mirror of
https://github.com/ArduPilot/ardupilot
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7ac51f60d0
This commit changes the way libraries headers are included in source files: - If the header is in the same directory the source belongs to, so the notation '#include ""' is used with the path relative to the directory containing the source. - If the header is outside the directory containing the source, then we use the notation '#include <>' with the path relative to libraries folder. Some of the advantages of such approach: - Only one search path for libraries headers. - OSs like Windows may have a better lookup time.
55 lines
1.9 KiB
C++
55 lines
1.9 KiB
C++
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#ifndef __AP_HAL_LINUX_I2CDRIVER_H__
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#define __AP_HAL_LINUX_I2CDRIVER_H__
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#include "AP_HAL_Linux.h"
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class Linux::LinuxI2CDriver : public AP_HAL::I2CDriver {
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public:
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LinuxI2CDriver(AP_HAL::Semaphore* semaphore, const char *device);
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LinuxI2CDriver(AP_HAL::Semaphore* semaphore, const char * const devpaths[]);
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~LinuxI2CDriver();
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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 readRegistersMultiple(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t count,
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uint8_t* data);
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uint8_t lockup_count();
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AP_HAL::Semaphore* get_semaphore() { return _semaphore; }
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private:
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bool set_address(uint8_t addr);
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AP_HAL::Semaphore* _semaphore;
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char *_device = NULL;
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int _fd = -1;
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uint8_t _addr;
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};
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#endif // __AP_HAL_LINUX_I2CDRIVER_H__
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