com.qualcomm.robotcore.hardware

Interface I2cDeviceSynchSimple

All Superinterfaces:

HardwareDevice, HardwareDeviceHealth, I2cAddrConfig, I2cAddressableDevice, RobotConfigNameable

All Known Subinterfaces:

I2cDeviceSynch

All Known Implementing Classes:

I2cDeviceSynchImpl, I2cDeviceSynchImplOnSimple

public interface I2cDeviceSynchSimple
extends HardwareDevice, HardwareDeviceHealth, I2cAddrConfig, RobotConfigNameable

I2cDeviceSyncSimple is an interface that provides simple synchronous read and write functionality to an I2c device.

See Also:

I2cDeviceSynch, I2cDeviceSynchImplOnSimple

Nested Class Summary

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

HardwareDeviceHealth.HealthStatus

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

HardwareDevice.Manufacturer

Method Summary

Modifier and Type	Method and Description
void	enableWriteCoalescing(boolean enable) Enables or disables an optimization wherein writes to two sets of adjacent register ranges may be coalesced into a single I2c transaction if the second write comes along while the first is still queued for writing.
I2cAddr	getI2cAddr() Deprecated. Use I2cAddressableDevice.getI2cAddress() instead.
boolean	getLogging()
java.lang.String	getLoggingTag()
boolean	isArmed() Returns whether, as of this instant, this device client 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	isWriteCoalescingEnabled() Answers as to whether write coalescing is currently enabled on this device.
byte[]	read(int ireg, int creg) Read a contiguous set of device I2C registers.
byte	read8(int ireg) Read the byte at the indicated register.
TimestampedData	readTimeStamped(int ireg, int creg) Reads and returns a contiguous set of device I2C registers, together with a best-available timestamp of when the actual I2C read occurred.
void	setI2cAddr(I2cAddr i2cAddr) Deprecated. Use I2cAddrConfig.setI2cAddress(I2cAddr) instead.
void	setLogging(boolean enabled) Turn logging on or off.
void	setLoggingTag(java.lang.String loggingTag) Set the tag to use when logging is on.
void	waitForWriteCompletions(I2cWaitControl waitControl) Waits for the most recent write to complete according to the behavior specified in writeControl.
void	write(int ireg, byte[] data) Writes data to a set of registers, beginning with the one indicated, using I2cWaitControl.ATOMIC semantics.
void	write(int ireg, byte[] data, I2cWaitControl waitControl) Writes data to a set of registers, beginning with the one indicated.
void	write8(int ireg, int bVal) Writes a byte to the indicated register using I2cWaitControl.ATOMIC semantics.
void	write8(int ireg, int bVal, I2cWaitControl waitControl) Writes a byte to the indicated register.

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

getHealthStatus, setHealthStatus

Methods inherited from interface com.qualcomm.robotcore.hardware.I2cAddrConfig

setI2cAddress

Methods inherited from interface com.qualcomm.robotcore.hardware.I2cAddressableDevice

getI2cAddress

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

getUserConfiguredName, setUserConfiguredName

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

close, getConnectionInfo, getDeviceName, getManufacturer, getVersion, resetDeviceConfigurationForOpMode

Method Detail

read8

byte read8(int ireg)

Read the byte at the indicated register. See readTimeStamped(int, int) for a complete description.

Parameters:

ireg - the register number to read

Returns:

the byte that was read

See Also:

read(int, int), readTimeStamped(int, int), I2cDeviceSynch.ensureReadWindow(I2cDeviceSynch.ReadWindow, I2cDeviceSynch.ReadWindow)

read

byte[] read(int ireg,
            int creg)

Read a contiguous set of device I2C registers. See readTimeStamped(int, int) for a complete description.

Parameters:

ireg - the register number of the first byte register to read

creg - the number of bytes / registers to read

Returns:

the data which was read

See Also:

read8(int), readTimeStamped(int, int), I2cDeviceSynch.ensureReadWindow(I2cDeviceSynch.ReadWindow, I2cDeviceSynch.ReadWindow)

readTimeStamped

TimestampedData readTimeStamped(int ireg,
                                int creg)

Reads and returns a contiguous set of device I2C registers, together with a best-available timestamp of when the actual I2C read occurred. Note that this can take many tens of milliseconds to execute, and thus should not be called from the loop() thread.

You can always just call this method without worrying at all about read windows, that will work, but usually it is more efficient to take some thought and care as to what set of registers the I2C device controller is being set up to read, as adjusting that window of registers incurs significant extra time.

If the current read window can't be used to read the requested registers, then a new read window will automatically be created as follows. If the current read window is non null and wholly contains the registers to read but can't be read because it is a used-up ReadMode#ONLY_ONCE window, a new read fresh window will be created with the same set of registers. Otherwise, a window that exactly covers the requested set of registers will be created.

Parameters:

ireg - the register number of the first byte register to read

creg - the number of bytes / registers to read

Returns:

the data which was read, together with the timestamp

See Also:

read(int, int), read8(int), I2cDeviceSynch.ensureReadWindow(I2cDeviceSynch.ReadWindow, I2cDeviceSynch.ReadWindow)

write8

void write8(int ireg,
            int bVal)

Writes a byte to the indicated register using I2cWaitControl.ATOMIC semantics.

Parameters:

ireg - the register number that is to be written

bVal - the byte which is to be written to that register

See Also:

write(int, byte[], I2cWaitControl)

write

void write(int ireg,
           byte[] data)

Writes data to a set of registers, beginning with the one indicated, using I2cWaitControl.ATOMIC semantics.

Parameters:

ireg - the first of the registers which is to be written

data - the data which is to be written to the registers

See Also:

write(int, byte[], I2cWaitControl)

write8

void write8(int ireg,
            int bVal,
            I2cWaitControl waitControl)

Writes a byte to the indicated register. See also write(int, byte[], I2cWaitControl).

Parameters:

ireg - the register number that is to be written

bVal - the byte which is to be written to that register

waitControl - controls the behavior of waiting for the completion of the write

See Also:

write(int, byte[], I2cWaitControl)

write

void write(int ireg,
           byte[] data,
           I2cWaitControl waitControl)

Writes data to a set of registers, beginning with the one indicated. The data will be written to the I2C device in an expeditious manner. Once data is accepted by this API, it is guaranteed that (barring catastrophic failure) the data will be transmitted to the USB controller module before the I2cDeviceSync is closed. The call itself may or may block until the data has been transmitted to the USB controller module according to a caller-provided parameter.

Parameters:

ireg - the first of the registers which is to be written

data - the data which is to be written to the registers

waitControl - controls the behavior of waiting for the completion of the write

waitForWriteCompletions

void waitForWriteCompletions(I2cWaitControl waitControl)

Waits for the most recent write to complete according to the behavior specified in writeControl.

Parameters:

waitControl - controls the behavior of waiting for the completion of the write Note that a value of I2cWaitControl.NONE is essentially a no-op.

enableWriteCoalescing

void enableWriteCoalescing(boolean enable)

Enables or disables an optimization wherein writes to two sets of adjacent register ranges may be coalesced into a single I2c transaction if the second write comes along while the first is still queued for writing. By default, write coalescing is disabled.

Parameters:

enable - whether to enable write coalescing or not

See Also:

isWriteCoalescingEnabled()

isWriteCoalescingEnabled

boolean isWriteCoalescingEnabled()

Answers as to whether write coalescing is currently enabled on this device.

Returns:

whether write coalescing is currently enabled or not.

See Also:

enableWriteCoalescing(boolean)

isArmed

boolean isArmed()

Returns whether, as of this instant, this device client 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. Note that a device client which is not engaged will never report as armed.

Returns:

the arming state of this device client

See Also:

Engagable.engage()

setI2cAddr

@Deprecated
void setI2cAddr(I2cAddr i2cAddr)

Deprecated. Use I2cAddrConfig.setI2cAddress(I2cAddr) instead.

Sets the I2C address of the underlying client. If necessary, the client may be briefly disengaged (and then automatically reengaged) in the process.

Parameters:

i2cAddr - the new I2C address

getI2cAddr

@Deprecated
I2cAddr getI2cAddr()

Deprecated. Use I2cAddressableDevice.getI2cAddress() instead.

Returns the I2C address currently being used by this device client

Returns:

the current I2C address

setLogging

void setLogging(boolean enabled)

Turn logging on or off. Logging output can be viewed using the Android Logcat tools.

Parameters:

enabled - whether to enable logging or not

getLogging

boolean getLogging()

See Also:

setLogging(boolean)

setLoggingTag

void setLoggingTag(java.lang.String loggingTag)

Set the tag to use when logging is on.

Parameters:

loggingTag - the logging tag to sue

getLoggingTag

java.lang.String getLoggingTag()

See Also:

setLoggingTag(String)