mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.8 KiB
C
48 lines
1.8 KiB
C
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#pragma once
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#include "AP_HAL_PX4.h"
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#include <AP_HAL_Empty/AP_HAL_Empty.h>
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#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
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class PX4::PX4I2CDriver : public AP_HAL::I2CDriver {
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public:
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PX4I2CDriver(void);
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void begin() override {}
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void end() override {}
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void setTimeout(uint16_t ms) override {}
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void setHighSpeed(bool active) override {}
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// main transfer function
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bool do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len) override;
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/* write: for i2c devices which do not obey register conventions */
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uint8_t write(uint8_t addr, uint8_t len, uint8_t* data) override;
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/* writeRegister: write a single 8-bit value to a register */
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uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val) override;
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/* writeRegisters: write bytes to contigious registers */
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uint8_t writeRegisters(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* data) override;
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/* read: for i2c devices which do not obey register conventions */
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uint8_t read(uint8_t addr, uint8_t len, uint8_t* data) override;
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/* readRegister: read from a device register - writes the register,
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* then reads back an 8-bit value. */
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uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data) override;
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/* readRegister: read contigious device registers - writes the first
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* register, then reads back multiple bytes */
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uint8_t readRegisters(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* data) override;
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uint8_t lockup_count() override { return 0; }
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AP_HAL::Semaphore* get_semaphore() override { return &semaphore; }
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private:
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// we use an empty semaphore as the underlying I2C class already has a semaphore
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Empty::Semaphore semaphore;
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PX4_I2C *px4_i2c = nullptr;
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};
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