Diff: DRV8830.cpp

Revision:

4:323a62f5fff3

Parent:

3:98a9369ed390

--- a/DRV8830.cpp	Tue Dec 23 23:28:54 2014 +0000
+++ b/DRV8830.cpp	Wed Aug 23 09:24:05 2017 +0000
@@ -3,17 +3,11 @@
  *  Texas Instruments / DRV8830 H-Bridge Voltage-Controlled Motor Driver
  *      http://www.ti.com/product/drv8830
  *
- * Copyright (c) 2014 Kenji Arai / JH1PJL
+ * Copyright (c) 2014,'17 Kenji Arai / JH1PJL
  *  http://www.page.sannet.ne.jp/kenjia/index.html
  *  http://mbed.org/users/kenjiArai/
- *      Created: August      6th, 2014 
- *      Revised: November   28th, 2014
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
- * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
- * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
- * DAMAGES OR OTHER  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *      Created: August      6th, 2014
+ *      Revised: August     23rd, 2017
  */
 
 #include    "mbed.h"
@@ -70,11 +64,15 @@
     4.98,    5.06
 };
 
-DRV8830::DRV8830 (PinName p_sda, PinName p_scl, uint8_t addr) : i2c(p_sda, p_scl){
+DRV8830::DRV8830 (PinName p_sda, PinName p_scl, uint8_t addr)
+ : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p)
+{
     DRV8830_addr = (char)addr;
 }
 
-DRV8830::DRV8830 (I2C& p_i2c, uint8_t addr) : i2c(p_i2c){ 
+DRV8830::DRV8830 (I2C& p_i2c, uint8_t addr)
+ : _i2c(p_i2c)
+{ 
     DRV8830_addr = (char)addr;
 }
 
@@ -101,7 +99,7 @@
     }
     dt[0] = DRV8830_CONTROL;
     dt[1] = (pwm_rate << 2) + direction;
-    i2c.write((int)DRV8830_addr, (char *)dt, 2);
+    _i2c.write((int)DRV8830_addr, (char *)dt, 2);
 }
 
 void DRV8830::set_voltage(float volt) {
@@ -134,15 +132,15 @@
     //printf("volt=%f, pwm=0x%x, dir=%d\r\n", volt, pwm_rate, direction);
     dt[0] = DRV8830_CONTROL;
     dt[1] = (pwm_rate << 2) + direction;
-    i2c.write((int)DRV8830_addr, (char *)dt, 2);
+    _i2c.write((int)DRV8830_addr, (char *)dt, 2);
 }
 
 uint8_t DRV8830::status() {
 uint8_t dt[2];
 
     dt[0] = DRV8830_FAULT;
-    i2c.write((int)DRV8830_addr, (char *)dt, 1);  // write register address
-    i2c.read((int)DRV8830_addr, (char *)dt, 1);   // read register content
+    _i2c.write((int)DRV8830_addr, (char *)dt, 1);  // write register address
+    _i2c.read((int)DRV8830_addr, (char *)dt, 1);   // read register content
     return dt[0];
 }
 
@@ -151,6 +149,8 @@
 
     dt[0] = DRV8830_FAULT;
     dt[1] = DRV8830_F_CLEAR;
-    i2c.write((int)DRV8830_addr, (char *)dt, 2);
+    _i2c.write((int)DRV8830_addr, (char *)dt, 2);
 }
 
+
+