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             : #include <vector>
      21             : 
      22             : #include <AP_HAL/HAL.h>
      23             : #include <AP_HAL/I2CDevice.h>
      24             : 
      25             : #include "Semaphores.h"
      26             : 
      27             : namespace Linux {
      28             : 
      29             : class I2CBus;
      30             : 
      31             : class I2CDevice : public AP_HAL::I2CDevice {
      32             : public:
      33             :     static I2CDevice *from(AP_HAL::I2CDevice *dev)
      34             :     {
      35             :         return static_cast<I2CDevice*>(dev);
      36             :     }
      37             : 
      38             :     /* AP_HAL::I2CDevice implementation */
      39             : 
      40             :     I2CDevice(I2CBus &bus, uint8_t address);
      41             : 
      42             :     ~I2CDevice();
      43             : 
      44             :     /* See AP_HAL::I2CDevice::set_address() */
      45           0 :     void set_address(uint8_t address) override { _address = address; }
      46             : 
      47             :     /* See AP_HAL::I2CDevice::set_retries() */
      48           0 :     void set_retries(uint8_t retries) override { _retries = retries; }
      49             : 
      50             :     /* AP_HAL::Device implementation */
      51             : 
      52             :     /* See AP_HAL::Device::set_speed(): Empty implementation, not supported. */
      53           0 :     bool set_speed(enum Device::Speed speed) override { return true; }
      54             : 
      55             :     /* See AP_HAL::Device::transfer() */
      56             :     bool transfer(const uint8_t *send, uint32_t send_len,
      57             :                   uint8_t *recv, uint32_t recv_len) override;
      58             : 
      59             :     bool read_registers_multiple(uint8_t first_reg, uint8_t *recv,
      60             :                                  uint32_t recv_len, uint8_t times) override;
      61             : 
      62             :     /* See AP_HAL::Device::get_semaphore() */
      63             :     AP_HAL::Semaphore *get_semaphore() override;
      64             : 
      65             :     /* See AP_HAL::Device::register_periodic_callback() */
      66             :     AP_HAL::Device::PeriodicHandle register_periodic_callback(
      67             :         uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
      68             : 
      69             :     /* See AP_HAL::Device::adjust_periodic_callback() */
      70             :     bool adjust_periodic_callback(
      71             :         AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
      72             : 
      73             :     /* set split transfers flag */
      74           0 :     void set_split_transfers(bool set) override {
      75           0 :         _split_transfers = set;
      76           0 :     }
      77             :     
      78             : protected:
      79             :     I2CBus &_bus;
      80             :     uint8_t _address;
      81             :     uint8_t _retries = 0;
      82             :     bool _split_transfers = false;
      83             : };
      84             : 
      85             : class I2CDeviceManager : public AP_HAL::I2CDeviceManager {
      86             : public:
      87             :     friend class I2CDevice;
      88             : 
      89           0 :     static I2CDeviceManager *from(AP_HAL::I2CDeviceManager *i2c_mgr)
      90             :     {
      91           0 :         return static_cast<I2CDeviceManager*>(i2c_mgr);
      92             :     }
      93             : 
      94             :     I2CDeviceManager();
      95             : 
      96             :     /* AP_HAL::I2CDeviceManager implementation */
      97             :     AP_HAL::I2CDevice *get_device_ptr(uint8_t bus, uint8_t address,
      98             :                                      uint32_t bus_clock=400000,
      99             :                                      bool use_smbus = false,
     100             :                                      uint32_t timeout_ms=4) override;
     101             : 
     102             :     /*
     103             :      * Stop all I2C threads and block until they are finalized. This doesn't
     104             :      * free memory because they can still be used by devices, however device
     105             :      * drivers won't receive any new event
     106             :      */
     107             :     void teardown();
     108             : 
     109             :     /*
     110             :       get mask of bus numbers for all configured I2C buses
     111             :      */
     112             :     uint32_t get_bus_mask(void) const override;
     113             : 
     114             :     /*
     115             :       get mask of bus numbers for all configured external I2C buses
     116             :      */
     117             :     uint32_t get_bus_mask_external(void) const override;
     118             : 
     119             :     /*
     120             :       get mask of bus numbers for all configured internal I2C buses
     121             :      */
     122             :     uint32_t get_bus_mask_internal(void) const override;
     123             :     
     124             : protected:
     125             :     void _unregister(I2CBus &b);
     126             :     AP_HAL::I2CDevice *_create_device(I2CBus &b, uint8_t address) const;
     127             : 
     128             :     std::vector<I2CBus*> _buses;
     129             : };
     130             : 
     131             : }