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/****************************************************************************
*
* Copyright (c) 2013 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.
*
****************************************************************************/
/**
* @file px4io_i2c.cpp
*
* I2C interface for PX4IO
*/
/* XXX trim includes */
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <errno.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <board_config.h>
#include <drivers/device/i2c.h>
#ifdef PX4_I2C_OBDEV_PX4IO
device::Device *PX4IO_i2c_interface();
class PX4IO_I2C : public device::I2C
{
public:
PX4IO_I2C(int bus, uint8_t address);
virtual ~PX4IO_I2C();
virtual int init();
virtual int read(unsigned offset, void *data, unsigned count = 1);
virtual int write(unsigned address, void *data, unsigned count = 1);
virtual int ioctl(unsigned operation, unsigned &arg);
private:
};
device::Device
*PX4IO_i2c_interface()
{
return new PX4IO_I2C(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO);
}
PX4IO_I2C::PX4IO_I2C(int bus, uint8_t address) :
I2C("PX4IO_i2c", nullptr, bus, address, 400000)
{
_retries = 3;
}
PX4IO_I2C::~PX4IO_I2C()
{
}
int
PX4IO_I2C::init()
{
int ret;
ret = I2C::init();
if (ret != OK)
goto out;
/* XXX really should do something more here */
out:
return 0;
}
int
PX4IO_I2C::ioctl(unsigned operation, unsigned &arg)
{
return 0;
}
int
PX4IO_I2C::write(unsigned address, void *data, unsigned count)
{
uint8_t page = address >> 8;
uint8_t offset = address & 0xff;
const uint16_t *values = reinterpret_cast<const uint16_t *>(data);
/* set up the transfer */
uint8_t addr[2] = {
page,
offset
};
i2c_msg_s msgv[2];
msgv[0].flags = 0;
msgv[0].buffer = addr;
msgv[0].length = 2;
msgv[1].flags = I2C_M_NORESTART;
msgv[1].buffer = (uint8_t *)values;
msgv[1].length = 2 * count;
int ret = transfer(msgv, 2);
if (ret == OK)
ret = count;
return ret;
}
int
PX4IO_I2C::read(unsigned address, void *data, unsigned count)
{
uint8_t page = address >> 8;
uint8_t offset = address & 0xff;
const uint16_t *values = reinterpret_cast<const uint16_t *>(data);
/* set up the transfer */
uint8_t addr[2] = {
page,
offset
};
i2c_msg_s msgv[2];
msgv[0].flags = 0;
msgv[0].buffer = addr;
msgv[0].length = 2;
msgv[1].flags = I2C_M_READ;
msgv[1].buffer = (uint8_t *)values;
msgv[1].length = 2 * count;
int ret = transfer(msgv, 2);
if (ret == OK)
ret = count;
return ret;
}
#endif /* PX4_I2C_OBDEV_PX4IO */
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