114 lines
2.5 KiB
C
114 lines
2.5 KiB
C
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//------------------------------------------------------------------
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// qfixI2CSlave.h
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//
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// This is a convenience class for writing I2C slave programs
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// (like slaveBoard.cc).
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// This class supports the qfix I2C protocol.
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//
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// Copyright 2005 by KTB mechatronics GmbH
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// Author: Stefan Enderle
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//------------------------------------------------------------------
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#ifndef qfixI2CSlave_h
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#define qfixI2CSlave_h
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#include "qfixI2C.h"
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#include "qfixI2CDefs.h"
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#include "qfixI2CMaster.h" // Only for constants
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//---------------------------------------------------------------
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class I2CSlave
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{
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public:
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I2C i2c;
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uint8_t brdID; // board ID (what board)
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uint8_t logID; // logical ID (which one of these boards)
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void (*commandPtr)(uint8_t cmd, uint8_t* params, uint8_t len);
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void (*requestPtr)(uint8_t cmd, uint8_t* params, uint8_t len);
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uint8_t params[100];
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uint8_t data[100];
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public:
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/** boardID denotes the board (BobbyBoard, LCD, ...) that
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* shall be used. The logical ID is set to 0.
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*/
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I2CSlave(uint8_t boardID);
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/** boardID denotes the board (BobbyBoard, LCD, ...) that
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* shall be used. logicalID is the sub-ID (e.g. which LCD).
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*/
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I2CSlave(uint8_t boardID, uint8_t logicalID);
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void setLogicalID(uint8_t logicalID);
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void run();
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};
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I2CSlave::I2CSlave(uint8_t boardID)
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: i2c(), brdID(boardID), logID(0)
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{
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i2c.setSlaveAdress(boardID);
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}
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I2CSlave::I2CSlave(uint8_t boardID, uint8_t logicalID)
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: i2c(), brdID(boardID), logID(logicalID)
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{
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i2c.setSlaveAdress(boardID);
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}
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void I2CSlave::setLogicalID(uint8_t logicalID)
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{
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logID = logicalID;
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}
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void I2CSlave::run()
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{
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while (1) {
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// wait for action on the I2C bus //
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while (!i2c.isAction()) { }
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// was it a command (send) //
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if (i2c.isActionSend()) {
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// receive bytes: 0=logical ID, 1=command, 2..n=params
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int len = i2c.receive(data);
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// if logical ID matches (or 255) -> execute //
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if ( (data[0] == logID) || (data[0]==255) ) {
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// is it the first part of a request ? -> save params //
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if (data[1] == CMD_PARAMS) {
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for (int i=0; i<len; i++) {
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params[i] = data[i];
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}
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}
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// it is a command -> call the given command function //
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else commandPtr(data[1], data+2, len-2);
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}
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}
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// or was it a request (get) //
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else if (i2c.isActionGet()) {
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requestPtr(params[2], params+3, 0); // call given rqs function
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}
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// else ERROR !
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}
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}
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#endif
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