| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file RTDM_I2cPort.h
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| 7 | * \brief Class for real time i2c port using RTDM
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2011/08/19
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef RTDM_I2CPORT_H
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| 14 | #define RTDM_I2CPORT_H
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| 15 |
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| 16 | #include <I2cPort.h>
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| 17 |
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| 18 | namespace flair
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| 19 | {
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| 20 | namespace core
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| 21 | {
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| 22 | /*! \class RTDM_I2cPort
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| 23 | *
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| 24 | * \brief Class for real time i2c port using RTDM
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| 25 | *
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| 26 | * This class can only be used with the real time version of Framework library.
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| 27 | *
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| 28 | */
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| 29 | class RTDM_I2cPort: public I2cPort
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| 30 | {
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| 31 | public:
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| 32 | /*!
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| 33 | * \brief Constructor
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| 34 | *
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| 35 | * Construct an RTDM i2c port, with the following default values: \n
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| 36 | * - 400kbits baudrate \n
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| 37 | * - 500000ns RX timeout \n
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| 38 | * - 1000000ns TX timeout
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| 39 | *
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| 40 | * \param parent parent
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| 41 | * \param name name
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| 42 | * \param device i2c device (ex rti2c1)
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| 43 | */
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| 44 | RTDM_I2cPort(const Object* parent,std::string name,std::string device);
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| 45 |
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| 46 | /*!
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| 47 | * \brief Destructor
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| 48 | *
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| 49 | */
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| 50 | ~RTDM_I2cPort();
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| 51 |
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| 52 | /*!
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| 53 | * \brief Set slave's address
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| 54 | *
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| 55 | * This method need to be called before any communication.
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| 56 | *
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| 57 | * \param address slave's address
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| 58 | */
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| 59 | int SetSlave(uint16_t address);
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| 60 |
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| 61 | /*!
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| 62 | * \brief Write datas
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| 63 | *
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| 64 | * \param buf pointer to datas
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| 65 | * \param nbyte length of datas
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| 66 | *
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| 67 | * \return amount of written datas
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| 68 | */
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| 69 | ssize_t Write(const void *buf,size_t nbyte);
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| 70 |
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| 71 | /*!
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| 72 | * \brief Read datas
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| 73 | *
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| 74 | * \param buf pointer to datas
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| 75 | * \param nbyte length of datas
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| 76 | *
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| 77 | * \return amount of read datas
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| 78 | */
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| 79 | ssize_t Read(void *buf,size_t nbyte);
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| 80 |
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| 81 | /*!
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| 82 | * \brief Set RX timeout
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| 83 | *
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| 84 | * Timeout for waiting an ACK from the slave.
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| 85 | *
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| 86 | * \param timeout_ns timeout in nano second
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| 87 | */
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| 88 | void SetRxTimeout(Time timeout_ns);
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| 89 |
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| 90 | /*!
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| 91 | * \brief Set TX timeout
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| 92 | *
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| 93 | * Timeout for waiting an ACK from the slave.
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| 94 | *
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| 95 | * \param timeout_ns timeout in nano second
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| 96 | */
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| 97 | void SetTxTimeout(Time timeout_ns);
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| 98 |
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| 99 | private:
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| 100 | int fd;
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| 101 | };
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| 102 | } // end namespace core
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| 103 | } // end namespace flair
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| 104 |
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| 105 | #endif // RTDM_I2CPORT_H
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