c87200a80d
- Create `Include/` folder for all main projects - Fix some issues here and there (found while moving things) - All includes are now in `Tactility/` subfolder and must be included with that prefix. This fixes issues with clashing POSIX headers (e.g. `<semaphore.h>` versus Tactility's `Semaphore.h`)
33 lines
1.0 KiB
C++
33 lines
1.0 KiB
C++
#pragma once
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#include "./I2c.h"
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/**
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* Represents an I2C peripheral at a specific port and address.
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* It helps to read and write registers.
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*
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* All read and write calls are thread-safe.
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*/
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class I2cDevice {
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protected:
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i2c_port_t port;
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uint8_t address;
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static constexpr TickType_t DEFAULT_TIMEOUT = 1000 / portTICK_PERIOD_MS;
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bool readRegister8(uint8_t reg, uint8_t& result) const;
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bool writeRegister8(uint8_t reg, uint8_t value) const;
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bool readRegister12(uint8_t reg, float& out) const;
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bool readRegister14(uint8_t reg, float& out) const;
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bool readRegister16(uint8_t reg, uint16_t& out) const;
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bool bitOn(uint8_t reg, uint8_t bitmask) const;
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bool bitOff(uint8_t reg, uint8_t bitmask) const;
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bool bitOnByIndex(uint8_t reg, uint8_t index) const { return bitOn(reg, 1 << index); }
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bool bitOffByIndex(uint8_t reg, uint8_t index) const { return bitOff(reg, 1 << index); }
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public:
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explicit I2cDevice(i2c_port_t port, uint32_t address) : port(port), address(address) {}
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};
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