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.
77 lines
2.1 KiB
77 lines
2.1 KiB
/* |
|
* 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/>. |
|
*/ |
|
#include "I2CDevice.h" |
|
|
|
#include <AP_HAL/AP_HAL.h> |
|
|
|
#include "Util.h" |
|
|
|
namespace PX4 { |
|
|
|
uint8_t PX4::PX4_I2C::instance; |
|
|
|
/* |
|
implement wrapper for PX4 I2C driver |
|
*/ |
|
bool PX4_I2C::do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len) |
|
{ |
|
if (!init_done) { |
|
init_done = true; |
|
// we do late init() so we can setup the device paths |
|
snprintf(devname, sizeof(devname), "AP_I2C_%u", instance); |
|
snprintf(devpath, sizeof(devpath), "/dev/api2c%u", instance); |
|
init_ok = (init() == OK); |
|
if (init_ok) { |
|
instance++; |
|
} |
|
} |
|
if (!init_ok) { |
|
return false; |
|
} |
|
set_address(address); |
|
bool ret = (transfer(send, send_len, recv, recv_len) == OK); |
|
return ret; |
|
} |
|
|
|
I2CDevice::I2CDevice(uint8_t bus, uint8_t address) : |
|
_bus(bus), |
|
_address(address) |
|
{ |
|
} |
|
|
|
I2CDevice::~I2CDevice() |
|
{ |
|
} |
|
|
|
bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len, |
|
uint8_t *recv, uint32_t recv_len) |
|
{ |
|
return _bus.do_transfer(_address, send, send_len, recv, recv_len); |
|
} |
|
|
|
bool I2CDevice::read_registers_multiple(uint8_t first_reg, uint8_t *recv, |
|
uint32_t recv_len, uint8_t times) |
|
{ |
|
return false; |
|
} |
|
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> |
|
I2CDeviceManager::get_device(uint8_t bus, uint8_t address) |
|
{ |
|
auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(bus, address)); |
|
return dev; |
|
} |
|
|
|
}
|
|
|