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wpilibc/src/main/native/include/wpi/hardware/bus/I2C.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include <hal/I2C.h>
+#include <hal/I2CTypes.h>
+
+namespace frc {
+
+/**
+ * I2C bus interface class.
+ *
+ * This class is intended to be used by sensor (and other I2C device) drivers.
+ * It probably should not be used directly.
+ */
+class I2C {
+ public:
+  /**
+   * I2C connection ports.
+   */
+  enum Port {
+    /// I2C Port 0.
+    kPort0 = 0,
+    /// I2C Port 1.
+    kPort1
+  };
+
+  /**
+   * Constructor.
+   *
+   * @param port          The I2C port to which the device is connected.
+   * @param deviceAddress The address of the device on the I2C bus.
+   */
+  I2C(Port port, int deviceAddress);
+
+  I2C(I2C&&) = default;
+  I2C& operator=(I2C&&) = default;
+
+  /**
+   * Returns I2C port.
+   *
+   * @return I2C port.
+   */
+  Port GetPort() const;
+
+  /**
+   * Returns I2C device address.
+   *
+   * @return I2C device address.
+   */
+  int GetDeviceAddress() const;
+
+  /**
+   * Generic transaction.
+   *
+   * This is a lower-level interface to the I2C hardware giving you more control
+   * over each transaction. If you intend to write multiple bytes in the same
+   * transaction and do not plan to receive anything back, use writeBulk()
+   * instead. Calling this with a receiveSize of 0 will result in an error.
+   *
+   * @param dataToSend   Buffer of data to send as part of the transaction.
+   * @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.
+   */
+  bool Transaction(uint8_t* dataToSend, int sendSize, uint8_t* dataReceived,
+                   int receiveSize);
+
+  /**
+   * Attempt to address a device on the I2C bus.
+   *
+   * This allows you to figure out if there is a device on the I2C bus that
+   * responds to the address specified in the constructor.
+   *
+   * @return Transfer Aborted... false for success, true for aborted.
+   */
+  bool AddressOnly();
+
+  /**
+   * Execute a write transaction with the device.
+   *
+   * Write a single byte to a register on a device and wait until the
+   *   transaction is complete.
+   *
+   * @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.
+   */
+  bool Write(int registerAddress, uint8_t data);
+
+  /**
+   * Execute a bulk write transaction with the device.
+   *
+   * Write multiple bytes to a device and wait until the
+   *   transaction is complete.
+   *
+   * @param data  The data to write to the register on the device.
+   * @param count The number of bytes to be written.
+   * @return Transfer Aborted... false for success, true for aborted.
+   */
+  bool WriteBulk(uint8_t* data, int count);
+
+  /**
+   * Execute a read transaction with the device.
+   *
+   * Read bytes from a device.
+   * Most I2C devices will auto-increment the register pointer internally
+   * allowing you to read consecutive registers on a device in a single
+   * transaction.
+   *
+   * @param registerAddress The register to read first in the transaction.
+   * @param count           The number of bytes to read in the transaction.
+   * @param data            A pointer to the array of bytes to store the data
+   *                        read from the device.
+   * @return Transfer Aborted... false for success, true for aborted.
+   */
+  bool Read(int registerAddress, int count, uint8_t* data);
+
+  /**
+   * Execute a read only transaction with the device.
+   *
+   * Read bytes from a device. This method does not write any data to prompt the
+   * device.
+   *
+   * @param buffer A pointer to the array of bytes to store the data read from
+   *               the device.
+   * @param count  The number of bytes to read in the transaction.
+   * @return Transfer Aborted... false for success, true for aborted.
+   */
+  bool ReadOnly(int count, uint8_t* buffer);
+
+  /**
+   * Verify that a device's registers contain expected values.
+   *
+   * Most devices will have a set of registers that contain a known value that
+   * can be used to identify them.  This allows an I2C device driver to easily
+   * verify that the device contains the expected value.
+   *
+   * @pre The device must support and be configured to use register
+   * auto-increment.
+   *
+   * @param registerAddress The base register to start reading from the device.
+   * @param count           The size of the field to be verified.
+   * @param expected        A buffer containing the values expected from the
+   *                        device.
+   */
+  bool VerifySensor(int registerAddress, int count, const uint8_t* expected);
+
+ private:
+  hal::Handle<HAL_I2CPort, HAL_CloseI2C, HAL_I2C_kInvalid> m_port;
+  int m_deviceAddress;
+};
+
+}  // namespace frc