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Originally Posted by biojae
how did you get past the weird WPI protocol on the I2C bus?
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I'm not sure what you're referring to. Are you talking about the limitation that you can only read/write 4 bytes at a time? We just made sure the protocol we used over the I2C bus conformed to the cRIO's I2C limitations (I don't believe the limitations are anything related to WPI but rather the FPGA image inside the cRIO).
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and are pullup resistors needed, or are they in the sidecar?
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The I2C pullup resistors are present in the digital sidecar. In our application they did not seem to be strong enough, so I added additional resistors in parallel to increase the drive current, but you shouldn't do that unless you determine that to be an issue in your case. The built-in ones will probably be enough if you keep the wires short and/or use shielded cable.