mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.3 KiB
C
58 lines
1.3 KiB
C
|
/*
|
||
|
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/>.
|
||
|
*/
|
||
|
|
||
|
/*
|
||
|
Simulated i2c buses and devices
|
||
|
*/
|
||
|
|
||
|
#pragma once
|
||
|
|
||
|
#include <AP_Param/AP_Param.h>
|
||
|
|
||
|
#include "stdint.h"
|
||
|
|
||
|
namespace SITL {
|
||
|
|
||
|
class I2C {
|
||
|
public:
|
||
|
I2C() {}
|
||
|
|
||
|
// update i2c state
|
||
|
void update(const class Aircraft &aircraft);
|
||
|
|
||
|
int ioctl(uint8_t ioctl_type, void *data);
|
||
|
|
||
|
// the following must be identical to AP_HAL_SITL/I2CDevice.h
|
||
|
#define I2C_M_RD 1
|
||
|
#define I2C_RDWR 0
|
||
|
struct i2c_msg {
|
||
|
uint8_t addr;
|
||
|
uint8_t flags;
|
||
|
uint8_t *buf;
|
||
|
uint16_t len; // FIXME: what type should this be?
|
||
|
};
|
||
|
struct i2c_rdwr_ioctl_data {
|
||
|
i2c_msg *msgs;
|
||
|
uint8_t nmsgs;
|
||
|
};
|
||
|
// end "the following"
|
||
|
|
||
|
private:
|
||
|
int ioctl_rdwr(i2c_rdwr_ioctl_data *data);
|
||
|
|
||
|
};
|
||
|
|
||
|
}
|