Revision 2:6c60a3006881, committed 2015-10-14

Comitter:

inst

Date:

Wed Oct 14 03:50:56 2015 +0000

Parent:

1:01d881dc1170

Child:

3:49d3d84b737d

Commit message:

Changed in this revision

--- a/I2CDevice.cpp	Fri Aug 21 04:51:59 2015 +0000
+++ b/I2CDevice.cpp	Wed Oct 14 03:50:56 2015 +0000
@@ -1,3 +1,38 @@
 #include "I2CDevice.h"
+#include "OBROT.h"
+#include "mbed.h"
+#include "Robot.h"
 
-I2C* I2CDevice::mI2C = NULL;
+I2C* I2CDevice::mI2C[] = {
+    NULL,
+    NULL,
+    NULL
+};
+const PinName I2CDevice::mSDA[] = {
+    D14,
+    D3,
+    D5
+};
+const PinName I2CDevice::mSCL[] = {
+    D15,
+    D6,
+    D7
+};
+const uint32_t I2CDevice::mNumOfI2C = 3;
+
+I2C* I2CDevice::getI2C() const{
+    for ( int i = I2CDeviceID::STEERING_MOTOR_0; i <= I2CDeviceID::STEERING_SERVO_2; ++i ){
+        // Steering
+        if ( mAddress == OBROT::mI2CDeviceAddress[ i ] ){
+            return mI2C[ 0 ];
+        }
+    }
+    for ( int i = I2CDeviceID::ANGLE_MANAGER; i < Robot::mNumOfI2CDevice; ++i ){
+        // NOT Steering and XBee
+        if ( mAddress == OBROT::mI2CDeviceAddress[ i ] ){
+            return mI2C[ 1 ];
+        }
+    }
+    
+    return mI2C[ 2 ];
+}

--- a/I2CDevice.h	Fri Aug 21 04:51:59 2015 +0000
+++ b/I2CDevice.h	Wed Oct 14 03:50:56 2015 +0000
@@ -5,36 +5,69 @@
 
 class I2CDevice{
 public:
-    static void initI2C( PinName sda, PinName scl ){
-        mI2C = new I2C( sda, scl );
+    static void resetI2C(){
+        destroyI2C();
+        createI2C();
+    }
+    static void createI2C(){
+        for ( int i = 0; i < mNumOfI2C; ++i ){
+            mI2C[ i ] = new I2C( mSDA[ i ], mSCL[ i ] );
+        }
+    }
+    static void destroyI2C(){
+        for ( int i = 0; i < mNumOfI2C; ++i ){
+            delete mI2C[ i ];
+        }
     }
 
     I2CDevice( char address ) : mAddress( address ){
     }
     
-    virtual void write() = 0;
-    virtual void read() = 0;
+    virtual int write(){
+        return 0;
+    }
+    virtual int read(){
+        return 0;
+    }
     
-    void write( char* data, size_t len ) const{
-        mI2C->write( mAddress, data, len );
+    void writeI2C(){
+        if ( write() ){
+            resetI2C();
+        }
     }
-    void read( char* data, size_t len ) const{
-        mI2C->read( mAddress, data, len );
+    
+    void readI2C(){
+        if ( read() ){
+            resetI2C();
+        }
     }
     
-    void writeReg( char devAddr, char regAddr, char data ){
+    int write( char* data, size_t len ) const{
+        return getI2C()->write( mAddress, data, len );
+    }
+    int read( char* data, size_t len ) const{
+        return getI2C()->read( mAddress, data, len );
+    }
+    
+    int writeReg( char devAddr, char regAddr, char data ){
         char d[ 2 ] = { regAddr, data };
-        mI2C->write( devAddr, d, 2 );
+        return getI2C()->write( devAddr, d, 2 );
     }
     
-    void readReg( char devAddr, char regAddr, char* data, size_t len ){
+    int readReg( char devAddr, char regAddr, char* data, size_t len ){
         regAddr |= 0x80;
-        mI2C->write( devAddr, &regAddr, 1, true );
-        mI2C->read( devAddr | 1, data, len );
+        getI2C()->write( devAddr, &regAddr, 1, true );
+        return getI2C()->read( devAddr | 1, data, len );
     }
     
-    static I2C* mI2C;
 protected:
+    I2C* getI2C() const;
+
+    static const uint32_t mNumOfI2C;
+    static const PinName mSDA[];
+    static const PinName mSCL[];
+    static I2C* mI2C[];
+    
     const char mAddress;
 };
 

--- a/I2CMotor.lib	Fri Aug 21 04:51:59 2015 +0000
+++ b/I2CMotor.lib	Wed Oct 14 03:50:56 2015 +0000
@@ -1,1 +1,1 @@
-I2CMotor#46cf8d086b38
+I2CMotor#5b17e7dffb3d

--- a/I2CServo.lib	Fri Aug 21 04:51:59 2015 +0000
+++ b/I2CServo.lib	Wed Oct 14 03:50:56 2015 +0000
@@ -1,1 +1,1 @@
-I2CServo#e06cf312e9f0
+I2CServo#0f03a5729afc

--- a/Robot.lib	Fri Aug 21 04:51:59 2015 +0000
+++ b/Robot.lib	Wed Oct 14 03:50:56 2015 +0000
@@ -1,1 +1,1 @@
-Robot#48028dcad4e2
+Robot#0d9bb8e1876b

--- a/XBee.lib	Fri Aug 21 04:51:59 2015 +0000
+++ b/XBee.lib	Wed Oct 14 03:50:56 2015 +0000
@@ -1,1 +1,1 @@
-XBee#7f0b90daef14
+XBee#869012d317b5