PRISMA Lab / Mbed OS Hyfliers_Completo_testato

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Dependencies:   PwmIn IONMcMotor MPU6050 Eigen ROVER

Fork of Hyfliers_Completo_testato by Marco De Silva

I2C_COM/I2C_master.cpp

Committer:
anfontanelli
Date:
2021-09-14
Revision:
6:584653235830

File content as of revision 6:584653235830:

#include "I2C_master.h"

I2C_master::I2C_master(PinName sda, PinName scl, int addr){  
    i2c = new I2C(sda, scl);
    i2c->frequency(100000);
    messageSent = true;
    address = addr;
    buf = new char[sizeof(I2cResponseMsg)];

}

uint8_t I2C_master::CheckSumFun(uint8_t* byteData, int length)
{
    uint8_t chkSumByte = 0x00;
    //printf("lenght: %d\n", length);
    for (int i = 0; i < length; i++)
        chkSumByte ^= byteData[i];
    return chkSumByte;
}

void I2C_master::internal_cb_handler(int event) {
    if (event & I2C_EVENT_ERROR_NO_SLAVE) {
        //printf("not responding\n");

    } else if (event & I2C_EVENT_ERROR) {
        //printf("error\n");

    } else {
        //printf("sending done\n");
        //done_cb.call(123);
        messageSent = true;
    }
}

bool I2C_master::updateI2CCommunication(I2cRobotCmd _cmd, float _clampPposition, float _wheelsSpeed, float &wheelsPos_dx, float &wheelsPos_sx, float &wheelsSpeed_dx, float &wheelsSpeed_sx ) {
    
    if(messageSent == true){
    
        I2cResponseMsg *toolRsp_;
    
        toolCmd.Cmd = _cmd;
        toolCmd.Data.clampPposition = _clampPposition;
        toolCmd.Data.wheelsSpeed = _wheelsSpeed;
        toolCmd.Checksum = 255;
        uint8_t cks = CheckSumFun((uint8_t*)&toolCmd, sizeof(I2cComandMsg));
        toolCmd.Checksum = cks;
        i2c->transfer(address, (char*)&toolCmd, sizeof(I2cComandMsg), buf, sizeof(I2cResponseMsg), event_callback_t(this, &I2C_master::internal_cb_handler), I2C_EVENT_ALL, true);

        toolRsp_ = (I2cResponseMsg *)buf;

        wheelsPos_dx = toolRsp_->Data.wheelsPos_dx; 
        wheelsPos_sx = toolRsp_->Data.wheelsPos_sx; 
        wheelsSpeed_dx = toolRsp_->Data.wheelsSpeed_dx; 
        wheelsSpeed_sx = toolRsp_->Data.wheelsSpeed_sx; 

        messageSent = false;
        return true;
    }else{
        return false;
    }

}