WPILib: I2C.h Source File

WPILib 2012
WPILibRoboticsLibraryforFRC
File List
00001 /*----------------------------------------------------------------------------*/
00002 /* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
00003 /* Open Source Software - may be modified and shared by FRC teams. The code   */
00004 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
00005 /*----------------------------------------------------------------------------*/
00006 
00007 #ifndef I2C_H
00008 #define I2C_H
00009 
00010 #include "SensorBase.h"
00011 
00012 class DigitalModule;
00013 
00022 class I2C : SensorBase
00023 {
00024         friend class DigitalModule;
00025 public:
00026         virtual ~I2C();
00027         bool Transaction(UINT8 *dataToSend, UINT8 sendSize, UINT8 *dataReceived, UINT8 receiveSize);
00028         bool AddressOnly();
00029         bool Write(UINT8 registerAddress, UINT8 data);
00030         bool Read(UINT8 registerAddress, UINT8 count, UINT8 *data);
00031         void Broadcast(UINT8 registerAddress, UINT8 data);
00032         void SetCompatibilityMode(bool enable);
00033 
00034         bool VerifySensor(UINT8 registerAddress, UINT8 count, const UINT8 *expected);
00035 private:
00036         static SEM_ID m_semaphore;
00037         static UINT32 m_objCount;
00038 
00039         I2C(DigitalModule *module, UINT8 deviceAddress);
00040 
00041         DigitalModule *m_module;
00042         UINT8 m_deviceAddress;
00043         bool m_compatibilityMode;
00044 };
00045 
00046 #endif
00047