px4-firmware/platforms/common/i2c.cpp

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#include <board_config.h>

#include <px4_platform_common/i2c.h>

#if defined(CONFIG_I2C)

#ifndef BOARD_OVERRIDE_I2C_BUS_EXTERNAL
bool px4_i2c_bus_external(int bus)
{
	for (int i = 0; i < I2C_BUS_MAX_BUS_ITEMS; ++i) {
		if (px4_i2c_buses[i].bus == bus) {
			return px4_i2c_buses[i].is_external;
		}
	}

	return true;
}
#endif // BOARD_OVERRIDE_I2C_BUS_EXTERNAL

#ifndef BOARD_OVERRIDE_I2C_DEVICE_EXTERNAL
#include <drivers/device/Device.hpp>
bool px4_i2c_device_external(const uint32_t device_id)
{
	device::Device::DeviceId dev_id{};
	dev_id.devid = device_id;
	return px4_i2c_bus_external(dev_id.devid_s.bus);
}
#endif // BOARD_OVERRIDE_I2C_DEVICE_EXTERNAL

bool I2CBusIterator::next()
{
	while (++_index < I2C_BUS_MAX_BUS_ITEMS && px4_i2c_buses[_index].bus != -1) {
		const px4_i2c_bus_t &bus_data = px4_i2c_buses[_index];

		if (!board_has_bus(BOARD_I2C_BUS, bus_data.bus)) {
			continue;
		}

		switch (_filter) {
		case FilterType::All:
			if (_bus == bus_data.bus || _bus == -1) {
				return true;
			}

			break;

		case FilterType::InternalBus:
			if (!px4_i2c_bus_external(bus_data.bus)) {
				if (_bus == bus_data.bus || _bus == -1) {
					return true;
				}
			}

			break;

		case FilterType::ExternalBus:
			if (px4_i2c_bus_external(bus_data.bus)) {
				++_external_bus_counter;

				if (_bus == bus_data.bus || _bus == -1) {
					return true;
				}
			}

			break;
		}
	}

	return false;
}

#endif // CONFIG_I2C