Main common include [Common functions]

Files
file	common.h
	Commonly used functions used by drivers.
Defines
#define	__COMMON_H_SENSOR_CHECK__   1
#define	MAX_ARR_SIZE   17
#define	min2(a, b)   (a < b ? a : b)
#define	min3(a, b, c)   (a < b) ? ((a < c) ? a : c) : ((b < c) ? b : c)
#define	max2(a, b)   (a > b ? a : b)
#define	max3(a, b, c)   (a > b) ? ((a > c) ? a : c) : ((b > c) ? b : c)
#define	clip(a, b, c)   min2(c, max2(b, a))
#define	STRTOK_MAX_TOKEN_SIZE   20
#define	STRTOK_MAX_BUFFER_SIZE   50
Typedefs
typedef ubyte	tByteArray [MAX_ARR_SIZE]
typedef sbyte	tsByteArray [MAX_ARR_SIZE]
typedef ubyte	tMassiveArray [128]
typedef ubyte	tHugeByteArray [64]
typedef ubyte	tBigByteArray [32]
typedef ubyte	tIPaddr [4]
typedef int	tIntArray [MAX_ARR_SIZE]
Functions
void	clearI2CError (tSensors link, ubyte address)
void	clearI2Cbus (tSensors link)
bool	waitForI2CBus (tSensors link)
bool	writeI2C (tSensors link, tByteArray &request, tByteArray &reply, int replylen)
bool	writeI2C (tSensors link, tByteArray &request)
long	getUID ()
bool	strtok (char *buffer, char *token, char *seperator)

---

Detailed Description

Commonly used functions used by drivers

---

Define Documentation

#define __COMMON_H_SENSOR_CHECK__   1

< define this as 0 to remove the check

Definition at line 70 of file common.h.

#define clip	(		a,
			b,
			c
	)		min2(c, max2(b, a))

Returns x if it is between min and max. If outside the range, it returns min or max.

Examples:

hitechnic-pir-test1.c, and mindsensors-lineleader-test3.c.

Definition at line 118 of file common.h.

#define max2	(		a,
			b
	)		(a > b ? a : b)

This function returns the bigger of the two numbers

Examples:

mindsensors-accelerometer-test2.c.

Definition at line 105 of file common.h.

#define max3	(		a,
			b,
			c
	)		(a > b) ? ((a > c) ? a : c) : ((b > c) ? b : c)

This function returns the biggest of the three numbers

Examples:

mindsensors-ps2ctrl-v4-test1.c.

Definition at line 111 of file common.h.

#define MAX_ARR_SIZE   17

Maximum buffer size for byte_array, can be overridden in your own program. It's 17 bytes big because the max I2C buffer size is 16, plus 1 byte to denote packet length.

Definition at line 86 of file common.h.

#define min2	(		a,
			b
	)		(a < b ? a : b)

This define returns the smaller of the two numbers

Definition at line 93 of file common.h.

#define min3	(		a,
			b,
			c
	)		(a < b) ? ((a < c) ? a : c) : ((b < c) ? b : c)

This define returns the smallest of the three numbers

Definition at line 99 of file common.h.

#define STRTOK_MAX_BUFFER_SIZE   50

Definition at line 407 of file common.h.

#define STRTOK_MAX_TOKEN_SIZE   20

Definition at line 406 of file common.h.

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Typedef Documentation

typedef ubyte tBigByteArray[32]

32 byte array for large blobs of data

Examples:

benedettelli-nxt2wifi-test3.c, and humarobotics-wifiblock-test1.c.

Definition at line 129 of file common.h.

typedef ubyte tByteArray[MAX_ARR_SIZE]

Array of bytes as a struct, this is a work around for RobotC's inability to pass an array to a function.

Examples:

benedettelli-nxt2wifi-test1.c, eeprom-test1.c, eeprom-test2.c, mindsensors-ligthsensorarray-test1.c, mindsensors-lineleader-test2.c, and mindsensors-lineleader-test3.c.

Definition at line 125 of file common.h.

typedef ubyte tHugeByteArray[64]

64 byte array for very large blobs of data

Examples:

benedettelli-nxt2wifi-test1.c, benedettelli-nxt2wifi-test2.c, benedettelli-nxt2wifi-test3.c, and benedettelli-nxt2wifi-test4.c.

Definition at line 128 of file common.h.

typedef int tIntArray[MAX_ARR_SIZE]

Array of ints as a struct, this is a work around for RobotC's inability to pass an array to a function.

Examples:

mindsensors-lineleader-test4.c.

Definition at line 136 of file common.h.

typedef ubyte tIPaddr[4]

Struct for holding an IP address

Examples:

humarobotics-wifiblock-test1.c.

Definition at line 130 of file common.h.

typedef ubyte tMassiveArray[128]

128 byte array for very large blobs of data

Definition at line 127 of file common.h.

typedef sbyte tsByteArray[MAX_ARR_SIZE]

Definition at line 126 of file common.h.

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Function Documentation

void clearI2Cbus

(

tSensors

link )

void clearI2CError	(	tSensors	link,
		ubyte	address
	)

Clear out the error state on I2C bus by sending a bunch of dummy packets.

Parameters:

link	the port number
address	the I2C address we're sending to

Definition at line 151 of file common.h.

long getUID

(

)

Create a unique ID (UID) for an NXT. This based on the last 3 bytes of the Bluetooth address. The first 3 bytes are manufacturer specific and identical for all NXTs and are therefore not used.

Returns:

a unique ID for the NXT.

Definition at line 396 of file common.h.

bool strtok	(	char *	buffer,
		char *	token,
		char *	seperator
	)

Tokenise an array of chars, using a seperator

Parameters:

buffer	pointer to buffer we're parsing
token	pointer to buffer to hold the tokens as we find them
seperator	the seperator used between tokens

Returns:

true if there are still tokens left, false if we're done

Definition at line 416 of file common.h.

bool waitForI2CBus

(

tSensors

link )

Wait for the I2C bus to be ready for the next message

Parameters:

link	the port number

Returns:

true if no error occured, false if it did

Definition at line 174 of file common.h.

bool writeI2C	(	tSensors	link,
		tByteArray &	request,
		tByteArray &	reply,
		int	replylen
	)

Write to the I2C bus. This function will clear the bus and wait for it be ready before any bytes are sent.

Parameters:

link	the port number
request	the data to be sent
reply	array to hold received data
replylen	the number of bytes (if any) expected in reply to this command

Returns:

true if no error occured, false if it did

Definition at line 271 of file common.h.

bool writeI2C	(	tSensors	link,
		tByteArray &	request
	)

Write to the I2C bus. This function will clear the bus and wait for it be ready before any bytes are sent.

Parameters:

link	the port number
request	the data to be sent

Returns:

true if no error occured, false if it did

Definition at line 211 of file common.h.