mirror of https://github.com/ArduPilot/ardupilot
58 lines
2.0 KiB
C++
58 lines
2.0 KiB
C++
|
|
#ifndef __AP_HAL_LINUX_I2CDRIVER_H__
|
|
#define __AP_HAL_LINUX_I2CDRIVER_H__
|
|
|
|
#include "AP_HAL_Linux.h"
|
|
|
|
class Linux::I2CDriver : public AP_HAL::I2CDriver {
|
|
public:
|
|
I2CDriver(AP_HAL::Semaphore* semaphore, const char *device);
|
|
I2CDriver(AP_HAL::Semaphore* semaphore, const char * const devpaths[]);
|
|
~I2CDriver();
|
|
|
|
void begin();
|
|
void end();
|
|
void setTimeout(uint16_t ms);
|
|
void setHighSpeed(bool active);
|
|
|
|
/* write: for i2c devices which do not obey register conventions */
|
|
uint8_t write(uint8_t addr, uint8_t len, uint8_t* data);
|
|
/* writeRegister: write a single 8-bit value to a register */
|
|
uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val);
|
|
/* writeRegisters: write bytes to contigious registers */
|
|
uint8_t writeRegisters(uint8_t addr, uint8_t reg,
|
|
uint8_t len, uint8_t* data);
|
|
|
|
/* read: for i2c devices which do not obey register conventions */
|
|
uint8_t read(uint8_t addr, uint8_t len, uint8_t* data);
|
|
/* 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);
|
|
|
|
/* readRegister: read contigious 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);
|
|
|
|
uint8_t readRegistersMultiple(uint8_t addr, uint8_t reg,
|
|
uint8_t len, uint8_t count,
|
|
uint8_t* data);
|
|
|
|
uint8_t lockup_count();
|
|
|
|
AP_HAL::Semaphore* get_semaphore() { return _semaphore; }
|
|
bool do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len,
|
|
uint8_t *recv, uint32_t recv_len)override;
|
|
|
|
private:
|
|
bool set_address(uint8_t addr);
|
|
|
|
AP_HAL::Semaphore* _semaphore;
|
|
char *_device = NULL;
|
|
int _fd = -1;
|
|
uint8_t _addr;
|
|
bool _print_ioctl_error = true;
|
|
};
|
|
|
|
#endif // __AP_HAL_LINUX_I2CDRIVER_H__
|