Line data    Source code

       1             : /*
       2             :  * Copyright (C) 2015-2016  Intel Corporation. All rights reserved.
       3             :  *
       4             :  * This file is free software: you can redistribute it and/or modify it
       5             :  * under the terms of the GNU General Public License as published by the
       6             :  * Free Software Foundation, either version 3 of the License, or
       7             :  * (at your option) any later version.
       8             :  *
       9             :  * This file is distributed in the hope that it will be useful, but
      10             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
      11             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      12             :  * See the GNU General Public License for more details.
      13             :  *
      14             :  * You should have received a copy of the GNU General Public License along
      15             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      16             :  */
      17             : #pragma once
      18             : 
      19             : #include <inttypes.h>
      20             : 
      21             : #include "AP_HAL_Namespace.h"
      22             : #include "Device.h"
      23             : #include "utility/OwnPtr.h"
      24             : 
      25             : namespace AP_HAL {
      26             : 
      27             : class I2CDevice : public Device {
      28             : public:
      29       46280 :     I2CDevice() : Device(BUS_TYPE_I2C) { }
      30             : 
      31       39874 :     virtual ~I2CDevice() { }
      32             : 
      33             :     /* Device implementation */
      34             : 
      35             :     /* See Device::set_speed() */
      36             :     virtual bool set_speed(Device::Speed speed) override = 0;
      37             : 
      38             :     /* See Device::transfer() */
      39             :     virtual bool transfer(const uint8_t *send, uint32_t send_len,
      40             :                           uint8_t *recv, uint32_t recv_len) override = 0;
      41             : 
      42             :     /*
      43             :      * Read location from device multiple times, advancing the buffer each
      44             :      * time
      45             :      */
      46             :     virtual bool read_registers_multiple(uint8_t first_reg, uint8_t *recv,
      47             :                                          uint32_t recv_len, uint8_t times) = 0;
      48             : 
      49             :     /* See Device::get_semaphore() */
      50             :     virtual Semaphore *get_semaphore() override = 0;
      51             : 
      52             :     /* See Device::register_periodic_callback() */
      53             :     virtual Device::PeriodicHandle register_periodic_callback(
      54             :         uint32_t period_usec, Device::PeriodicCb) override = 0;
      55             : 
      56             :     /* See Device::adjust_periodic_callback() */
      57             :     virtual bool adjust_periodic_callback(
      58             :         Device::PeriodicHandle h, uint32_t period_usec) override = 0;
      59             : 
      60             :     /*
      61             :      * Force I2C transfers to be split between send and receive parts, with a
      62             :      * stop condition between them. Setting this allows to conveniently
      63             :      * continue using the read_* and transfer() methods on those devices.
      64             :      *
      65             :      * Some platforms may have transfers always split, in which case
      66             :      * this method is not needed.
      67             :      */
      68           0 :     virtual void set_split_transfers(bool set) {};
      69             : };
      70             : 
      71             : class I2CDeviceManager {
      72             : public:
      73             :     /* Get a pointer to a newly-allocated I2CDevice handle.  Lifetime
      74             :      * is externally handled */
      75             :     virtual AP_HAL::I2CDevice *get_device_ptr(uint8_t bus, uint8_t address,
      76             :                                               uint32_t bus_clock=400000,
      77             :                                               bool use_smbus = false,
      78             :                                               uint32_t timeout_ms=4) = 0;
      79             :     /* Get a device handle.  Lifetime is handled by OwnPtr system.
      80             :      * Progressively being eliminated */
      81       20940 :     OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
      82             :                                          uint32_t bus_clock=400000,
      83             :                                          bool use_smbus = false,
      84             :                                          uint32_t timeout_ms=4) {
      85       20940 :         return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(get_device_ptr(bus, address, bus_clock, use_smbus, timeout_ms));
      86             :     }
      87             : ;
      88             :     /*
      89             :       get mask of bus numbers for all configured I2C buses
      90             :      */
      91        2109 :     virtual uint32_t get_bus_mask(void) const { return 0x0F; }
      92             : 
      93             :     /*
      94             :       get mask of bus numbers for all configured external I2C buses
      95             :      */
      96        6282 :     virtual uint32_t get_bus_mask_external(void) const { return 0x0F; }
      97             : 
      98             :     /*
      99             :       get mask of bus numbers for all configured internal I2C buses
     100             :      */
     101        6282 :     virtual uint32_t get_bus_mask_internal(void) const { return 0x01; }
     102             : };
     103             : 
     104             : /*
     105             :   convenient macros for iterating over I2C bus numbers
     106             :  */
     107             : #define FOREACH_I2C_MASK(i,mask) for (uint32_t _bmask=mask, i=0; i<32; i++) if ((1U<<i)&_bmask)
     108             : #define FOREACH_I2C_EXTERNAL(i) FOREACH_I2C_MASK(i,hal.i2c_mgr->get_bus_mask_external())
     109             : #define FOREACH_I2C_INTERNAL(i) FOREACH_I2C_MASK(i,hal.i2c_mgr->get_bus_mask_internal())
     110             : #define FOREACH_I2C(i) FOREACH_I2C_MASK(i,hal.i2c_mgr->get_bus_mask())
     111             : 
     112             : }