TicI2C: Added an optional parameter to the constructor to specify

what I2C bus to use.  Also added `setBus`, `getBus`, and `setAddress`.

Also changed the version number to 2.2.0.

README.md

@@ -1,7 +1,5 @@
 # Tic Stepper Motor Controller library for Arduino
 
-Version: 2.1.1<br>
-Release date: 2021-06-22<br>
 [www.pololu.com](https://www.pololu.com/)
 
 ## Summary
@@ -125,6 +123,9 @@ For complete documentation of this library, see [the tic-arduino documentation][
 
 ## Version history
 
+* 2.2.0 (2024-11-20):
+  - TicI2C: Added an optional parameter to the constructor to specify
+    what I2C bus to use.  Also added `setBus`, `getBus`, and `setAddress`.
 * 2.1.1 (2021-06-22):
   - Fixed some compilation errors and warnings.
 * 2.1.0 (2019-09-16):

Tic.cpp

@@ -178,37 +178,37 @@ void TicSerial::sendCommandHeader(TicCommand cmd)
 
 void TicI2C::commandQuick(TicCommand cmd)
 {
-  Wire.beginTransmission(_address);
-  Wire.write((uint8_t)cmd);
-  _lastError = Wire.endTransmission();
+  _bus->beginTransmission(_address);
+  _bus->write((uint8_t)cmd);
+  _lastError = _bus->endTransmission();
 }
 
 void TicI2C::commandW32(TicCommand cmd, uint32_t val)
 {
-  Wire.beginTransmission(_address);
-  Wire.write((uint8_t)cmd);
-  Wire.write((uint8_t)(val >> 0)); // lowest byte
-  Wire.write((uint8_t)(val >> 8));
-  Wire.write((uint8_t)(val >> 16));
-  Wire.write((uint8_t)(val >> 24)); // highest byte
-  _lastError = Wire.endTransmission();
+  _bus->beginTransmission(_address);
+  _bus->write((uint8_t)cmd);
+  _bus->write((uint8_t)(val >> 0)); // lowest byte
+  _bus->write((uint8_t)(val >> 8));
+  _bus->write((uint8_t)(val >> 16));
+  _bus->write((uint8_t)(val >> 24)); // highest byte
+  _lastError = _bus->endTransmission();
 }
 
 void TicI2C::commandW7(TicCommand cmd, uint8_t val)
 {
-  Wire.beginTransmission(_address);
-  Wire.write((uint8_t)cmd);
-  Wire.write((uint8_t)(val & 0x7F));
-  _lastError = Wire.endTransmission();
+  _bus->beginTransmission(_address);
+  _bus->write((uint8_t)cmd);
+  _bus->write((uint8_t)(val & 0x7F));
+  _lastError = _bus->endTransmission();
 }
 
 void TicI2C::getSegment(TicCommand cmd, uint8_t offset,
   uint8_t length, void * buffer)
 {
-  Wire.beginTransmission(_address);
-  Wire.write((uint8_t)cmd);
-  Wire.write(offset);
-  _lastError = Wire.endTransmission(false); // no stop (repeated start)
+  _bus->beginTransmission(_address);
+  _bus->write((uint8_t)cmd);
+  _bus->write(offset);
+  _lastError = _bus->endTransmission(false); // no stop (repeated start)
   if (_lastError)
   {
     // Set the buffer bytes to 0 so the program will not use an uninitialized
@@ -217,7 +217,7 @@ void TicI2C::getSegment(TicCommand cmd, uint8_t offset,
     return;
   }
 
-  uint8_t byteCount = Wire.requestFrom(_address, (uint8_t)length);
+  uint8_t byteCount = _bus->requestFrom(_address, (uint8_t)length);
   if (byteCount != length)
   {
     _lastError = 50;
@@ -229,7 +229,7 @@ void TicI2C::getSegment(TicCommand cmd, uint8_t offset,
   uint8_t * ptr = (uint8_t *)buffer;
   for (uint8_t i = 0; i < length; i++)
   {
-    *ptr = Wire.read();
+    *ptr = _bus->read();
     ptr++;
   }
 }

Tic.h

@@ -1423,19 +1423,51 @@ class TicI2C : public TicBase
   /// Creates a new TicI2C object that will use the `Wire` object to communicate
   /// with the Tic over I2C.
   ///
-  /// The `address` parameter specifies the 7-bit I2C address to use, and it
-  /// must match the Tic's "Device number" setting.  It defaults to 14.
-  TicI2C(uint8_t address = 14) : _address(address)
+  /// The optional `address` parameter specifies the 7-bit I2C address to use,
+  /// and it must match the Tic's "Device number" setting.  It defaults to 14.
+  ///
+  /// The optional `bus` parameter specifies the I2C bus to use.  You can also
+  /// set the bus with setBus().
+  TicI2C(uint8_t address = 14, TwoWire * bus = &Wire)
+    : _address(address), _bus(bus)
+  {
+  }
+
+  /// Configures this object to use the specified I2C bus.
+  /// The default bus is Wire, which is typically the first or only I2C bus on
+  /// an Arduino.  To use Wire1 instead, you can write:
+  /// ```{.cpp}
+  /// tic.setBus(&Wire1);
+  /// ```
+  /// \param bus A pointer to a TwoWire object representing the I2C bus to use.
+  void setBus(TwoWire * bus)
+  {
+    this->_bus = bus;
+  }
+
+  /// Returns a pointer to the I2C bus that this object is configured to
+  /// use.
+  TwoWire * getBus()
   {
+    return _bus;
   }
 
-  // TODO: support Wire1 on Arduino Due, and bit-banging I2C on any board?
+  /// Configures this object to use the specified 7-bit I2C address.
+  /// This must match the address that the Motoron is configured to use.
+  void setAddress(uint8_t address)
+  {
+    this->_address = address;
+  }
 
-  /// Gets the I2C address specified in the constructor.
-  uint8_t getAddress() { return _address; }
+  /// Returns the 7-bit I2C address that this object is configured to use.
+  uint8_t getAddress()
+  {
+    return _address;
+  }
 
 private:
-  const uint8_t _address;
+  uint8_t _address;
+  TwoWire * _bus;
 
   void commandQuick(TicCommand cmd);
   void commandW32(TicCommand cmd, uint32_t val);

library.properties

@@ -1,5 +1,5 @@
 name=Tic
-version=2.1.1
+version=2.2.0
 author=Pololu
 maintainer=Pololu <[email protected]>
 sentence=Tic Stepper Motor Controller library for Arduino