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49 lines
1.4 KiB
49 lines
1.4 KiB
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#ifndef __AP_HAL_AVR_I2C_DRIVER_H__ |
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#define __AP_HAL_AVR_I2C_DRIVER_H__ |
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#include <AP_HAL/AP_HAL.h> |
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#include "AP_HAL_AVR_Namespace.h" |
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#define AVRI2CDRIVER_MAX_BUFFER_SIZE 32 |
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class AP_HAL_AVR::AVRI2CDriver : public AP_HAL::I2CDriver { |
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public: |
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AVRI2CDriver(AP_HAL::Semaphore *sem) : _sem(sem) {} |
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void begin(); |
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void end(); |
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void setTimeout(uint16_t ms) { _timeoutDelay = ms; } |
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void setHighSpeed(bool active); |
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uint8_t write(uint8_t addr, uint8_t len, uint8_t* data); |
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uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val); |
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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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uint8_t read(uint8_t addr, uint8_t len, uint8_t* data); |
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uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data); |
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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() { return _lockup_count; } |
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AP_HAL::Semaphore* get_semaphore() { return _sem; } |
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private: |
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uint8_t _start(); |
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uint8_t _stop(); |
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uint8_t _sendAddress(uint8_t addr); |
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uint8_t _sendByte(uint8_t data); |
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uint8_t _receiveByte(bool ack); |
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void _handleLockup(); |
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uint8_t _waitInterrupt(); |
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uint8_t _waitStop(); |
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uint8_t _lockup_count; |
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uint16_t _timeoutDelay; |
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AP_HAL::Semaphore *_sem; |
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}; |
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#endif // __AP_HAL_AVR_I2C_DRIVER_H__ |
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