CRAC Team / command_AX12_petit_robot_V4tempo

code ax12 petit robot 12/05/2017

Fork of command_AX12_petit_robot_V3 by CRAC Team

mbed/I2C.h@2:99b1cb0d9f5e, 2017-04-18 (annotated)

Committer:
SquirrelGod
Date:
Tue Apr 18 16:02:40 2017 +0000
Revision:
2:99b1cb0d9f5e
AX12_control

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SquirrelGod 2:99b1cb0d9f5e 1 /* mbed Microcontroller Library - I2C
SquirrelGod 2:99b1cb0d9f5e 2 * Copyright (c) 2007-2011 ARM Limited. All rights reserved.
SquirrelGod 2:99b1cb0d9f5e 3 */
SquirrelGod 2:99b1cb0d9f5e 4
SquirrelGod 2:99b1cb0d9f5e 5 #ifndef MBED_I2C_H
SquirrelGod 2:99b1cb0d9f5e 6 #define MBED_I2C_H
SquirrelGod 2:99b1cb0d9f5e 7
SquirrelGod 2:99b1cb0d9f5e 8 #include "device.h"
SquirrelGod 2:99b1cb0d9f5e 9
SquirrelGod 2:99b1cb0d9f5e 10 #if DEVICE_I2C
SquirrelGod 2:99b1cb0d9f5e 11
SquirrelGod 2:99b1cb0d9f5e 12 #include "platform.h"
SquirrelGod 2:99b1cb0d9f5e 13 #include "PinNames.h"
SquirrelGod 2:99b1cb0d9f5e 14 #include "PeripheralNames.h"
SquirrelGod 2:99b1cb0d9f5e 15 #include "Base.h"
SquirrelGod 2:99b1cb0d9f5e 16
SquirrelGod 2:99b1cb0d9f5e 17 namespace mbed {
SquirrelGod 2:99b1cb0d9f5e 18
SquirrelGod 2:99b1cb0d9f5e 19 /* Class: I2C
SquirrelGod 2:99b1cb0d9f5e 20 * An I2C Master, used for communicating with I2C slave devices
SquirrelGod 2:99b1cb0d9f5e 21 *
SquirrelGod 2:99b1cb0d9f5e 22 * Example:
SquirrelGod 2:99b1cb0d9f5e 23 * > // Read from I2C slave at address 0x62
SquirrelGod 2:99b1cb0d9f5e 24 * >
SquirrelGod 2:99b1cb0d9f5e 25 * > #include "mbed.h"
SquirrelGod 2:99b1cb0d9f5e 26 * >
SquirrelGod 2:99b1cb0d9f5e 27 * > I2C i2c(p28, p27);
SquirrelGod 2:99b1cb0d9f5e 28 * >
SquirrelGod 2:99b1cb0d9f5e 29 * > int main() {
SquirrelGod 2:99b1cb0d9f5e 30 * > int address = 0x62;
SquirrelGod 2:99b1cb0d9f5e 31 * > char data[2];
SquirrelGod 2:99b1cb0d9f5e 32 * > i2c.read(address, data, 2);
SquirrelGod 2:99b1cb0d9f5e 33 * > }
SquirrelGod 2:99b1cb0d9f5e 34 */
SquirrelGod 2:99b1cb0d9f5e 35 class I2C : public Base {
SquirrelGod 2:99b1cb0d9f5e 36
SquirrelGod 2:99b1cb0d9f5e 37 public:
SquirrelGod 2:99b1cb0d9f5e 38
SquirrelGod 2:99b1cb0d9f5e 39 enum RxStatus {
SquirrelGod 2:99b1cb0d9f5e 40 NoData
SquirrelGod 2:99b1cb0d9f5e 41 , MasterGeneralCall
SquirrelGod 2:99b1cb0d9f5e 42 , MasterWrite
SquirrelGod 2:99b1cb0d9f5e 43 , MasterRead
SquirrelGod 2:99b1cb0d9f5e 44 };
SquirrelGod 2:99b1cb0d9f5e 45
SquirrelGod 2:99b1cb0d9f5e 46 enum Acknowledge {
SquirrelGod 2:99b1cb0d9f5e 47 NoACK = 0
SquirrelGod 2:99b1cb0d9f5e 48 , ACK = 1
SquirrelGod 2:99b1cb0d9f5e 49 };
SquirrelGod 2:99b1cb0d9f5e 50
SquirrelGod 2:99b1cb0d9f5e 51 /* Constructor: I2C
SquirrelGod 2:99b1cb0d9f5e 52 * Create an I2C Master interface, connected to the specified pins
SquirrelGod 2:99b1cb0d9f5e 53 *
SquirrelGod 2:99b1cb0d9f5e 54 * Variables:
SquirrelGod 2:99b1cb0d9f5e 55 * sda - I2C data line pin
SquirrelGod 2:99b1cb0d9f5e 56 * scl - I2C clock line pin
SquirrelGod 2:99b1cb0d9f5e 57 */
SquirrelGod 2:99b1cb0d9f5e 58 I2C(PinName sda, PinName scl, const char *name = NULL);
SquirrelGod 2:99b1cb0d9f5e 59
SquirrelGod 2:99b1cb0d9f5e 60 /* Function: frequency
SquirrelGod 2:99b1cb0d9f5e 61 * Set the frequency of the I2C interface
SquirrelGod 2:99b1cb0d9f5e 62 *
SquirrelGod 2:99b1cb0d9f5e 63 * Variables:
SquirrelGod 2:99b1cb0d9f5e 64 * hz - The bus frequency in hertz
SquirrelGod 2:99b1cb0d9f5e 65 */
SquirrelGod 2:99b1cb0d9f5e 66 void frequency(int hz);
SquirrelGod 2:99b1cb0d9f5e 67
SquirrelGod 2:99b1cb0d9f5e 68 /* Function: read
SquirrelGod 2:99b1cb0d9f5e 69 * Read from an I2C slave
SquirrelGod 2:99b1cb0d9f5e 70 *
SquirrelGod 2:99b1cb0d9f5e 71 * Performs a complete read transaction. The bottom bit of
SquirrelGod 2:99b1cb0d9f5e 72 * the address is forced to 1 to indicate a read.
SquirrelGod 2:99b1cb0d9f5e 73 *
SquirrelGod 2:99b1cb0d9f5e 74 * Variables:
SquirrelGod 2:99b1cb0d9f5e 75 * address - 8-bit I2C slave address [ addr | 1 ]
SquirrelGod 2:99b1cb0d9f5e 76 * data - Pointer to the byte-array to read data in to
SquirrelGod 2:99b1cb0d9f5e 77 * length - Number of bytes to read
SquirrelGod 2:99b1cb0d9f5e 78 * repeated - Repeated start, true - don't send stop at end
SquirrelGod 2:99b1cb0d9f5e 79 * returns - 0 on success (ack), or non-0 on failure (nack)
SquirrelGod 2:99b1cb0d9f5e 80 */
SquirrelGod 2:99b1cb0d9f5e 81 int read(int address, char *data, int length, bool repeated = false);
SquirrelGod 2:99b1cb0d9f5e 82
SquirrelGod 2:99b1cb0d9f5e 83 /* Function: read
SquirrelGod 2:99b1cb0d9f5e 84 * Read a single byte from the I2C bus
SquirrelGod 2:99b1cb0d9f5e 85 *
SquirrelGod 2:99b1cb0d9f5e 86 * Variables:
SquirrelGod 2:99b1cb0d9f5e 87 * ack - indicates if the byte is to be acknowledged (1 = acknowledge)
SquirrelGod 2:99b1cb0d9f5e 88 * returns - the byte read
SquirrelGod 2:99b1cb0d9f5e 89 */
SquirrelGod 2:99b1cb0d9f5e 90 int read(int ack);
SquirrelGod 2:99b1cb0d9f5e 91
SquirrelGod 2:99b1cb0d9f5e 92 /* Function: write
SquirrelGod 2:99b1cb0d9f5e 93 * Write to an I2C slave
SquirrelGod 2:99b1cb0d9f5e 94 *
SquirrelGod 2:99b1cb0d9f5e 95 * Performs a complete write transaction. The bottom bit of
SquirrelGod 2:99b1cb0d9f5e 96 * the address is forced to 0 to indicate a write.
SquirrelGod 2:99b1cb0d9f5e 97 *
SquirrelGod 2:99b1cb0d9f5e 98 * Variables:
SquirrelGod 2:99b1cb0d9f5e 99 * address - 8-bit I2C slave address [ addr | 0 ]
SquirrelGod 2:99b1cb0d9f5e 100 * data - Pointer to the byte-array data to send
SquirrelGod 2:99b1cb0d9f5e 101 * length - Number of bytes to send
SquirrelGod 2:99b1cb0d9f5e 102 * repeated - Repeated start, true - do not send stop at end
SquirrelGod 2:99b1cb0d9f5e 103 * returns - 0 on success (ack), or non-0 on failure (nack)
SquirrelGod 2:99b1cb0d9f5e 104 */
SquirrelGod 2:99b1cb0d9f5e 105 int write(int address, const char *data, int length, bool repeated = false);
SquirrelGod 2:99b1cb0d9f5e 106
SquirrelGod 2:99b1cb0d9f5e 107 /* Function: write
SquirrelGod 2:99b1cb0d9f5e 108 * Write single byte out on the I2C bus
SquirrelGod 2:99b1cb0d9f5e 109 *
SquirrelGod 2:99b1cb0d9f5e 110 * Variables:
SquirrelGod 2:99b1cb0d9f5e 111 * data - data to write out on bus
SquirrelGod 2:99b1cb0d9f5e 112 * returns - a '1' if an ACK was received, a '0' otherwise
SquirrelGod 2:99b1cb0d9f5e 113 */
SquirrelGod 2:99b1cb0d9f5e 114 int write(int data);
SquirrelGod 2:99b1cb0d9f5e 115
SquirrelGod 2:99b1cb0d9f5e 116 /* Function: start
SquirrelGod 2:99b1cb0d9f5e 117 * Creates a start condition on the I2C bus
SquirrelGod 2:99b1cb0d9f5e 118 */
SquirrelGod 2:99b1cb0d9f5e 119
SquirrelGod 2:99b1cb0d9f5e 120 void start(void);
SquirrelGod 2:99b1cb0d9f5e 121
SquirrelGod 2:99b1cb0d9f5e 122 /* Function: stop
SquirrelGod 2:99b1cb0d9f5e 123 * Creates a stop condition on the I2C bus
SquirrelGod 2:99b1cb0d9f5e 124 */
SquirrelGod 2:99b1cb0d9f5e 125 void stop(void);
SquirrelGod 2:99b1cb0d9f5e 126
SquirrelGod 2:99b1cb0d9f5e 127 protected:
SquirrelGod 2:99b1cb0d9f5e 128
SquirrelGod 2:99b1cb0d9f5e 129 void aquire();
SquirrelGod 2:99b1cb0d9f5e 130
SquirrelGod 2:99b1cb0d9f5e 131 I2CName _i2c;
SquirrelGod 2:99b1cb0d9f5e 132 static I2C *_owner;
SquirrelGod 2:99b1cb0d9f5e 133 int _hz;
SquirrelGod 2:99b1cb0d9f5e 134
SquirrelGod 2:99b1cb0d9f5e 135 };
SquirrelGod 2:99b1cb0d9f5e 136
SquirrelGod 2:99b1cb0d9f5e 137 } // namespace mbed
SquirrelGod 2:99b1cb0d9f5e 138
SquirrelGod 2:99b1cb0d9f5e 139 #endif
SquirrelGod 2:99b1cb0d9f5e 140
SquirrelGod 2:99b1cb0d9f5e 141 #endif
SquirrelGod 2:99b1cb0d9f5e 142