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Major formatting changes (breaks diffs). No code changes.

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The changes made in this commit do not affect any actual code,
    they are purely aesthetic. I ran clang-format with google style
    over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
    or gtest, and the eclipse formatter over all of the Java files
    using the Google eclipse formatting configuration.

Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
This commit is contained in:
James Kuszmaul
2015-06-25 15:07:55 -04:00
parent bd64d9a7ef
commit 7eb8550bdb
470 changed files with 89798 additions and 77287 deletions
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192
wpilibc/wpilibC++Devices/src/I2C.cpp
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@@ -1,5 +1,6 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Copyright (c) FIRST 2008. All Rights Reserved.
*/
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
@@ -15,29 +16,25 @@
* @param port The I2C port to which the device is connected.
* @param deviceAddress The address of the device on the I2C bus.
*/
I2C::I2C(Port port, uint8_t deviceAddress) :
m_port (port)
, m_deviceAddress (deviceAddress)
{
int32_t status = 0;
i2CInitialize(m_port, &status);
//wpi_setErrorWithContext(status, getHALErrorMessage(status));
I2C::I2C(Port port, uint8_t deviceAddress)
: m_port(port), m_deviceAddress(deviceAddress) {
int32_t status = 0;
i2CInitialize(m_port, &status);
// wpi_setErrorWithContext(status, getHALErrorMessage(status));
HALReport(HALUsageReporting::kResourceType_I2C, deviceAddress);
HALReport(HALUsageReporting::kResourceType_I2C, deviceAddress);
}
/**
* Destructor.
*/
I2C::~I2C()
{
i2CClose(m_port);
}
I2C::~I2C() { i2CClose(m_port); }
/**
* Generic transaction.
*
* This is a lower-level interface to the I2C hardware giving you more control over each transaction.
* This is a lower-level interface to the I2C hardware giving you more control
* over each transaction.
*
* @param dataToSend Buffer of data to send as part of the transaction.
* @param sendSize Number of bytes to send as part of the transaction. [0..6]
@@ -45,24 +42,24 @@ I2C::~I2C()
* @param receiveSize Number of bytes to read from the device. [0..7]
* @return Transfer Aborted... false for success, true for aborted.
*/
bool I2C::Transaction(uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize)
{
if (sendSize > 6) // Optional, provides better error message.
{
wpi_setWPIErrorWithContext(ParameterOutOfRange, "sendSize");
return true;
}
if (receiveSize > 7) // Optional, provides better error message.
{
wpi_setWPIErrorWithContext(ParameterOutOfRange, "receiveSize");
return true;
}
bool I2C::Transaction(uint8_t *dataToSend, uint8_t sendSize,
uint8_t *dataReceived, uint8_t receiveSize) {
if (sendSize > 6) // Optional, provides better error message.
{
wpi_setWPIErrorWithContext(ParameterOutOfRange, "sendSize");
return true;
}
if (receiveSize > 7) // Optional, provides better error message.
{
wpi_setWPIErrorWithContext(ParameterOutOfRange, "receiveSize");
return true;
}
int32_t status = 0;
status = i2CTransaction(m_port, m_deviceAddress,
dataToSend, sendSize, dataReceived, receiveSize);
//wpi_setErrorWithContext(status, getHALErrorMessage(status));
return status < 0;
int32_t status = 0;
status = i2CTransaction(m_port, m_deviceAddress, dataToSend, sendSize,
dataReceived, receiveSize);
// wpi_setErrorWithContext(status, getHALErrorMessage(status));
return status < 0;
}
/**
@@ -73,11 +70,10 @@ bool I2C::Transaction(uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceiv
*
* @return Transfer Aborted... false for success, true for aborted.
*/
bool I2C::AddressOnly()
{
int32_t status = 0;
status = Transaction(NULL, 0, NULL, 0);
return status < 0;
bool I2C::AddressOnly() {
int32_t status = 0;
status = Transaction(NULL, 0, NULL, 0);
return status < 0;
}
/**
@@ -86,18 +82,18 @@ bool I2C::AddressOnly()
* 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 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 I2C::Write(uint8_t registerAddress, uint8_t data)
{
uint8_t buffer[2];
buffer[0] = registerAddress;
buffer[1] = data;
int32_t status = 0;
status = i2CWrite(m_port, m_deviceAddress, buffer, sizeof(buffer));
return status < 0;
bool I2C::Write(uint8_t registerAddress, uint8_t data) {
uint8_t buffer[2];
buffer[0] = registerAddress;
buffer[1] = data;
int32_t status = 0;
status = i2CWrite(m_port, m_deviceAddress, buffer, sizeof(buffer));
return status < 0;
}
/**
@@ -110,11 +106,10 @@ bool I2C::Write(uint8_t registerAddress, uint8_t data)
* @param count The number of bytes to be written.
* @return Transfer Aborted... false for success, true for aborted.
*/
bool I2C::WriteBulk(uint8_t* data, uint8_t count)
{
int32_t status = 0;
status = i2CWrite(m_port, m_deviceAddress, data, count);
return status < 0;
bool I2C::WriteBulk(uint8_t *data, uint8_t count) {
int32_t status = 0;
status = i2CWrite(m_port, m_deviceAddress, data, count);
return status < 0;
}
/**
@@ -127,30 +122,30 @@ bool I2C::WriteBulk(uint8_t* data, uint8_t count)
*
* @param registerAddress The register to read first in the transaction.
* @param count The number of bytes to read in the transaction. [1..7]
* @param buffer A pointer to the array of bytes to store the data read from the device.
* @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.
*/
bool I2C::Read(uint8_t registerAddress, uint8_t count, uint8_t *buffer)
{
if (count < 1 || count > 7)
{
wpi_setWPIErrorWithContext(ParameterOutOfRange, "count");
return true;
}
if (buffer == NULL)
{
wpi_setWPIErrorWithContext(NullParameter, "buffer");
return true;
}
int32_t status = 0;
status = Transaction(&registerAddress, sizeof(registerAddress), buffer, count);
return status < 0;
bool I2C::Read(uint8_t registerAddress, uint8_t count, uint8_t *buffer) {
if (count < 1 || count > 7) {
wpi_setWPIErrorWithContext(ParameterOutOfRange, "count");
return true;
}
if (buffer == NULL) {
wpi_setWPIErrorWithContext(NullParameter, "buffer");
return true;
}
int32_t status = 0;
status =
Transaction(&registerAddress, sizeof(registerAddress), buffer, count);
return status < 0;
}
/**
* Execute a read only transaction with the device.
*
* Read 1 to 7 bytes from a device. This method does not write any data to prompt
* Read 1 to 7 bytes from a device. This method does not write any data to
* prompt
* the device.
*
* @param buffer
@@ -160,21 +155,18 @@ bool I2C::Read(uint8_t registerAddress, uint8_t count, uint8_t *buffer)
* The number of bytes to read in the transaction. [1..7]
* @return Transfer Aborted... false for success, true for aborted.
*/
bool I2C::ReadOnly(uint8_t count, uint8_t *buffer)
{
if (count < 1 || count > 7)
{
wpi_setWPIErrorWithContext(ParameterOutOfRange, "count");
return true;
}
if (buffer == NULL)
{
wpi_setWPIErrorWithContext(NullParameter, "buffer");
return true;
}
int32_t status = 0;
status = i2CRead(m_port, m_deviceAddress, buffer, count);
return status < 0;
bool I2C::ReadOnly(uint8_t count, uint8_t *buffer) {
if (count < 1 || count > 7) {
wpi_setWPIErrorWithContext(ParameterOutOfRange, "count");
return true;
}
if (buffer == NULL) {
wpi_setWPIErrorWithContext(NullParameter, "buffer");
return true;
}
int32_t status = 0;
status = i2CRead(m_port, m_deviceAddress, buffer, count);
return status < 0;
}
/**
@@ -185,9 +177,7 @@ bool I2C::ReadOnly(uint8_t count, uint8_t *buffer)
* @param registerAddress The register to write on all devices on the bus.
* @param data The value to write to the devices.
*/
void I2C::Broadcast(uint8_t registerAddress, uint8_t data)
{
}
void I2C::Broadcast(uint8_t registerAddress, uint8_t data) {}
/**
* Verify that a device's registers contain expected values.
@@ -196,26 +186,26 @@ void I2C::Broadcast(uint8_t registerAddress, uint8_t data)
* 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.
* @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 I2C::VerifySensor(uint8_t registerAddress, uint8_t count, const uint8_t *expected)
{
// TODO: Make use of all 7 read bytes
uint8_t deviceData[4];
for (uint8_t i=0, curRegisterAddress = registerAddress; i < count; i+=4, curRegisterAddress+=4)
{
uint8_t toRead = count - i < 4 ? count - i : 4;
// Read the chunk of data. Return false if the sensor does not respond.
if (Read(curRegisterAddress, toRead, deviceData)) return false;
bool I2C::VerifySensor(uint8_t registerAddress, uint8_t count,
const uint8_t *expected) {
// TODO: Make use of all 7 read bytes
uint8_t deviceData[4];
for (uint8_t i = 0, curRegisterAddress = registerAddress; i < count;
i += 4, curRegisterAddress += 4) {
uint8_t toRead = count - i < 4 ? count - i : 4;
// Read the chunk of data. Return false if the sensor does not respond.
if (Read(curRegisterAddress, toRead, deviceData)) return false;
for (uint8_t j=0; j<toRead; j++)
{
if(deviceData[j] != expected[i + j]) return false;
}
}
return true;
for (uint8_t j = 0; j < toRead; j++) {
if (deviceData[j] != expected[i + j]) return false;
}
}
return true;
}