| 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 | namespace core {
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| 20 | /*! \class RTDM_I2cPort
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| 21 | *
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| 22 | * \brief Class for real time i2c port using RTDM
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| 23 | *
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| 24 | * This class can only be used with the real time version of Framework library.
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| 25 | *
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| 26 | */
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| 27 | class RTDM_I2cPort : public I2cPort {
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| 28 | public:
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| 29 | /*!
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| 30 | * \brief Constructor
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| 31 | *
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| 32 | * Construct an RTDM i2c port, with the following default values: \n
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| 33 | * - 400kbits baudrate \n
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| 34 | * - 500000ns RX timeout \n
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| 35 | * - 1000000ns TX timeout
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| 36 | *
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| 37 | * \param parent parent
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| 38 | * \param name name
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| 39 | * \param device i2c device (ex rti2c1)
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| 40 | */
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| 41 | RTDM_I2cPort(const Object *parent, std::string name, std::string device);
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| 42 |
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| 43 | /*!
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| 44 | * \brief Destructor
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| 45 | *
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| 46 | */
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| 47 | ~RTDM_I2cPort();
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| 48 |
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| 49 | /*!
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| 50 | * \brief Set slave's address
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| 51 | *
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| 52 | * This method need to be called before any communication.
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| 53 | *
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| 54 | * \param address slave's address
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| 55 | */
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| 56 | int SetSlave(uint16_t address);
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| 57 |
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| 58 | /*!
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| 59 | * \brief Write datas
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| 60 | *
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| 61 | * \param buf pointer to datas
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| 62 | * \param nbyte length of datas
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| 63 | *
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| 64 | * \return amount of written datas
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| 65 | */
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| 66 | ssize_t Write(const void *buf, size_t nbyte);
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| 67 |
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| 68 | /*!
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| 69 | * \brief Read datas
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| 70 | *
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| 71 | * \param buf pointer to datas
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| 72 | * \param nbyte length of datas
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| 73 | *
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| 74 | * \return amount of read datas
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| 75 | */
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| 76 | ssize_t Read(void *buf, size_t nbyte);
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| 77 |
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| 78 | /*!
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| 79 | * \brief Set RX timeout
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| 80 | *
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| 81 | * Timeout for waiting an ACK from the slave.
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| 82 | *
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| 83 | * \param timeout_ns timeout in nano second
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| 84 | */
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| 85 | void SetRxTimeout(Time timeout_ns);
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| 86 |
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| 87 | /*!
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| 88 | * \brief Set TX timeout
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| 89 | *
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| 90 | * Timeout for waiting an ACK from the slave.
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| 91 | *
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| 92 | * \param timeout_ns timeout in nano second
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| 93 | */
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| 94 | void SetTxTimeout(Time timeout_ns);
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| 95 |
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| 96 | private:
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| 97 | int fd;
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| 98 | };
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| 99 | } // end namespace core
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| 100 | } // end namespace flair
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| 101 |
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| 102 | #endif // RTDM_I2CPORT_H
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