com.qualcomm.robotcore.hardware

Interface I2cController

All Superinterfaces:

HardwareDevice

All Known Subinterfaces:

DeviceInterfaceModule, LegacyModule

public interface I2cController
extends HardwareDevice

Interface for working with Digital Channel Controllers

Different digital channel controllers will implement this interface.

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static interface	I2cController.I2cPortReadyBeginEndNotifications A callback interface through which a client can learn when portIsReady callbacks begin and then later end.
static interface	I2cController.I2cPortReadyCallback Callback interface for I2C port ready notifications

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
static byte	I2C_BUFFER_START_ADDRESS

Method Summary

Modifier and Type	Method and Description
void	clearI2cPortActionFlag(int port) Clears the port action flag, undoing the effect of previous setI2cPortActionFlag()
void	copyBufferIntoWriteBuffer(int physicalPort, byte[] buffer) Copy a byte array into the buffer that is set to be written out to the device
void	deregisterForPortReadyBeginEndCallback(int port) Deregisters any existing notifications callback for the given port
void	deregisterForPortReadyCallback(int port) De-register for port ready notifications.
void	enableI2cReadMode(int physicalPort, I2cAddr i2cAddress, int memAddress, int length) Enable read mode for a particular I2C device
void	enableI2cWriteMode(int physicalPort, I2cAddr i2cAddress, int memAddress, int length) Enable write mode for a particular I2C device
byte[]	getCopyOfReadBuffer(int physicalPort) Get a copy of the most recent data read in from the device
byte[]	getCopyOfWriteBuffer(int physicalPort) Get a copy of the data that is set to be written out to the device
I2cController.I2cPortReadyCallback	getI2cPortReadyCallback(int port) Returns the callback currently registered to receive portIsReady notifications for the indicated port
byte[]	getI2cReadCache(int port) Get direct access to the cache that I2C reads will be populated into
java.util.concurrent.locks.Lock	getI2cReadCacheLock(int port) Get access to the read cache lock.
TimeWindow	getI2cReadCacheTimeWindow(int port) Returns the time window object into which timestamps are placed as the read cache is populated
byte[]	getI2cWriteCache(int port) Get direct access to the cache that I2C writes will be populated into
java.util.concurrent.locks.Lock	getI2cWriteCacheLock(int port) Get access to the write cache lock.
int	getMaxI2cWriteLatency(int port) Returns the maximum interval, in milliseconds, from when the controller receives an I2c write transmission over USB to when that write is actually issued to the I2c device.
I2cController.I2cPortReadyBeginEndNotifications	getPortReadyBeginEndCallback(int port) Returns the current callback registered for a given port
SerialNumber	getSerialNumber() Serial Number
boolean	isArmed() Returns whether, as of this instant, this controller is alive and operational in its normally expected mode; that is, whether it is currently in communication with its underlying hardware or whether it is in some other state
boolean	isI2cPortActionFlagSet(int port) Get the port action flag; this flag is set if the particular port is busy.
boolean	isI2cPortInReadMode(int port) Is the port in read mode?
boolean	isI2cPortInWriteMode(int port) Is the port in write mode?
boolean	isI2cPortReady(int port) Determine if a physical port is ready
void	readI2cCacheFromController(int port) Read the local cache in from the I2C Controller NOTE: unless this method is called the internal cache isn't updated
void	readI2cCacheFromModule(int port) Deprecated.
void	registerForI2cPortReadyCallback(I2cController.I2cPortReadyCallback callback, int port) Register to be notified when a given I2C port is ready.
void	registerForPortReadyBeginEndCallback(I2cController.I2cPortReadyBeginEndNotifications callback, int port) Registers to be notification when portIsReady callbacks begin or cease
void	setI2cPortActionFlag(int port) Set the port action flag; this flag tells the controller to send the current data in its buffer to the I2C device
void	writeI2cCacheToController(int port) Write the local cache to the I2C Controller NOTE: unless this method is called the internal cache isn't updated
void	writeI2cCacheToModule(int port) Deprecated.
void	writeI2cPortFlagOnlyToController(int port) Write just the port action flag in the local cache to the I2C controller
void	writeI2cPortFlagOnlyToModule(int port) Deprecated.

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getDeviceName, getManufacturer, getVersion, resetDeviceConfigurationForOpMode

Field Detail

I2C_BUFFER_START_ADDRESS

static final byte I2C_BUFFER_START_ADDRESS

See Also:

Constant Field Values

Method Detail

getSerialNumber

SerialNumber getSerialNumber()

Serial Number

Returns:

return the USB serial number of this device

enableI2cReadMode

void enableI2cReadMode(int physicalPort,
                       I2cAddr i2cAddress,
                       int memAddress,
                       int length)

Enable read mode for a particular I2C device

Parameters:

physicalPort - the port the device is attached to

i2cAddress - the i2c address of the device

memAddress - mem address at which to start reading

length - number of bytes to read

enableI2cWriteMode

void enableI2cWriteMode(int physicalPort,
                        I2cAddr i2cAddress,
                        int memAddress,
                        int length)

Enable write mode for a particular I2C device

Parameters:

physicalPort - the port the device is attached to

i2cAddress - the i2c address of the device

memAddress - the memory address at which to start writing

length - number of bytes to read

getCopyOfReadBuffer

byte[] getCopyOfReadBuffer(int physicalPort)

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

Parameters:

physicalPort - the port the device is attached to

Returns:

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

getCopyOfWriteBuffer

byte[] getCopyOfWriteBuffer(int physicalPort)

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

Parameters:

physicalPort - the port the device is attached to

Returns:

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

copyBufferIntoWriteBuffer

void copyBufferIntoWriteBuffer(int physicalPort,
                               byte[] buffer)

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

Parameters:

physicalPort - the port the device is attached to

buffer - buffer to copy

setI2cPortActionFlag

void setI2cPortActionFlag(int port)

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

Parameters:

port - physical port number on the device

See Also:

clearI2cPortActionFlag(int)

clearI2cPortActionFlag

void clearI2cPortActionFlag(int port)

Clears the port action flag, undoing the effect of previous setI2cPortActionFlag()

Parameters:

port - physical port number on the device

See Also:

setI2cPortActionFlag(int)

isI2cPortActionFlagSet

boolean isI2cPortActionFlagSet(int port)

Get the port action flag; this flag is set if the particular port is busy.

Parameters:

port - physical port number on the device

readI2cCacheFromController

void readI2cCacheFromController(int port)

Read the local cache in from the I2C Controller NOTE: unless this method is called the internal cache isn't updated

Parameters:

port - physical port number on the device

writeI2cCacheToController

void writeI2cCacheToController(int port)

Write the local cache to the I2C Controller NOTE: unless this method is called the internal cache isn't updated

Parameters:

port - physical port number on the device

writeI2cPortFlagOnlyToController

void writeI2cPortFlagOnlyToController(int port)

Write just the port action flag in the local cache to the I2C controller

Parameters:

port - physical port number on the device

isI2cPortInReadMode

boolean isI2cPortInReadMode(int port)

Is the port in read mode?

Parameters:

port - physical port number on the device

Returns:

true if in read mode; otherwise false

isI2cPortInWriteMode

boolean isI2cPortInWriteMode(int port)

Is the port in write mode?

Parameters:

port - physical port number on the device

Returns:

true if in write mode; otherwise false

isI2cPortReady

boolean isI2cPortReady(int port)

Determine if a physical port is ready

Parameters:

port - physical port number on the device

Returns:

true if ready for command; false otherwise

getI2cReadCacheLock

java.util.concurrent.locks.Lock getI2cReadCacheLock(int port)

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

Parameters:

port - physical port number on the device

Returns:

lock

getI2cWriteCacheLock

java.util.concurrent.locks.Lock getI2cWriteCacheLock(int port)

Get access to the write cache lock.

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

Parameters:

port - physical port number on the device

Returns:

lock

getI2cReadCache

byte[] getI2cReadCache(int port)

Get direct access to the cache that I2C reads will be populated into

Please lock the cache before accessing it.

Parameters:

port - physical port number on the device

Returns:

byte array

getI2cReadCacheTimeWindow

TimeWindow getI2cReadCacheTimeWindow(int port)

Returns the time window object into which timestamps are placed as the read cache is populated

Parameters:

port - physical port number on the device

Returns:

the time window object into which timestamps are placed as the read cache is populated

getI2cWriteCache

byte[] getI2cWriteCache(int port)

Get direct access to the cache that I2C writes will be populated into

Please lock the cache before accessing it.

Parameters:

port - physical port number on the device

Returns:

byte array

getMaxI2cWriteLatency

int getMaxI2cWriteLatency(int port)

Returns the maximum interval, in milliseconds, from when the controller receives an I2c write transmission over USB to when that write is actually issued to the I2c device.

Returns:

the maximum interval, in milliseconds, from when the controller receives an I2c write transmission over USB to when that write is actually issued to the I2c device.

registerForI2cPortReadyCallback

void registerForI2cPortReadyCallback(I2cController.I2cPortReadyCallback callback,
                                     int port)

Register to be notified when a given I2C port is ready. The callback method will be called after the latest data has been read from the I2C Controller. Only one callback can be registered for a given port. Last to register wins.

Parameters:

callback - register a callback

port - port to be monitored

getI2cPortReadyCallback

I2cController.I2cPortReadyCallback getI2cPortReadyCallback(int port)

Returns the callback currently registered to receive portIsReady notifications for the indicated port

Parameters:

port - the port of interest

Returns:

the currently registered callback, if any

deregisterForPortReadyCallback

void deregisterForPortReadyCallback(int port)

De-register for port ready notifications.

Parameters:

port - port no longer being monitored.

registerForPortReadyBeginEndCallback

void registerForPortReadyBeginEndCallback(I2cController.I2cPortReadyBeginEndNotifications callback,
                                          int port)

Registers to be notification when portIsReady callbacks begin or cease

Parameters:

callback - the callback to register

port - the port number to register the callback on

getPortReadyBeginEndCallback

I2cController.I2cPortReadyBeginEndNotifications getPortReadyBeginEndCallback(int port)

Returns the current callback registered for a given port

Parameters:

port - the port in question

Returns:

the current callback for that port, or null if none presently exists

deregisterForPortReadyBeginEndCallback

void deregisterForPortReadyBeginEndCallback(int port)

Deregisters any existing notifications callback for the given port

Parameters:

port - the port in question

isArmed

boolean isArmed()

Returns whether, as of this instant, this controller is alive and operational in its normally expected mode; that is, whether it is currently in communication with its underlying hardware or whether it is in some other state

Returns:

the arming status of this controller

readI2cCacheFromModule

@Deprecated
void readI2cCacheFromModule(int port)

Deprecated.

Deprecated, use readI2cCacheFromController(port)

Parameters:

port - physical port number on the device

writeI2cCacheToModule

@Deprecated
void writeI2cCacheToModule(int port)

Deprecated.

Deprecated, use writeI2cCacheToController(port)

Parameters:

port - physical port number on the device

writeI2cPortFlagOnlyToModule

@Deprecated
void writeI2cPortFlagOnlyToModule(int port)

Deprecated.

Deprecated, use writeI2cPortFlagOnlyToController(port)

Parameters:

port - physical port number on the device