mirror of https://github.com/ArduPilot/ardupilot
107 lines
2.6 KiB
C++
107 lines
2.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Simulated i2c buses and devices
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*/
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#include <GCS_MAVLink/GCS.h>
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#include <SITL/SITL.h>
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#include "SIM_I2C.h"
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#include "SIM_ToshibaLED.h"
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#include "SIM_MaxSonarI2CXL.h"
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#include "SIM_BattMonitor_SMBus_Maxell.h"
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#include <signal.h>
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using namespace SITL;
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enum class IOCtlType {
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RDWR = 0,
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};
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class IgnoredI2CDevice : public I2CDevice
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{
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public:
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int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override {
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return -1;
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}
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};
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static IgnoredI2CDevice ignored;
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static ToshibaLED toshibaled;
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static MaxSonarI2CXL maxsonari2cxl;
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static Maxell maxell;
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struct i2c_device_at_address {
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uint8_t bus;
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uint8_t addr;
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I2CDevice &device;
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} i2c_devices[] {
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{ 1, 0x55, toshibaled },
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{ 1, 0x38, ignored }, // NCP5623
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{ 1, 0x39, ignored }, // NCP5623C
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{ 1, 0x40, ignored }, // KellerLD
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{ 1, 0x70, maxsonari2cxl },
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{ 1, 0x76, ignored }, // MS56XX
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{ 2, 0x0B, maxell },
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};
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void I2C::init()
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{
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for (auto &i : i2c_devices) {
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i.device.init();
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}
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}
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void I2C::update(const class Aircraft &aircraft)
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{
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for (auto daa : i2c_devices) {
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daa.device.update(aircraft);
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}
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}
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int I2C::ioctl_rdwr(i2c_rdwr_ioctl_data *data)
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{
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int ret = 0;
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for (uint8_t i=0; i<data->nmsgs; i++) {
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const i2c_msg &msg = data->msgs[i];
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const uint8_t addr = msg.addr;
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bool handled = false;
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for (auto dev_at_address : i2c_devices) {
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// where's the bus check?!
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if (dev_at_address.addr == addr) {
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ret = dev_at_address.device.rdwr(data);
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handled = true;
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}
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}
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if (!handled) {
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::fprintf(stderr, "Unhandled i2c message: addr=0x%x flags=%u len=%u\n", msg.addr, msg.flags, msg.len);
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return -1; // ?!
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}
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}
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return ret;
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}
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int I2C::ioctl(uint8_t ioctl_type, void *data)
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{
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switch ((IOCtlType) ioctl_type) {
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case IOCtlType::RDWR:
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return ioctl_rdwr((i2c_rdwr_ioctl_data*)data);
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}
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return -1;
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}
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