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49 lines
2.0 KiB
49 lines
2.0 KiB
#pragma once |
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#include <stdint.h> |
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#include "AP_HAL_Namespace.h" |
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class AP_HAL::I2CDriver { |
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public: |
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virtual void begin() = 0; |
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virtual void end() = 0; |
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virtual void setTimeout(uint16_t ms) = 0; |
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virtual void setHighSpeed(bool active) = 0; |
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/* write: for i2c devices which do not obey register conventions */ |
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virtual uint8_t write(uint8_t addr, uint8_t len, uint8_t* data) = 0; |
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/* writeRegister: write a single 8-bit value to a register */ |
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virtual uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val) = 0; |
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/* writeRegisters: write bytes to contiguous registers */ |
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virtual uint8_t writeRegisters(uint8_t addr, uint8_t reg, |
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uint8_t len, uint8_t* data) = 0; |
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/* read: for i2c devices which do not obey register conventions */ |
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virtual uint8_t read(uint8_t addr, uint8_t len, uint8_t* data) = 0; |
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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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virtual uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data) = 0; |
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/* readRegisters: read contiguous device registers - writes the first |
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* register, then reads back multiple bytes */ |
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virtual uint8_t readRegisters(uint8_t addr, uint8_t reg, |
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uint8_t len, uint8_t* data) = 0; |
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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/* readRegistersMultiple: read contiguous device registers. |
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Equivalent to count calls to readRegisters() */ |
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virtual uint8_t readRegistersMultiple(uint8_t addr, uint8_t reg, |
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uint8_t len, uint8_t count, |
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uint8_t* data) = 0; |
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#endif |
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virtual bool do_transfer(uint8_t address, const uint8_t *send, |
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uint32_t send_len, uint8_t *recv, |
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uint32_t recv_len) { return false;} |
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virtual uint8_t lockup_count() = 0; |
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void ignore_errors(bool b) { _ignore_errors = b; } |
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virtual AP_HAL::Semaphore* get_semaphore() = 0; |
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protected: |
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bool _ignore_errors; |
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};
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