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52 lines
1.8 KiB
52 lines
1.8 KiB
/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */ |
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/* |
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* I2CDriver.h --- AP_HAL_SMACCM I2C driver. |
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* |
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* Copyright (C) 2012, Galois, Inc. |
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* All Rights Reserved. |
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* |
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* This software is released under the "BSD3" license. Read the file |
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* "LICENSE" for more information. |
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* |
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* Written by James Bielman <jamesjb@galois.com>, 20 December 2012 |
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*/ |
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#ifndef __AP_HAL_SMACCM_I2CDRIVER_H__ |
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#define __AP_HAL_SMACCM_I2CDRIVER_H__ |
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#include <AP_HAL_SMACCM.h> |
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#include "Semaphores.h" |
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class SMACCM::SMACCMI2CDriver : public AP_HAL::I2CDriver { |
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public: |
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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(); |
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private: |
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SMACCMSemaphore _semaphore; |
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}; |
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#endif // __AP_HAL_SMACCM_I2CDRIVER_H__
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