mirror of https://github.com/ArduPilot/ardupilot
148 lines
3.6 KiB
C++
148 lines
3.6 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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#include "I2CDevice.h"
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#include <AP_HAL/AP_HAL.h>
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#include "Util.h"
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#include "Scheduler.h"
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namespace PX4 {
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uint8_t PX4::PX4_I2C::instance;
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/*
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constructor for I2C wrapper class
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*/
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PX4_I2C::PX4_I2C(uint8_t bus) :
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I2C(devname, devpath, map_bus_number(bus), 0, 400000UL)
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{}
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/*
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map ArduPilot bus numbers to PX4 bus numbers
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*/
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uint8_t PX4_I2C::map_bus_number(uint8_t bus) const
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{
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switch (bus) {
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case 0:
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// map to internal bus
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#ifdef PX4_I2C_BUS_ONBOARD
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return PX4_I2C_BUS_ONBOARD;
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#else
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return 0;
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#endif
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case 1:
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// map to expansion bus
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#ifdef PX4_I2C_BUS_EXPANSION
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return PX4_I2C_BUS_EXPANSION;
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#else
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return 1;
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#endif
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}
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// default to bus 1
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return 1;
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}
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/*
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implement wrapper for PX4 I2C driver
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*/
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bool PX4_I2C::do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len)
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{
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set_address(address);
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if (!init_done) {
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init_done = true;
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// we do late init() so we can setup the device paths
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snprintf(devname, sizeof(devname), "AP_I2C_%u", instance);
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snprintf(devpath, sizeof(devpath), "/dev/api2c%u", instance);
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init_ok = (init() == OK);
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if (init_ok) {
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instance++;
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}
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}
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if (!init_ok) {
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return false;
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}
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bool ret = (transfer(send, send_len, recv, recv_len) == OK);
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return ret;
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}
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I2CDevice::I2CDevice(uint8_t bus, uint8_t address) :
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_busnum(bus),
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_px4dev(_busnum),
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_address(address)
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{
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set_device_bus(_px4dev.map_bus_number(bus));
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set_device_address(address);
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asprintf(&pname, "I2C:%u:%02x",
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(unsigned)bus, (unsigned)address);
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perf = perf_alloc(PC_ELAPSED, pname);
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}
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I2CDevice::~I2CDevice()
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{
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printf("I2C device bus %u address 0x%02x closed\n",
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(unsigned)_busnum, (unsigned)_address);
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perf_free(perf);
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free(pname);
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}
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bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
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uint8_t *recv, uint32_t recv_len)
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{
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perf_begin(perf);
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bool ret = _px4dev.do_transfer(_address, send, send_len, recv, recv_len);
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perf_end(perf);
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return ret;
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}
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bool I2CDevice::read_registers_multiple(uint8_t first_reg, uint8_t *recv,
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uint32_t recv_len, uint8_t times)
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{
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return false;
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}
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/*
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register a periodic callback
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*/
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AP_HAL::Device::PeriodicHandle I2CDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
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{
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if (_busnum >= num_buses) {
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return nullptr;
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}
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struct DeviceBus &binfo = businfo[_busnum];
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return binfo.register_periodic_callback(period_usec, cb);
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}
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/*
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adjust a periodic callback
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*/
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bool I2CDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
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{
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return false;
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}
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AP_HAL::OwnPtr<AP_HAL::I2CDevice>
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I2CDeviceManager::get_device(uint8_t bus, uint8_t address)
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{
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auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(bus, address));
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return dev;
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}
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}
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