mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.9 KiB
C++
57 lines
1.9 KiB
C++
#pragma once
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#include <vector>
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#include <AP_HAL/utility/OwnPtr.h>
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#include "AP_HAL_Linux.h"
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#include "I2CDevice.h"
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class Linux::I2CDriver : public AP_HAL::I2CDriver {
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public:
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I2CDriver(uint8_t bus);
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I2CDriver(std::vector<const char *> devpaths);
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void begin() { }
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void end() { }
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void setTimeout(uint16_t ms);
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void setHighSpeed(bool active);
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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);
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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);
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/* writeRegisters: write bytes to contiguous registers */
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uint8_t writeRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data);
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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);
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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);
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/* readRegister: read contiguous 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);
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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);
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uint8_t lockup_count();
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AP_HAL::Semaphore *get_semaphore();
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bool do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len,
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uint8_t *recv, uint32_t recv_len)override;
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private:
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bool set_address(uint8_t addr);
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _fake_dev;
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char *_device = NULL;
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uint8_t _addr;
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bool _print_ioctl_error = true;
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};
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