Sille Van Landschoot / m3Dpi

library for m3Dpi robot, based on the Pololu 3pi and m3pi. m3Dpi has multiple distance sensors, gyroscope, compass and accelerometer sensor to be fully aware of its environment. With the addition of xbee or nrf24n01 module it has wireless communication capabilities.

Dependencies:   m3pi ADXL345_I2C HMC5583L ITG3200 PCA9547 TLC59116 VL6180x RGB-fun xbee

Dependents:   m3Dpi-helloworld

Files at this revision

API Documentation at this revision

Revision 10:4200a8140b10, committed 2015-12-19

Comitter:
sillevl
Date:
Sat Dec 19 10:42:51 2015 +0000
Parent:
9:0af0a97f0ebf
Child:
11:6f2440be5aa4
Commit message:
use single I2C instance shared with all i2c devices

Changed in this revision

M3Dpi.cpp Show annotated file Show diff for this revision Revisions of this file
M3Dpi.h Show annotated file Show diff for this revision Revisions of this file
drivers/ADXL345_I2C.lib Show annotated file Show diff for this revision Revisions of this file
drivers/HMC5583L.lib Show annotated file Show diff for this revision Revisions of this file
drivers/ITG3200.lib Show annotated file Show diff for this revision Revisions of this file
drivers/TLC59116.lib Show annotated file Show diff for this revision Revisions of this file
drivers/VL6180x.lib Show annotated file Show diff for this revision Revisions of this file
lib/LedRing.cpp Show annotated file Show diff for this revision Revisions of this file
lib/LedRing.h Show annotated file Show diff for this revision Revisions of this file
lib/vl6180xManager.cpp Show annotated file Show diff for this revision Revisions of this file
lib/vl6180xManager.h Show annotated file Show diff for this revision Revisions of this file 
--- a/M3Dpi.cpp	Thu Dec 17 14:50:20 2015 +0000
+++ b/M3Dpi.cpp	Sat Dec 19 10:42:51 2015 +0000
@@ -2,12 +2,13 @@
 #include "M3Dpi.h"
 
 M3Dpi::M3Dpi() :
+    i2c(SDA,SCL),
     status(STATUS_RED,STATUS_GREEN,STATUS_BLUE),
-    compass(SDA, SCL, 0x3D),
-    gyro(SDA, SCL),
-    accelerometer(SDA,SCL),
-    leds(SDA, SCL),
-    distance(SDA, SCL),
+    compass(i2c),
+    gyro(i2c),
+    accelerometer(i2c),
+    leds(i2c),
+    distance(i2c),
     xbee(XBEE_TX, XBEE_RX, XBEE_RESET)
 {
     xbee.baud(XBEE_BAUD);

--- a/M3Dpi.h	Thu Dec 17 14:50:20 2015 +0000
+++ b/M3Dpi.h	Sat Dec 19 10:42:51 2015 +0000
@@ -33,6 +33,9 @@
     // buttonhandler (interrupt based?)
 
     //protected:    // public for hardware testing only
+    
+    I2C i2c;
+    
     StatusLed status;
     LedRing leds;
 

--- a/drivers/ADXL345_I2C.lib	Thu Dec 17 14:50:20 2015 +0000
+++ b/drivers/ADXL345_I2C.lib	Sat Dec 19 10:42:51 2015 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/nimbusgb/code/ADXL345_I2C/#92fa975dab32
+http://mbed.org/users/nimbusgb/code/ADXL345_I2C/#a453a5e561c2

--- a/drivers/HMC5583L.lib	Thu Dec 17 14:50:20 2015 +0000
+++ b/drivers/HMC5583L.lib	Sat Dec 19 10:42:51 2015 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/sillevl/code/HMC5583L/#91f08ac76444
+https://developer.mbed.org/users/sillevl/code/HMC5583L/#097089f0feb1

--- a/drivers/ITG3200.lib	Thu Dec 17 14:50:20 2015 +0000
+++ b/drivers/ITG3200.lib	Sat Dec 19 10:42:51 2015 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/sillevl/code/ITG3200/#92aec36778a7
+https://developer.mbed.org/users/sillevl/code/ITG3200/#2dd53a8427e9

--- a/drivers/TLC59116.lib	Thu Dec 17 14:50:20 2015 +0000
+++ b/drivers/TLC59116.lib	Sat Dec 19 10:42:51 2015 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/sillevl/code/TLC59116/#52a1996ad711
+https://developer.mbed.org/users/sillevl/code/TLC59116/#c285b2c57b2e

--- a/drivers/VL6180x.lib	Thu Dec 17 14:50:20 2015 +0000
+++ b/drivers/VL6180x.lib	Sat Dec 19 10:42:51 2015 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/sillevl/code/VL6180x/#84c73bed7d92
+https://developer.mbed.org/users/sillevl/code/VL6180x/#6a00afc8dc84

--- a/lib/LedRing.cpp	Thu Dec 17 14:50:20 2015 +0000
+++ b/lib/LedRing.cpp	Sat Dec 19 10:42:51 2015 +0000
@@ -1,8 +1,17 @@
 #include "LedRing.h"
 
+LedRing::LedRing(I2C &i2c) : driver1(i2c, DRIVER_1_ADDRESS), driver2(i2c, DRIVER_2_ADDRESS)
+{
+    initialize();
+}
 
 LedRing::LedRing(PinName sda, PinName scl): driver1(sda, scl, DRIVER_1_ADDRESS), driver2(sda, scl, DRIVER_2_ADDRESS)
 {
+    initialize();
+}
+
+void LedRing::initialize()
+{
     driver1.enable();
     driver2.enable();
     

--- a/lib/LedRing.h	Thu Dec 17 14:50:20 2015 +0000
+++ b/lib/LedRing.h	Sat Dec 19 10:42:51 2015 +0000
@@ -17,6 +17,7 @@
 
 class LedRing{
     public:
+    LedRing(I2C &i2c);
     LedRing(PinName sda, PinName scl);
     
     void setColor(int led, Color* Color);
@@ -29,6 +30,7 @@
     void greenRedGradient(int led, int value);
     
     protected:
+    void initialize();
     void setLed(TLC59116* driver, int startChannel, Color* color);
     
     private:

--- a/lib/vl6180xManager.cpp	Thu Dec 17 14:50:20 2015 +0000
+++ b/lib/vl6180xManager.cpp	Sat Dec 19 10:42:51 2015 +0000
@@ -1,9 +1,18 @@
 #include "vl6180xManager.h"
 
+VL6180xManager::VL6180xManager(I2C &_i2c): mux(_i2c), i2c(_i2c), sensor(i2c)
+{
+    initialize();
+}
 
 VL6180xManager::VL6180xManager(PinName sda, PinName scl) : mux(sda, scl), i2c(sda, scl), sensor(sda, scl)
 {
     i2c.frequency(400000);   
+    initialize();
+}
+
+void VL6180xManager::initialize()
+{  
     for(int i = 0; i < SENSOR_COUNT; i++) {
         select(i);
         sensor.initialize();

--- a/lib/vl6180xManager.h	Thu Dec 17 14:50:20 2015 +0000
+++ b/lib/vl6180xManager.h	Sat Dec 19 10:42:51 2015 +0000
@@ -19,6 +19,7 @@
 class VL6180xManager
 {
 public:
+    VL6180xManager(I2C &i2c);
     VL6180xManager(PinName sda, PinName scl);
     void select(int index);
     m3dpi::Distance getAllDistance();
@@ -36,6 +37,8 @@
         LEFT,
         FRONT_LEFT
     };*/
+    
+    void initialize();
     PCA9547 mux;
     I2C i2c;
     int address;