mirror of https://github.com/ArduPilot/ardupilot
34 lines
757 B
C++
34 lines
757 B
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <arch/board/board.h>
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#include "board_config.h"
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#include <drivers/device/i2c.h>
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#include "AP_HAL_PX4.h"
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extern const AP_HAL::HAL& hal;
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/*
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wrapper class for I2C to expose protected functions from PX4Firmware
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*/
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class PX4::PX4_I2C : public device::I2C {
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public:
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PX4_I2C(uint8_t bus);
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bool do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len);
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void set_retries(uint8_t retries) {
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_retries = retries;
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}
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private:
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uint8_t map_bus_number(uint8_t bus) const;
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static uint8_t instance;
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bool init_done;
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bool init_ok;
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char devname[10];
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char devpath[14];
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};
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#endif // CONFIG_HAL_BOARD
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