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150 lines
4.5 KiB
150 lines
4.5 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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* Modified for use in AP_HAL_ChibiOS by Andrew Tridgell and Siddharth Bharat Purohit |
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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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#include <AP_HAL/I2CDevice.h> |
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#include <AP_HAL/utility/OwnPtr.h> |
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#include "AP_HAL_ChibiOS.h" |
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#if HAL_USE_I2C == TRUE |
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#include "Semaphores.h" |
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#include "Device.h" |
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#include "shared_dma.h" |
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namespace ChibiOS { |
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class I2CBus : public DeviceBus { |
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public: |
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I2CConfig i2ccfg; |
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uint8_t busnum; |
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uint32_t busclock; |
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// we need an additional lock in the dma_allocate and |
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// dma_deallocate functions to cope with 3-way contention as we |
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// have two DMA channels that we are handling with the shared_dma |
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// code |
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mutex_t dma_lock; |
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void dma_allocate(Shared_DMA *); |
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void dma_deallocate(Shared_DMA *); |
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void dma_init(void); |
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static void clear_all(void); |
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static void clear_bus(uint8_t busidx); |
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static uint8_t read_sda(uint8_t busidx); |
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}; |
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class 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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{ |
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return static_cast<I2CDevice*>(dev); |
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} |
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I2CDevice(uint8_t bus, uint8_t address, uint32_t bus_clock, bool use_smbus, uint32_t timeout_ms); |
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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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/* 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::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(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override; |
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AP_HAL::Semaphore* get_semaphore() override { |
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// if asking for invalid bus number use bus 0 semaphore |
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return &bus.semaphore; |
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} |
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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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private: |
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I2CBus &bus; |
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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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/* I2C interface #2 */ |
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uint8_t _retries; |
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uint8_t _address; |
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char *pname; |
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bool _split_transfers; |
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bool _use_smbus; |
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uint32_t _timeout_ms; |
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}; |
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class I2CDeviceManager : public AP_HAL::I2CDeviceManager { |
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public: |
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friend class I2CDevice; |
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static I2CBus businfo[]; |
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// constructor |
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I2CDeviceManager(); |
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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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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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/* |
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get mask of bus numbers for all configured I2C buses |
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*/ |
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uint32_t get_bus_mask(void) const override; |
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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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uint32_t get_bus_mask_external(void) const override; |
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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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uint32_t get_bus_mask_internal(void) const override; |
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}; |
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} |
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#endif // HAL_USE_I2C |
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