diff --git a/hal/lib/Athena/Digital.cpp b/hal/lib/Athena/Digital.cpp
index e82beca4ee..353933bbd8 100644
--- a/hal/lib/Athena/Digital.cpp
+++ b/hal/lib/Athena/Digital.cpp
@@ -1793,7 +1793,7 @@ void i2CInitialize(uint8_t port, int32_t *status) {
  * @param sendSize Number of bytes to send as part of the transaction.
  * @param dataReceived Buffer to read data into.
  * @param receiveSize Number of bytes to read from the device.
- * @return Transfer Aborted... false for success, true for aborted.
+ * @return The number of bytes read (>= 0) or -1 on transfer abort.
  */
 int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize)
 {
@@ -1819,7 +1819,7 @@ int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend,
  *
  * @param registerAddress The address of the register on the device to be written.
  * @param data The byte to write to the register on the device.
- * @return Transfer Aborted... false for success, true for aborted.
+ * @return The number of bytes written (>= 0) or -1 on transfer abort.
  */
 int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend, uint8_t sendSize)
 {
@@ -1846,7 +1846,7 @@ int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend, uint8
  * @param registerAddress The register to read first in the transaction.
  * @param count The number of bytes to read in the transaction.
  * @param buffer A pointer to the array of bytes to store the data read from the device.
- * @return Transfer Aborted... false for success, true for aborted.
+ * @return The number of bytes read (>= 0) or -1 on transfer abort.
  */
 int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t count)
 {
diff --git a/wpilibc/Athena/src/I2C.cpp b/wpilibc/Athena/src/I2C.cpp
index d70a132a5d..da7828cb12 100644
--- a/wpilibc/Athena/src/I2C.cpp
+++ b/wpilibc/Athena/src/I2C.cpp
@@ -48,7 +48,7 @@ bool I2C::Transaction(uint8_t *dataToSend, uint8_t sendSize,
   status = i2CTransaction(m_port, m_deviceAddress, dataToSend, sendSize,
                           dataReceived, receiveSize);
   // wpi_setErrorWithContext(status, getHALErrorMessage(status));
-  return status < 0;
+  return status < receiveSize;
 }
 
 /**
@@ -60,9 +60,7 @@ bool I2C::Transaction(uint8_t *dataToSend, uint8_t sendSize,
  * @return Transfer Aborted... false for success, true for aborted.
  */
 bool I2C::AddressOnly() {
-  int32_t status = 0;
-  status = Transaction(nullptr, 0, nullptr, 0);
-  return status < 0;
+  return Transaction(nullptr, 0, nullptr, 0);
 }
 
 /**
@@ -82,7 +80,7 @@ bool I2C::Write(uint8_t registerAddress, uint8_t data) {
   buffer[1] = data;
   int32_t status = 0;
   status = i2CWrite(m_port, m_deviceAddress, buffer, sizeof(buffer));
-  return status < 0;
+  return status < static_cast<int32_t>(sizeof(buffer));
 }
 
 /**
@@ -98,7 +96,7 @@ bool I2C::Write(uint8_t registerAddress, uint8_t data) {
 bool I2C::WriteBulk(uint8_t *data, uint8_t count) {
   int32_t status = 0;
   status = i2CWrite(m_port, m_deviceAddress, data, count);
-  return status < 0;
+  return status < count;
 }
 
 /**
@@ -123,10 +121,7 @@ bool I2C::Read(uint8_t registerAddress, uint8_t count, uint8_t *buffer) {
     wpi_setWPIErrorWithContext(NullParameter, "buffer");
     return true;
   }
-  int32_t status = 0;
-  status =
-      Transaction(&registerAddress, sizeof(registerAddress), buffer, count);
-  return status < 0;
+  return Transaction(&registerAddress, sizeof(registerAddress), buffer, count);
 }
 
 /**
@@ -153,7 +148,7 @@ bool I2C::ReadOnly(uint8_t count, uint8_t *buffer) {
   }
   int32_t status = 0;
   status = i2CRead(m_port, m_deviceAddress, buffer, count);
-  return status < 0;
+  return status < count;
 }
 
 /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java
index 470904de38..eecafe48ec 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java
@@ -73,7 +73,7 @@ public class I2C extends SensorBase {
    */
   public synchronized boolean transaction(byte[] dataToSend, int sendSize, byte[] dataReceived,
       int receiveSize) {
-    boolean aborted = true;
+    int status = -1;
 
     ByteBuffer dataToSendBuffer = ByteBuffer.allocateDirect(sendSize);
     if (sendSize > 0 && dataToSend != null) {
@@ -81,13 +81,13 @@ public class I2C extends SensorBase {
     }
     ByteBuffer dataReceivedBuffer = ByteBuffer.allocateDirect(receiveSize);
 
-    aborted =
+    status =
         I2CJNI.i2CTransaction((byte) m_port.getValue(), (byte) m_deviceAddress, dataToSendBuffer,
-            (byte) sendSize, dataReceivedBuffer, (byte) receiveSize) != 0;
+            (byte) sendSize, dataReceivedBuffer, (byte) receiveSize);
     if (receiveSize > 0 && dataReceived != null) {
       dataReceivedBuffer.get(dataReceived);
     }
-    return aborted;
+    return status < receiveSize;
   }
 
   /**
@@ -117,7 +117,7 @@ public class I2C extends SensorBase {
     if (dataReceived.capacity() < receiveSize)
       throw new IllegalArgumentException("dataReceived is too small, must be at least " + receiveSize);
 
-    return I2CJNI.i2CTransaction((byte) m_port.getValue(), (byte) m_deviceAddress, dataToSend, (byte) sendSize, dataReceived, (byte) receiveSize) != 0;
+    return I2CJNI.i2CTransaction((byte) m_port.getValue(), (byte) m_deviceAddress, dataToSend, (byte) sendSize, dataReceived, (byte) receiveSize) < receiveSize;
   }
 
   /**
@@ -151,7 +151,7 @@ public class I2C extends SensorBase {
     dataToSendBuffer.put(buffer);
 
     return I2CJNI.i2CWrite((byte) m_port.getValue(), (byte) m_deviceAddress, dataToSendBuffer,
-        (byte) buffer.length) < 0;
+        (byte) buffer.length) < buffer.length;
   }
 
   /**
@@ -167,7 +167,7 @@ public class I2C extends SensorBase {
     dataToSendBuffer.put(data);
 
     return I2CJNI.i2CWrite((byte) m_port.getValue(), (byte) m_deviceAddress, dataToSendBuffer,
-        (byte) data.length) < 0;
+        (byte) data.length) < data.length;
   }
 
   /**
@@ -186,7 +186,7 @@ public class I2C extends SensorBase {
       throw new IllegalArgumentException("buffer is too small, must be at least " + size);
 
     return I2CJNI.i2CWrite((byte) m_port.getValue(), (byte) m_deviceAddress, data,
-        (byte) size) < 0;
+        (byte) size) < size;
   }
 
   /**
@@ -274,7 +274,7 @@ public class I2C extends SensorBase {
         I2CJNI.i2CRead((byte) m_port.getValue(), (byte) m_deviceAddress, dataReceivedBuffer,
             (byte) count);
     dataReceivedBuffer.get(buffer);
-    return retVal < 0;
+    return retVal < count;
   }
 
   /**
@@ -300,7 +300,7 @@ public class I2C extends SensorBase {
       throw new IllegalArgumentException("buffer is too small, must be at least " + count);
 
     return I2CJNI.i2CRead((byte) m_port.getValue(), (byte) m_deviceAddress, buffer,
-            (byte) count) < 0;
+            (byte) count) < count;
   }
 
   /**