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#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
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