I2CController.cpp

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#include "I2CController.hpp"
#include <array>
#include <cstdio>
#include <fcntl.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>
#include <unistd.h>

I2CController::I2CController(const char *i2c_device, int address)
        : i2c_fd_(-1), i2c_addr_(address) {
    // Open I2C device
    i2c_fd_ = open(i2c_device, O_RDWR);
    if (i2c_fd_ < 0) {
        perror("Failed to open I2C device");
    }
 
    // Set I2C address
    if (ioctl(i2c_fd_, I2C_SLAVE, i2c_addr_) < 0) {
        perror("Failed to set I2C address");
    }
}

I2CController::~I2CController() {
    if (i2c_fd_ >= 0) {
        close(i2c_fd_);
    }
}

void I2CController::writeRegister(uint8_t reg, uint16_t value) {
    std::array<uint8_t, 3> buffer = {reg, static_cast<uint8_t>(value >> 8),
                                                                     static_cast<uint8_t>(value & 0xFF)};
    if (write(i2c_fd_, buffer.data(), buffer.size()) != 3) {
        perror("I2C write failed");
    }
}

uint16_t I2CController::readRegister(uint8_t reg) {
    if (write(i2c_fd_, &reg, 1) != 1) {
        perror("I2C write failed");
    }
    std::array<uint8_t, 2> buffer;
    if (read(i2c_fd_, buffer.data(), buffer.size()) != 2) {
        perror("I2C read failed");
    }
    return (buffer[0] << 8) | buffer[1];
}