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HAL_Empty: fixed I2CDriver for use in Linux subtypes

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This commit is contained in:
Andrew Tridgell 2015-12-14 14:19:34 +11:00
parent ec6a679482
commit 9fe25f9c71
2 changed files with 32 additions and 10 deletions
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10
libraries/AP_HAL_Empty/I2CDriver.cpp
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@ -35,4 +35,14 @@ uint8_t I2CDriver::readRegisters(uint8_t addr, uint8_t reg,
return 1; return 1;
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
uint8_t I2CDriver::readRegistersMultiple(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t count,
uint8_t* data)
{
memset(data, 0, len*count);
return 1;
}
#endif
uint8_t I2CDriver::lockup_count() {return 0;} uint8_t I2CDriver::lockup_count() {return 0;}

32
libraries/AP_HAL_Empty/I2CDriver.h
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@ -7,29 +7,41 @@
class Empty::I2CDriver : public AP_HAL::I2CDriver { class Empty::I2CDriver : public AP_HAL::I2CDriver {
public: public:
I2CDriver(AP_HAL::Semaphore* semaphore) : _semaphore(semaphore) {} I2CDriver(AP_HAL::Semaphore* semaphore) : _semaphore(semaphore) {}
void begin(); void begin() override;
void end(); void end() override;
void setTimeout(uint16_t ms); void setTimeout(uint16_t ms) override;
void setHighSpeed(bool active); void setHighSpeed(bool active) override;
/* write: for i2c devices which do not obey register conventions */ /* write: for i2c devices which do not obey register conventions */
uint8_t write(uint8_t addr, uint8_t len, uint8_t* data); uint8_t write(uint8_t addr, uint8_t len, uint8_t* data) override;
/* writeRegister: write a single 8-bit value to a register */ /* writeRegister: write a single 8-bit value to a register */
uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val); uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val) override;
/* writeRegisters: write bytes to contigious registers */ /* writeRegisters: write bytes to contigious registers */
uint8_t writeRegisters(uint8_t addr, uint8_t reg, uint8_t writeRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data); uint8_t len, uint8_t* data) override;
/* read: for i2c devices which do not obey register conventions */ /* read: for i2c devices which do not obey register conventions */
uint8_t read(uint8_t addr, uint8_t len, uint8_t* data); uint8_t read(uint8_t addr, uint8_t len, uint8_t* data) override;
/* readRegister: read from a device register - writes the register, /* readRegister: read from a device register - writes the register,
* then reads back an 8-bit value. */ * then reads back an 8-bit value. */
uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data); uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data) override;
/* readRegister: read contigious device registers - writes the first /* readRegister: read contigious device registers - writes the first
* register, then reads back multiple bytes */ * register, then reads back multiple bytes */
uint8_t readRegisters(uint8_t addr, uint8_t reg, uint8_t readRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data); uint8_t len, uint8_t* data) override;
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
/* readRegistersMultiple: read contigious device registers.
Equivalent to count calls to readRegisters() */
virtual uint8_t readRegistersMultiple(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t count,
uint8_t* data) override;
#endif
uint8_t lockup_count(); uint8_t lockup_count();
AP_HAL::Semaphore* get_semaphore() { return _semaphore; } AP_HAL::Semaphore* get_semaphore() { return _semaphore; }