forked from Archive/PX4-Autopilot
125 lines
3.5 KiB
C++
125 lines
3.5 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file i2c.h
|
|
*
|
|
* Base class for devices connected via I2C.
|
|
*/
|
|
|
|
#ifndef _DEVICE_I2C_H
|
|
#define _DEVICE_I2C_H
|
|
|
|
#include "device.h"
|
|
|
|
#include <nuttx/i2c.h>
|
|
|
|
namespace device __EXPORT
|
|
{
|
|
|
|
/**
|
|
* Abstract class for character device on I2C
|
|
*/
|
|
class __EXPORT I2C : public CDev
|
|
{
|
|
|
|
protected:
|
|
/**
|
|
* The number of times a read or write operation will be retried on
|
|
* error.
|
|
*/
|
|
unsigned _retries;
|
|
|
|
/**
|
|
* @ Constructor
|
|
*
|
|
* @param name Driver name
|
|
* @param devname Device node name
|
|
* @param bus I2C bus on which the device lives
|
|
* @param address I2C bus address, or zero if set_address will be used
|
|
* @param frequency I2C bus frequency for the device (currently not used)
|
|
* @param irq Interrupt assigned to the device (or zero if none)
|
|
*/
|
|
I2C(const char *name,
|
|
const char *devname,
|
|
int bus,
|
|
uint16_t address,
|
|
uint32_t frequency,
|
|
int irq = 0);
|
|
~I2C();
|
|
|
|
virtual int init();
|
|
|
|
/**
|
|
* Check for the presence of the device on the bus.
|
|
*/
|
|
virtual int probe();
|
|
|
|
/**
|
|
* Perform an I2C transaction to the device.
|
|
*
|
|
* At least one of send_len and recv_len must be non-zero.
|
|
*
|
|
* @param send Pointer to bytes to send.
|
|
* @param send_len Number of bytes to send.
|
|
* @param recv Pointer to buffer for bytes received.
|
|
* @param recv_len Number of bytes to receive.
|
|
* @return OK if the transfer was successful, -errno
|
|
* otherwise.
|
|
*/
|
|
int transfer(uint8_t *send, unsigned send_len,
|
|
uint8_t *recv, unsigned recv_len);
|
|
|
|
/**
|
|
* Change the bus address.
|
|
*
|
|
* Most often useful during probe() when the driver is testing
|
|
* several possible bus addresses.
|
|
*
|
|
* @param address The new bus address to set.
|
|
*/
|
|
void set_address(uint16_t address) {
|
|
_address = address;
|
|
}
|
|
|
|
private:
|
|
int _bus;
|
|
uint16_t _address;
|
|
uint32_t _frequency;
|
|
struct i2c_dev_s *_dev;
|
|
};
|
|
|
|
} // namespace device
|
|
|
|
#endif /* _DEVICE_I2C_H */
|