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87 lines
2.4 KiB
87 lines
2.4 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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Flymaple port by Mike McCauley |
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*/ |
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#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE |
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// Flymaple I2CDriver |
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#include "I2CDriver.h" |
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#include "FlymapleWirish.h" |
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#include <Wire.h> |
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using namespace AP_HAL_FLYMAPLE_NS; |
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static TwoWire twowire(5, 9); // Flymaple has non-standard SCL, SDA |
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void FLYMAPLEI2CDriver::begin() |
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{ |
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twowire.begin(); |
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} |
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void FLYMAPLEI2CDriver::end() {} |
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void FLYMAPLEI2CDriver::setTimeout(uint16_t ms) {} |
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void FLYMAPLEI2CDriver::setHighSpeed(bool active) {} |
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uint8_t FLYMAPLEI2CDriver::write(uint8_t addr, uint8_t len, uint8_t* data) |
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{ |
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twowire.beginTransmission(addr); |
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twowire.send(data, len); |
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uint8_t result = twowire.endTransmission(); |
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return result; |
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} |
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uint8_t FLYMAPLEI2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val) |
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{ |
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return writeRegisters(addr, reg, 1, &val); |
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} |
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uint8_t FLYMAPLEI2CDriver::writeRegisters(uint8_t addr, uint8_t reg, |
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uint8_t len, uint8_t* data) |
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{ |
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twowire.beginTransmission(addr); |
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twowire.send(reg); |
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if (len) |
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twowire.send(data, len); |
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uint8_t result = twowire.endTransmission(); |
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return result; |
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} |
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uint8_t FLYMAPLEI2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data) |
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{ |
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uint8_t actual_len = twowire.requestFrom(addr, len); |
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for (uint8_t i = 0; i < actual_len; i++) |
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*data++ = twowire.receive(); |
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return actual_len != len; |
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} |
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uint8_t FLYMAPLEI2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data) |
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{ |
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return readRegisters(addr, reg, 1, data); |
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} |
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uint8_t FLYMAPLEI2CDriver::readRegisters(uint8_t addr, uint8_t reg, |
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uint8_t len, uint8_t* data) |
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{ |
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writeRegisters(addr, reg, 0, NULL); // Tell device which register we want |
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return read(addr, len, data); |
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} |
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uint8_t FLYMAPLEI2CDriver::lockup_count() {return 0;} |
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#endif
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