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60 lines
2.3 KiB
60 lines
2.3 KiB
/* |
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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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#pragma once |
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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 contiguous 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 contiguous 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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