f8f2833c88
When there is already a driver registered on an i2c bus, the I2C_SLAVE ioctl returns an error. When it happens, it is better to display a warning and try to force the address. It is especially useful on the bebop when killing the regular autopilot that uses iio drivers to access the imu because else we would need to manually unbind the driver in an init procedure. I have added a warning because this error can also be resulting of another cause. If the error is not EBUSY, then panic If the I2C_SLAVE_FORCE ioctl fails then we panic because one of the i2c devices won't be working properly.
56 lines
1.9 KiB
C++
56 lines
1.9 KiB
C++
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#ifndef __AP_HAL_LINUX_I2CDRIVER_H__
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#define __AP_HAL_LINUX_I2CDRIVER_H__
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#include "AP_HAL_Linux.h"
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class Linux::I2CDriver : public AP_HAL::I2CDriver {
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public:
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I2CDriver(AP_HAL::Semaphore* semaphore, const char *device);
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I2CDriver(AP_HAL::Semaphore* semaphore, const char * const devpaths[]);
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~I2CDriver();
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void begin();
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void end();
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void setTimeout(uint16_t ms);
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void setHighSpeed(bool active);
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/* write: for i2c devices which do not obey register conventions */
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uint8_t write(uint8_t addr, uint8_t len, uint8_t* data);
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/* writeRegister: write a single 8-bit value to a register */
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uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val);
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/* writeRegisters: write bytes to contigious registers */
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uint8_t writeRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data);
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/* read: for i2c devices which do not obey register conventions */
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uint8_t read(uint8_t addr, uint8_t len, uint8_t* data);
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/* readRegister: read from a device register - writes the register,
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* then reads back an 8-bit value. */
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uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data);
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/* readRegister: read contigious device registers - writes the first
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* register, then reads back multiple bytes */
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uint8_t readRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data);
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uint8_t readRegistersMultiple(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t count,
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uint8_t* data);
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uint8_t lockup_count();
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AP_HAL::Semaphore* get_semaphore() { return _semaphore; }
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private:
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bool set_address(uint8_t addr);
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AP_HAL::Semaphore* _semaphore;
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char *_device = NULL;
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int _fd = -1;
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uint8_t _addr;
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bool _print_ioctl_error = true;
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};
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#endif // __AP_HAL_LINUX_I2CDRIVER_H__
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