mirror of https://github.com/ArduPilot/ardupilot
131 lines
3.3 KiB
C++
131 lines
3.3 KiB
C++
#pragma once
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#include "SIM_I2C.h"
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#include <SITL/SIM_Aircraft.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#include <AP_Common/Bitmask.h>
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namespace SITL {
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class I2CRegEnum {
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// a class to hold register addresses as an enumeration
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};
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class I2CRegisters {
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public:
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enum class RegMode {
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RDONLY = 11,
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WRONLY = 22,
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RDWR = 33,
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};
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protected:
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virtual int rdwr(I2C::i2c_rdwr_ioctl_data *&data) = 0;
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void add_register(const char *name, uint8_t reg, RegMode mode);
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const char *regname[256];
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Bitmask<256> writable_registers;
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Bitmask<256> readable_registers;
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void set_debug(bool value) { debug = value; }
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bool get_debug() const { return debug; }
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private:
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bool debug;
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};
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class I2CRegisters_ConfigurableLength : public I2CRegisters {
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public:
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void add_register(const char *name, uint8_t reg, uint8_t len, RegMode mode);
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int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
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void set_register(uint8_t reg, uint8_t *data, uint8_t len);
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void set_register(uint8_t reg, uint16_t value);
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void set_register(uint8_t reg, int16_t value);
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void set_register(uint8_t reg, uint8_t value);
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void set_register(uint8_t reg, int8_t value);
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// void get_reg_value(uint8_t reg, int8_t &value) const;
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void get_reg_value(uint8_t reg, uint8_t &value) const;
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// void get_reg_value(uint8_t reg, int16_t &value) const;
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// void get_reg_value(uint8_t reg, uint16_t &value) const;
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// void get_reg_value(uint8_t reg, uint8_t *value, uint8_t len) const;
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protected:
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uint32_t reg_data[256]; // OK, so not *that* configurable ATM....
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uint8_t reg_data_len[256];
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};
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class I2CRegisters_16Bit : public I2CRegisters {
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public:
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int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
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void set_register(uint8_t reg, uint16_t value);
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void set_register(uint8_t reg, int16_t value);
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uint16_t get_reg_value(uint8_t reg) {
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return be16toh(word[reg]);
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}
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protected:
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uint16_t word[256];
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};
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class I2CRegisters_8Bit : public I2CRegisters {
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public:
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int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
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void set_register(uint8_t reg, uint8_t value);
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void set_register(uint8_t reg, int8_t value);
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uint8_t get_register(uint8_t num) {
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return byte[(uint8_t)num];
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}
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// dies if register does not have value value
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void assert_register_value(uint8_t reg, uint8_t value);
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protected:
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// this method is called by rdwr to store values into a register
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virtual void rdwr_store_register_value(uint8_t reg, uint8_t value) {
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byte[reg] = value;
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}
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uint8_t byte[256];
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};
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/*
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for devices that take a command then will provide data to a read();
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for example, MCU writes 0x07 to device then expects to be able to
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read 2 bytes from it.
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*/
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class I2CCommandResponseDevice {
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public:
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int rdwr(I2C::i2c_rdwr_ioctl_data *&data);
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protected:
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// time taken for device to process command:
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uint16_t command_processing_time_ms() const { return 20; }
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virtual uint8_t command_take_reading() const = 0;
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virtual uint16_t reading() const = 0;
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uint32_t cmd_take_reading_received_ms;
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};
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class I2CDevice {
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public:
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virtual void init() {}
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virtual void update(const class Aircraft &aircraft) { }
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virtual int rdwr(I2C::i2c_rdwr_ioctl_data *&data) = 0;
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};
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} // namespace SITL
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