mirror of https://github.com/ArduPilot/ardupilot
148 lines
3.7 KiB
C++
148 lines
3.7 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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#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 "Scheduler.h"
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#include "DeviceBus.h"
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#include "driver/i2c.h"
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#include "i2c_sw.h"
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namespace ESP32
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{
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struct I2CBusDesc {
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i2c_port_t port;
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gpio_num_t sda;
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gpio_num_t scl;
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uint32_t speed;
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bool internal;
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bool soft;
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};
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class I2CBus : public DeviceBus
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{
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public:
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I2CBus():DeviceBus(Scheduler::I2C_PRIORITY) {};
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i2c_port_t port;
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uint32_t bus_clock;
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_i2c_bus_t sw_handle;
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bool soft;
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};
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class I2CDevice : public AP_HAL::I2CDevice
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{
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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
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{
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_address = address;
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}
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/* See AP_HAL::I2CDevice::set_retries() */
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void set_retries(uint8_t retries) override
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{
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_retries = retries;
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}
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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
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{
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return true;
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}
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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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{
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return false;
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};
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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 //TODO check all
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{
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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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protected:
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I2CBus &bus;
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uint8_t _retries;
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uint8_t _address;
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char *pname;
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};
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class I2CDeviceManager : public AP_HAL::I2CDeviceManager
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{
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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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