mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-10 01:48:29 -04:00
63 lines
1.2 KiB
C++
63 lines
1.2 KiB
C++
#pragma once
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#include "SIM_I2C.h"
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#include <SITL/SIM_Aircraft.h>
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namespace SITL {
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class I2CRegEnum {
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// a class to hold register addresses as an enumeration
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};
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class I2CRegisters {
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protected:
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virtual int rdwr(I2C::i2c_rdwr_ioctl_data *&data) = 0;
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void add_register(const char *name, uint8_t reg, int8_t mode);
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const char *regname[256];
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Bitmask<256> writable_registers;
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Bitmask<256> readable_registers;
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};
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class I2CRegisters_16Bit : public I2CRegisters {
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public:
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int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
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void set_register(uint8_t reg, uint16_t value);
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void set_register(uint8_t reg, int16_t value);
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protected:
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uint16_t word[256];
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};
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class I2CRegisters_8Bit : public I2CRegisters {
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public:
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int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
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void set_register(uint8_t reg, uint8_t value);
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void set_register(uint8_t reg, int8_t value);
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uint8_t get_register(uint8_t num) {
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return byte[(uint8_t)num];
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}
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protected:
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uint8_t byte[256];
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};
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class I2CDevice {
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public:
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virtual void init() {}
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virtual void update(const class Aircraft &aircraft) { }
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virtual int rdwr(I2C::i2c_rdwr_ioctl_data *&data) = 0;
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};
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} // namespace SITL
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