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AP_HAL: added uint16 access functions

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This commit is contained in:
Andrew Tridgell 2016-11-30 17:22:33 +11:00 committed by Tom Pittenger
parent bc33c19f21
commit 60c29417f1
2 changed files with 40 additions and 0 deletions
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26
libraries/AP_HAL/Device.cpp
View File

@ -107,3 +107,29 @@ bool AP_HAL::Device::check_next_register(void)
_checked.next = (_checked.next+1) % _checked.n_set;
return true;
}
/**
* read 16 bit unsigned integer, little endian
*
* Return: true on a successful transfer, false on failure.
*/
bool AP_HAL::Device::read_uint16_le(uint8_t first_reg, uint16_t &value)
{
// assume we are on a LE platform
return read_registers(first_reg, (uint8_t *)&value, 2);
}
/**
* read 16 bit unsigned integer, big endian
*
* Return: true on a successful transfer, false on failure.
*/
bool AP_HAL::Device::read_uint16_be(uint8_t first_reg, uint16_t &value)
{
if (!read_uint16_le(first_reg, value)) {
return false;
}
uint8_t *b = (uint8_t *)&value;
value = (((uint16_t)b[0])<<8) | b[1];
return true;
}

14
libraries/AP_HAL/Device.h
View File

@ -105,6 +105,20 @@ public:
return transfer(&first_reg, 1, recv, recv_len);
}
/**
* read 16 bit unsigned integer, little endian
*
* Return: true on a successful transfer, false on failure.
*/
bool read_uint16_le(uint8_t first_reg, uint16_t &value);
/**
* read 16 bit unsigned integer, big endian
*
* Return: true on a successful transfer, false on failure.
*/
bool read_uint16_be(uint8_t first_reg, uint16_t &value);
/**
* Wrapper function over #transfer() to write a byte to the register reg.
* The transfer is done by sending reg and val in that order.