ardupilot/libraries/AP_HAL_FLYMAPLE/I2CDriver.h

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
/*
  Flymaple port by Mike McCauley
 */

#ifndef __AP_HAL_FLYMAPLE_I2CDRIVER_H__
#define __AP_HAL_FLYMAPLE_I2CDRIVER_H__

#include "AP_HAL_FLYMAPLE.h"

#include <i2c.h>

class AP_HAL_FLYMAPLE_NS::FLYMAPLEI2CDriver : public AP_HAL::I2CDriver {
public:
    FLYMAPLEI2CDriver(AP_HAL::Semaphore* semaphore);
    void begin();
    void end();
    void setTimeout(uint16_t ms);
    void setHighSpeed(bool active);

    /* write: for i2c devices which do not obey register conventions */
    uint8_t write(uint8_t addr, uint8_t len, uint8_t* data);
    /* writeRegister: write a single 8-bit value to a register */
    uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val);
    /* writeRegisters: write bytes to contigious registers */
    uint8_t writeRegisters(uint8_t addr, uint8_t reg,
                                   uint8_t len, uint8_t* data);

    /* read: for i2c devices which do not obey register conventions */
    uint8_t read(uint8_t addr, uint8_t len, uint8_t* data);
    /* readRegister: read from a device register - writes the register,
     * then reads back an 8-bit value. */
    uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data);
    /* readRegister: read contigious device registers - writes the first 
     * register, then reads back multiple bytes */
    uint8_t readRegisters(uint8_t addr, uint8_t reg,
                                  uint8_t len, uint8_t* data);

    uint8_t lockup_count();

    AP_HAL::Semaphore* get_semaphore() { return _semaphore; }

private:
    uint8_t            _lockup_count; // Bus error count
    uint8_t            _transfer(i2c_msg *msgs, uint16 num);
    void               _reset(); // Bus and device reset
    AP_HAL::Semaphore* _semaphore;
    uint16_t           _timeout_ms;
};

#endif // __AP_HAL_FLYMAPLE_I2CDRIVER_H__