ardupilot/libraries/AP_HAL/I2CDriver.h

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#ifndef __AP_HAL_I2C_DRIVER_H__
#define __AP_HAL_I2C_DRIVER_H__
#include <stdint.h>
#include "AP_HAL_Namespace.h"
class AP_HAL::I2CDriver {
public:
virtual void begin() = 0;
virtual void end() = 0;
virtual void setTimeout(uint16_t ms) = 0;
virtual void setHighSpeed(bool active) = 0;
/* write: for i2c devices which do not obey register conventions */
virtual uint8_t write(uint8_t addr, uint8_t len, uint8_t* data) = 0;
/* writeRegister: write a single 8-bit value to a register */
virtual uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val) = 0;
/* writeRegisters: write bytes to contigious registers */
virtual uint8_t writeRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data) = 0;
/* read: for i2c devices which do not obey register conventions */
virtual uint8_t read(uint8_t addr, uint8_t len, uint8_t* data) = 0;
/* readRegister: read from a device register - writes the register,
* then reads back an 8-bit value. */
virtual uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data) = 0;
/* readRegister: read contigious device registers - writes the first
* register, then reads back multiple bytes */
virtual uint8_t readRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data) = 0;
virtual uint8_t lockup_count() = 0;
virtual AP_HAL::Semaphore* get_semaphore() = 0;
};
#endif // __AP_HAL_I2C_DRIVER_H__