forked from Archive/PX4-Autopilot
106 lines
3.1 KiB
C++
106 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <board_config.h>
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#include <px4_platform_common/i2c.h>
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#if defined(CONFIG_I2C)
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#ifndef BOARD_OVERRIDE_I2C_BUS_EXTERNAL
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bool px4_i2c_bus_external(int bus)
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{
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for (int i = 0; i < I2C_BUS_MAX_BUS_ITEMS; ++i) {
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if (px4_i2c_buses[i].bus == bus) {
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return px4_i2c_buses[i].is_external;
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}
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}
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return true;
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}
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#endif // BOARD_OVERRIDE_I2C_BUS_EXTERNAL
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#ifndef BOARD_OVERRIDE_I2C_DEVICE_EXTERNAL
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#include <drivers/device/Device.hpp>
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bool px4_i2c_device_external(const uint32_t device_id)
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{
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device::Device::DeviceId dev_id{};
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dev_id.devid = device_id;
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return px4_i2c_bus_external(dev_id.devid_s.bus);
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}
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#endif // BOARD_OVERRIDE_I2C_DEVICE_EXTERNAL
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bool I2CBusIterator::next()
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{
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while (++_index < I2C_BUS_MAX_BUS_ITEMS && px4_i2c_buses[_index].bus != -1) {
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const px4_i2c_bus_t &bus_data = px4_i2c_buses[_index];
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if (!board_has_bus(BOARD_I2C_BUS, bus_data.bus)) {
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continue;
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}
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switch (_filter) {
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case FilterType::All:
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if (_bus == bus_data.bus || _bus == -1) {
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return true;
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}
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break;
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case FilterType::InternalBus:
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if (!px4_i2c_bus_external(bus_data.bus)) {
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if (_bus == bus_data.bus || _bus == -1) {
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return true;
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}
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}
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break;
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case FilterType::ExternalBus:
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if (px4_i2c_bus_external(bus_data.bus)) {
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++_external_bus_counter;
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if (_bus == bus_data.bus || _bus == -1) {
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return true;
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}
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}
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break;
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}
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}
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return false;
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}
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#endif // CONFIG_I2C
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