mirror of https://github.com/ArduPilot/ardupilot
88 lines
2.4 KiB
C++
88 lines
2.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Flymaple port by Mike McCauley
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*/
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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// Flymaple I2CDriver
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#include "I2CDriver.h"
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#include "FlymapleWirish.h"
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#include <Wire.h>
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using namespace AP_HAL_FLYMAPLE_NS;
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static TwoWire twowire(5, 9, SOFT_FAST); // Flymaple has non-standard SCL, SDA, speed ~200kHz
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void FLYMAPLEI2CDriver::begin()
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{
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twowire.begin();
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}
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void FLYMAPLEI2CDriver::end() {}
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void FLYMAPLEI2CDriver::setTimeout(uint16_t ms) {}
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void FLYMAPLEI2CDriver::setHighSpeed(bool active) {}
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uint8_t FLYMAPLEI2CDriver::write(uint8_t addr, uint8_t len, uint8_t* data)
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{
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twowire.beginTransmission(addr);
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twowire.send(data, len);
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uint8_t result = twowire.endTransmission();
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return result;
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}
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uint8_t FLYMAPLEI2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val)
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{
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return writeRegisters(addr, reg, 1, &val);
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}
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uint8_t FLYMAPLEI2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data)
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{
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twowire.beginTransmission(addr);
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twowire.send(reg);
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if (len)
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twowire.send(data, len);
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uint8_t result = twowire.endTransmission();
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return result;
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}
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uint8_t FLYMAPLEI2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data)
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{
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uint8_t actual_len = twowire.requestFrom(addr, len);
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for (uint8_t i = 0; i < actual_len; i++)
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*data++ = twowire.receive();
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return actual_len != len;
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}
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uint8_t FLYMAPLEI2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data)
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{
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return readRegisters(addr, reg, 1, data);
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}
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uint8_t FLYMAPLEI2CDriver::readRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data)
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{
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writeRegisters(addr, reg, 0, NULL); // Tell device which register we want
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return read(addr, len, data);
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}
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uint8_t FLYMAPLEI2CDriver::lockup_count() {return 0;}
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#endif
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