ardupilot/libraries/AP_HAL_PX4/I2CDevice.cpp

78 lines
2.1 KiB
C++

/*
* 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/>.
*/
#include "I2CDevice.h"
#include <AP_HAL/AP_HAL.h>
#include "Util.h"
namespace PX4 {
uint8_t PX4::PX4_I2C::instance;
/*
implement wrapper for PX4 I2C driver
*/
bool PX4_I2C::do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len)
{
if (!init_done) {
init_done = true;
// we do late init() so we can setup the device paths
snprintf(devname, sizeof(devname), "AP_I2C_%u", instance);
snprintf(devpath, sizeof(devpath), "/dev/api2c%u", instance);
init_ok = (init() == OK);
if (init_ok) {
instance++;
}
}
if (!init_ok) {
return false;
}
set_address(address);
bool ret = (transfer(send, send_len, recv, recv_len) == OK);
return ret;
}
I2CDevice::I2CDevice(uint8_t bus, uint8_t address) :
_bus(bus),
_address(address)
{
}
I2CDevice::~I2CDevice()
{
}
bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
return _bus.do_transfer(_address, send, send_len, recv, recv_len);
}
bool I2CDevice::read_registers_multiple(uint8_t first_reg, uint8_t *recv,
uint32_t recv_len, uint8_t times)
{
return false;
}
AP_HAL::OwnPtr<AP_HAL::I2CDevice>
I2CDeviceManager::get_device(uint8_t bus, uint8_t address)
{
auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(bus, address));
return dev;
}
}