I2C.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef I2C_H
#define I2C_H

#include "SensorBase.h"

class DigitalModule;

class I2C : SensorBase
{
    friend class DigitalModule;
public:
    virtual ~I2C();
    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 Read(uint8_t registerAddress, uint8_t count, uint8_t *data);
    void Broadcast(uint8_t registerAddress, uint8_t data);
    void SetCompatibilityMode(bool enable);

    bool VerifySensor(uint8_t registerAddress, uint8_t count, const uint8_t *expected);
private:
    static SEM_ID m_semaphore;
    static uint32_t m_objCount;

    I2C(DigitalModule *module, uint8_t deviceAddress);

    DigitalModule *m_module;
    uint8_t m_deviceAddress;
    bool m_compatibilityMode;
};

#endif