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https://github.com/ArduPilot/ardupilot
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54fd3702c3
Otherwise we would destroy PX4_I2C object after returning from I2CDeviceManager::get_device(). Since this implementation is very simple, just make PX4_I2C as an internal class and embed it into the I2CDevice object.
91 lines
2.5 KiB
C++
91 lines
2.5 KiB
C++
#pragma once
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#include <vector>
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#include <AP_HAL/utility/OwnPtr.h>
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#include <AP_HAL/I2CDevice.h>
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#include <AP_HAL_Empty/AP_HAL_Empty.h>
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#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
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#include <drivers/device/i2c.h>
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#include <arch/board/board.h>
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#include "AP_HAL_PX4.h"
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#include "board_config.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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/* AP_HAL::I2CDevice implementation */
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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 { _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(uint32_t period_usec, AP_HAL::MemberProc) override
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{
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/* Not implemented yet */
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return nullptr;
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};
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/* See AP_HAL::Device::get_fd() */
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int get_fd() override;
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protected:
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class PX4_I2C : public device::I2C {
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public:
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PX4_I2C(uint8_t bus);
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bool do_transfer(uint8_t address, 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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PX4_I2C _device;
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uint8_t _address;
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uint8_t _retries = 0;
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private:
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// we use an empty semaphore as the underlying I2C class already has a semaphore
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Empty::Semaphore semaphore;
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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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I2CDeviceManager();
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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) override;
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};
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}
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