| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef I2C_H
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| 8 | #define I2C_H
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| 9 |
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| 10 | #include "SensorBase.h"
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| 11 |
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| 12 | class DigitalModule;
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| 13 |
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| 14 | /**
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| 15 | * I2C bus interface class.
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| 16 | *
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| 17 | * This class is intended to be used by sensor (and other I2C device) drivers.
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| 18 | * It probably should not be used directly.
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| 19 | *
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| 20 | * It is constructed by calling DigitalModule::GetI2C() on a DigitalModule object.
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| 21 | */
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| 22 | class I2C : SensorBase
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| 23 | {
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| 24 | friend class DigitalModule;
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| 25 | public:
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| 26 | virtual ~I2C();
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| 27 | bool Transaction(UINT8 *dataToSend, UINT8 sendSize, UINT8 *dataReceived, UINT8 receiveSize);
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| 28 | bool AddressOnly();
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| 29 | bool Write(UINT8 registerAddress, UINT8 data);
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| 30 | bool Read(UINT8 registerAddress, UINT8 count, UINT8 *data);
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| 31 | void Broadcast(UINT8 registerAddress, UINT8 data);
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| 32 | void SetCompatibilityMode(bool enable);
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| 33 |
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| 34 | bool VerifySensor(UINT8 registerAddress, UINT8 count, const UINT8 *expected);
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| 35 | private:
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| 36 | static SEM_ID m_semaphore;
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| 37 | static UINT32 m_objCount;
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| 38 |
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| 39 | I2C(DigitalModule *module, UINT8 deviceAddress);
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| 40 |
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| 41 | DigitalModule *m_module;
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| 42 | UINT8 m_deviceAddress;
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| 43 | bool m_compatibilityMode;
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| 44 | };
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| 45 |
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| 46 | #endif
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| 47 |
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