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117 lines
4.1 KiB
117 lines
4.1 KiB
/* |
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* Copyright (C) 2015-2016 Intel Corporation. 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 <vector> |
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#include "AP_HAL_Namespace.h" |
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#include "Device.h" |
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#include "utility/OwnPtr.h" |
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namespace AP_HAL { |
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class I2CDevice : public Device { |
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public: |
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I2CDevice() : Device(BUS_TYPE_I2C) { } |
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virtual ~I2CDevice() { } |
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/* Device implementation */ |
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/* See Device::set_speed() */ |
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virtual bool set_speed(Device::Speed speed) override = 0; |
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/* See Device::transfer() */ |
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virtual bool transfer(const uint8_t *send, uint32_t send_len, |
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uint8_t *recv, uint32_t recv_len) override = 0; |
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/* |
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* Read location from device multiple times, advancing the buffer each |
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* time |
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*/ |
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virtual bool read_registers_multiple(uint8_t first_reg, uint8_t *recv, |
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uint32_t recv_len, uint8_t times) = 0; |
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/* See Device::get_semaphore() */ |
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virtual Semaphore *get_semaphore() override = 0; |
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/* See Device::register_periodic_callback() */ |
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virtual Device::PeriodicHandle register_periodic_callback( |
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uint32_t period_usec, Device::PeriodicCb) override = 0; |
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/* See Device::adjust_periodic_callback() */ |
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virtual bool adjust_periodic_callback( |
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Device::PeriodicHandle h, uint32_t period_usec) override = 0; |
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/* |
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* Force I2C transfers to be split between send and receive parts, with a |
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* stop condition between them. Setting this allows to conveniently |
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* continue using the read_* and transfer() methods on those devices. |
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* |
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* Some platforms may have transfers always split, in which case |
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* this method is not needed. |
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*/ |
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virtual void set_split_transfers(bool set) {}; |
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}; |
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class I2CDeviceManager { |
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public: |
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/* Get a device handle */ |
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virtual 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) = 0; |
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/* |
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* Get device by looking up the I2C bus on the buses from @devpaths. |
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* |
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* Each string in @devpaths are possible locations for the bus. How the |
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* strings are implemented are HAL-specific. On Linux this is the info |
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* returned by 'udevadm info -q path /dev/i2c-X'. The first I2C bus |
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* matching a prefix in @devpaths is used to create a I2CDevice object. |
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*/ |
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virtual OwnPtr<I2CDevice> get_device(std::vector<const char *> devpaths, |
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uint8_t address) { |
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// Not implemented |
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return nullptr; |
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} |
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/* |
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get mask of bus numbers for all configured I2C buses |
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*/ |
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virtual uint32_t get_bus_mask(void) const { return 0x0F; } |
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/* |
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get mask of bus numbers for all configured external I2C buses |
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*/ |
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virtual uint32_t get_bus_mask_external(void) const { return 0x0F; } |
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/* |
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get mask of bus numbers for all configured internal I2C buses |
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*/ |
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virtual uint32_t get_bus_mask_internal(void) const { return 0x01; } |
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}; |
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/* |
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convenient macros for iterating over I2C bus numbers |
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*/ |
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#define FOREACH_I2C_MASK(i,mask) for (uint32_t _bmask=mask, i=0; i<32; i++) if ((1U<<i)&_bmask) |
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#define FOREACH_I2C_EXTERNAL(i) FOREACH_I2C_MASK(i,hal.i2c_mgr->get_bus_mask_external()) |
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#define FOREACH_I2C_INTERNAL(i) FOREACH_I2C_MASK(i,hal.i2c_mgr->get_bus_mask_internal()) |
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#define FOREACH_I2C(i) FOREACH_I2C_MASK(i,hal.i2c_mgr->get_bus_mask()) |
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}
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