mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.8 KiB
C++
53 lines
1.8 KiB
C++
/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
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/*
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* I2CDriver.h --- AP_HAL_SMACCM I2C driver.
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*
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* Copyright (C) 2012, Galois, Inc.
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* All Rights Reserved.
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*
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* This software is released under the "BSD3" license. Read the file
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* "LICENSE" for more information.
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*
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* Written by James Bielman <jamesjb@galois.com>, 20 December 2012
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*/
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#ifndef __AP_HAL_SMACCM_I2CDRIVER_H__
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#define __AP_HAL_SMACCM_I2CDRIVER_H__
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#include <AP_HAL_SMACCM.h>
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#include "Semaphores.h"
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class SMACCM::SMACCMI2CDriver : public AP_HAL::I2CDriver {
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public:
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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 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);
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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 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);
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uint8_t lockup_count();
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AP_HAL::Semaphore* get_semaphore();
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private:
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SMACCMSemaphore _semaphore;
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};
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#endif // __AP_HAL_SMACCM_I2CDRIVER_H__
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