Package lejos.hardware.sensor

Class I2CSensor

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, SensorConstants, SensorMode, SensorModes, SampleProvider

Direct Known Subclasses:

CruizcoreGyro, DexterCompassSensor, DexterGPSSensor, DexterIMUSensor.DexterIMUAccelerationSensor, DexterThermalIRSensor, HiTechnicAccelerometer, HiTechnicAngleSensor, HiTechnicBarometer, HiTechnicColorSensor, HiTechnicCompass, HiTechnicIRSeeker, HiTechnicIRSeekerV2, IRLink, LMotor, LSC, MindsensorsAbsoluteIMU, MindsensorsAccelerometer, MindsensorsCompass, MindsensorsDistanceSensorV2, MindsensorsLightSensorArray, MindsensorsLineLeader, MindSensorsNumPad, MindSensorsPressureSensor, MSC, MServo, NXTCam, NXTe, NXTMMX, NXTUltrasonicSensor, PFLink, PFMate, PSPNXController, RCXLink, RCXMotorMultiplexer, RCXSensorMultiplexer, RFIDSensor, SensorMux, TetrixMotorController, TetrixServoController

public class I2CSensor
extends BaseSensor
implements SensorConstants

Class that implements common methods for all I2C sensors. Extend this class to implement new I2C sensors. TODO: We should probably change this class to use the Product ID etc. obtained by the Lego kernel module during initialisation.

Author:

Lawrie Griffiths (lawrie.griffiths@ntlworld.com) and Andy Shaw.

Field Summary

Fields

Modifier and Type	Field	Description
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.
protected int	retryCount

Fields inherited from class lejos.hardware.sensor.BaseSensor

currentMode, modes

Fields inherited from class lejos.hardware.Device

closeList

Fields inherited from interface lejos.hardware.sensor.SensorConstants

BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, BROWN, GREEN, GREEN_INDEX, MAX_TYPE, MIN_TYPE, MODE_RAW, NXT_ADC_RES, RED, RED_INDEX, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, TYPE_HIGHSPEED, TYPE_HIGHSPEED_9V, 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

Constructors

Constructor	Description
I2CSensor(I2CPort port)
I2CSensor(I2CPort port, int address)	Create the sensor using an already open sensor port.
I2CSensor(Port port)
I2CSensor(Port port, int address)
I2CSensor(Port port, int address, int type)	Create the sensor using the specified port.

Method Summary

Modifier and Type	Method	Description
protected java.lang.String	fetchString(byte reg, int len)	Read a string from the device.
int	getAddress()	Return the the I2C address of the sensor.
void	getData(int register, byte[] buf, int len)	Executes an I2C read transaction and waits for the result.
void	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
java.lang.String	getProductID()	Read the sensor's product identifier.
int	getRetryCount()	Return the current get/send retry count value
java.lang.String	getVendorID()	Read the sensor's vendor identifier.
java.lang.String	getVersion()	Read the sensor's version string.
void	sendData(int register, byte value)	Executes an I2C write transaction.
void	sendData(int register, byte[] buf, int len)	Executes an I2C write transaction.
void	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.
void	setRetryCount(int newCount)	Set the number of times that a get/send data request should be retried.

Methods inherited from class lejos.hardware.sensor.BaseSensor

fetchSample, getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, getName, sampleSize, setCurrentMode, setCurrentMode, setModes

Methods inherited from class lejos.hardware.Device

close, releaseOnClose

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

retryCount

protected int retryCount

Constructor Detail

I2CSensor

public I2CSensor(I2CPort port,
                 int address)

Create the sensor using an already open sensor port. Do not configure the hardware

Parameters:

port - the open port

address - I2C address

I2CSensor

public I2CSensor(I2CPort port)

I2CSensor

public I2CSensor(Port port,
                 int address,
                 int type)

Create the sensor using the specified port. Configure the hardware as required.

Parameters:

port - port the sensor is attached to

address - I2C address

type - type of I2C sensor

I2CSensor

public I2CSensor(Port port)

I2CSensor

public I2CSensor(Port port,
                 int address)

Method Detail

setRetryCount

public void setRetryCount(int newCount)

Set the number of times that a get/send data request should be retried.

Parameters:

newCount - number of times to try the request

getRetryCount

public int getRetryCount()

Return the current get/send retry count value

Returns:

current retry count

getData

public void 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

getData

public void 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

sendData

public void 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

sendData

public void 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

sendData

public void sendData(int register,
                     byte value)

Executes an I2C write transaction.

Parameters:

register - I2C register, e.g 0x42

value - single byte to send

getVersion

public java.lang.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 java.lang.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 java.lang.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 java.lang.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