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41 lines
1.5 KiB
41 lines
1.5 KiB
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#ifndef __AP_HAL_EMPTY_I2CDRIVER_H__ |
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#define __AP_HAL_EMPTY_I2CDRIVER_H__ |
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#include "AP_HAL_Empty.h" |
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class Empty::EmptyI2CDriver : public AP_HAL::I2CDriver { |
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public: |
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EmptyI2CDriver(AP_HAL::Semaphore* semaphore) : _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 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() { return _semaphore; } |
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private: |
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AP_HAL::Semaphore* _semaphore; |
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}; |
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#endif // __AP_HAL_EMPTY_I2CDRIVER_H__
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