ardupilot/libraries/AP_HAL_SITL/I2CDevice.h

131 lines
4.0 KiB
C++

/*
* Copyright (C) 2020 Peter Barker. 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 <AP_HAL/HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/utility/OwnPtr.h>
#include "AP_HAL_SITL_Namespace.h"
#include "Semaphores.h"
class I2CBus;
class HALSITL::I2CDevice : public AP_HAL::I2CDevice {
public:
static I2CDevice *from(AP_HAL::I2CDevice *dev) {
return static_cast<I2CDevice*>(dev);
}
/* AP_HAL::I2CDevice implementation */
I2CDevice(I2CBus &bus, uint8_t address);
~I2CDevice() {}
/* See AP_HAL::I2CDevice::set_address() */
void set_address(uint8_t address) override { _address = address; }
/* See AP_HAL::I2CDevice::set_retries() */
void set_retries(uint8_t retries) override { _retries = retries; }
/* AP_HAL::Device implementation */
/* See AP_HAL::Device::set_speed(): Empty implementation, not supported. */
bool set_speed(enum Device::Speed speed) override { return true; }
/* See AP_HAL::Device::transfer() */
bool transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len) override;
bool read_registers_multiple(uint8_t first_reg, uint8_t *recv,
uint32_t recv_len, uint8_t times) override;
/* See AP_HAL::Device::get_semaphore() */
AP_HAL::Semaphore *get_semaphore() override;
/* See AP_HAL::Device::register_periodic_callback() */
AP_HAL::Device::PeriodicHandle register_periodic_callback(
uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
/* See AP_HAL::Device::adjust_periodic_callback() */
bool adjust_periodic_callback(
AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
/* set split transfers flag */
void set_split_transfers(bool set) override {
_split_transfers = set;
}
static void sitl_update();
// the following must be identical to the structure in SITL/SIM_I2C.h!
#define I2C_M_RD 1
#define I2C_RDWR 0
struct i2c_msg {
uint8_t addr;
uint8_t flags;
uint8_t *buf;
uint16_t len; // FIXME: what type should this be?
};
struct i2c_rdwr_ioctl_data {
i2c_msg *msgs;
uint8_t nmsgs;
};
// end "the following"
protected:
I2CBus &_bus;
uint8_t _address;
uint8_t _retries;
bool _split_transfers = false;
bool _transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len);
};
class HALSITL::I2CDeviceManager : public AP_HAL::I2CDeviceManager {
public:
friend class I2CDevice;
static I2CDeviceManager *from(AP_HAL::I2CDeviceManager *i2c_mgr)
{
return static_cast<I2CDeviceManager*>(i2c_mgr);
}
I2CDeviceManager();
~I2CDeviceManager() {};
void _timer_tick(); // in lieu of a thread-per-bus
/* AP_HAL::I2CDeviceManager implementation */
AP_HAL::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) override;
protected:
#define NUM_SITL_I2C_BUSES 4
static I2CBus buses[];
};
#endif //#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)