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https://github.com/wpilibsuite/allwpilib
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Move CameraServer and WPILib headers into their own folder
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
31ced30c1e
commit
d89b7dd412
@@ -1,142 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <stdint.h>
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#include "ErrorBase.h"
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enum HAL_I2CPort : int32_t;
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namespace frc {
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/**
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* I2C bus interface class.
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*
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* This class is intended to be used by sensor (and other I2C device) drivers.
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* It probably should not be used directly.
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*/
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class I2C : public ErrorBase {
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public:
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enum Port { kOnboard = 0, kMXP };
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/**
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* Constructor.
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*
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* @param port The I2C port to which the device is connected.
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* @param deviceAddress The address of the device on the I2C bus.
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*/
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I2C(Port port, int deviceAddress);
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~I2C() override;
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I2C(const I2C&) = delete;
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I2C& operator=(const I2C&) = delete;
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/**
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* Generic transaction.
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*
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* This is a lower-level interface to the I2C hardware giving you more control
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* over each transaction.
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*
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* @param dataToSend Buffer of data to send as part of the transaction.
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* @param sendSize Number of bytes to send as part of the transaction.
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* @param dataReceived Buffer to read data into.
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* @param receiveSize Number of bytes to read from the device.
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* @return Transfer Aborted... false for success, true for aborted.
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*/
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bool Transaction(uint8_t* dataToSend, int sendSize, uint8_t* dataReceived,
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int receiveSize);
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/**
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* Attempt to address a device on the I2C bus.
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*
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* This allows you to figure out if there is a device on the I2C bus that
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* responds to the address specified in the constructor.
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*
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* @return Transfer Aborted... false for success, true for aborted.
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*/
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bool AddressOnly();
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/**
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* Execute a write transaction with the device.
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*
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* Write a single byte to a register on a device and wait until the
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* transaction is complete.
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*
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* @param registerAddress The address of the register on the device to be
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* written.
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* @param data The byte to write to the register on the device.
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* @return Transfer Aborted... false for success, true for aborted.
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*/
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bool Write(int registerAddress, uint8_t data);
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/**
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* Execute a bulk write transaction with the device.
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*
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* Write multiple bytes to a device and wait until the
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* transaction is complete.
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*
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* @param data The data to write to the register on the device.
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* @param count The number of bytes to be written.
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* @return Transfer Aborted... false for success, true for aborted.
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*/
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bool WriteBulk(uint8_t* data, int count);
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/**
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* Execute a read transaction with the device.
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*
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* Read bytes from a device.
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* Most I2C devices will auto-increment the register pointer internally
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* allowing you to read consecutive registers on a device in a single
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* transaction.
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*
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* @param registerAddress The register to read first in the transaction.
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* @param count The number of bytes to read in the transaction.
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* @param buffer A pointer to the array of bytes to store the data
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* read from the device.
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* @return Transfer Aborted... false for success, true for aborted.
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*/
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bool Read(int registerAddress, int count, uint8_t* data);
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/**
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* Execute a read only transaction with the device.
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*
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* Read bytes from a device. This method does not write any data to prompt the
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* device.
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*
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* @param buffer A pointer to the array of bytes to store the data read from
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* the device.
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* @param count The number of bytes to read in the transaction.
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* @return Transfer Aborted... false for success, true for aborted.
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*/
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bool ReadOnly(int count, uint8_t* buffer);
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/**
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* Verify that a device's registers contain expected values.
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*
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* Most devices will have a set of registers that contain a known value that
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* can be used to identify them. This allows an I2C device driver to easily
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* verify that the device contains the expected value.
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*
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* @pre The device must support and be configured to use register
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* auto-increment.
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*
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* @param registerAddress The base register to start reading from the device.
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* @param count The size of the field to be verified.
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* @param expected A buffer containing the values expected from the
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* device.
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*/
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bool VerifySensor(int registerAddress, int count, const uint8_t* expected);
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private:
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HAL_I2CPort m_port;
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int m_deviceAddress;
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};
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} // namespace frc
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