1 files changed, 62 insertions, 0 deletions
diff --git a/libraries/Robot_Control/EEPROM_I2C.cpp b/libraries/Robot_Control/EEPROM_I2C.cpp
new file mode 100644
index 0000000..dd12695
--- /dev/null
+++ b/libraries/Robot_Control/EEPROM_I2C.cpp
@@ -0,0 +1,62 @@
+#include "EEPROM_I2C.h"
+#include <Wire.h>
+
+#if ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+void EEPROM_I2C::begin(){
+  Wire.begin();
+}
+
+void EEPROM_I2C::writeByte(unsigned int eeaddress, byte data){
+  int rdata = data;
+  this->_beginTransmission(eeaddress);
+  Wire.write(rdata);
+  this->_endTransmission();
+}
+
+byte EEPROM_I2C::readByte(unsigned int eeaddress){
+  int rdata;
+  this->_beginTransmission(eeaddress);
+  this->_endTransmission();
+  
+  Wire.requestFrom(DEVICEADDRESS,1);
+  if (Wire.available()) rdata = Wire.read();
+  return rdata;
+}
+
+void EEPROM_I2C::writePage(unsigned int eeaddress, byte* data, byte length ){
+  this->_beginTransmission(eeaddress);
+  
+  byte c;
+  
+  for ( c = 0; c < length; c++)
+    Wire.write(data[c]);
+	
+  this->_endTransmission();
+  
+  delay(10);                           // need some delay
+}
+
+void EEPROM_I2C::readBuffer(unsigned int eeaddress, byte *buffer, int length ){
+  this->_beginTransmission(eeaddress);
+  this->_endTransmission();
+  Wire.requestFrom(DEVICEADDRESS,length);
+
+  for ( int c = 0; c < length; c++ )
+    if (Wire.available()) buffer[c] = Wire.read();
+}
+
+
+
+void EEPROM_I2C::_beginTransmission(unsigned int eeaddress){
+  Wire.beginTransmission(DEVICEADDRESS);
+  Wire.write((eeaddress >> 8));    // Address High Byte
+  Wire.write((eeaddress & 0xFF));  // Address Low Byte
+}
+void EEPROM_I2C::_endTransmission(){
+  Wire.endTransmission();
+}
+\ No newline at end of file