File content as of revision 0:04367044b55e:

/**
 * DAISEN eDES 2WD driver for mbed
 * Copyright (c) 2012 Suga
 * Released under the MIT License: http://mbed.org/license/mit
 */

/** @file
 * @brief DAISEN eDES 2WD driver for mbed
 */

#include "mbed.h"
#include "eDES2WD.h"

I2C i2c(p28, p27);

void eDES2WD_reset (int id) {
  char cmd[] = {1, I2C_WCMD_RESET};
  int adrs;
    
  if (0 < id){
    adrs = SUB_ADRS + (id - 1) * 2;
  } else {
    adrs = 0;
  }
  i2c.write(adrs, cmd, 2);
}

void eDES2WD_motor (int id, int l_speed, int r_speed) {
  char cmd[] = {3, I2C_WCMD_MOTOR, 0, 0};
  int adrs;
    
  cmd[2] = l_speed;
  cmd[3] = r_speed;
  if (0 < id){
    adrs = SUB_ADRS + (id - 1) * 2;
  } else {
    adrs = 0;
  }
  i2c.write(adrs, cmd, 4);
}

void eDES2WD_set_led (int id, int led, int sw) {
  char cmd[] = {3, I2C_WCMD_LED, 0, 0};
  int adrs;
    
  cmd[2] = led;
  cmd[3] = sw;
  if (0 < id){
    adrs = SUB_ADRS + (id - 1) * 2;
  } else {
    adrs = 0;
  }
  i2c.write(adrs, cmd, 4);
}

unsigned int eDES2WD_get_sensor(int id, int cn, unsigned int *dat) {
    char cmd[] = {2, I2C_RCMD_SENSOR, 0};
    char recv[MAX_CN];
    unsigned int d;
    int adrs;
    int nmax, n;
    
    if (id < 1 || 9 < id) return(0);
    adrs = SUB_ADRS + (id - 1) * 2;
    nmax = cn < MAX_CN ? 2 : MAX_CN * 2 + 2;
    
    cmd[2] = cn;
    i2c.write(adrs, cmd, 3);
    i2c.read(adrs | 1, recv, nmax);
    if (nmax == 2){
        d = recv[0] | (recv[1] << 8);
        return d;
    } else {
        for (n = 0; n < MAX_CN; n++){
            d = recv[0] | (recv[1] << 8);
            dat[n] = d;
        }
//        gSUB_LED_G = recv[20];
//        gSUB_LED_R = recv[21];
    }
    return 0;
}

int eDES2WD_get_lat(int id, int cno) {
    char cmd[] = {2, I2C_RCMD_LAT, 0};
    char recv[MAX_CN];
    int adrs;
    
    if (id < 1 || 9 < id) return(false);
    if (MAX_CN - 1 < cno) return(false);
    adrs = SUB_ADRS + (id - 1) * 2;

    cmd[2] = cno;
    i2c.write(adrs, cmd, 3);
    i2c.read(adrs | 1, recv, 1);
    return recv[0];
}