com.qualcomm.robotcore.hardware

Class I2cDevice

java.lang.Object

com.qualcomm.robotcore.hardware.I2cDevice

All Implemented Interfaces:

HardwareDevice

public class I2cDevice
extends java.lang.Object
implements HardwareDevice

Control a single I2C Device

Constructor Summary

Constructors

Constructor and Description
I2cDevice(I2cController controller, int port) Constructor

Method Summary

Methods

Modifier and Type	Method and Description
void	close() Close this device
void	copyBufferIntoWriteBuffer(byte[] buffer) Copy a byte array into the buffer that is set to be written out to the device
void	deregisterForPortReadyCallback() Unregister for a port-ready callback
void	enableI2cReadMode(int i2cAddress, int memAddress, int length) Enable read mode for this I2C device
void	enableI2cWriteMode(int i2cAddress, int memAddress, int length) Enable write mode for this I2C device
java.lang.String	getConnectionInfo() Get connection information about this device in a human readable format
byte[]	getCopyOfReadBuffer() Get a copy of the most recent data read in from the device
byte[]	getCopyOfWriteBuffer() Get a copy of the data that is set to be written out to the device
java.lang.String	getDeviceName() Device Name
byte[]	getI2cReadCache() Get direct access to the read cache used by this I2C device
java.util.concurrent.locks.Lock	getI2cReadCacheLock() Get access to the read cache lock.
byte[]	getI2cWriteCache() Get direct access to the write cache used by this I2C device
java.util.concurrent.locks.Lock	getI2cWriteCacheLock() Get access to the write cache lock.
int	getVersion() Version
boolean	isI2cPortActionFlagSet() Check whether or not the action flag is set for this I2C port
boolean	isI2cPortInReadMode() Query whether or not the port is in Read mode
boolean	isI2cPortInWriteMode() Query whether or not this port is in write mode
boolean	isI2cPortReady() Query whether or not this I2c port is ready
void	readI2cCacheFromController() Trigger a read of the I2C cache
void	readI2cCacheFromModule() Deprecated.
void	registerForI2cPortReadyCallback(I2cController.I2cPortReadyCallback callback) The method used to register for a port-ready callback
void	setI2cPortActionFlag() Set the port action flag; this flag tells the controller to send the current data in its buffer to the I2C device
void	writeI2cCacheToController() Trigger a write of the I2C cache
void	writeI2cCacheToModule() Deprecated.
void	writeI2cPortFlagOnlyToController() Write only the action flag
void	writeI2cPortFlagOnlyToModule() Deprecated.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

I2cDevice

public I2cDevice(I2cController controller,
         int port)

Constructor

Parameters:

controller - I2C controller this channel is attached to

port - port on the I2C controller

Method Detail

enableI2cReadMode

public void enableI2cReadMode(int i2cAddress,
                     int memAddress,
                     int length)

Enable read mode for this I2C device

Parameters:

memAddress - mem address at which to start reading

length - number of bytes to read

enableI2cWriteMode

public void enableI2cWriteMode(int i2cAddress,
                      int memAddress,
                      int length)

Enable write mode for this I2C device

Parameters:

memAddress - mem address at which to start writing

length - number of bytes to write

getCopyOfReadBuffer

public byte[] getCopyOfReadBuffer()

Get a copy of the most recent data read in from the device

Returns:

a copy of the most recent data read in from the device

getCopyOfWriteBuffer

public byte[] getCopyOfWriteBuffer()

Get a copy of the data that is set to be written out to the device

Returns:

a copy of the data set to be written out to the device

copyBufferIntoWriteBuffer

public void copyBufferIntoWriteBuffer(byte[] buffer)

Copy a byte array into the buffer that is set to be written out to the device

Parameters:

buffer - buffer to copy

setI2cPortActionFlag

public void setI2cPortActionFlag()

Set the port action flag; this flag tells the controller to send the current data in its buffer to the I2C device

isI2cPortActionFlagSet

public boolean isI2cPortActionFlagSet()

Check whether or not the action flag is set for this I2C port

Returns:

a boolean indicating whether or not the flag is set

readI2cCacheFromController

public void readI2cCacheFromController()

Trigger a read of the I2C cache

writeI2cCacheToController

public void writeI2cCacheToController()

Trigger a write of the I2C cache

writeI2cPortFlagOnlyToController

public void writeI2cPortFlagOnlyToController()

Write only the action flag

isI2cPortInReadMode

public boolean isI2cPortInReadMode()

Query whether or not the port is in Read mode

Returns:

whether or not this port is in read mode

isI2cPortInWriteMode

public boolean isI2cPortInWriteMode()

Query whether or not this port is in write mode

Returns:

whether or not this port is in write mode

isI2cPortReady

public boolean isI2cPortReady()

Query whether or not this I2c port is ready

Returns:

boolean indicating I2c port readiness

getI2cReadCacheLock

public java.util.concurrent.locks.Lock getI2cReadCacheLock()

Get access to the read cache lock.

This is needed if you are accessing the read cache directly. The read cache lock needs to be acquired before attempting to interact with the read cache

Returns:

the read cache lock

getI2cWriteCacheLock

public java.util.concurrent.locks.Lock getI2cWriteCacheLock()

Get access to the write cache lock.

This is needed if you ace accessing the write cache directly. The write cache lock needs to be acquired before attempting to interact with the write cache

Returns:

write cache lock

getI2cReadCache

public byte[] getI2cReadCache()

Get direct access to the read cache used by this I2C device

Please lock the cache before accessing it.

Returns:

the read cache

getI2cWriteCache

public byte[] getI2cWriteCache()

Get direct access to the write cache used by this I2C device

Please lock the cache before accessing it.

Returns:

the write cache

registerForI2cPortReadyCallback

public void registerForI2cPortReadyCallback(I2cController.I2cPortReadyCallback callback)

The method used to register for a port-ready callback

Parameters:

callback - pass in the I2C callback that will be called when the device is ready

deregisterForPortReadyCallback

public void deregisterForPortReadyCallback()

Unregister for a port-ready callback

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Device Name

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getConnectionInfo

public java.lang.String getConnectionInfo()

Description copied from interface: HardwareDevice

Get connection information about this device in a human readable format

Specified by:

getConnectionInfo in interface HardwareDevice

Returns:

connection info

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Returns:

get the version of this device

close

public void close()

Description copied from interface: HardwareDevice

Close this device

Specified by:

close in interface HardwareDevice

readI2cCacheFromModule

@Deprecated
public void readI2cCacheFromModule()

Deprecated.

Deprecated, use readI2cCacheFromController()

writeI2cCacheToModule

@Deprecated
public void writeI2cCacheToModule()

Deprecated.

Deprecated, use writeI2cCacheToController()

writeI2cPortFlagOnlyToModule

@Deprecated
public void writeI2cPortFlagOnlyToModule()

Deprecated.

Deprecated, use writeI2cPortFlagOnlyToController()