mirror of https://github.com/ArduPilot/ardupilot
152 lines
4.6 KiB
C++
152 lines
4.6 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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* Modified for use in AP_HAL_ChibiOS by Andrew Tridgell and Siddharth Bharat Purohit
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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 "AP_HAL_ChibiOS.h"
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#if HAL_USE_I2C == TRUE
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#include "Semaphores.h"
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#include "Device.h"
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#include "shared_dma.h"
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namespace ChibiOS {
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class I2CBus : public DeviceBus {
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public:
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I2CConfig i2ccfg;
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uint8_t busnum;
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uint32_t busclock;
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// we need an additional lock in the dma_allocate and
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// dma_deallocate functions to cope with 3-way contention as we
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// have two DMA channels that we are handling with the shared_dma
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// code
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mutex_t dma_lock;
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void dma_allocate(Shared_DMA *);
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void dma_deallocate(Shared_DMA *);
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void dma_init(void);
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static void clear_all(void);
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static void clear_bus(uint8_t busidx);
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static uint8_t read_sda(uint8_t busidx);
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static bool check_select_pins(uint8_t check_pins);
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static void set_bus_to_floating(uint8_t busidx);
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};
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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, uint32_t bus_clock, bool use_smbus, uint32_t timeout_ms);
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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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/* 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 &bus.semaphore;
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}
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void set_split_transfers(bool set) override {
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_split_transfers = set;
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}
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private:
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I2CBus &bus;
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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);
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/* I2C interface #2 */
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uint8_t _retries;
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uint8_t _address;
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char *pname;
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bool _split_transfers;
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bool _use_smbus;
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uint32_t _timeout_ms;
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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 I2CBus businfo[];
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// constructor
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I2CDeviceManager();
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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,
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uint32_t bus_clock=400000,
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bool use_smbus = false,
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uint32_t timeout_ms=4) override;
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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 get_bus_mask(void) const override;
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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 get_bus_mask_external(void) const override;
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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 get_bus_mask_internal(void) const override;
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};
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}
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#endif // HAL_USE_I2C
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