/****************************************************************************
*
* 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 interface_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 <nuttx/i2c.h>
#include <mavlink/mavlink_log.h>
#include "uploader.h"
#include <modules/px4iofirmware/protocol.h>
#include "interface.h"
class PX4IO_I2C : public PX4IO_interface
{
public:
PX4IO_I2C(int bus, uint8_t address);
virtual ~PX4IO_I2C();
virtual int set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
virtual int get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values);
virtual bool ok();
virtual int test(unsigned mode);
private:
static const unsigned _retries = 2;
struct i2c_dev_s *_dev;
uint8_t _address;
};
PX4IO_interface *io_i2c_interface(int bus, uint8_t address)
{
return new PX4IO_I2C(bus, address);
}
PX4IO_I2C::PX4IO_I2C(int bus, uint8_t address) :
_dev(nullptr),
_address(address)
{
_dev = up_i2cinitialize(bus);
if (_dev)
I2C_SETFREQUENCY(_dev, 400000);
}
PX4IO_I2C::~PX4IO_I2C()
{
if (_dev)
up_i2cuninitialize(_dev);
}
bool
PX4IO_I2C::ok()
{
if (!_dev)
return false;
/* check any other status here */
return true;
}
int
PX4IO_I2C::test(unsigned mode)
{
return 0;
}
int
PX4IO_I2C::set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
int ret;
/* set up the transfer */
uint8_t addr[2] = {
page,
offset
};
i2c_msg_s msgv[2];
msgv[0].addr = _address;
msgv[0].flags = 0;
msgv[0].buffer = addr;
msgv[0].length = 2;
msgv[1].addr = _address;
msgv[1].flags = I2C_M_NORESTART;
msgv[1].buffer = (uint8_t *)values;
msgv[1].length = num_values * sizeof(*values);
unsigned tries = 0;
do {
/* perform the transfer */
ret = I2C_TRANSFER(_dev, msgv, 2);
if (ret == OK)
break;
} while (tries++ < _retries);
return ret;
}
int
PX4IO_I2C::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values)
{
int ret;
/* set up the transfer */
uint8_t addr[2] = {
page,
offset
};
i2c_msg_s msgv[2];
msgv[0].addr = _address;
msgv[0].flags = 0;
msgv[0].buffer = addr;
msgv[0].length = 2;
msgv[1].addr = _address;
msgv[1].flags = I2C_M_READ;
msgv[1].buffer = (uint8_t *)values;
msgv[1].length = num_values * sizeof(*values);
unsigned tries = 0;
do {
/* perform the transfer */
ret = I2C_TRANSFER(_dev, msgv, 2);
if (ret == OK)
break;
} while (tries++ < _retries);
return ret;
}
