mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
43 lines
1.3 KiB
C++
43 lines
1.3 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. All Rights Reserved.
|
|
*/
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
#pragma once
|
|
|
|
#include "SensorBase.h"
|
|
|
|
/**
|
|
* I2C bus interface class.
|
|
*
|
|
* This class is intended to be used by sensor (and other I2C device) drivers.
|
|
* It probably should not be used directly.
|
|
*
|
|
*/
|
|
class I2C : SensorBase {
|
|
public:
|
|
enum Port { kOnboard, kMXP };
|
|
|
|
I2C(Port port, uint8_t deviceAddress);
|
|
virtual ~I2C();
|
|
|
|
I2C(const I2C&) = delete;
|
|
I2C& operator=(const I2C&) = delete;
|
|
|
|
bool Transaction(uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived,
|
|
uint8_t receiveSize);
|
|
bool AddressOnly();
|
|
bool Write(uint8_t registerAddress, uint8_t data);
|
|
bool WriteBulk(uint8_t *data, uint8_t count);
|
|
bool Read(uint8_t registerAddress, uint8_t count, uint8_t *data);
|
|
bool ReadOnly(uint8_t count, uint8_t *buffer);
|
|
void Broadcast(uint8_t registerAddress, uint8_t data);
|
|
bool VerifySensor(uint8_t registerAddress, uint8_t count,
|
|
const uint8_t *expected);
|
|
|
|
private:
|
|
Port m_port;
|
|
uint8_t m_deviceAddress;
|
|
};
|