library/littleWire.h

#ifndef LITTLEWIRE_H
#define LITTLEWIRE_H

extern "C" {
  #if defined(LINUX)
    #include <usb.h>
  #else
    #include <lusb0_usb.h>
  #endif

  #include "opendevice.h"
}

//namespace LittleWire
//{

#define VENDOR_ID       0x1781
#define PRODUCT_ID      0x0c9f
#define USB_TIMEOUT     5000
#define RX_BUFFER_SIZE  64

// General Purpose Pins
#define PIN1    1
#define PIN2    2
#define PIN3    5
#define PIN4    0

// ADC Channels
#define ADC_PIN3                0
#define ADC_PIN2                1
#define ADC_TEMP_SENS   2

// PWM Pins
#define PWM1    PIN4
#define PWM2    PIN1

// Aliases
#define ADC0    ADC_PIN3
#define ADC1    ADC_PIN2
#define ADC2    ADC_TEMP_SENS
#define PWMA    PWM1
#define PWMB    PWM2

// 'AVR ISP' Pins
#define SCK_PIN         PIN2
#define MISO_PIN        PIN1
#define MOSI_PIN        PIN4
#define RESET_PIN       PIN3

#define STEP_SIZE       0.062   // in miliseconds
#define MIN_LIMIT       0.8     // in miliseconds
#define MAX_LIMIT       2.2     // in miliseconds
#define RANGE           180     // in degrees

#define INPUT   1
#define OUTPUT  0

#define AUTO_CS 1
#define MANUAL_CS       0

#define HIGH    1
#define LOW     0


class littleWire
{

private:
        unsigned char rxBuffer[RX_BUFFER_SIZE];
        usb_dev_handle* lwHandle;

public:
        littleWire();

        ~littleWire();
        
        unsigned char connect();
        
        unsigned char readFirmwareVersion();

        void pinMode(unsigned char pin, unsigned char mode);

        void digitalWrite(unsigned char pin, unsigned char state);

        unsigned char digitalRead(unsigned char pin);
        unsigned int analogRead(unsigned char channel);
        
        void pwm_init();

        void pwm_stop();

        void pwm_updateCompare(unsigned char channelA, unsigned char channelB);

        void pwm_updatePrescaler(unsigned int value);
        void spi_init();

        unsigned char spi_sendMessage(unsigned char message);

        void spi_sendMessageMulti(unsigned char* sendBuffer, unsigned char* inputBuffer, unsigned char length, unsigned char mode);

        void spi_updateDelay(unsigned int duration);
        void i2c_init();

        void i2c_beginTransmission(unsigned char address);

        void i2c_send(unsigned char message);

        void i2c_endTransmission();

        void i2c_requestFrom(unsigned char address,unsigned char numBytes,unsigned char* responseBuffer);
        void servo_init();

        void servo_updateLocation(unsigned char locationChannelA, unsigned char locationChannelB);
};

//} //namespace


#endif