mirror of https://github.com/ArduPilot/ardupilot
84 lines
2.6 KiB
C++
84 lines
2.6 KiB
C++
/*
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* Copyright (C) 2015-2016 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <inttypes.h>
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#include "AP_HAL_Namespace.h"
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#include "Device.h"
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#include "utility/OwnPtr.h"
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namespace AP_HAL {
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class I2CDevice : public Device {
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public:
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I2CDevice() : Device(BUS_TYPE_I2C) { }
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virtual ~I2CDevice() { }
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/*
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* Change device address. Note that this is the 7 bit address, it
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* does not include the bit for read/write.
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*/
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virtual void set_address(uint8_t address) = 0;
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/* Device implementation */
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/* See Device::set_speed() */
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virtual bool set_speed(Device::Speed speed) override = 0;
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/* See Device::transfer() */
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virtual bool transfer(const uint8_t *send, uint32_t send_len,
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uint8_t *recv, uint32_t recv_len) override = 0;
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/*
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* Read location from device multiple times, advancing the buffer each
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* time
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*/
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virtual bool read_registers_multiple(uint8_t first_reg, uint8_t *recv,
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uint32_t recv_len, uint8_t times) = 0;
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/* See Device::get_semaphore() */
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virtual Semaphore *get_semaphore() override = 0;
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/* See Device::register_periodic_callback() */
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virtual Device::PeriodicHandle register_periodic_callback(
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uint32_t period_usec, Device::PeriodicCb) override = 0;
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/* See Device::adjust_periodic_callback() */
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virtual bool adjust_periodic_callback(
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Device::PeriodicHandle h, uint32_t period_usec) override = 0;
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/*
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* Force I2C transfers to be split between send and receive parts, with a
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* stop condition between them. Setting this allows to conveniently
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* continue using the read_* and transfer() methods on those devices.
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*
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* Some platforms may have transfers always split, in which case
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* this method is not needed.
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*/
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virtual void set_split_transfers(bool set) {};
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};
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class I2CDeviceManager {
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public:
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/* Get a device handle */
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virtual OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address) = 0;
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};
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}
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