IME driver. More...

#include <stdio.h>
#include <string.h>
#include <stdarg.h>
#include "ch.h"
#include "hal.h"
#include "vex.h"

Functions
int32_t	vexImeGetCount (int16_t channel)
	return encoder count More...

void	vexImeSetCount (int16_t channel, int32_t value)
	sets encoder count (stores an offset) More...

int16_t	vexImeGetId (int16_t channel)
	return encoder id More...

imeData *	vexImeGetPtr (tVexImeChannels channel)
	return pointer to IME data structure More...

int16_t	vexImeGetChannelMax ()
	Get the number of IMEs found. More...

void	vexImeSetType (tVexImeChannels channel, tVexMotorType type)
	Set motor type that this IME is attached to. More...

void	vexImeSetMotor (tVexImeChannels channel, tVexMotor motor)
	Set the motor that this IME is attached to. More...

int32_t	vexImeMotorGetCount (tVexMotor motor)
	return encoder count based on motor index More...

void	vexImeInit (I2CDriver i2cp, vexStream chp)
	Initialize IMEs on the I2C bus. More...

msg_t	vexIMEUpdateCounts (imeData *ime)
	Read encoder data and then calculate the rpm. More...

void	vexIMEDataInit (imeData *ime)
	Init data structure for one IME. More...

uint16_t	vexIMEFindEncoders ()
	Search bus and add all encoders found (up to 8) More...

msg_t	vexIMEGetVersion (uint8_t device, uint8_t *buf)
	Read version from IME. More...

msg_t	vexIMEGetVendor (uint8_t device, uint8_t *buf)
	Read vendor from IME. More...

msg_t	vexIMEGetDeviceId (uint8_t device, uint8_t *buf)
	Read device ID from IME. More...

msg_t	vexIMEGetStatus (uint8_t device, uint8_t *buf)
	Read Status from IME. More...

msg_t	vexIMEGetData (uint8_t device, uint8_t *buf)
	Read encoder data from IME. More...

msg_t	vexIMEGetScratchpad (uint8_t device, uint8_t *buf, uint8_t offset, uint8_t len)
	Read scratchpad data from IME. More...

msg_t	vexIMESetScratchpad (uint8_t device, uint8_t *buf, uint8_t offset, uint8_t len)
	Write scratchpad data to the IME. More...

msg_t	vexIMEClearCounters (uint8_t device)
	Clear Counters in IME. More...

msg_t	vexIMEDisableTermination (uint8_t device)
	Disable termination in IME. More...

msg_t	vexIMEEnableTermination (uint8_t device)
	Enable termination in IME. More...

msg_t	vexIMESetAddr (uint8_t *device, unsigned char newDevice)
	Set new Address in IME. More...

msg_t	vexIMEResetAll ()
	Reset an IME. More...

void	vexIMEHandleErrors (msg_t status, i2cflags_t errors)
	Handle received IME I2C errors. More...

void	vexIMEPrintBuf (vexStream chp, uint8_t buf, uint8_t len)
	Print a buffer with IME data. More...

void	vexIMEDebug (vexStream chp, int argc, char argv[])
	Debug function to dump IME buffers. More...

Detailed Description

IME driver.

Function Documentation

int32_t vexImeGetCount ( int16_t channel)

return encoder count

Parameters

[in] channel The encoder channel

Returns: The encoder count - the offset

Note: channel is int16_t to allow this function to be used in callbacks

void vexImeSetCount	(	int16_t	channel,
		int32_t	value
	)

sets encoder count (stores an offset)

Parameters

[in]	channel	The encoder channel
[in]	value	The new encoder count value

Note: channel is int16_t to allow this function to be used in callbacks

int16_t vexImeGetId ( int16_t channel)

return encoder id

Parameters

[in] channel The encoder channel

Returns: The channel id (address) for this channel

imeData* vexImeGetPtr ( tVexImeChannels channel)

return pointer to IME data structure

Parameters

[in] channel The encoder channel

Returns: A pointer to an imeData structure

int16_t vexImeGetChannelMax ( void )

Get the number of IMEs found.

Returns: The number of IMEs that were found during the last init

void vexImeSetType	(	tVexImeChannels	channel,
		tVexMotorType	type
	)

Set motor type that this IME is attached to.

Parameters

[in]	channel	The encoder channel
[in]	type	The motor type

Note: The IME motor type is different to tVexMotorType for backwards compatibility with the legacy vexPRO code.

void vexImeSetMotor	(	tVexImeChannels	channel,
		tVexMotor	motor
	)

Set the motor that this IME is attached to.

Parameters

[in]	channel	The encoder channel
[in]	motor	The motor index

int32_t vexImeMotorGetCount ( tVexMotor motor)

return encoder count based on motor index

Parameters

[in] motor The motor index

Returns: The encoder count for the IME attached to the motor

Note: This function was deprecated

void vexImeInit	(	I2CDriver *	i2cp,
		vexStream *	chp
	)

Initialize IMEs on the I2C bus.

Parameters

[in]	i2cp	A pointer to the I2C driver (chibios hal driver)
[in]	chp	A pointer to a vexStream object (used for debug output)

Precondition: The I2C driver should have already been initialized

msg_t vexIMEUpdateCounts ( imeData * ime)

Read encoder data and then calculate the rpm.

Parameters

[in] ime A pointer to an imeData structure

Returns: The status of the I2C driver

Return values

RDY_OK	If the function succeeded
RDY_RESET	if one or more I2C errors occurred.
RDY_TIMEOUT	if a timeout occurred before operation end.
0	ime pointer is NULL

Note: Internal IME driver use only

void vexIMEDataInit ( imeData * ime)

Init data structure for one IME.

param[in] ime A pointer to a imeData structure

Note: Internal IME driver use only

uint16_t vexIMEFindEncoders ( void )

Search bus and add all encoders found (up to 8)

Returns: The number of IMEs found

Note: Internal IME driver use only

msg_t vexIMEGetVersion	(	uint8_t	device,
		uint8_t *	buf
	)

Read version from IME.

Parameters

[in]	device	The IME address
[out]	buf	Pointer to the buffer for reply data

Returns: The status of the I2C driver

Return values

RDY_OK	If the function succeeded
RDY_RESET	if one or more I2C errors occurred.
RDY_TIMEOUT	if a timeout occurred before operation end.

Note: Internal IME driver use only

msg_t vexIMEGetVendor	(	uint8_t	device,
		uint8_t *	buf
	)

Read vendor from IME.

Parameters

[in]	device	The IME address
[out]	buf	Pointer to the buffer for reply data

Returns: The status of the I2C driver

Return values

RDY_OK	If the function succeeded
RDY_RESET	if one or more I2C errors occurred.
RDY_TIMEOUT	if a timeout occurred before operation end.

Note: Internal IME driver use only

msg_t vexIMEGetDeviceId	(	uint8_t	device,
		uint8_t *	buf
	)

Read device ID from IME.

Parameters

[in]	device	The IME address
[out]	buf	Pointer to the buffer for reply data

Returns: The status of the I2C driver

Return values

RDY_OK	If the function succeeded
RDY_RESET	if one or more I2C errors occurred.
RDY_TIMEOUT	if a timeout occurred before operation end.

Note: Internal IME driver use only

msg_t vexIMEGetStatus	(	uint8_t	device,
		uint8_t *	buf
	)

Read Status from IME.

Parameters

[in]	device	The IME address
[out]	buf	Pointer to the buffer for reply data

Returns: The status of the I2C driver

Return values

RDY_OK	If the function succeeded
RDY_RESET	if one or more I2C errors occurred.
RDY_TIMEOUT	if a timeout occurred before operation end.

Note: Internal IME driver use only

msg_t vexIMEGetData	(	uint8_t	device,
		uint8_t *	buf
	)

Read encoder data from IME.

Parameters

[in]	device	The IME address
[out]	buf	Pointer to the buffer for reply data

Returns: The status of the I2C driver

Return values

RDY_OK	If the function succeeded
RDY_RESET	if one or more I2C errors occurred.
RDY_TIMEOUT	if a timeout occurred before operation end.

Note: Internal IME driver use only

msg_t vexIMEGetScratchpad	(	uint8_t	device,
		uint8_t *	buf,
		uint8_t	offset,
		uint8_t	len
	)

Read scratchpad data from IME.

Parameters

[in]	device	The IME address
[in]	buf	Pointer to the scratchpad data
[in]	offset	An offset into the scratchpad area
[in]	len	The length of the scratchpad data to write

Returns: The status of the I2C driver

Return values

RDY_OK	If the function succeeded
RDY_RESET	if one or more I2C errors occurred.
RDY_TIMEOUT	if a timeout occurred before operation end.

Note: Internal IME driver use only

msg_t vexIMESetScratchpad	(	uint8_t	device,
		uint8_t *	buf,
		uint8_t	offset,
		uint8_t	len
	)

Write scratchpad data to the IME.

Parameters

[in]	device	The IME address
[in]	buf	Pointer to the scratchpad data
[in]	offset	An offset into the scratchpad area
[in]	len	The length of the scratchpad data to write

Returns: The status of the I2C driver

Return values

RDY_OK	If the function succeeded
RDY_RESET	if one or more I2C errors occurred.
RDY_TIMEOUT	if a timeout occurred before operation end.

Note: Internal IME driver use only

msg_t vexIMEClearCounters ( uint8_t device)

Clear Counters in IME.

Parameters

[in] device The IME address

Returns: The status of the I2C driver

Return values

RDY_OK	If the function succeeded
RDY_RESET	if one or more I2C errors occurred.
RDY_TIMEOUT	if a timeout occurred before operation end.

Note: Internal IME driver use only

msg_t vexIMEDisableTermination ( uint8_t device)

Disable termination in IME.

Parameters

[in] device The IME address

Returns: The status of the I2C driver

Return values

RDY_OK	If the function succeeded
RDY_RESET	if one or more I2C errors occurred.
RDY_TIMEOUT	if a timeout occurred before operation end.

Note: Internal IME driver use only

msg_t vexIMEEnableTermination ( uint8_t device)

Enable termination in IME.

Parameters

[in] device The IME address

Returns: The status of the I2C driver

Return values

RDY_OK	If the function succeeded
RDY_RESET	if one or more I2C errors occurred.
RDY_TIMEOUT	if a timeout occurred before operation end.

Note: Internal IME driver use only

msg_t vexIMESetAddr	(	uint8_t *	device,
		unsigned char	newDevice
	)

Set new Address in IME.

Parameters

[in]	device	The IME address
[in]	newDevice	The new IME address

Returns: The status of the I2C driver

Return values

RDY_OK	If the function succeeded
RDY_RESET	if one or more I2C errors occurred.
RDY_TIMEOUT	if a timeout occurred before operation end.

Note: Internal IME driver use only

msg_t vexIMEResetAll ( void )

Reset an IME.

Returns: The status of the I2C driver

Return values

RDY_OK	If the function succeeded
RDY_RESET	if one or more I2C errors occurred.
RDY_TIMEOUT	if a timeout occurred before operation end.

Note: Internal IME driver use only

void vexIMEHandleErrors	(	msg_t	status,
		i2cflags_t	errors
	)

Handle received IME I2C errors.

Parameters

[in]	status	The received message from the I2C low level driver
[in]	errors	The received error status

Note: Internal IME driver use only

void vexIMEPrintBuf	(	vexStream *	chp,
		uint8_t *	buf,
		uint8_t	len
	)

Print a buffer with IME data.

Parameters

[in]	chp	A pointer to a vexStream object
[in]	buf	A pointer to a buffer of uint8_t
[in]	len	The buffer elngth

Note: Used by internal IME debug functions

void vexIMEDebug	(	vexStream *	chp,
		int	argc,
		char *	argv[]
	)

Debug function to dump IME buffers.

Parameters

[in]	chp	A pointer to a vexStream object
[in]	argc	The number of command line arguments
[in]	argv	An array of pointers to the command line args

Functions

Detailed Description

Function Documentation