ardupilot/libraries/AP_HAL_FLYMAPLE/I2CDriver.h

61 lines
2.3 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Flymaple port by Mike McCauley
*/
#pragma once
#include "AP_HAL_FLYMAPLE.h"
#include <i2c.h>
class AP_HAL_FLYMAPLE_NS::FLYMAPLEI2CDriver : public AP_HAL::I2CDriver {
public:
FLYMAPLEI2CDriver(AP_HAL::Semaphore* semaphore);
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 lockup_count();
AP_HAL::Semaphore* get_semaphore() { return _semaphore; }
private:
uint8_t _lockup_count; // Bus error count
uint8_t _transfer(i2c_msg *msgs, uint16 num);
void _reset(); // Bus and device reset
AP_HAL::Semaphore* _semaphore;
uint16_t _timeout_ms;
};