ardupilot/libraries/AP_HAL/I2CDevice.h

95 lines
3.3 KiB
C++

/*
* Copyright (C) 2015-2016 Intel Corporation. All rights reserved.
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <inttypes.h>
#include <vector>
#include "AP_HAL_Namespace.h"
#include "Device.h"
#include "utility/OwnPtr.h"
namespace AP_HAL {
class I2CDevice : public Device {
public:
I2CDevice() : Device(BUS_TYPE_I2C) { }
virtual ~I2CDevice() { }
/* Device implementation */
/* See Device::set_speed() */
virtual bool set_speed(Device::Speed speed) override = 0;
/* See Device::transfer() */
virtual bool transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len) override = 0;
/*
* Read location from device multiple times, advancing the buffer each
* time
*/
virtual bool read_registers_multiple(uint8_t first_reg, uint8_t *recv,
uint32_t recv_len, uint8_t times) = 0;
/* See Device::get_semaphore() */
virtual Semaphore *get_semaphore() override = 0;
/* See Device::register_periodic_callback() */
virtual Device::PeriodicHandle register_periodic_callback(
uint32_t period_usec, Device::PeriodicCb) override = 0;
/* See Device::adjust_periodic_callback() */
virtual bool adjust_periodic_callback(
Device::PeriodicHandle h, uint32_t period_usec) override = 0;
/*
* Force I2C transfers to be split between send and receive parts, with a
* stop condition between them. Setting this allows to conveniently
* continue using the read_* and transfer() methods on those devices.
*
* Some platforms may have transfers always split, in which case
* this method is not needed.
*/
virtual void set_split_transfers(bool set) {};
};
class I2CDeviceManager {
public:
/* Get a device handle */
virtual OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
uint32_t bus_clock=400000,
bool use_smbus = false,
uint32_t timeout_ms=4) = 0;
/*
* Get device by looking up the I2C bus on the buses from @devpaths.
*
* Each string in @devpaths are possible locations for the bus. How the
* strings are implemented are HAL-specific. On Linux this is the info
* returned by 'udevadm info -q path /dev/i2c-X'. The first I2C bus
* matching a prefix in @devpaths is used to create a I2CDevice object.
*/
virtual OwnPtr<I2CDevice> get_device(std::vector<const char *> devpaths,
uint8_t address) {
// Not implemented
return nullptr;
}
};
}