lejos.nxt
Class I2CSensor

java.lang.Object
  lejos.nxt.I2CSensor

All Implemented Interfaces:

SensorConstants

Direct Known Subclasses:

AccelHTSensor, AccelMindSensor, AngleSensor, ColorHTSensor, CompassHTSensor, CompassMindSensor, CruizcoreGyro, DIMUAccel, DIMUGyro, GPSSensor, IRLink, IRSeeker, IRSeekerV2, LMotor, LSC, MSC, MServo, NXTCam, NXTe, NXTLineLeader, NXTMMX, OpticalDistanceSensor, PFLink, PFMate, PSPNXController, RCXLink, RCXMotorMultiplexer, RCXSensorMultiplexer, RealTimeClock, RFIDSensor, SensorMux, TemperatureSensor, TetrixMotorController, TetrixServoController, TouchPanel, UltrasonicSensor

public class I2CSensor
extends Object
implements SensorConstants

Class that implements common methods for all I2C sensors. Extend this class to implement new I2C sensors.

Author:

Lawrie Griffiths (lawrie.griffiths@ntlworld.com).

Field Summary

protected int	address
protected static int	DEFAULT_I2C_ADDRESS
protected I2CPort	port
protected static byte	REG_PRODUCT_ID Register number of sensor product ID, as defined by standard Lego I2C register layout.
protected static byte	REG_VENDOR_ID Register number of sensor vendor ID, as defined by standard Lego I2C register layout.
protected static byte	REG_VERSION Register number of sensor version string, as defined by standard Lego I2C register layout.

Fields inherited from interface lejos.nxt.SensorConstants

BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, GREEN, GREEN_INDEX, MAX_AD_RAW, MAX_TYPE, MIN_TYPE, MODE_ANGLESTEP, MODE_BOOLEAN, MODE_CELSIUS, MODE_FARENHEIT, MODE_PCTFULLSCALE, MODE_PERIODCOUNTER, MODE_RAW, MODE_TRANSITIONCNT, RED, RED_INDEX, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, TYPE_HISPEED, TYPE_LIGHT_ACTIVE, TYPE_LIGHT_INACTIVE, TYPE_LOWSPEED, TYPE_LOWSPEED_9V, TYPE_NO_SENSOR, TYPE_REFLECTION, TYPE_SOUND_DB, TYPE_SOUND_DBA, TYPE_SWITCH, TYPE_TEMPERATURE, WHITE, YELLOW

Constructor Summary

I2CSensor(I2CPort port)

I2CSensor(I2CPort port, int mode)

I2CSensor(I2CPort port, int address, int mode, int type)

Method Summary

protected String	fetchString(byte reg, int len) Read a string from the device.
int	getAddress() Return the the I2C address of the sensor.
int	getData(int register, byte[] buf, int len) Executes an I2C read transaction and waits for the result.
int	getData(int register, byte[] buf, int offset, int len) Executes an I2C read transaction and waits for the result.
I2CPort	getPort() Get the port that the sensor is attached to
String	getProductID() Read the sensor's product identifier.
String	getVendorID() Read the sensor's vendor identifier.
String	getVersion() Read the sensor's version string.
int	sendData(int register, byte value) Executes an I2C write transaction.
int	sendData(int register, byte[] buf, int len) Executes an I2C write transaction.
int	sendData(int register, byte[] buf, int offset, int len) Executes an I2C write transaction.
void	setAddress(int addr) Deprecated. If the device has a changeable address, then constructor of the class should have an address parameter. If not, please report a bug.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

REG_VERSION

protected static final byte REG_VERSION

Register number of sensor version string, as defined by standard Lego I2C register layout.

See Also:

getVersion(), Constant Field Values

REG_VENDOR_ID

protected static final byte REG_VENDOR_ID

Register number of sensor vendor ID, as defined by standard Lego I2C register layout.

See Also:

getVendorID(), Constant Field Values

REG_PRODUCT_ID

protected static final byte REG_PRODUCT_ID

Register number of sensor product ID, as defined by standard Lego I2C register layout.

See Also:

getProductID(), Constant Field Values

DEFAULT_I2C_ADDRESS

protected static final int DEFAULT_I2C_ADDRESS

See Also:

Constant Field Values

port

protected I2CPort port

address

protected int address

Constructor Detail

I2CSensor

public I2CSensor(I2CPort port)

I2CSensor

public I2CSensor(I2CPort port,
                 int mode)

I2CSensor

public I2CSensor(I2CPort port,
                 int address,
                 int mode,
                 int type)

Method Detail

getData

public int getData(int register,
                   byte[] buf,
                   int len)

Executes an I2C read transaction and waits for the result.

Parameters:

register - I2C register, e.g 0x41

buf - Buffer to return data

len - Length of the return data

Returns:

negative value on error, 0 otherwise

getData

public int getData(int register,
                   byte[] buf,
                   int offset,
                   int len)

Executes an I2C read transaction and waits for the result.

Parameters:

register - I2C register, e.g 0x41

buf - Buffer to return data

offset - Offset of the start of the data

len - Length of the return data

Returns:

negative value on error, 0 otherwise

sendData

public int sendData(int register,
                    byte[] buf,
                    int len)

Executes an I2C write transaction.

Parameters:

register - I2C register, e.g 0x42

buf - Buffer containing data to send

len - Length of data to send

Returns:

negative value on error, 0 otherwise

sendData

public int sendData(int register,
                    byte[] buf,
                    int offset,
                    int len)

Executes an I2C write transaction.

Parameters:

register - I2C register, e.g 0x42

buf - Buffer containing data to send

offset - Offset of the start of the data

len - Length of data to send

Returns:

negative value on error, 0 otherwise

sendData

public int sendData(int register,
                    byte value)

Executes an I2C write transaction.

Parameters:

register - I2C register, e.g 0x42

value - single byte to send

Returns:

negative value on error, 0 otherwise

getVersion

public String getVersion()

Read the sensor's version string. This method reads up to 8 bytes and returns the characters before the zero termination byte. Examples: "V1.0", ...

Returns:

version number

getVendorID

public String getVendorID()

Read the sensor's vendor identifier. This method reads up to 8 bytes and returns the characters before the zero termination byte. Examples: "LEGO", "HiTechnc", ...

Returns:

vendor identifier

getProductID

public String getProductID()

Read the sensor's product identifier. This method reads up to 8 bytes and returns the characters before the zero termination byte. Examples: "Sonar", ...

Returns:

product identifier

fetchString

protected String fetchString(byte reg,
                             int len)

Read a string from the device. This functions reads the specified number of bytes and returns the characters before the zero termination byte.

Parameters:

reg -

len - maximum length of the string, including the zero termination byte

Returns:

the string containing the characters before the zero termination byte

setAddress

@Deprecated
public void setAddress(int addr)

Deprecated. If the device has a changeable address, then constructor of the class should have an address parameter. If not, please report a bug.

Set the address of the port Addresses use the standard Lego/NXT format and are in the range 0x2-0xfe. The low bit must always be zero. Some data sheets (and older versions of leJOS) may use i2c 7 bit format (0x1-0x7f) in which case this address must be shifted left one place to be used with this function.

Parameters:

addr - 0x02 to 0xfe

getAddress

public int getAddress()

Return the the I2C address of the sensor. The sensor uses the address for writing/reading.

Returns:

the I2C address.

getPort

public I2CPort getPort()

Get the port that the sensor is attached to

Returns:

the I2CPort