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Add new constructor to be possible select witch Wire object will be used #31

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Add new constructor to be possible select witch Wire object will be used #31

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2 changes: 2 additions & 0 deletions src/LIDARLite_v3HP.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@
#ifndef LIDARLite_v3HP_h
#define LIDARLite_v3HP_h

#define LEGACY_I2C 1

#define LIDARLITE_ADDR_DEFAULT 0x62

#include <Arduino.h>
Expand Down
48 changes: 37 additions & 11 deletions src/LIDARLite_v4LED.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,32 @@
#include <stdint.h>
#include "LIDARLite_v4LED.h"

/*------------------------------------------------------------------------------
Constructor

Default constructor, the object will use the default Wire object.

Parameters
------------------------------------------------------------------------------
None
------------------------------------------------------------------------------*/
LIDARLite_v4LED::LIDARLite_v4LED(){
i2cPort = &Wire;
}

/*------------------------------------------------------------------------------
Constructor

Constructor used to point the I2C communication to another TwoWire object

Parameters
------------------------------------------------------------------------------
port: TwoWire pointer, it can be use to select wich I2C port will be used.
------------------------------------------------------------------------------*/
LIDARLite_v4LED::LIDARLite_v4LED(TwoWire *port){
i2cPort = port;
}

/*------------------------------------------------------------------------------
Configure

Expand Down Expand Up @@ -319,16 +345,16 @@ void LIDARLite_v4LED::write(uint8_t regAddr, uint8_t * dataBytes,
{
uint8_t nackCatcher;

Wire.beginTransmission(lidarliteAddress);
i2cPort->beginTransmission(lidarliteAddress);

// First byte of every write sets the LidarLite's internal register address pointer
Wire.write(regAddr);
i2cPort->write(regAddr);

// Subsequent bytes are data writes
Wire.write(dataBytes, numBytes);
i2cPort->write(dataBytes, numBytes);

// A nack means the device is not responding. Report the error over serial.
nackCatcher = Wire.endTransmission();
nackCatcher = i2cPort->endTransmission();
if (nackCatcher != 0)
{
// handle nack issues in here
Expand Down Expand Up @@ -390,17 +416,17 @@ void LIDARLite_v4LED::read(uint8_t regAddr, uint8_t * dataBytes,
#define SEND_STOP ((uint8_t) true)
#define DONT_STOP ((uint8_t) false)

Wire.beginTransmission(lidarliteAddress);
Wire.write(regAddr);
i2cPort->beginTransmission(lidarliteAddress);
i2cPort->write(regAddr);

// A nack means the device is not responding, report the error over serial
if (Wire.endTransmission(DONT_STOP)) // performs repeated start
if (i2cPort->endTransmission(DONT_STOP)) // performs repeated start
{
Serial.println("> nack");
}

// Perform read, save in dataBytes array
Wire.requestFrom(lidarliteAddress, numBytes, SEND_STOP);
i2cPort->requestFrom(lidarliteAddress, numBytes, SEND_STOP);

#else

Expand All @@ -416,7 +442,7 @@ void LIDARLite_v4LED::read(uint8_t regAddr, uint8_t * dataBytes,
// parameters to "requestFrom" see function header comments above
// **************************************************************

Wire.requestFrom
i2cPort->requestFrom
(
lidarliteAddress, // Slave address
numBytes, // number of consecutive bytes to read
Expand All @@ -427,12 +453,12 @@ void LIDARLite_v4LED::read(uint8_t regAddr, uint8_t * dataBytes,

#endif

uint8_t numHere = Wire.available();
uint8_t numHere = i2cPort->available();
uint8_t i = 0;

while (i < numHere)
{
dataBytes[i] = Wire.read();
dataBytes[i] = i2cPort->read();
i++;
}

Expand Down
6 changes: 6 additions & 0 deletions src/LIDARLite_v4LED.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@
#ifndef LIDARLite_v4LED_h
#define LIDARLite_v4LED_h

#define LEGACY_I2C 1

#define LIDARLITE_ADDR_DEFAULT 0x62

#include <Arduino.h>
Expand All @@ -33,6 +35,8 @@
class LIDARLite_v4LED
{
public:
LIDARLite_v4LED();
LIDARLite_v4LED(TwoWire *port);
void configure (uint8_t configuration = 0, uint8_t lidarliteAddress = LIDARLITE_ADDR_DEFAULT);

void setI2Caddr (uint8_t newAddress, uint8_t disableDefault, uint8_t lidarliteAddress = LIDARLITE_ADDR_DEFAULT);
Expand All @@ -48,6 +52,8 @@ class LIDARLite_v4LED
void read (uint8_t regAddr, uint8_t * dataBytes, uint8_t numBytes, uint8_t lidarliteAddress = LIDARLITE_ADDR_DEFAULT);

void correlationRecordRead (int16_t * correlationArray, uint8_t numberOfReadings = 192, uint8_t lidarliteAddress = LIDARLITE_ADDR_DEFAULT);
private:
TwoWire *i2cPort;
};

#endif