i2c_driver.h

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#pragma once
 
#include <stdint.h>
 
#include <ros/ros.h>
 
class I2CDriver {
private:
  int i2c_fd = 0;
  const char *i2c_device = "/dev/i2c-1";
 
  void init(void);
 
public:
  I2CDriver();
 
  int read(uint8_t slaveAddr, uint16_t startAddress, uint16_t nMemAddressRead,
           uint16_t *data);
  int write(uint8_t slaveAddr, uint16_t writeAddress, uint16_t data);
  int generalReset(void);
};