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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
49 lines
1.4 KiB
C++
49 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef I2C_H
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#define I2C_H
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#include "SensorBase.h"
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#include "HAL/Semaphore.h"
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class DigitalModule;
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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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* It is constructed by calling DigitalModule::GetI2C() on a DigitalModule object.
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*/
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class I2C : SensorBase
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{
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friend class DigitalModule;
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public:
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virtual ~I2C();
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bool Transaction(uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize);
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bool AddressOnly();
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bool Write(uint8_t registerAddress, uint8_t data);
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bool Read(uint8_t registerAddress, uint8_t count, uint8_t *data);
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void Broadcast(uint8_t registerAddress, uint8_t data);
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void SetCompatibilityMode(bool enable);
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bool VerifySensor(uint8_t registerAddress, uint8_t count, const uint8_t *expected);
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private:
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static MUTEX_ID m_semaphore;
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static uint32_t m_objCount;
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I2C(DigitalModule *module, uint8_t deviceAddress);
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DigitalModule *m_module;
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uint8_t m_deviceAddress;
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bool m_compatibilityMode;
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};
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#endif
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