Squashed 'third_party/allwpilib_2019/' content from commit bd05dfa1c
Change-Id: I2b1c2250cdb9b055133780c33593292098c375b7
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: bd05dfa1c7cca74c4fac451e7b9d6a37e7b53447
diff --git a/wpilibc/src/main/native/cpp/I2C.cpp b/wpilibc/src/main/native/cpp/I2C.cpp
new file mode 100644
index 0000000..4b18f73
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/I2C.cpp
@@ -0,0 +1,111 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/I2C.h"
+
+#include <utility>
+
+#include <hal/HAL.h>
+#include <hal/I2C.h>
+
+#include "frc/WPIErrors.h"
+
+using namespace frc;
+
+I2C::I2C(Port port, int deviceAddress)
+ : m_port(static_cast<HAL_I2CPort>(port)), m_deviceAddress(deviceAddress) {
+ int32_t status = 0;
+ HAL_InitializeI2C(m_port, &status);
+ // wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ HAL_Report(HALUsageReporting::kResourceType_I2C, deviceAddress);
+}
+
+I2C::~I2C() { HAL_CloseI2C(m_port); }
+
+I2C::I2C(I2C&& rhs)
+ : ErrorBase(std::move(rhs)),
+ m_deviceAddress(std::move(rhs.m_deviceAddress)) {
+ std::swap(m_port, rhs.m_port);
+}
+
+I2C& I2C::operator=(I2C&& rhs) {
+ ErrorBase::operator=(std::move(rhs));
+
+ std::swap(m_port, rhs.m_port);
+ m_deviceAddress = std::move(rhs.m_deviceAddress);
+
+ return *this;
+}
+
+bool I2C::Transaction(uint8_t* dataToSend, int sendSize, uint8_t* dataReceived,
+ int receiveSize) {
+ int32_t status = 0;
+ status = HAL_TransactionI2C(m_port, m_deviceAddress, dataToSend, sendSize,
+ dataReceived, receiveSize);
+ // wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return status < 0;
+}
+
+bool I2C::AddressOnly() { return Transaction(nullptr, 0, nullptr, 0); }
+
+bool I2C::Write(int registerAddress, uint8_t data) {
+ uint8_t buffer[2];
+ buffer[0] = registerAddress;
+ buffer[1] = data;
+ int32_t status = 0;
+ status = HAL_WriteI2C(m_port, m_deviceAddress, buffer, sizeof(buffer));
+ return status < 0;
+}
+
+bool I2C::WriteBulk(uint8_t* data, int count) {
+ int32_t status = 0;
+ status = HAL_WriteI2C(m_port, m_deviceAddress, data, count);
+ return status < 0;
+}
+
+bool I2C::Read(int registerAddress, int count, uint8_t* buffer) {
+ if (count < 1) {
+ wpi_setWPIErrorWithContext(ParameterOutOfRange, "count");
+ return true;
+ }
+ if (buffer == nullptr) {
+ wpi_setWPIErrorWithContext(NullParameter, "buffer");
+ return true;
+ }
+ uint8_t regAddr = registerAddress;
+ return Transaction(®Addr, sizeof(regAddr), buffer, count);
+}
+
+bool I2C::ReadOnly(int count, uint8_t* buffer) {
+ if (count < 1) {
+ wpi_setWPIErrorWithContext(ParameterOutOfRange, "count");
+ return true;
+ }
+ if (buffer == nullptr) {
+ wpi_setWPIErrorWithContext(NullParameter, "buffer");
+ return true;
+ }
+ return HAL_ReadI2C(m_port, m_deviceAddress, buffer, count) < 0;
+}
+
+bool I2C::VerifySensor(int registerAddress, int count,
+ const uint8_t* expected) {
+ // TODO: Make use of all 7 read bytes
+ uint8_t deviceData[4];
+ for (int i = 0, curRegisterAddress = registerAddress; i < count;
+ i += 4, curRegisterAddress += 4) {
+ int 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 (int j = 0; j < toRead; j++) {
+ if (deviceData[j] != expected[i + j]) return false;
+ }
+ }
+ return true;
+}