mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.8 KiB
C++
50 lines
1.8 KiB
C++
#pragma once
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#include "AP_HAL_Empty.h"
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class Empty::I2CDriver : public AP_HAL::I2CDriver {
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public:
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I2CDriver(AP_HAL::Semaphore* semaphore) : _semaphore(semaphore) {}
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void begin() override;
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void end() override;
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void setTimeout(uint16_t ms) override;
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void setHighSpeed(bool active) override;
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/* write: for i2c devices which do not obey register conventions */
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uint8_t write(uint8_t addr, uint8_t len, uint8_t* data) override;
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/* writeRegister: write a single 8-bit value to a register */
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uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val) override;
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/* writeRegisters: write bytes to contigious registers */
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uint8_t writeRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data) override;
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/* read: for i2c devices which do not obey register conventions */
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uint8_t read(uint8_t addr, uint8_t len, uint8_t* data) override;
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/* readRegister: read from a device register - writes the register,
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* then reads back an 8-bit value. */
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uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data) override;
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/* readRegister: read contigious device registers - writes the first
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* register, then reads back multiple bytes */
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uint8_t readRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data) override;
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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/* readRegistersMultiple: read contigious device registers.
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Equivalent to count calls to readRegisters() */
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virtual uint8_t readRegistersMultiple(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t count,
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uint8_t* data) override;
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#endif
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uint8_t lockup_count();
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AP_HAL::Semaphore* get_semaphore() { return _semaphore; }
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private:
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AP_HAL::Semaphore* _semaphore;
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};
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