ardupilot/libraries/AP_HAL_PX4/I2CWrapper.h

43 lines
957 B
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <arch/board/board.h>
#include "board_config.h"
#include <drivers/device/i2c.h>
#include "AP_HAL_PX4.h"
extern const AP_HAL::HAL& hal;
/*
wrapper class for I2C to expose protected functions from PX4Firmware
*/
class PX4::PX4_I2C : public device::I2C {
public:
PX4_I2C(uint8_t bus);
bool do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len, bool split_transfers);
void set_retries(uint8_t retries) {
_retries = retries;
}
uint8_t map_bus_number(uint8_t bus) const;
// setup instance_lock
static void init_lock(void) {
pthread_mutex_init(&instance_lock, nullptr);
}
private:
static uint8_t instance;
static pthread_mutex_t instance_lock;
bool init_done;
bool init_ok;
char devname[11];
char devpath[15];
};
#endif // CONFIG_HAL_BOARD