Main common include [Common_includes]

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	round(x)   (int)(x + 0.5)
Typedefs
typedef ubyte	tByteArray [MAX_ARR_SIZE]
typedef sbyte	tsByteArray [MAX_ARR_SIZE]
typedef int	tIntArray [MAX_ARR_SIZE]
Functions
void	clearI2CError (tSensors link, ubyte address)
bool	waitForI2CBus (tSensors link)
bool	writeI2C (tSensors link, tByteArray &data, int replylen)
bool	readI2C (tSensors link, tByteArray &data, int replylen)

---

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 69 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:

MSLL-test3.c.

Definition at line 116 of file common.h.

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

This function returns the bigger of the two numbers

Definition at line 103 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

Definition at line 109 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 85 of file common.h.

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

This define returns the smaller of the two numbers

Definition at line 92 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 98 of file common.h.

#define round

(

x )

(int)(x + 0.5)

Returns a rounded int from a float.

Definition at line 122 of file common.h.

---

Typedef Documentation

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:

EEPROM-test1.c, EEPROM-test2.c, MSLL-test2.c, and MSLL-test3.c.

Definition at line 129 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:

MSLL-test4.c.

Definition at line 136 of file common.h.

typedef sbyte tsByteArray[MAX_ARR_SIZE]

Definition at line 130 of file common.h.

---

Function Documentation

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 150 of file common.h.

bool readI2C	(	tSensors	link,
		tByteArray &	data,
		int	replylen
	)

Read from the I2C bus. This function will wait for the bus to be ready before reading from it.

Parameters:

link	the port number
data	holds the data from the reply
replylen	the number of bytes in the reply

Returns:

true if no error occured, false if it did

Definition at line 265 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 173 of file common.h.

bool writeI2C	(	tSensors	link,
		tByteArray &	data,
		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
data	the data to be sent
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 210 of file common.h.