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.
90 lines
2.5 KiB
90 lines
2.5 KiB
#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(uint8_t bus, uint8_t 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: |
|
class PX4_I2C : public device::I2C { |
|
public: |
|
PX4_I2C(uint8_t bus); |
|
bool do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, |
|
uint8_t *recv, uint32_t recv_len); |
|
}; |
|
|
|
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; |
|
}; |
|
}
|
|
|