mirror of https://github.com/ArduPilot/ardupilot
65 lines
2.4 KiB
C++
65 lines
2.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Flymaple port by Mike McCauley
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*/
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#ifndef __AP_HAL_FLYMAPLE_I2CDRIVER_H__
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#define __AP_HAL_FLYMAPLE_I2CDRIVER_H__
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#include "AP_HAL_FLYMAPLE.h"
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#include <i2c.h>
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class AP_HAL_FLYMAPLE_NS::FLYMAPLEI2CDriver : public AP_HAL::I2CDriver {
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public:
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FLYMAPLEI2CDriver(AP_HAL::Semaphore* semaphore);
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void begin();
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void end();
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void setTimeout(uint16_t ms);
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void setHighSpeed(bool active);
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/* write: for i2c devices which do not obey register conventions */
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uint8_t write(uint8_t addr, uint8_t len, uint8_t* data);
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/* writeRegister: write a single 8-bit value to a register */
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uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val);
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/* writeRegisters: write bytes to contigious registers */
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uint8_t writeRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data);
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/* read: for i2c devices which do not obey register conventions */
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uint8_t read(uint8_t addr, uint8_t len, uint8_t* data);
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/* readRegister: read from a device register - writes the register,
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* then reads back an 8-bit value. */
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uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data);
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/* readRegister: read contigious device registers - writes the first
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* register, then reads back multiple bytes */
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uint8_t readRegisters(uint8_t addr, uint8_t reg,
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uint8_t len, uint8_t* data);
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uint8_t lockup_count();
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AP_HAL::Semaphore* get_semaphore() { return _semaphore; }
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private:
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uint8_t _lockup_count; // Bus error count
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uint8_t _transfer(i2c_msg *msgs, uint16 num);
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void _reset(); // Bus and device reset
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AP_HAL::Semaphore* _semaphore;
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uint16_t _timeout_ms;
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};
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#endif // __AP_HAL_FLYMAPLE_I2CDRIVER_H__
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