ardupilot/libraries/AP_HAL_PX4/I2CDriver.h

48 lines
1.8 KiB
C++

#pragma once
#include "AP_HAL_PX4.h"
#include <AP_HAL_Empty/AP_HAL_Empty.h>
#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
class PX4::PX4I2CDriver : public AP_HAL::I2CDriver {
public:
PX4I2CDriver(void);
void begin() override {}
void end() override {}
void setTimeout(uint16_t ms) override {}
void setHighSpeed(bool active) override {}
// main transfer function
bool do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len) override;
/* write: for i2c devices which do not obey register conventions */
uint8_t write(uint8_t addr, uint8_t len, uint8_t* data) override;
/* writeRegister: write a single 8-bit value to a register */
uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val) override;
/* writeRegisters: write bytes to contiguous registers */
uint8_t writeRegisters(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* data) override;
/* read: for i2c devices which do not obey register conventions */
uint8_t read(uint8_t addr, uint8_t len, uint8_t* data) override;
/* readRegister: read from a device register - writes the register,
* then reads back an 8-bit value. */
uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data) override;
/* readRegister: read contiguous device registers - writes the first
* register, then reads back multiple bytes */
uint8_t readRegisters(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* data) override;
uint8_t lockup_count() override { return 0; }
AP_HAL::Semaphore* get_semaphore() override { return &semaphore; }
private:
// we use an empty semaphore as the underlying I2C class already has a semaphore
Empty::Semaphore semaphore;
PX4_I2C *px4_i2c = nullptr;
};