mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
8080ca966a
This removes the odd px4_i2c_bus_external override which was confusing me and lead to odd and inconsistent results. The function is now only available with an int as the argument.
97 lines
3.3 KiB
C++
97 lines
3.3 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include <board_config.h>
|
|
|
|
#if defined(CONFIG_I2C)
|
|
|
|
#define I2C_BUS_MAX_BUS_ITEMS PX4_NUMBER_I2C_BUSES
|
|
|
|
struct px4_i2c_bus_t {
|
|
int bus{-1}; ///< physical bus number (1, ...) (-1 means this is unused)
|
|
bool is_external; ///< static external configuration. Use px4_i2c_bus_external() to check if a bus is really external
|
|
};
|
|
|
|
__EXPORT extern const px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS]; ///< board-specific I2C bus configuration
|
|
|
|
/**
|
|
* runtime-check if a board has a specific bus as external.
|
|
* This can be overridden by a board to add run-time checks.
|
|
*/
|
|
__EXPORT bool px4_i2c_bus_external(int bus);
|
|
|
|
/**
|
|
* runtime-check if a board has a specific device as external.
|
|
* This can be overridden by a board to add run-time checks.
|
|
*/
|
|
__EXPORT bool px4_i2c_device_external(const uint32_t device_id);
|
|
|
|
/**
|
|
* @class I2CBusIterator
|
|
* Iterate over configured I2C buses by the board
|
|
*/
|
|
class I2CBusIterator
|
|
{
|
|
public:
|
|
enum class FilterType {
|
|
All, ///< specific or all buses
|
|
InternalBus, ///< specific or all internal buses
|
|
ExternalBus, ///< specific or all external buses
|
|
};
|
|
|
|
/**
|
|
* @param bus specify bus: starts with 1, -1=all. Internal: arch-specific bus numbering is used,
|
|
* external: n-th external bus
|
|
*/
|
|
I2CBusIterator(FilterType filter, int bus = -1)
|
|
: _filter(filter), _bus(bus) {}
|
|
|
|
bool next();
|
|
|
|
const px4_i2c_bus_t &bus() const { return px4_i2c_buses[_index]; }
|
|
|
|
int externalBusIndex() const { return _external_bus_counter; }
|
|
|
|
bool external() const { return px4_i2c_bus_external(_bus); }
|
|
|
|
private:
|
|
const FilterType _filter;
|
|
const int _bus;
|
|
int _index{-1};
|
|
int _external_bus_counter{0};
|
|
};
|
|
|
|
#endif // CONFIG_I2C
|