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56 lines
1.9 KiB
56 lines
1.9 KiB
#pragma once |
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#include <vector> |
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#include <AP_HAL/utility/OwnPtr.h> |
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#include "AP_HAL_Linux.h" |
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#include "I2CDevice.h" |
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class Linux::I2CDriver : public AP_HAL::I2CDriver { |
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public: |
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I2CDriver(uint8_t bus); |
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I2CDriver(std::vector<const char *> devpaths); |
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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 readRegistersMultiple(uint8_t addr, uint8_t reg, |
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uint8_t len, uint8_t count, |
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uint8_t* data); |
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uint8_t lockup_count(); |
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AP_HAL::Semaphore *get_semaphore(); |
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bool do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, |
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uint8_t *recv, uint32_t recv_len)override; |
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private: |
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bool set_address(uint8_t addr); |
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _fake_dev; |
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char *_device = NULL; |
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uint8_t _addr; |
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bool _print_ioctl_error = true; |
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};
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