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https://github.com/wpilibsuite/allwpilib
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a0be07c370
A templated hal::Handle class is used to wrap handles to make them move-only. This eliminates a lot of boilerplate move constructor/assignment code in the main WPILib classes. HAL_SPIPort and HAL_I2CPort are also wrapped. The wrapper class does not implement destruction. This would require the wrapper class to be handle-specific (rather than generic) and would result in more code added than it removed, plus would add header dependencies on more HAL headers. In addition, some HAL handle release functions are more complex (e.g. have return values) and can't be easily mapped to a destructor.
97 lines
3.0 KiB
C++
97 lines
3.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/I2C.h"
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#include <utility>
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#include <hal/HAL.h>
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#include <hal/I2C.h>
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#include "frc/WPIErrors.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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HAL_InitializeI2C(m_port, &status);
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// wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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HAL_Report(HALUsageReporting::kResourceType_I2C, deviceAddress);
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}
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I2C::~I2C() { HAL_CloseI2C(m_port); }
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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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// wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return status < 0;
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}
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bool I2C::AddressOnly() { return Transaction(nullptr, 0, nullptr, 0); }
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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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wpi_setWPIErrorWithContext(ParameterOutOfRange, "count");
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return true;
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}
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if (buffer == nullptr) {
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wpi_setWPIErrorWithContext(NullParameter, "buffer");
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return true;
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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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wpi_setWPIErrorWithContext(ParameterOutOfRange, "count");
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return true;
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}
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if (buffer == nullptr) {
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wpi_setWPIErrorWithContext(NullParameter, "buffer");
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return true;
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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)) return false;
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for (int j = 0; j < toRead; j++) {
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if (deviceData[j] != expected[i + j]) return false;
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}
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}
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return true;
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}
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