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https://github.com/wpilibsuite/allwpilib
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39 lines
1.2 KiB
C++
39 lines
1.2 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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#pragma once
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#include "SensorBase.h"
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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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*/
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class I2C : SensorBase
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{
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public:
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enum Port {kOnboard, kMXP};
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I2C(Port port, uint8_t deviceAddress);
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virtual ~I2C();
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bool Transaction(uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived,
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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 WriteBulk(uint8_t* data, uint8_t count);
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bool Read(uint8_t registerAddress, uint8_t count, uint8_t *data);
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bool ReadOnly(uint8_t count, uint8_t *buffer);
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void Broadcast(uint8_t registerAddress, uint8_t data);
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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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Port m_port;
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uint8_t m_deviceAddress;
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};
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