I2cDevice Class Reference

#include <bsp_i2c.hpp>

Public Member Functions
	I2cDevice (const std::string &device, uint8_t addr)
	~I2cDevice ()
uint8_t	ReadRegister (uint8_t reg)
void	WriteRegister (uint8_t reg, uint8_t value)
void	ReadRegisters (uint8_t reg, uint8_t *buffer, size_t length)
void	WriteRaw (const uint8_t *data, size_t length)
int	Fd () const
uint8_t	Address () const

Private Attributes
int	fd_
uint8_t	addr_

Detailed Description

I2C device interface for configuration and register operations.

Definition at line 18 of file bsp_i2c.hpp.

Constructor & Destructor Documentation

I2cDevice()

I2cDevice::I2cDevice ( const std::string &  device, uint8_t  addr  )

inline

Opens and configures the I2C device.

Parameters

device	I2C device file path (e.g., "/dev/i2c-1")
addr	7-bit I2C device address

Definition at line 26 of file bsp_i2c.hpp.

      : fd_(open(device.c_str(), O_RDWR)), addr_(addr) {
    assert(!device.empty()); /* Ensure device string is valid */
 
    if (fd_ < 0) {
      std::perror("Failed to open I2C device");
    }
 
    if (ioctl(fd_, I2C_SLAVE, addr_) < 0) {
      close(fd_);
      std::perror("Failed to configure I2C address");
    }
  }

~I2cDevice()

I2cDevice::~I2cDevice ( )

inline

Closes the I2C device.

Definition at line 41 of file bsp_i2c.hpp.

               {
    if (fd_ >= 0) {
      close(fd_);
    }
  }

Member Function Documentation

Address()

uint8_t I2cDevice::Address ( ) const

inline

Returns the I2C slave address.

Definition at line 120 of file bsp_i2c.hpp.

{ return addr_; }

Fd()

int I2cDevice::Fd ( ) const

inline

Returns the underlying file descriptor.

Definition at line 115 of file bsp_i2c.hpp.

{ return fd_; }

ReadRegister()

uint8_t I2cDevice::ReadRegister ( uint8_t  reg )

inline

Reads a single byte from an I2C register.

Parameters

reg	Register address

Returns

Value read

Definition at line 53 of file bsp_i2c.hpp.

                                    {
    if (write(fd_, &reg, 1) != 1) {
      std::perror("I2C write (set register) failed");
    }
 
    uint8_t value = 0;
    if (read(fd_, &value, 1) != 1) {
      std::perror("I2C read failed");
    }
 
    return value;
  }

ReadRegisters()

void I2cDevice::ReadRegisters ( uint8_t  reg, uint8_t *  buffer, size_t  length  )

inline

Reads multiple bytes starting from a given register.

Parameters

reg	Starting register address
buffer	Destination buffer
length	Number of bytes to read

Definition at line 86 of file bsp_i2c.hpp.

                                                                  {
    assert(buffer);
 
    if (write(fd_, &reg, 1) != 1) {
      std::perror("I2C write (set start register) failed");
    }
 
    if (read(fd_, buffer, length) != static_cast<ssize_t>(length)) {
      std::perror("I2C multi-byte read failed");
    }
  }

WriteRaw()

void I2cDevice::WriteRaw ( const uint8_t *  data, size_t  length  )

inline

Writes raw bytes directly to the I2C device without a register prefix.

Parameters

data	Pointer to raw data buffer
length	Number of bytes to write

Definition at line 104 of file bsp_i2c.hpp.

                                                    {
    assert(data);
 
    if (write(fd_, data, length) != static_cast<ssize_t>(length)) {
      std::perror("I2C raw write failed");
    }
  }

WriteRegister()

void I2cDevice::WriteRegister ( uint8_t  reg, uint8_t  value  )

inline

Writes a single byte to an I2C register.

Parameters

reg	Register address
value	Value to write

Definition at line 72 of file bsp_i2c.hpp.

                                                 {
    uint8_t buf[2] = {reg, value};
    if (write(fd_, buf, 2) != 2) {
      std::perror("I2C write failed");
    }
  }

Field Documentation

addr_

uint8_t I2cDevice::addr_

private

Definition at line 124 of file bsp_i2c.hpp.

fd_

int I2cDevice::fd_

private

Definition at line 123 of file bsp_i2c.hpp.

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The documentation for this class was generated from the following file:

• src/bsp/bsp_i2c.hpp