common.h File Reference

Commonly used functions used by drivers. More...

#include "firmwareVersion.h"

Go to the source code of this file.

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)

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Detailed Description

Commonly used functions used by drivers.

common.h provides a number of frequently used functions that are useful for writing drivers. License: You may use this code as you wish, provided you give credit where its due.

THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER.

Changelog:

• 0.1: Initial release
• 0.2: Added version check to issue error when compiling with RobotC < 1.46
• 0.2: Added __COMMON_H_DEBUG__ to enable/disable sounds when an I2C error occurs
• 0.2: Removed bool waitForI2CBus(tSensors link, bool silent)
• 0.3: clearI2CError() added to make writeI2C more robust, I2C bus errors are now handled better.
• 0.4: Added HiTechnic SMUX functions
• 0.5: Added clip function (Tom Roach)
• 0.6: clearI2CBus is now conditionally compiled into the FW. Only RobotC < 1.57 needs it.
• 0.7: ubyteToInt(byte byteVal) modified, works better with 1.57+
• 0.8: ubyte used for arrays for firmware version 770 and higher
  added support for new colour sensor
  added better handling for when sensor is not configured properly
• 0.9: added bool HTSMUXsetMode(tSensors link, byte channel, byte mode) prototype
  added int HTSMUXreadAnalogue(tMUXSensor muxsensor)
  added HTSMUXSensorType HTSMUXreadSensorType(tMUXSensor muxsensor)
  added bool HTSMUXreadPort(tMUXSensor muxsensor, tByteArray &result, int numbytes, int offset)
  added bool HTSMUXreadPort(tMUXSensor muxsensor, tByteArray &result, int numbytes)
  added bool HTSMUXsetMode(tMUXSensor muxsensor, byte mode)
  added bool HTSMUXsetAnalogueActive(tMUXSensor muxsensor)
  added bool HTSMUXsetAnalogueInactive(tMUXSensor muxsensor)
  corrected function description for HTSMUXSensorType()
• 0.10: Removed unnecessary read from HTSMUXsendCommand()
• 0.11: Added long uByteToLong(byte a1, byte a2, byte a3, byte a4);
• 0.12: Added HTSMUXreadPowerStatus(tSensors link)
  Added int round(float fl)
• 0.13: Added motor mux types and data structs
• 0.14: Added check for digital sensors to prevent conflict with built-in drivers
  Changed clearI2CError to take ubyte for address, thanks Aswin
• 0.15: Removed motor mux and sensor mux functions and types out
• 0.16: Added max() and min() functions by Mike Henning, Max Bareiss

Author:

Xander Soldaat (xander_at_botbench.com)

Date:

27 April 2011

Version:

0.16

Definition in file common.h.