warpos::Platform Class Reference

Holds all platform-specific interfaces. More...

#include <Platform.h>

Public Member Functions
	Platform ()
virtual	~Platform ()
virtual int16	startup ()
	Initialize the platform.
virtual int16	setPinMode (const GpioConfig_t &config)
	Set the mode for a given GPIO pin on platform.
virtual int16	writePin (uint8 bank, uint32 pin, uint32 value)
	Write data value to a pin.
virtual int16	readPin (uint8 bank, uint32 pin, uint32 &value)
	Read data value from a pin.
virtual int32	openSPI (const SpiConfig_t &config)
	Open and configure SPI.
virtual int16	readSPI (int32 spi_device, uint8 *buffer, uint8 size)
	Read a set of bytes via SPI.
virtual int16	writeSPI (int32 spi_device, uint8 *buffer, uint8 size)
	Write a set of bytes via SPI.
virtual int16	readWriteSPI (int32 spi_device, uint8 *buffer, uint8 size)
	Write and read a set of bytes via SPI.
virtual int32	openSerial (const UartConfig_t &config)
	Open and configture UART connection.
virtual int16	writeSerial (int32 device_fd, uint8 *buffer, uint8 size)
	Write a byte to UART.
virtual uint32	readSerial (int32 device_fd, uint8 *buffer, uint32 size)
	Read a byte from UART.
virtual uint32	bytesReadySerial (int32 device_fd)
	Check number of bytes ready to read on UART.
virtual int32	openI2C (const I2cConfig_t &config)
	Open an I2C device.
virtual int16	writeI2C (int32 i2c_fd, uint8 i2c_address, uint8 *buffer, uint8 size)
	Write a byte to I2C.
virtual int16	readI2C (int32 i2c_fd, uint8 i2c_address, uint8 *buffer, uint32 size)
	Read a byte from I2C.
virtual int16	writeI2CAddress (int32 i2c_fd, uint8 i2c_address, uint32 mem_address, uint8 *buffer, uint32 size, bool memory_16=false)
	Write a buffer of data to an I2C address.
virtual int16	readI2CAddress (int32 i2c_fd, uint8 i2c_address, uint32 mem_address, uint8 *buffer, uint32 size, bool memory_16=false)
	Write a buffer of data to an I2C address.
virtual int16	openPwmChannel (PwmConfig_t &config)
	Open a PWM channel.
virtual int16	writePwm (int32 pwm_fd, uint8 channel, uint32 value)
	Write a buffer of data to an I2C address.
virtual int32	openAdc (const AdcConfig_t &adc)
	Open an ADC device.
virtual int16	readAdc (int32 adc_fd, uint32 adc_ch_idx, floating_point &read_voltage)
	Read a voltage value from ADC.

Detailed Description

Holds all platform-specific interfaces.

The Platform class is the warpOS method for applying the HAL, or Hardware Abstraction Layer. Platform defines all basic interfaces which are typical of hardware, such as writing to buffers, controlling pins, etc.

The Platform class by itself does not do anything. Users seeking to implement should create a child class with Platform as its base and implement the functions documented herein.

Constructor & Destructor Documentation

Platform()

warpos::Platform::Platform ( )

inline

~Platform()

virtual warpos::Platform::~Platform ( )

inlinevirtual

Member Function Documentation

bytesReadySerial()

virtual uint32 warpos::Platform::bytesReadySerial ( int32 device_fd )

inlinevirtual

Check number of bytes ready to read on UART.

Parameters

device_fd

The file descriptor of the device to check

Returns

Number of bytes available

openAdc()

virtual int32 warpos::Platform::openAdc ( const AdcConfig_t & adc )

inlinevirtual

Open an ADC device.

Parameters

adc	ADC configuration object

Returns

File descriptor for the device

Note

THIS FUNCTION CURRENTLY ASSUMES ADC IS CONFIGURED BY IOC OUTSIDE OF CODE

openI2C()

virtual int32 warpos::Platform::openI2C ( const I2cConfig_t & config )

inlinevirtual

Open an I2C device.

Parameters

config

I2C configuration object

Returns

File descriptor for the device

openPwmChannel()

virtual int16 warpos::Platform::openPwmChannel ( PwmConfig_t & config )

inlinevirtual

Open a PWM channel.

Parameters

config

PWM configuration object

Returns

Error code corresponding to success/failure

openSerial()

virtual int32 warpos::Platform::openSerial ( const UartConfig_t & config )

inlinevirtual

Open and configture UART connection.

Parameters

config

UART config object for the device

Returns

File descriptor for the device

openSPI()

virtual int32 warpos::Platform::openSPI ( const SpiConfig_t & config )

inlinevirtual

Open and configure SPI.

Parameters

config

SPI config for the device

Returns

File descriptor for the device

readAdc()

virtual int16 warpos::Platform::readAdc ( int32 adc_fd, uint32 adc_ch_idx, floating_point & read_voltage )

inlinevirtual

Read a voltage value from ADC.

Parameters

adc_fd	The file descriptor pointing to the ADC to read
adc_ch_idx	The index of the ADC channel to read from (determines which pin/sensor is read)
read_voltage	Implicit return of voltage value read from ADC

Returns

Error code corresponding to success/failure

readI2C()

virtual int16 warpos::Platform::readI2C ( int32 i2c_fd, uint8 i2c_address, uint8 * buffer, uint32 size )

inlinevirtual

Read a byte from I2C.

Parameters

i2c_fd	The file descriptor to read
buffer	Implicit return of values read from buffer
size	The number of bytes to read

Returns

Error code corresponding to success/failure

readI2CAddress()

virtual int16 warpos::Platform::readI2CAddress ( int32 i2c_fd, uint8 i2c_address, uint32 mem_address, uint8 * buffer, uint32 size, bool memory_16 = false )

inlinevirtual

Write a buffer of data to an I2C address.

Parameters

i2c_fd	The file descriptor to write
i2c_address	The I2C address to communicate with
mem_address	The memory address to communicate with
buffer	The buffer of data to read to
size	The maximum amount of data (not including address) to read
memory_16	Boolean if the memory addresses are 16 bit or 8 bit, default to false (8 bit)

Returns

Error code corresponding to success/failure

readPin()

virtual int16 warpos::Platform::readPin ( uint8 bank, uint32 pin, uint32 & value )

inlinevirtual

Read data value from a pin.

Parameters

bank	The bank on which to set the pin
pin	The pin to read
value	Implicit return of the pin value

Returns

Error code corresponding to success/failure

readSerial()

virtual uint32 warpos::Platform::readSerial ( int32 device_fd, uint8 * buffer, uint32 size )

inlinevirtual

Read a byte from UART.

Parameters

device_fd	File descriptor of the device to read
buffer	Implicit return of values read from buffer
size	The number of bytes to read

Returns

The number of bytes read

readSPI()

virtual int16 warpos::Platform::readSPI ( int32 spi_device, uint8 * buffer, uint8 size )

inlinevirtual

Read a set of bytes via SPI.

Parameters

spi_device	The device to read from
buffer	The buffer of values to read
size	The number of bytes to read

Returns

Error code corresponding to success/failure

readWriteSPI()

virtual int16 warpos::Platform::readWriteSPI ( int32 spi_device, uint8 * buffer, uint8 size )

inlinevirtual

Write and read a set of bytes via SPI.

Parameters

spi_device	The device to write/read
buffer	The buffer to write from and read to
size	Number of bytes to write/read

Returns

Error code corresponding to success/failure

setPinMode()

virtual int16 warpos::Platform::setPinMode ( const GpioConfig_t & config )

inlinevirtual

Set the mode for a given GPIO pin on platform.

Parameters

config

The GPIO config to set up for the pin

Returns

Error code corresponding to success/failure

startup()

virtual int16 warpos::Platform::startup ( )

inlinevirtual

Initialize the platform.

Parameters

bank	The bank on which to set the pin
pin	The pin to set
mode	Operating mode for the pin
speed	Speed for output pins (not always used)
output_type	Output type for the pin
pull	Sets pull (up/down/no) for the selected pin
alternate	Specifies peripheral connected to pins

Returns

Error code corresponding to success/failure

writeI2C()

virtual int16 warpos::Platform::writeI2C ( int32 i2c_fd, uint8 i2c_address, uint8 * buffer, uint8 size )

inlinevirtual

Write a byte to I2C.

Parameters

i2c_fd	The file descriptor to write
i2c_address	The address to write
buffer	The buffer of values to write
size	The number of bytes to write

Returns

Error code corresponding to success/failure

writeI2CAddress()

virtual int16 warpos::Platform::writeI2CAddress ( int32 i2c_fd, uint8 i2c_address, uint32 mem_address, uint8 * buffer, uint32 size, bool memory_16 = false )

inlinevirtual

Write a buffer of data to an I2C address.

Parameters

i2c_fd	The file descriptor to write
i2c_address	The I2C address to communicate with
mem_address	The memory address to communicate with
buffer	The buffer of data to write
size	The amount of data (not including address) to write
memory_16	Boolean if the memory addresses are 16 bit or 8 bit, default to false (8 bit)

Returns

Error code corresponding to success/failure

writePin()

virtual int16 warpos::Platform::writePin ( uint8 bank, uint32 pin, uint32 value )

inlinevirtual

Write data value to a pin.

Parameters

bank	The bank on which to set the pin
pin	The pin to write
value	The value to write. Can be anything but typically HIGH/LOW

Returns

Error code corresponding to success/failure

writePwm()

virtual int16 warpos::Platform::writePwm ( int32 pwm_fd, uint8 channel, uint32 value )

inlinevirtual

Write a buffer of data to an I2C address.

Parameters

pwm_fd	The file descriptor to write
channel	the Channel to write to
value	The value to write

Returns

Error code corresponding to success/failure

writeSerial()

virtual int16 warpos::Platform::writeSerial ( int32 device_fd, uint8 * buffer, uint8 size )

inlinevirtual

Write a byte to UART.

Parameters

device_fd	The file descriptor of the device to write
buffer	The buffer of values to write
size	The number of bytes to write

Returns

Error code corresponding to success/failure

writeSPI()

virtual int16 warpos::Platform::writeSPI ( int32 spi_device, uint8 * buffer, uint8 size )

inlinevirtual

Write a set of bytes via SPI.

Parameters

spi_device	The device to write to
buffer	The buffer of values to write
size	The number of bytes to write

Returns

Error code corresponding to success/failure

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

• /Users/mickey/Documents/Projects/warptwin/warpos/src/flight/Platform.h