Fundamental base class for all physical drivers (I2C, SPI). More...

#include <Device.hpp>

Inheritance diagram for device::Device:

Collaboration diagram for device::Device:

Classes
union	_device_id
	device identifier information More...

union	DeviceId

struct	DeviceStructure

Public Types
enum	DeviceBusType { DeviceBusType_UNKNOWN = 0, DeviceBusType_I2C = 1, DeviceBusType_SPI = 2, DeviceBusType_UAVCAN = 3, DeviceBusType_SIMULATION = 4 }
	Device bus types for DEVID. More...

Public Member Functions
	Device (const Device &)=delete

Device &	operator= (const Device &)=delete

	Device (Device &&)=delete

Device &	operator= (Device &&)=delete

virtual	~Device ()=default
	Destructor. More...

virtual int	init ()
	Initialise the driver and make it ready for use. More...

virtual int	read (unsigned address, void *data, unsigned count)
	Read directly from the device. More...

virtual int	write (unsigned address, void *data, unsigned count)
	Write directly to the device. More...

virtual int	ioctl (unsigned operation, unsigned &arg)
	Perform a device-specific operation. More...

uint32_t	get_device_id () const

DeviceBusType	get_device_bus_type () const
	Return the bus type the device is connected to. More...

void	set_device_bus_type (DeviceBusType bus_type)

uint8_t	get_device_bus () const
	Return the bus ID the device is connected to. More...

void	set_device_bus (uint8_t bus)

uint8_t	get_device_address () const
	Return the bus address of the device. More...

void	set_device_address (int address)

uint8_t	get_device_type () const
	Return the device type. More...

void	set_device_type (uint8_t devtype)

virtual bool	external () const

Static Public Member Functions
static const char *	get_device_bus_string (DeviceBusType bus)

static int	device_id_print_buffer (char *buffer, int length, uint32_t id)
	Print decoded device id string to a buffer. More...

Protected Member Functions
	Device (const char *name)

	Device (const char *name, DeviceBusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype=0)

	Device (DeviceBusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype=0)

Protected Attributes
const char *	_name {nullptr}
	driver name More...

bool	_debug_enabled {false}
	if true, debug messages are printed More...

Detailed Description

Fundamental base class for all physical drivers (I2C, SPI).

This class provides the basic driver template for I2C and SPI devices

Definition at line 65 of file Device.hpp.

Member Enumeration Documentation

◆ DeviceBusType

enum device::Device::DeviceBusType

Device bus types for DEVID.

Enumerator
DeviceBusType_UNKNOWN
DeviceBusType_I2C
DeviceBusType_SPI
DeviceBusType_UAVCAN
DeviceBusType_SIMULATION

Definition at line 135 of file Device.hpp.

Constructor & Destructor Documentation

◆ Device() [1/5]

device::Device::Device ( const Device & )

delete

◆ Device() [2/5]

device::Device::Device ( Device && )

delete

◆ ~Device()

virtual device::Device::~Device ( )

virtualdefault

Destructor.

Public so that anonymous devices can be destroyed.

◆ Device() [3/5]

device::Device::Device ( const char * name )

inlineexplicitprotected

Definition at line 245 of file Device.hpp.

◆ Device() [4/5]

device::Device::Device	(	const char *	name,
		DeviceBusType	bus_type,
		uint8_t	bus,
		uint8_t	address,
		uint8_t	devtype = `0`
	)

inlineprotected

Definition at line 250 of file Device.hpp.

◆ Device() [5/5]

device::Device::Device	(	DeviceBusType	bus_type,
		uint8_t	bus,
		uint8_t	address,
		uint8_t	devtype = `0`
	)

inlineprotected

Definition at line 259 of file Device.hpp.

Member Function Documentation

◆ device_id_print_buffer()

static int device::Device::device_id_print_buffer	(	char *	buffer,
		int	length,
		uint32_t	id
	)

inlinestatic

Print decoded device id string to a buffer.

Parameters

buffer	buffer to write to
length	buffer length
id	The device id.
return	number of bytes written

Definition at line 224 of file Device.hpp.

References device::Device::DeviceId::devid.

◆ external()

virtual bool device::Device::external ( ) const

inlinevirtual

Definition at line 237 of file Device.hpp.

Referenced by LPS22HB::collect(), MPL3115A2::init(), MS5611::init(), MPU9250::is_external(), and ICM20948::is_external().

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◆ get_device_address()

uint8_t device::Device::get_device_address ( ) const

inline

Return the bus address of the device.

Returns: The bus address

Definition at line 205 of file Device.hpp.

◆ get_device_bus()

uint8_t device::Device::get_device_bus ( ) const

inline

Return the bus ID the device is connected to.

Returns: The bus ID

Definition at line 197 of file Device.hpp.

◆ get_device_bus_string()

static const char* device::Device::get_device_bus_string ( DeviceBusType bus )

inlinestatic

Definition at line 171 of file Device.hpp.

◆ get_device_bus_type()

DeviceBusType device::Device::get_device_bus_type ( ) const

inline

Return the bus type the device is connected to.

Returns: The bus type

Definition at line 168 of file Device.hpp.

Referenced by MPU9250::init(), ICM20948::init(), MPU6000::reset(), MPU9250::reset_mpu(), and ICM20948::reset_mpu().

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◆ get_device_id()

uint32_t device::Device::get_device_id ( ) const

inline

Definition at line 161 of file Device.hpp.

Referenced by MPL3115A2::collect(), MS5611::collect(), LPS22HB::collect(), LPS25H::collect(), MPL3115A2::init(), and MS5611::init().

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◆ get_device_type()

uint8_t device::Device::get_device_type ( ) const

inline

Return the device type.

Returns: The device type

Definition at line 213 of file Device.hpp.

◆ init()

virtual int device::Device::init ( )

inlinevirtual

Initialise the driver and make it ready for use.

Returns: OK if the driver initialized OK, negative errno otherwise;

Reimplemented in QMC5883, RM3100, HMC5883, LIS3MDL, device::CDev, UavcanMagnetometerBridge, UavcanBarometerBridge, UavcanBatteryBridge, and UavcanFlowBridge.

Definition at line 91 of file Device.hpp.

Referenced by device::CDev::init(), MPU9250::init(), and ICM20948::init().

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◆ ioctl()

virtual int device::Device::ioctl	(	unsigned	operation,
		unsigned &	arg
	)

inlinevirtual

Perform a device-specific operation.

Parameters

operation	The operation to perform.
arg	An argument to the operation.

Returns: Negative errno on error, OK or positive value on success.

Definition at line 124 of file Device.hpp.

Referenced by MPL3115A2::ioctl(), LPS22HB::ioctl(), LPS25H::ioctl(), MPL3115A2::measure(), MS5611::measure(), MPL3115A2::Run(), MS5611::Run(), and PX4IO::set_update_rate().

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◆ operator=() [1/2]

Device& device::Device::operator= ( const Device & )

delete

◆ operator=() [2/2]

Device& device::Device::operator= ( Device && )

delete

◆ read()

virtual int device::Device::read	(	unsigned	address,
		void *	data,
		unsigned	count
	)

inlinevirtual

Read directly from the device.

The actual size of each unit quantity is device-specific.

Parameters

offset	The device address at which to start reading
data	The buffer into which the read values should be placed.
count	The number of items to read.

Returns: The number of items read on success, negative errno otherwise.

Definition at line 103 of file Device.hpp.

Referenced by ICM20948_mag::ak09916_read_adjustments(), MPU9250_mag::ak8963_read_adjustments(), MPL3115A2::collect(), MS5611::collect(), LPS22HB::collect(), LPS25H::collect(), MPU6000::factory_self_test(), PX4IO::io_reg_get(), ICM20948_mag::measure(), MPU9250_mag::measure(), MPU6000::measure(), ICM20948_mag::read_block(), MPU9250_mag::read_block(), ICM20948_mag::read_reg(), MPU9250_mag::read_reg(), LPS22HB::read_reg(), LPS25H::read_reg(), MPU9250::read_reg(), MPU6000::read_reg(), ICM20948::read_reg(), MPU9250::read_reg16(), MPU6000::read_reg16(), ICM20948::read_reg16(), MPU9250::read_reg_range(), ICM20948::read_reg_range(), ICM20948::reset_mpu(), ICM20948::select_register_bank(), and MPU6000::test_error().

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◆ set_device_address()

void device::Device::set_device_address ( int address )

inline

Definition at line 206 of file Device.hpp.

◆ set_device_bus()

void device::Device::set_device_bus ( uint8_t bus )

inline

Definition at line 198 of file Device.hpp.

◆ set_device_bus_type()

void device::Device::set_device_bus_type ( DeviceBusType bus_type )

inline

Definition at line 169 of file Device.hpp.

◆ set_device_type()

void device::Device::set_device_type ( uint8_t devtype )

inline

Definition at line 214 of file Device.hpp.

Referenced by MS5611::init(), LPS22HB::LPS22HB(), LPS25H::LPS25H(), and MPL3115A2::MPL3115A2().

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◆ write()

virtual int device::Device::write	(	unsigned	address,
		void *	data,
		unsigned	count
	)

inlinevirtual

Write directly to the device.

The actual size of each unit quantity is device-specific.

Parameters

address	The device address at which to start writing.
data	The buffer from which values should be read.
count	The number of items to write.

Returns: The number of items written on success, negative errno otherwise.

Definition at line 115 of file Device.hpp.

Referenced by PX4IO::io_reg_set(), ICM20948::select_register_bank(), ICM20948_mag::write_reg(), MPU9250_mag::write_reg(), LPS22HB::write_reg(), LPS25H::write_reg(), MPU9250::write_reg(), MPU6000::write_reg(), and ICM20948::write_reg().

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Member Data Documentation

◆ _debug_enabled

bool device::Device::_debug_enabled {false}

protected

if true, debug messages are printed

Definition at line 243 of file Device.hpp.

◆ _name

const char* device::Device::_name {nullptr}

protected

driver name

Definition at line 242 of file Device.hpp.

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

src/lib/drivers/device/Device.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ DeviceBusType

Constructor & Destructor Documentation

◆ Device() [1/5]

◆ Device() [2/5]

◆ ~Device()

◆ Device() [3/5]

◆ Device() [4/5]

◆ Device() [5/5]

Member Function Documentation

◆ device_id_print_buffer()

◆ external()

◆ get_device_address()

◆ get_device_bus()

◆ get_device_bus_string()

◆ get_device_bus_type()

◆ get_device_id()

◆ get_device_type()

◆ init()

◆ ioctl()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ read()

◆ set_device_address()

◆ set_device_bus()

◆ set_device_bus_type()

◆ set_device_type()

◆ write()

Member Data Documentation

◆ _debug_enabled

◆ _name