make wire accessing functions virtual

[Chris-42]

will be great to been able to overwrite the methods accessing the wire virtual.
So it will be possible in a derived class to easy access the sensor behind a mux.
virtual bool isConnected();

  virtual uint8_t  readReg(uint8_t reg);
  virtual uint16_t readReg2(uint8_t reg);
  virtual uint8_t  writeReg(uint8_t reg, uint8_t value);
  virtual uint8_t  writeReg2(uint8_t reg, uint16_t value);


I use it like this in my derived ENCODER class:
uint8_t ENCODER::readReg(uint8_t reg) {
  if(!_mux->setMuxChannel(_channel)) {
    _error = AS5600_ERROR_MUX;
    return 0;
  }
  xSemaphoreTake(i2cMutex, portMAX_DELAY);
  uint8_t ret = AS5600::readReg(reg);
  xSemaphoreGive(i2cMutex);
  _mux->freeMux();
  return ret;
}

(updated for syntac highlighting)

[RobTillaart]

Q: how does one knows the _channel?

Does the derived class provides a channel parameter in constructor or setter/getter function for the channel?

---

Not tested, however I think the setting of the I2C channel should also be under the mutex control.

Otherwise one can change channel in another thread before the actual read is done.

I use it like this in my derived ENCODER class:
uint8_t ENCODER::readReg(uint8_t reg) {
  xSemaphoreTake(i2cMutex, portMAX_DELAY);
  if(!_mux->setMuxChannel(_channel)) {
    xSemaphoreGive(i2cMutex);
    _error = AS5600_ERROR_MUX;
    return 0;
  }

  uint8_t ret = AS5600::readReg(reg);
  xSemaphoreGive(i2cMutex);
  _mux->freeMux();
  return ret;
}

[Chris-42]

#ifndef AS5600_ENCODER_H
#define AS5600_ENCODER_H

#include "AS5600.h"
#include "i2c_mux.h"

class ENCODER : public AS5600 {
  public:
    const int     AS5600_ERROR_MUX = -300;
    ENCODER(I2CMUX* mux, uint8_t channel);
    //bool init();
    bool isConnected() override;
    float getAngularSpeed(uint8_t mode = AS5600_MODE_DEGREES);
    int32_t getCumulativePosition();
    void update();
  protected:
    uint8_t readReg(uint8_t reg) override;
    uint16_t readReg2(uint8_t reg) override;
    uint8_t writeReg(uint8_t reg, uint8_t value) override;
    uint8_t writeReg2(uint8_t reg, uint16_t value) override;
  private:
    I2CMUX* _mux;
    uint8_t _channel;
    float _angular_speed;
};


#endif

[Chris-42]

it is only about to be allowed to overide...

[RobTillaart]

@Chris-42

I added the virtual keywords in the PR #68
build is running.