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605148456e
Change-Id: If6082f6b92b4be5e328278ba536d5a7681082c9f (+4 squashed commit) Squashed commit: [86b4ae7] * Port I2C to roboRIO in JNI and Java. Left read method as a transaction and added readOnly. Left write as a single byte and added writeBulk. Need to go back to C++ and update to match. Change-Id: I290d84211a4b7bb942d785730c0e6929449cf69f [7d37419] * Remove HiTechnic sensors from Java. May be added back later as examples Change-Id: Ie93e23a70fd953c99c03d50d9529220f86d32e03 [e62bfbf] * I2C ported to roboRIO i2clib in HAL and C++ Change-Id: Idb0e8cee5a1e8c1a0b0733ca94b528f659352915 [1059a48] * Remove HiTechnic sensors (Lego connector) may be added back as examples later Change-Id: I84b8e1e022db2c69d487ed9ad5b3ec0e7ea57282 (+2 squashed commit) Squashed commit: [e62bfbf] * I2C ported to roboRIO i2clib in HAL and C++ Change-Id: Idb0e8cee5a1e8c1a0b0733ca94b528f659352915 [1059a48] * Remove HiTechnic sensors (Lego connector) may be added back as examples later Change-Id: I84b8e1e022db2c69d487ed9ad5b3ec0e7ea57282
41 lines
1.2 KiB
C++
41 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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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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*/
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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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