mirror of https://github.com/ArduPilot/ardupilot
132 lines
3.5 KiB
C++
132 lines
3.5 KiB
C++
/*
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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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#include "I2CDevice.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_HAL_QURT/Semaphores.h>
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#include "Scheduler.h"
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#include "interface.h"
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using namespace QURT;
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/*
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4 I2C buses
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bus1: mag
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bus2: power manager
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bus4: external spare bus
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bus5: barometer (internal)
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*/
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static uint8_t i2c_bus_ids[] = { 1, 2, 4, 5 };
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static uint32_t i2c_internal_mask = (1U<<3);
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I2CBus I2CDeviceManager::businfo[ARRAY_SIZE(i2c_bus_ids)];
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I2CDeviceManager::I2CDeviceManager(void)
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{
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}
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I2CDevice::I2CDevice(uint8_t busnum, uint8_t address, uint32_t bus_clock, bool use_smbus, uint32_t timeout_ms) :
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_address(address),
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bus(I2CDeviceManager::businfo[busnum])
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{
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HAP_PRINTF("Constructing I2CDevice %u 0x%02x %u", unsigned(busnum), unsigned(address), unsigned(bus_clock));
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if (bus.fd == -2) {
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bus.fd = sl_client_config_i2c_bus(i2c_bus_ids[busnum], address, bus_clock/1000);
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}
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set_device_bus(busnum);
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set_device_address(address);
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asprintf(&pname, "I2C:%u:%02x",
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(unsigned)busnum, (unsigned)address);
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}
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I2CDevice::~I2CDevice()
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{
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free(pname);
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}
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bool I2CDevice::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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if (bus.fd < 0) {
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return false;
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}
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if (!bus.semaphore.check_owner()) {
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return false;
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}
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if (bus.last_address != _address) {
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sl_client_set_address_i2c_bus(bus.fd, _address);
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bus.last_address = _address;
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}
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return sl_client_i2c_transfer(bus.fd, send, send_len, recv, recv_len) == 0;
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}
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/*
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register a periodic callback
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*/
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AP_HAL::Device::PeriodicHandle I2CDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
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{
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return bus.register_periodic_callback(period_usec, cb, this);
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}
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/*
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adjust a periodic callback
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*/
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bool I2CDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
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{
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return bus.adjust_timer(h, period_usec);
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}
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AP_HAL::OwnPtr<AP_HAL::I2CDevice>
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I2CDeviceManager::get_device(uint8_t bus, uint8_t address,
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uint32_t bus_clock,
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bool use_smbus,
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uint32_t timeout_ms)
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{
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if (bus >= ARRAY_SIZE(i2c_bus_ids)) {
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return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(nullptr);
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}
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auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms));
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return dev;
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}
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/*
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get mask of bus numbers for all configured I2C buses
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*/
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uint32_t I2CDeviceManager::get_bus_mask(void) const
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{
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return ((1U << ARRAY_SIZE(i2c_bus_ids)) - 1);
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}
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/*
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get mask of bus numbers for all configured internal I2C buses
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*/
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uint32_t I2CDeviceManager::get_bus_mask_internal(void) const
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{
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return i2c_internal_mask;
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}
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/*
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get mask of bus numbers for all configured external I2C buses
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*/
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uint32_t I2CDeviceManager::get_bus_mask_external(void) const
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{
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return get_bus_mask() & ~get_bus_mask_internal();
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}
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