i2c+spi: add module base class and bus iterators

2026-10-06 11:18:53 +08:00 · 2020-03-10 10:11:43 -04:00
parent af15c7d945
commit 06712450a7
10 changed files with 1151 additions and 2 deletions
@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <board_config.h>
+#ifndef BOARD_DISABLE_I2C_SPI
+
+#include <px4_platform_common/i2c.h>
+
+#ifndef BOARD_OVERRIDE_I2C_BUS_EXTERNAL
+bool px4_i2c_bus_external(const px4_i2c_bus_t &bus)
+{
+	return bus.is_external;
+}
+#endif
+
+bool I2CBusIterator::next()
+{
+	while (++_index < I2C_BUS_MAX_BUS_ITEMS && px4_i2c_buses[_index].bus != -1) {
+		const px4_i2c_bus_t &bus_data = px4_i2c_buses[_index];
+
+		if (!board_has_bus(BOARD_I2C_BUS, bus_data.bus)) {
+			continue;
+		}
+
+		switch (_filter) {
+		case FilterType::All:
+			if (_bus == bus_data.bus || _bus == -1) {
+				return true;
+			}
+
+			break;
+
+		case FilterType::InternalBus:
+			if (!px4_i2c_bus_external(bus_data)) {
+				if (_bus == bus_data.bus || _bus == -1) {
+					return true;
+				}
+			}
+
+			break;
+
+		case FilterType::ExternalBus:
+			if (px4_i2c_bus_external(bus_data)) {
+				++_external_bus_counter;
+
+				if (_bus == _external_bus_counter || _bus == -1) {
+					return true;
+				}
+			}
+
+			break;
+		}
+	}
+
+	return false;
+}
+
+#endif /* BOARD_DISABLE_I2C_SPI */