mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.4 KiB
C++
52 lines
1.4 KiB
C++
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#ifndef __AP_HAL_AVR_I2C_DRIVER_H__
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#define __AP_HAL_AVR_I2C_DRIVER_H__
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#include <AP_HAL.h>
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#include "AP_HAL_AVR_Namespace.h"
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#define AVRI2CDRIVER_MAX_BUFFER_SIZE 32
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class AP_HAL_AVR::AVRI2CDriver : public AP_HAL::I2CDriver {
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public:
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AVRI2CDriver() {}
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void begin();
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void end();
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void setTimeout(uint16_t ms) { _timeoutDelay = ms; }
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void setHighSpeed(bool active);
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uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val) {
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/* Sometimes avr-gcc fails at dereferencing a uint8_t arg. */
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uint8_t data[1];
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data[0] = val;
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return writeRegisters(addr, reg, 1, data);
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}
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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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uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data) {
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return readRegisters(addr, reg, 1, data);
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}
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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() { return _lockup_count; }
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private:
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uint8_t _start();
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uint8_t _stop();
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uint8_t _sendAddress(uint8_t addr);
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uint8_t _sendByte(uint8_t data);
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uint8_t _receiveByte(bool ack);
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void _handleLockup();
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uint8_t _waitInterrupt();
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uint8_t _waitStop();
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uint8_t _lockup_count;
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uint16_t _timeoutDelay;
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};
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#endif // __AP_HAL_AVR_I2C_DRIVER_H__
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