mirror of https://github.com/ArduPilot/ardupilot
95 lines
3.1 KiB
C++
95 lines
3.1 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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/*
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* This is an interface abstracting I2C and SPI devices
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*/
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class AP_HAL::Device {
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public:
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enum Speed {
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SPEED_HIGH,
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SPEED_LOW,
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};
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typedef void PeriodicHandle;
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virtual ~Device() { }
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/*
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* Set the speed of future transfers. Depending on the bus the speed may
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* be shared for all devices on the same bus.
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*
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* Return: true if speed was successfully set or platform doesn't implement
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* it; false otherwise.
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*/
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virtual bool set_speed(Speed speed) = 0;
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/*
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* Core transfer function. This does a single bus transaction which
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* sends send_len bytes and receives recv_len bytes back from the slave.
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*
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* Return: true on a successful transfer, false on failure.
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*/
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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) = 0;
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bool read_registers(uint8_t first_reg, uint8_t *recv, uint32_t recv_len)
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{
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return transfer(&first_reg, 1, recv, recv_len);
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}
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bool write_register(uint8_t reg, uint8_t val)
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{
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uint8_t buf[2] = { reg, val };
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return transfer(buf, sizeof(buf), nullptr, 0);
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}
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/*
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* Get the semaphore for the bus this device is in. This is intended for
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* drivers to use during initialization phase only.
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*/
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virtual AP_HAL::Semaphore *get_semaphore() = 0;
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/*
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* Register a periodic callback for this bus. All callbacks on the
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* same bus are made from the same thread with lock already taken. In
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* other words, the callback is not executed on the main thread (or the
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* thread which registered the callback), but in a separate per-bus
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* thread.
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*
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* After registering the periodic callback, the other functions should not
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* be used anymore from other contexts. If it really needs to be done, the
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* lock must be taken.
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*
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* Return: A handle for this periodic callback. To cancel the callback
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* delete the handle.
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*/
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virtual PeriodicHandle *register_periodic_callback(uint32_t period_usec, AP_HAL::MemberProc) = 0;
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/*
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* Temporary method to get the fd used by this device: it's here only for
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* allowing to convert old drivers to this new interface
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*/
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virtual int get_fd() = 0;
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};
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