#include <I2CDevice.h>

Inheritance diagram for F4Light::I2CDevice:

Collaboration diagram for F4Light::I2CDevice:

Public Member Functions
	I2CDevice (uint8_t bus, uint8_t address)

	~I2CDevice ()

void	set_address (uint8_t address) override

void	set_retries (uint8_t retries) override

bool	transfer (const uint8_t send, uint32_t send_len, uint8_t recv, uint32_t recv_len) override

bool	read_registers_multiple (uint8_t first_reg, uint8_t *recv, uint32_t recv_len, uint8_t times)

bool	set_speed (enum AP_HAL::Device::Speed speed) override

F4Light::Semaphore *	get_semaphore () override

AP_HAL::Device::PeriodicHandle	register_periodic_callback (uint32_t period_usec, Device::PeriodicCb proc) override

bool	adjust_periodic_callback (AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override

bool	unregister_callback (PeriodicHandle h) override

void	register_completion_callback (Handler h)

void	register_completion_callback (AP_HAL::MemberProc proc)

void	register_completion_callback (AP_HAL::Proc proc)

uint32_t	get_error_count ()

uint8_t	get_last_error ()

uint8_t	get_last_error_state ()

uint8_t	get_bus ()

uint8_t	get_addr ()

void	do_bus_reset ()

Public Member Functions inherited from AP_HAL::I2CDevice
	I2CDevice ()

virtual void	set_split_transfers (bool set)

Public Member Functions inherited from AP_HAL::Device
	FUNCTOR_TYPEDEF (PeriodicCb, void)

	Device (enum BusType type)

enum BusType	bus_type (void) const

uint8_t	bus_num (void) const

uint32_t	get_bus_id (void) const

uint8_t	get_bus_address (void) const

void	set_device_type (uint8_t devtype)

virtual	~Device ()

bool	read_registers (uint8_t first_reg, uint8_t *recv, uint32_t recv_len)

bool	write_register (uint8_t reg, uint8_t val, bool checked=false)

void	set_checked_register (uint8_t reg, uint8_t val)

bool	setup_checked_registers (uint8_t num_regs, uint8_t frequency=10)

bool	check_next_register (void)

bool	read (uint8_t *recv, uint32_t recv_len)

virtual PeriodicHandle	register_periodic_callback (uint32_t period_usec, PeriodicCb)=0

virtual bool	set_chip_select (bool set)

void	set_read_flag (uint8_t flag)

uint32_t	get_bus_id_devtype (uint8_t devtype)

Static Public Member Functions
static void	lateInit ()

static uint8_t	get_dev_count ()

static F4Light::I2CDevice *	get_device (uint8_t i)

Static Public Member Functions inherited from AP_HAL::Device
static uint32_t	make_bus_id (enum BusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype)

static uint32_t	change_bus_id (uint32_t old_id, uint8_t devtype)

Private Member Functions
void	init ()

uint32_t	i2c_read (uint8_t addr, const uint8_t tx_buff, uint8_t txlen, uint8_t rx_buff, uint8_t rxlen)

uint32_t	i2c_write (uint8_t addr, const uint8_t *tx_buff, uint8_t len)

void	isr_ev ()

uint32_t	wait_stop_done (bool v)

void	finish_transfer ()

void	_do_bus_reset ()

Private Attributes
uint8_t	_bus

uint16_t	_offs

uint8_t	_address

uint8_t	_retries

uint32_t	_lockup_count

bool	_initialized

uint8_t	last_error

uint8_t	last_error_state

bool	_slow

bool	_failed

bool	need_reset

void *	_task

const i2c_dev *	_dev

Soft_I2C *	s_i2c

Handler	_completion_cb

uint8_t	_state

volatile uint8_t	_error

uint8_t	_addr

const uint8_t *	_tx_buff

uint8_t	_tx_len

uint8_t *	_rx_buff

uint8_t	_rx_len

Static Private Attributes
static F4Light::Semaphore	_semaphores [3]

static const timer_dev *	_timers [3]

static F4Light::I2CDevice *	devices [MAX_I2C_DEVICES]

static uint8_t	dev_count

static bool	lateInitDone =false

Additional Inherited Members
Public Types inherited from AP_HAL::Device
enum	BusType { BUS_TYPE_UNKNOWN = 0, BUS_TYPE_I2C = 1, BUS_TYPE_SPI = 2, BUS_TYPE_UAVCAN = 3 }

enum	Speed { SPEED_HIGH, SPEED_LOW }

typedef void *	PeriodicHandle

Protected Member Functions inherited from AP_HAL::Device
void	set_device_address (uint8_t address)

void	set_device_bus (uint8_t bus)

Protected Attributes inherited from AP_HAL::Device
uint8_t	_read_flag = 0

union DeviceId	_bus_id

Detailed Description

Definition at line 63 of file I2CDevice.h.

Constructor & Destructor Documentation

◆ I2CDevice()

I2CDevice::I2CDevice	(	uint8_t	bus,
		uint8_t	address
	)

Definition at line 47 of file I2CDevice.cpp.

◆ ~I2CDevice()

I2CDevice::~I2CDevice ( )

virtual

Reimplemented from AP_HAL::I2CDevice.

Definition at line 66 of file I2CDevice.cpp.

Member Function Documentation

◆ _do_bus_reset()

void I2CDevice::_do_bus_reset ( )

private

Definition at line 384 of file I2CDevice.cpp.

Referenced by do_bus_reset(), init(), register_completion_callback(), and transfer().

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◆ adjust_periodic_callback()

bool F4Light::I2CDevice::adjust_periodic_callback	(	AP_HAL::Device::PeriodicHandle	h,
		uint32_t	period_usec
	)

inlineoverridevirtual

Implements AP_HAL::I2CDevice.

Definition at line 106 of file I2CDevice.h.

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◆ do_bus_reset()

void I2CDevice::do_bus_reset ( )

Definition at line 377 of file I2CDevice.cpp.

Referenced by transfer().

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◆ finish_transfer()

void I2CDevice::finish_transfer ( )

private

Definition at line 709 of file I2CDevice.cpp.

Referenced by i2c_read(), i2c_write(), and isr_ev().

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◆ get_addr()

uint8_t F4Light::I2CDevice::get_addr ( )

inline

Definition at line 129 of file I2CDevice.h.

Referenced by F4Light::Scheduler::_print_stats(), and F4Light::I2CDeviceManager::get_device().

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◆ get_bus()

uint8_t F4Light::I2CDevice::get_bus ( void )

inline

Definition at line 128 of file I2CDevice.h.

Referenced by F4Light::Scheduler::_print_stats(), and F4Light::I2CDeviceManager::get_device().

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◆ get_dev_count()

static uint8_t F4Light::I2CDevice::get_dev_count ( )

inlinestatic

Definition at line 131 of file I2CDevice.h.

Referenced by F4Light::Scheduler::_print_stats(), and F4Light::I2CDeviceManager::get_device().

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◆ get_device()

static F4Light::I2CDevice* F4Light::I2CDevice::get_device ( uint8_t i )

inlinestatic

Definition at line 132 of file I2CDevice.h.

Referenced by F4Light::Scheduler::_print_stats(), and F4Light::I2CDeviceManager::get_device().

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◆ get_error_count()

uint32_t F4Light::I2CDevice::get_error_count ( )

inline

Definition at line 125 of file I2CDevice.h.

Referenced by F4Light::Scheduler::_print_stats().

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◆ get_last_error()

uint8_t F4Light::I2CDevice::get_last_error ( )

inline

Definition at line 126 of file I2CDevice.h.

Referenced by F4Light::Scheduler::_print_stats().

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◆ get_last_error_state()

uint8_t F4Light::I2CDevice::get_last_error_state ( )

inline

Definition at line 127 of file I2CDevice.h.

Referenced by F4Light::Scheduler::_print_stats().

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◆ get_semaphore()

F4Light::Semaphore* F4Light::I2CDevice::get_semaphore ( )

inlineoverridevirtual

Implements AP_HAL::I2CDevice.

Definition at line 96 of file I2CDevice.h.

◆ i2c_read()

uint32_t I2CDevice::i2c_read	(	uint8_t	addr,
		const uint8_t *	tx_buff,
		uint8_t	txlen,
		uint8_t *	rx_buff,
		uint8_t	rxlen
	)

private

Definition at line 476 of file I2CDevice.cpp.

Referenced by transfer().

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◆ i2c_write()

uint32_t I2CDevice::i2c_write	(	uint8_t	addr,
		const uint8_t *	tx_buff,
		uint8_t	len
	)

private

Definition at line 431 of file I2CDevice.cpp.

Referenced by transfer().

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◆ init()

void I2CDevice::init ( void )

private

Definition at line 75 of file I2CDevice.cpp.

Referenced by transfer(), and wait_stop_done().

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◆ isr_ev()

void I2CDevice::isr_ev ( )

private

Definition at line 546 of file I2CDevice.cpp.

Referenced by i2c_read(), and i2c_write().

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◆ lateInit()

void I2CDevice::lateInit ( )

static

Definition at line 42 of file I2CDevice.cpp.

◆ read_registers_multiple()

bool I2CDevice::read_registers_multiple	(	uint8_t	first_reg,
		uint8_t *	recv,
		uint32_t	recv_len,
		uint8_t	times
	)

virtual

Implements AP_HAL::I2CDevice.

Definition at line 399 of file I2CDevice.cpp.

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◆ register_completion_callback() [1/3]

void I2CDevice::register_completion_callback ( Handler h )

Definition at line 205 of file I2CDevice.cpp.

Referenced by transfer().

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◆ register_completion_callback() [2/3]

void F4Light::I2CDevice::register_completion_callback ( AP_HAL::MemberProc proc )

inlinevirtual

Reimplemented from AP_HAL::Device.

Definition at line 116 of file I2CDevice.h.

◆ register_completion_callback() [3/3]

void F4Light::I2CDevice::register_completion_callback ( AP_HAL::Proc proc )

inlinevirtual

Reimplemented from AP_HAL::Device.

Definition at line 120 of file I2CDevice.h.

◆ register_periodic_callback()

AP_HAL::Device::PeriodicHandle F4Light::I2CDevice::register_periodic_callback	(	uint32_t	period_usec,
		Device::PeriodicCb	proc
	)

inlineoverridevirtual

Implements AP_HAL::I2CDevice.

Definition at line 99 of file I2CDevice.h.

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◆ set_address()

void F4Light::I2CDevice::set_address ( uint8_t address )

inlineoverridevirtual

Reimplemented from AP_HAL::Device.

Definition at line 75 of file I2CDevice.h.

◆ set_retries()

void F4Light::I2CDevice::set_retries ( uint8_t retries )

inlineoverridevirtual

Reimplemented from AP_HAL::Device.

Definition at line 78 of file I2CDevice.h.

◆ set_speed()

bool F4Light::I2CDevice::set_speed ( enum AP_HAL::Device::Speed speed )

inlineoverridevirtual

Implements AP_HAL::I2CDevice.

Definition at line 93 of file I2CDevice.h.

◆ transfer()

bool I2CDevice::transfer	(	const uint8_t *	send,
		uint32_t	send_len,
		uint8_t *	recv,
		uint32_t	recv_len
	)

overridevirtual

Implements AP_HAL::I2CDevice.

Definition at line 217 of file I2CDevice.cpp.

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◆ unregister_callback()

bool F4Light::I2CDevice::unregister_callback ( PeriodicHandle h )

inlineoverridevirtual

Reimplemented from AP_HAL::Device.

Definition at line 112 of file I2CDevice.h.

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◆ wait_stop_done()

uint32_t I2CDevice::wait_stop_done ( bool v )

private

Definition at line 728 of file I2CDevice.cpp.

Referenced by i2c_read(), and i2c_write().

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Member Data Documentation

◆ _addr

uint8_t F4Light::I2CDevice::_addr

private

Definition at line 172 of file I2CDevice.h.

Referenced by i2c_read(), i2c_write(), and isr_ev().

◆ _address

uint8_t F4Light::I2CDevice::_address

private

Definition at line 147 of file I2CDevice.h.

Referenced by transfer().

◆ _bus

uint8_t F4Light::I2CDevice::_bus

private

Definition at line 145 of file I2CDevice.h.

Referenced by do_bus_reset(), init(), and transfer().

◆ _completion_cb

Handler F4Light::I2CDevice::_completion_cb

private

Definition at line 168 of file I2CDevice.h.

Referenced by finish_transfer(), i2c_read(), i2c_write(), register_completion_callback(), and transfer().

◆ _dev

const i2c_dev* F4Light::I2CDevice::_dev

private

Definition at line 158 of file I2CDevice.h.

Referenced by _do_bus_reset(), finish_transfer(), i2c_read(), i2c_write(), init(), isr_ev(), transfer(), and wait_stop_done().

◆ _error

volatile uint8_t F4Light::I2CDevice::_error

private

Definition at line 171 of file I2CDevice.h.

Referenced by i2c_read(), i2c_write(), and isr_ev().

◆ _failed

bool F4Light::I2CDevice::_failed

private

Definition at line 154 of file I2CDevice.h.

Referenced by _do_bus_reset(), init(), and transfer().

◆ _initialized

bool F4Light::I2CDevice::_initialized

private

Definition at line 150 of file I2CDevice.h.

Referenced by init(), transfer(), and wait_stop_done().

◆ _lockup_count

uint32_t F4Light::I2CDevice::_lockup_count

private

Definition at line 149 of file I2CDevice.h.

Referenced by transfer(), and wait_stop_done().

◆ _offs

uint16_t F4Light::I2CDevice::_offs

private

Definition at line 146 of file I2CDevice.h.

Referenced by init().

◆ _retries

uint8_t F4Light::I2CDevice::_retries

private

Definition at line 148 of file I2CDevice.h.

Referenced by transfer().

◆ _rx_buff

uint8_t* F4Light::I2CDevice::_rx_buff

private

Definition at line 175 of file I2CDevice.h.

Referenced by i2c_read(), and isr_ev().

◆ _rx_len

uint8_t F4Light::I2CDevice::_rx_len

private

Definition at line 176 of file I2CDevice.h.

Referenced by i2c_read(), i2c_write(), and isr_ev().

◆ _semaphores

F4Light::Semaphore I2CDevice::_semaphores

staticprivate

Definition at line 161 of file I2CDevice.h.

Referenced by do_bus_reset().

◆ _slow

bool F4Light::I2CDevice::_slow

private

Definition at line 153 of file I2CDevice.h.

Referenced by init().

◆ _state

uint8_t F4Light::I2CDevice::_state

private

Definition at line 170 of file I2CDevice.h.

Referenced by i2c_read(), i2c_write(), isr_ev(), and transfer().

◆ _task

void* F4Light::I2CDevice::_task

private

Definition at line 156 of file I2CDevice.h.

Referenced by finish_transfer(), i2c_read(), and i2c_write().

◆ _timers

const timer_dev * I2CDevice::_timers

staticprivate

Initial value:

= { 
    TIMER4, 
    TIMER10,
    TIMER9,
}

Definition at line 162 of file I2CDevice.h.

Referenced by init().

◆ _tx_buff

const uint8_t* F4Light::I2CDevice::_tx_buff

private

Definition at line 173 of file I2CDevice.h.

Referenced by i2c_read(), i2c_write(), and isr_ev().

◆ _tx_len

uint8_t F4Light::I2CDevice::_tx_len

private

Definition at line 174 of file I2CDevice.h.

Referenced by i2c_read(), i2c_write(), and isr_ev().

◆ dev_count

uint8_t I2CDevice::dev_count

staticprivate

Definition at line 165 of file I2CDevice.h.

Referenced by I2CDevice(), and ~I2CDevice().

◆ devices

I2CDevice * I2CDevice::devices

staticprivate

Definition at line 164 of file I2CDevice.h.

Referenced by I2CDevice(), and ~I2CDevice().

◆ last_error

uint8_t F4Light::I2CDevice::last_error

private

Definition at line 151 of file I2CDevice.h.

Referenced by transfer(), and wait_stop_done().

◆ last_error_state

uint8_t F4Light::I2CDevice::last_error_state

private

Definition at line 152 of file I2CDevice.h.

Referenced by transfer().

◆ lateInitDone

bool I2CDevice::lateInitDone =false

staticprivate

Definition at line 166 of file I2CDevice.h.

Referenced by init(), and lateInit().

◆ need_reset

bool F4Light::I2CDevice::need_reset

private

Definition at line 155 of file I2CDevice.h.

Referenced by _do_bus_reset(), init(), transfer(), and wait_stop_done().

◆ s_i2c

Soft_I2C* F4Light::I2CDevice::s_i2c

private

Definition at line 159 of file I2CDevice.h.

Referenced by init(), and transfer().

The documentation for this class was generated from the following files:

libraries/AP_HAL_F4Light/I2CDevice.h
libraries/AP_HAL_F4Light/I2CDevice.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ I2CDevice()

◆ ~I2CDevice()

Member Function Documentation

◆ _do_bus_reset()

◆ adjust_periodic_callback()

◆ do_bus_reset()

◆ finish_transfer()

◆ get_addr()

◆ get_bus()

◆ get_dev_count()

◆ get_device()

◆ get_error_count()

◆ get_last_error()

◆ get_last_error_state()

◆ get_semaphore()

◆ i2c_read()

◆ i2c_write()

◆ init()

◆ isr_ev()

◆ lateInit()

◆ read_registers_multiple()

◆ register_completion_callback() [1/3]

◆ register_completion_callback() [2/3]

◆ register_completion_callback() [3/3]

◆ register_periodic_callback()

◆ set_address()

◆ set_retries()

◆ set_speed()

◆ transfer()

◆ unregister_callback()

◆ wait_stop_done()

Member Data Documentation

◆ _addr

◆ _address

◆ _bus

◆ _completion_cb

◆ _dev

◆ _error

◆ _failed

◆ _initialized

◆ _lockup_count

◆ _offs

◆ _retries

◆ _rx_buff

◆ _rx_len

◆ _semaphores

◆ _slow

◆ _state

◆ _task

◆ _timers

◆ _tx_buff

◆ _tx_len

◆ dev_count

◆ devices

◆ last_error

◆ last_error_state

◆ lateInitDone

◆ need_reset

◆ s_i2c