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.
116 lines
3.5 KiB
116 lines
3.5 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
/* |
|
* Copyright (C) 2015-2016 Intel Corporation. All rights reserved. |
|
* |
|
* This file is free software: you can redistribute it and/or modify it |
|
* under the terms of the GNU General Public License as published by the |
|
* Free Software Foundation, either version 3 of the License, or |
|
* (at your option) any later version. |
|
* |
|
* This file is distributed in the hope that it will be useful, but |
|
* WITHOUT ANY WARRANTY; without even the implied warranty of |
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
|
* See the GNU General Public License for more details. |
|
* |
|
* You should have received a copy of the GNU General Public License along |
|
* with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
#pragma once |
|
|
|
#include <inttypes.h> |
|
#include <vector> |
|
|
|
#include <AP_HAL/HAL.h> |
|
#include <AP_HAL/I2CDevice.h> |
|
#include <AP_HAL/utility/OwnPtr.h> |
|
|
|
#include "Semaphores.h" |
|
|
|
namespace Linux { |
|
|
|
class I2CBus; |
|
|
|
class I2CDevice : public AP_HAL::I2CDevice { |
|
public: |
|
static I2CDevice *from(AP_HAL::I2CDevice *dev) |
|
{ |
|
return static_cast<I2CDevice*>(dev); |
|
} |
|
|
|
/* AP_HAL::I2CDevice implementation */ |
|
|
|
I2CDevice(I2CBus &bus, uint8_t address) |
|
: _bus(bus) |
|
, _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::Device::PeriodicCb) override; |
|
|
|
/* See AP_HAL::Device::adjust_periodic_callback() */ |
|
bool adjust_periodic_callback( |
|
AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override; |
|
|
|
protected: |
|
I2CBus &_bus; |
|
uint8_t _address; |
|
uint8_t _retries = 0; |
|
}; |
|
|
|
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(); |
|
|
|
/* |
|
* Get device by looking up the I2C bus on the buses from @devpaths. |
|
* |
|
* Each string in @devpaths are possible locations for the bus as |
|
* returned by 'udevadm info -q path /dev/i2c-X'. The first I2C bus |
|
* matching a prefix in @devpaths is returned. |
|
*/ |
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device( |
|
std::vector<const char *> devpaths, uint8_t address); |
|
|
|
/* AP_HAL::I2CDeviceManager implementation */ |
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address) override; |
|
|
|
protected: |
|
void _unregister(I2CBus &b); |
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _create_device(I2CBus &b, uint8_t address) const; |
|
|
|
std::vector<I2CBus*> _buses; |
|
}; |
|
|
|
}
|
|
|