Line data    Source code

       1             : /*
       2             :  * Copyright (C) 2020  Peter Barker. 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/HAL.h>
      22             : #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
      23             : 
      24             : #include <AP_HAL/I2CDevice.h>
      25             : 
      26             : #include "AP_HAL_SITL_Namespace.h"
      27             : #include "Semaphores.h"
      28             : 
      29             : class I2CBus;
      30             : 
      31             : class HALSITL::I2CDevice : public AP_HAL::I2CDevice {
      32             : public:
      33             :     static I2CDevice *from(AP_HAL::I2CDevice *dev) {
      34             :         return static_cast<I2CDevice*>(dev);
      35             :     }
      36             : 
      37             :     /* AP_HAL::I2CDevice implementation */
      38             : 
      39             :     I2CDevice(I2CBus &bus, uint8_t address);
      40             : 
      41       79748 :     ~I2CDevice() {}
      42             : 
      43             :     /* See AP_HAL::I2CDevice::set_address() */
      44           0 :     void set_address(uint8_t address) override { _address = address; }
      45             : 
      46             :     /* See AP_HAL::I2CDevice::set_retries() */
      47       52634 :     void set_retries(uint8_t retries) override { _retries = retries; }
      48             : 
      49             :     /* AP_HAL::Device implementation */
      50             : 
      51             :     /* See AP_HAL::Device::set_speed(): Empty implementation, not supported. */
      52          10 :     bool set_speed(enum Device::Speed speed) override { return true; }
      53             : 
      54             :     /* See AP_HAL::Device::transfer() */
      55             :     bool transfer(const uint8_t *send, uint32_t send_len,
      56             :                   uint8_t *recv, uint32_t recv_len) override;
      57             : 
      58             :     bool read_registers_multiple(uint8_t first_reg, uint8_t *recv,
      59             :                                  uint32_t recv_len, uint8_t times) override;
      60             : 
      61             :     /* See AP_HAL::Device::get_semaphore() */
      62             :     AP_HAL::Semaphore *get_semaphore() override;
      63             : 
      64             :     /* See AP_HAL::Device::register_periodic_callback() */
      65             :     AP_HAL::Device::PeriodicHandle register_periodic_callback(
      66             :         uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
      67             : 
      68             :     /* See AP_HAL::Device::adjust_periodic_callback() */
      69             :     bool adjust_periodic_callback(
      70             :         AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
      71             : 
      72             :     /* set split transfers flag */
      73           0 :     void set_split_transfers(bool set) override {
      74           0 :         _split_transfers = set;
      75           0 :     }
      76             : 
      77             :     static void sitl_update();
      78             : 
      79             :   // the following must be identical to the structure in SITL/SIM_I2C.h!
      80             : #define I2C_M_RD 1
      81             : #define I2C_RDWR 0
      82             :     struct i2c_msg {
      83             :         uint8_t bus;
      84             :         uint8_t addr;
      85             :         uint8_t flags;
      86             :         uint8_t *buf;
      87             :         uint16_t len; // FIXME: what type should this be?
      88             :     };
      89             :     struct i2c_rdwr_ioctl_data {
      90             :         i2c_msg *msgs;
      91             :         uint8_t nmsgs;
      92             :     };
      93             :     // end "the following"
      94             : 
      95             : protected:
      96             :     I2CBus &_bus;
      97             :     uint8_t _address;
      98             :     uint8_t _retries;
      99             :     bool _split_transfers = false;
     100             : 
     101             :     bool _transfer(const uint8_t *send, uint32_t send_len,
     102             :                    uint8_t *recv, uint32_t recv_len);
     103             : };
     104             : 
     105             : class HALSITL::I2CDeviceManager : public AP_HAL::I2CDeviceManager {
     106             : public:
     107             :     friend class I2CDevice;
     108             : 
     109             :     static I2CDeviceManager *from(AP_HAL::I2CDeviceManager *i2c_mgr)
     110             :     {
     111             :         return static_cast<I2CDeviceManager*>(i2c_mgr);
     112             :     }
     113             : 
     114             :     I2CDeviceManager();
     115         505 :     ~I2CDeviceManager() {};
     116             : 
     117             :     void _timer_tick(); // in lieu of a thread-per-bus
     118             : 
     119             :     /* AP_HAL::I2CDeviceManager implementation */
     120             :     AP_HAL::I2CDevice *get_device_ptr(uint8_t bus, uint8_t address,
     121             :                                       uint32_t bus_clock=400000,
     122             :                                       bool use_smbus = false,
     123             :                                       uint32_t timeout_ms=4) override;
     124             : 
     125             : protected:
     126             : 
     127             :     #define NUM_SITL_I2C_BUSES 4
     128             :     static I2CBus buses[];
     129             : };
     130             : #endif //#if CONFIG_HAL_BOARD == HAL_BOARD_SITL