Error I2cWriteRead(uint8_t a,
void const * w, size_t wc,
void * r, size_t rc) {
assert(w || !wc);
assert(r || !rc);
assert(state == STATE_IDLE);
addr = a;
write = (uint8_t const *) w;
write_count = wc;
read = (uint8_t *) r;
read_count = rc;
result = false;
_MI2C2IE = 1;
_MI2C1IE = 1;
// Assert a start condition to kick off the state machine.
state = STATE_START;
I2C2CONbits.SEN = 1; // Start.
// Wait for completion.
bool ret;
Error e = QueuePopFront(result_queue, &ret);
_MI2C2IE = 0; // Disable interrupts.
_MI2C1IE = 0;
_MI2C2IF = 0; // Clear any lingering interrupts.
_MI2C1IF = 0;
QueueReset(result_queue); // Clear any lingering results.
state = STATE_IDLE;
if (!I2C2CONbits.I2CEN) {
// We had to shut-off the module because of a bus collision. Re-enable.
I2C2CONbits.I2CEN = 1;
}
if (e != ERROR_NONE) return e;
if (!ret) return ERROR_FAILURE;
return ERROR_NONE;
}
inline cCRQueue(int ,int,int)
{
QueueReset();
}
inline ~cCRQueue() {QueueReset();}
