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131 lines
4.0 KiB
131 lines
4.0 KiB
/* |
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* Copyright (C) 2020 Peter Barker. All rights reserved. |
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* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <inttypes.h> |
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#include <AP_HAL/HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH) |
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#include <AP_HAL/I2CDevice.h> |
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#include <AP_HAL/utility/OwnPtr.h> |
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#include "AP_HAL_SITL_Namespace.h" |
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#include "Semaphores.h" |
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class I2CBus; |
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class HALSITL::I2CDevice : public AP_HAL::I2CDevice { |
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public: |
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static I2CDevice *from(AP_HAL::I2CDevice *dev) { |
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return static_cast<I2CDevice*>(dev); |
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} |
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/* AP_HAL::I2CDevice implementation */ |
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I2CDevice(I2CBus &bus, uint8_t address); |
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~I2CDevice() {} |
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/* See AP_HAL::I2CDevice::set_address() */ |
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void set_address(uint8_t address) override { _address = address; } |
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/* See AP_HAL::I2CDevice::set_retries() */ |
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void set_retries(uint8_t retries) override { _retries = retries; } |
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/* AP_HAL::Device implementation */ |
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/* See AP_HAL::Device::set_speed(): Empty implementation, not supported. */ |
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bool set_speed(enum Device::Speed speed) override { return true; } |
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/* See AP_HAL::Device::transfer() */ |
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bool transfer(const uint8_t *send, uint32_t send_len, |
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uint8_t *recv, uint32_t recv_len) override; |
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bool read_registers_multiple(uint8_t first_reg, uint8_t *recv, |
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uint32_t recv_len, uint8_t times) override; |
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/* See AP_HAL::Device::get_semaphore() */ |
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AP_HAL::Semaphore *get_semaphore() override; |
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/* See AP_HAL::Device::register_periodic_callback() */ |
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AP_HAL::Device::PeriodicHandle register_periodic_callback( |
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uint32_t period_usec, AP_HAL::Device::PeriodicCb) override; |
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/* See AP_HAL::Device::adjust_periodic_callback() */ |
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bool adjust_periodic_callback( |
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AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override; |
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/* set split transfers flag */ |
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void set_split_transfers(bool set) override { |
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_split_transfers = set; |
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} |
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static void sitl_update(); |
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// the following must be identical to the structure in SITL/SIM_I2C.h! |
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#define I2C_M_RD 1 |
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#define I2C_RDWR 0 |
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struct i2c_msg { |
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uint8_t bus; |
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uint8_t addr; |
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uint8_t flags; |
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uint8_t *buf; |
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uint16_t len; // FIXME: what type should this be? |
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}; |
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struct i2c_rdwr_ioctl_data { |
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i2c_msg *msgs; |
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uint8_t nmsgs; |
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}; |
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// end "the following" |
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protected: |
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I2CBus &_bus; |
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uint8_t _address; |
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uint8_t _retries; |
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bool _split_transfers = false; |
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bool _transfer(const uint8_t *send, uint32_t send_len, |
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uint8_t *recv, uint32_t recv_len); |
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}; |
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class HALSITL::I2CDeviceManager : public AP_HAL::I2CDeviceManager { |
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public: |
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friend class I2CDevice; |
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static I2CDeviceManager *from(AP_HAL::I2CDeviceManager *i2c_mgr) |
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{ |
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return static_cast<I2CDeviceManager*>(i2c_mgr); |
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} |
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I2CDeviceManager(); |
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~I2CDeviceManager() {}; |
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void _timer_tick(); // in lieu of a thread-per-bus |
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/* AP_HAL::I2CDeviceManager implementation */ |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address, |
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uint32_t bus_clock=400000, |
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bool use_smbus = false, |
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uint32_t timeout_ms=4) override; |
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protected: |
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#define NUM_SITL_I2C_BUSES 4 |
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static I2CBus buses[]; |
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}; |
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#endif //#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)
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