You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
88 lines
2.4 KiB
88 lines
2.4 KiB
9 years ago
|
#pragma once
|
||
|
|
|
||
|
|
#include <vector>
|
||
|
|
|
||
|
|
#include <AP_HAL/utility/OwnPtr.h>
|
||
|
|
#include <AP_HAL/I2CDevice.h>
|
||
|
|
#include <AP_HAL_Empty/AP_HAL_Empty.h>
|
||
|
|
#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
|
||
|
|
#include <drivers/device/i2c.h>
|
||
|
|
#include <arch/board/board.h>
|
||
|
|
#include "AP_HAL_PX4.h"
|
||
|
|
#include "board_config.h"
|
||
|
|
|
||
|
|
namespace PX4 {
|
||
|
|
|
||
|
|
class I2CDevice : public AP_HAL::I2CDevice {
|
||
|
|
public:
|
||
|
|
static I2CDevice *from(AP_HAL::I2CDevice *dev)
|
||
|
|
{
|
||
|
|
return static_cast<I2CDevice*>(dev);
|
||
|
|
}
|
||
|
|
|
||
|
|
/* AP_HAL::I2CDevice implementation */
|
||
|
|
I2CDevice(PX4_I2C &device, uint8_t address)
|
||
|
|
: _device(device)
|
||
|
|
, _address(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::MemberProc) override
|
||
|
|
{
|
||
|
|
/* Not implemented yet */
|
||
|
|
return nullptr;
|
||
|
|
};
|
||
|
|
|
||
|
|
/* See AP_HAL::Device::get_fd() */
|
||
|
|
int get_fd() override;
|
||
|
|
|
||
|
|
protected:
|
||
|
|
PX4_I2C &_device;
|
||
|
|
uint8_t _address;
|
||
|
|
uint8_t _retries = 0;
|
||
|
|
|
||
|
|
private:
|
||
|
|
// we use an empty semaphore as the underlying I2C class already has a semaphore
|
||
|
|
Empty::Semaphore semaphore;
|
||
|
|
};
|
||
|
|
|
||
|
|
class I2CDeviceManager : public AP_HAL::I2CDeviceManager {
|
||
|
|
public:
|
||
|
|
friend class I2CDevice;
|
||
|
|
|
||
|
|
static I2CDeviceManager *from(AP_HAL::I2CDeviceManager *i2c_mgr)
|
||
|
|
{
|
||
|
|
return static_cast<I2CDeviceManager*>(i2c_mgr);
|
||
|
|
}
|
||
|
|
|
||
|
|
I2CDeviceManager();
|
||
|
|
|
||
|
|
/* AP_HAL::I2CDeviceManager implementation */
|
||
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address) override;
|
||
|
|
};
|
||
|
|
}
|