1 files changed, 119 insertions, 0 deletions
diff --git a/source/qFix/qfixI2CMaster.h b/source/qFix/qfixI2CMaster.h
new file mode 100644
index 0000000..63badd5
--- /dev/null
+++ b/source/qFix/qfixI2CMaster.h
@@ -0,0 +1,119 @@
+//------------------------------------------------------------------
+// qfixI2CMaster.h
+//
+// This is a convenience class for writing I2C master classes
+// (like SlaveBoard).
+// This class supports the qfix I2C protocol.
+//
+// Copyright 2005 by KTB mechatronics GmbH
+// Author: Stefan Enderle
+//------------------------------------------------------------------
+
+
+#ifndef qfixI2CMaster_h
+#define qfixI2CMaster_h
+
+#include "qfixI2C.h"
+#include "qfixI2CDefs.h"
+
+const uint8_t CMD_PARAMS   = 255;  // the same for all boards
+
+
+//---------------------------------------------------------------
+
+class I2CMaster
+{
+  I2C i2c;
+
+  uint8_t brdID;  // board ID (what board)
+  uint8_t logID;  // logical ID (which one of these boards)
+
+public:
+  /** boardID denotes the board (BobbyBoard, LCD, ...) that 
+  *   shall be used. The logical ID is set to 0.
+  */
+  I2CMaster(uint8_t boardID);
+
+  /** boardID denotes the board (BobbyBoard, LCD, ...) that 
+  *   shall be used. logicalID is the sub-ID (e.g. which LCD).
+  */
+  I2CMaster(uint8_t boardID, uint8_t logicalID);
+
+  void command(uint8_t cmd);
+  void command(uint8_t cmd, uint8_t param);
+  void command(uint8_t cmd, uint8_t param, uint8_t param2);
+  void command(uint8_t cmd, uint8_t param, uint8_t param2, uint8_t param3);
+  uint8_t request(uint8_t cmd, uint8_t param);
+};
+
+
+I2CMaster::I2CMaster(uint8_t boardID)
+: i2c(), brdID(boardID), logID(0)
+{
+}
+
+
+I2CMaster::I2CMaster(uint8_t boardID, uint8_t logicalID)
+: i2c(), brdID(boardID), logID(logicalID)
+{
+}
+
+
+
+void I2CMaster::command(uint8_t cmd)
+{
+  uint8_t buf[2];
+
+  buf[0] = logID;
+  buf[1] = cmd;
+  i2c.send(brdID, buf, 2);
+}
+
+void I2CMaster::command(uint8_t cmd, uint8_t param)
+{
+  uint8_t buf[3];
+
+  buf[0] = logID;
+  buf[1] = cmd;
+  buf[2] = param;
+  i2c.send(brdID, buf, 3);
+}
+
+void I2CMaster::command(uint8_t cmd, uint8_t param, uint8_t param2)
+{
+  uint8_t buf[4];
+
+  buf[0] = logID;
+  buf[1] = cmd;
+  buf[2] = param;
+  buf[3] = param2;
+  i2c.send(brdID, buf, 4);
+}
+
+void I2CMaster::command(uint8_t cmd, uint8_t param, uint8_t param2, uint8_t param3)
+{
+  uint8_t buf[5];
+
+  buf[0] = logID;
+  buf[1] = cmd;
+  buf[2] = param;
+  buf[3] = param2;
+  buf[4] = param3;
+  i2c.send(brdID, buf, 5);
+}
+
+
+uint8_t I2CMaster::request(uint8_t cmd, uint8_t param)
+{
+  // send command and params first //
+  command(CMD_PARAMS, cmd, param);
+
+  // get return value //
+  uint8_t buf[10];
+  i2c.get(brdID, buf, 1);
+  return(buf[0]);
+}
+
+
+#endif
+