mirror of https://github.com/ArduPilot/ardupilot
50 lines
2.0 KiB
C++
50 lines
2.0 KiB
C++
#pragma once
|
|
|
|
#include <stdint.h>
|
|
|
|
#include "AP_HAL_Namespace.h"
|
|
|
|
class AP_HAL::I2CDriver {
|
|
public:
|
|
virtual void begin() = 0;
|
|
virtual void end() = 0;
|
|
virtual void setTimeout(uint16_t ms) = 0;
|
|
virtual void setHighSpeed(bool active) = 0;
|
|
|
|
/* write: for i2c devices which do not obey register conventions */
|
|
virtual uint8_t write(uint8_t addr, uint8_t len, uint8_t* data) = 0;
|
|
/* writeRegister: write a single 8-bit value to a register */
|
|
virtual uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val) = 0;
|
|
/* writeRegisters: write bytes to contigious registers */
|
|
virtual uint8_t writeRegisters(uint8_t addr, uint8_t reg,
|
|
uint8_t len, uint8_t* data) = 0;
|
|
|
|
/* read: for i2c devices which do not obey register conventions */
|
|
virtual uint8_t read(uint8_t addr, uint8_t len, uint8_t* data) = 0;
|
|
/* readRegister: read from a device register - writes the register,
|
|
* then reads back an 8-bit value. */
|
|
virtual uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data) = 0;
|
|
|
|
/* readRegisters: read contigious device registers - writes the first
|
|
* register, then reads back multiple bytes */
|
|
virtual uint8_t readRegisters(uint8_t addr, uint8_t reg,
|
|
uint8_t len, uint8_t* data) = 0;
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
|
/* readRegistersMultiple: read contigious device registers.
|
|
Equivalent to count calls to readRegisters() */
|
|
virtual uint8_t readRegistersMultiple(uint8_t addr, uint8_t reg,
|
|
uint8_t len, uint8_t count,
|
|
uint8_t* data) = 0;
|
|
#endif
|
|
|
|
virtual bool do_transfer(uint8_t address, const uint8_t *send,
|
|
uint32_t send_len, uint8_t *recv,
|
|
uint32_t recv_len) { return false;}
|
|
virtual uint8_t lockup_count() = 0;
|
|
void ignore_errors(bool b) { _ignore_errors = b; }
|
|
virtual AP_HAL::Semaphore* get_semaphore() = 0;
|
|
protected:
|
|
bool _ignore_errors;
|
|
};
|