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1fc098e696
This is enabled by the C++20 __VA_OPT__ feature.
Uses of "{}" format string were updated.
Some warning suppressions were required for older clang versions.
Also improve codegen of wpi::Logger::Log(), frc::ReportError(), and frc::MakeError();
these generate better and less redundant code if they use fmt::string_view for the
format string instead of templating on it.
113 lines
3.0 KiB
C++
113 lines
3.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/I2C.h"
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#include <utility>
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#include <hal/FRCUsageReporting.h>
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#include <hal/I2C.h>
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#include "frc/Errors.h"
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using namespace frc;
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I2C::I2C(Port port, int deviceAddress)
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: m_port(static_cast<HAL_I2CPort>(port)), m_deviceAddress(deviceAddress) {
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int32_t status = 0;
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if (port == I2C::Port::kOnboard) {
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FRC_ReportError(warn::Warning,
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"Onboard I2C port is subject to system lockups. See Known "
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"Issues page for "
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"details");
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}
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HAL_InitializeI2C(m_port, &status);
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FRC_CheckErrorStatus(status, "Port {}", static_cast<int>(port));
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HAL_Report(HALUsageReporting::kResourceType_I2C, deviceAddress);
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}
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I2C::~I2C() {
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HAL_CloseI2C(m_port);
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}
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I2C::Port I2C::GetPort() const {
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return static_cast<Port>(static_cast<int>(m_port));
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}
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int I2C::GetDeviceAddress() const {
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return m_deviceAddress;
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}
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bool I2C::Transaction(uint8_t* dataToSend, int sendSize, uint8_t* dataReceived,
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int receiveSize) {
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int32_t status = 0;
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status = HAL_TransactionI2C(m_port, m_deviceAddress, dataToSend, sendSize,
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dataReceived, receiveSize);
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return status < 0;
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}
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bool I2C::AddressOnly() {
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return Transaction(nullptr, 0, nullptr, 0);
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}
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bool I2C::Write(int registerAddress, uint8_t data) {
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uint8_t buffer[2];
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buffer[0] = registerAddress;
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buffer[1] = data;
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int32_t status = 0;
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status = HAL_WriteI2C(m_port, m_deviceAddress, buffer, sizeof(buffer));
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return status < 0;
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}
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bool I2C::WriteBulk(uint8_t* data, int count) {
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int32_t status = 0;
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status = HAL_WriteI2C(m_port, m_deviceAddress, data, count);
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return status < 0;
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}
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bool I2C::Read(int registerAddress, int count, uint8_t* buffer) {
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if (count < 1) {
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throw FRC_MakeError(err::ParameterOutOfRange, "count {}", count);
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}
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if (!buffer) {
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throw FRC_MakeError(err::NullParameter, "buffer");
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}
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uint8_t regAddr = registerAddress;
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return Transaction(®Addr, sizeof(regAddr), buffer, count);
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}
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bool I2C::ReadOnly(int count, uint8_t* buffer) {
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if (count < 1) {
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throw FRC_MakeError(err::ParameterOutOfRange, "count {}", count);
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}
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if (!buffer) {
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throw FRC_MakeError(err::NullParameter, "buffer");
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}
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return HAL_ReadI2C(m_port, m_deviceAddress, buffer, count) < 0;
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}
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bool I2C::VerifySensor(int registerAddress, int count,
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const uint8_t* expected) {
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// TODO: Make use of all 7 read bytes
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uint8_t deviceData[4];
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for (int i = 0, curRegisterAddress = registerAddress; i < count;
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i += 4, curRegisterAddress += 4) {
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int toRead = count - i < 4 ? count - i : 4;
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// Read the chunk of data. Return false if the sensor does not respond.
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if (Read(curRegisterAddress, toRead, deviceData)) {
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return false;
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}
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for (int j = 0; j < toRead; j++) {
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if (deviceData[j] != expected[i + j]) {
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return false;
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}
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}
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}
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return true;
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}
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