1 files changed, 69 insertions, 0 deletions
diff --git a/source/AVR_Studio/Soccer/hal/i2c.h b/source/AVR_Studio/Soccer/hal/i2c.h
new file mode 100755
index 0000000..e983bf2
--- /dev/null
+++ b/source/AVR_Studio/Soccer/hal/i2c.h
@@ -0,0 +1,69 @@
+#ifndef _IC2_H_
+#define _I2C_H_
+
+//------------------------------------------------------------------
+// qfixI2C.h
+//
+// This class is used for low-level I2C communication.
+//
+// For TW_ constants see compat/twi.h
+//
+// Copyright 2005-2006 by KTB mechatronics GmbH
+// Author: Stefan Enderle, Florian Schrapp
+//------------------------------------------------------------------
+
+
+
+#include "../global.h"
+#include <compat/twi.h>
+
+const int ACTION_SEND = 1;
+const int ACTION_GET  = 2;
+const int ACTION_UNKNOWN  = 3;
+
+
+const uint8_t ERROR_NO_ACK   = 1;
+const uint8_t ERROR_NO_START = 2;
+const uint8_t ERROR_NOT_SENT = 3;     // send() could not send byte(s)
+
+
+
+class I2C
+{
+private:
+  uint8_t err;
+  uint8_t adr;
+
+  void sendStartSLA_W(uint8_t address);
+  void sendStartSLA_R(uint8_t address);
+  void sendByte(uint8_t data);
+  void sendStop();
+  void readByte(uint8_t& data);
+
+public:
+  I2C();
+  uint8_t error();
+
+// master side //
+
+  void send(uint8_t address, uint8_t data);
+  void send(uint8_t address, uint8_t* data, int length);
+  void get(uint8_t address, uint8_t* data, int length);
+
+// slave side //
+
+  void setSlaveAdress(uint8_t address);
+  bool isAction();
+  bool isActionSend();  // true if master sent something
+  bool isActionGet();   // true if master wants to get something
+  int receive(uint8_t* data); // if action is send, receive the bytes
+  void returnBytes(uint8_t* data, int len, bool lastOne);
+};
+
+
+
+
+
+
+#endif
+