ardupilot/libraries/AP_HAL_SMACCM/I2CDriver.h

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/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
/*
* I2CDriver.h --- AP_HAL_SMACCM I2C driver.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*
* Written by James Bielman <jamesjb@galois.com>, 20 December 2012
*/
#ifndef __AP_HAL_SMACCM_I2CDRIVER_H__
#define __AP_HAL_SMACCM_I2CDRIVER_H__
#include <AP_HAL_SMACCM.h>
#include "Semaphores.h"
class SMACCM::SMACCMI2CDriver : public AP_HAL::I2CDriver {
public:
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();
private:
SMACCMSemaphore _semaphore;
};
#endif // __AP_HAL_SMACCM_I2CDRIVER_H__