mirror of https://github.com/ArduPilot/ardupilot
147 lines
3.9 KiB
C++
147 lines
3.9 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Flymaple port by Mike McCauley
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Uses the low level libmaple i2c library.
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Caution: requires fixes against the libmaple git master as of 2013-10-10
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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// Flymaple I2CDriver
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#include "I2CDriver.h"
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#include "FlymapleWirish.h"
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using namespace AP_HAL_FLYMAPLE_NS;
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extern const AP_HAL::HAL& hal;
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// This is the instance of the libmaple I2C device to use
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#define FLYMAPLE_I2C_DEVICE I2C1
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FLYMAPLEI2CDriver::FLYMAPLEI2CDriver(AP_HAL::Semaphore* semaphore)
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: _semaphore(semaphore),
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_timeout_ms(0)
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{
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}
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void FLYMAPLEI2CDriver::begin()
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{
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_reset();
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}
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void FLYMAPLEI2CDriver::end() {}
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void FLYMAPLEI2CDriver::setTimeout(uint16_t ms)
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{
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_timeout_ms = ms;
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}
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void FLYMAPLEI2CDriver::setHighSpeed(bool active) {}
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uint8_t FLYMAPLEI2CDriver::write(uint8_t addr, uint8_t len, uint8_t* data)
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{
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i2c_msg msgs[1];
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msgs[0].addr = addr;
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msgs[0].flags = 0; // Write
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msgs[0].length = len;
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msgs[0].data = data;
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return _transfer(msgs, 1);
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}
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uint8_t FLYMAPLEI2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val)
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{
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return writeRegisters(addr, reg, 1, &val);
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}
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uint8_t FLYMAPLEI2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data)
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{
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uint8_t buffer[100];
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buffer[0] = reg;
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memcpy(buffer+1, data, len);
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i2c_msg msgs[1];
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msgs[0].addr = addr;
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msgs[0].flags = 0; // Write
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msgs[0].length = len + 1;
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msgs[0].data = buffer;
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return _transfer(msgs, 1);
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}
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uint8_t FLYMAPLEI2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data)
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{
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// For devices that do not honour normal register conventions (not on flymaple?)
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// Now read it
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i2c_msg msgs[1];
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msgs[0].addr = addr;
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msgs[0].flags = I2C_MSG_READ;
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msgs[0].length = len;
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msgs[0].data = data;
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return _transfer(msgs, 1);
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}
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uint8_t FLYMAPLEI2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data)
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{
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return readRegisters(addr, reg, 1, data);
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}
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uint8_t FLYMAPLEI2CDriver::readRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data)
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{
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// We conduct a write of the register number we want followed by a read
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data[0] = reg; // Temporarily steal this for the write
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i2c_msg msgs[2];
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msgs[0].addr = addr;
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msgs[0].flags = 0; // Write
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msgs[0].length = 1;
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msgs[0].data = data;
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// Second transaction is a read
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msgs[1].addr = addr;
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msgs[1].flags = I2C_MSG_READ;
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msgs[1].length = len;
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msgs[1].data = data;
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return _transfer(msgs, 2);
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}
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uint8_t FLYMAPLEI2CDriver::lockup_count() {
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return _lockup_count;
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}
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uint8_t FLYMAPLEI2CDriver::_transfer(i2c_msg *msgs, uint16 num)
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{
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// ALERT: patch to libmaple required for this to work else
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// crashes next line due to a bug in latest git libmaple see http://forums.leaflabs.com/topic.php?id=13458
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int32 result = i2c_master_xfer(I2C1, msgs, num, _timeout_ms);
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if (result != 0) {
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// Some sort of I2C bus fault, or absent device, reinitialise the bus
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_reset();
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if (!_ignore_errors) {
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_lockup_count++;
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}
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}
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return result != 0;
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}
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void FLYMAPLEI2CDriver::_reset()
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{
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i2c_disable(FLYMAPLE_I2C_DEVICE);
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i2c_master_enable(FLYMAPLE_I2C_DEVICE, I2C_FAST_MODE | I2C_BUS_RESET);
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}
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#endif
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