const uint8_t num_buses = 2;
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static DeviceBus businfo[num_buses];
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uint8_t _busnum;
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PX4_I2C _px4dev;
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uint8_t _address;
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perf_counter_t perf;
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char *pname;
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};
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class 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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AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address) override;
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};
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}
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