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FRC2016-old/Robot2016/wpilib/cpp/current/include/I2C.h

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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "SensorBase.h"
/**
* I2C bus interface class.
*
* This class is intended to be used by sensor (and other I2C device) drivers.
* It probably should not be used directly.
*
*/
class I2C : SensorBase {
public:
enum Port { kOnboard, kMXP };
I2C(Port port, uint8_t deviceAddress);
virtual ~I2C();
I2C(const I2C&) = delete;
I2C& operator=(const I2C&) = delete;
bool Transaction(uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived,
uint8_t receiveSize);
bool AddressOnly();
bool Write(uint8_t registerAddress, uint8_t data);
bool WriteBulk(uint8_t *data, uint8_t count);
bool Read(uint8_t registerAddress, uint8_t count, uint8_t *data);
bool ReadOnly(uint8_t count, uint8_t *buffer);
void Broadcast(uint8_t registerAddress, uint8_t data);
bool VerifySensor(uint8_t registerAddress, uint8_t count,
const uint8_t *expected);
private:
Port m_port;
uint8_t m_deviceAddress;
};