AMiRo-OS

#include <chdebug.h>

#include <amiro/bus/i2c/I2CMultiplexer.hpp>

#include <amiro/bus/i2c/VI2CDriver.hpp>

namespace amiro {

VI2CDriver::

VI2CDriver(I2CMultiplexer *driver, const uint8_t bus_id) :

  driver(driver),

  id(bus_id) {

#if CH_USE_MUTEXES

  chMtxInit(&this->mutex);

#else

  chSemInit(&this->semaphore, 1);

#endif /* CH_USE_MUTEXES */

};

void

VI2CDriver::

start(const I2CConfig* config) {

  /* silently discard config */

  (void) config;

  /* ignore starts */

}

void

VI2CDriver::

stop() {

  /* ignore stops */

}

i2cflags_t

VI2CDriver::

getErrors() {

  return this->driver->getErrors();

}

msg_t

VI2CDriver::

masterTransmit(const I2CTxParams *params, systime_t timeout) {

  msg_t ret;

  this->driver->acquireBus();

  if (!(ret = this->driver->select(this->id))) {

    ret = this->driver->masterTransmit(params, timeout);

  }

  this->driver->deselect();

  this->driver->releaseBus();

  return ret;

}

msg_t

VI2CDriver::

masterReceive(const I2CRxParams *params, systime_t timeout) {

  msg_t ret;

  this->driver->acquireBus();

  if (!(ret = this->driver->select(this->id)))

    ret = this->driver->masterReceive(params, timeout);

  this->driver->deselect();

  this->driver->releaseBus();

  return ret;

}

void

VI2CDriver::

acquireBus() {

#if CH_USE_MUTEXES

  chMtxLock(&this->mutex);

#elif CH_USE_SEMAPHORES

  chSemWait(&this->semaphore);

#endif

}

void

VI2CDriver::

releaseBus() {

#if CH_USE_MUTEXES

  chMtxUnlock();

#elif CH_USE_SEMAPHORES

  chSemSignal(&this->semaphore);

#endif

}

}

/* amiro */