mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 04:43:33 +08:00
Beat Küng
c5aef9d512
This also simplifies the API a bit, since we anyway have to change the drivers to pass additional information (the bus device index). The orientation flag is merged with the rotation.
116 lines
3.6 KiB
C++
116 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2016-2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file I2C.hpp
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*
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* Base class for devices connected via I2C.
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*/
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#ifndef _DEVICE_I2C_H
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#define _DEVICE_I2C_H
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#include "../CDev.hpp"
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struct I2CSPIDriverConfig;
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namespace device __EXPORT
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{
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/**
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* Abstract class for character device on I2C
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*/
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class __EXPORT I2C : public CDev
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{
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public:
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// no copy, assignment, move, move assignment
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I2C(const I2C &) = delete;
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I2C &operator=(const I2C &) = delete;
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I2C(I2C &&) = delete;
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I2C &operator=(I2C &&) = delete;
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virtual int init() override;
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protected:
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/**
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* The number of times a read or write operation will be retried on
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* error.
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*/
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uint8_t _retries{0};
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/**
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* @ Constructor
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*
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* @param device_type The device type (see drv_sensor.h)
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* @param name Driver name
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* @param bus I2C bus on which the device lives
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* @param address I2C bus address, or zero if set_address will be used
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* @param frequency I2C bus frequency for the device (currently not used)
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*/
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I2C(uint8_t device_type, const char *name, const int bus, const uint16_t address, const uint32_t frequency);
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I2C(const I2CSPIDriverConfig &config);
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virtual ~I2C();
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/**
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* Check for the presence of the device on the bus.
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*/
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virtual int probe() { return PX4_OK; }
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/**
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* Perform an I2C transaction to the device.
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*
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* At least one of send_len and recv_len must be non-zero.
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*
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* @param send Pointer to bytes to send.
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* @param send_len Number of bytes to send.
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* @param recv Pointer to buffer for bytes received.
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* @param recv_len Number of bytes to receive.
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* @return OK if the transfer was successful, -errno
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* otherwise.
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*/
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int transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const unsigned recv_len);
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virtual bool external() const override { return px4_i2c_bus_external(_device_id.devid_s.bus); }
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private:
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uint32_t _frequency{0};
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int _fd{-1};
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};
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} // namespace device
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#endif /* _DEVICE_I2C_H */
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