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https://github.com/wpilibsuite/allwpilib
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45 lines
1.4 KiB
C++
45 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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#pragma once
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#include "SensorBase.h"
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#include "HAL/Semaphore.hpp"
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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,
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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 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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