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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