1 files changed, 113 insertions, 0 deletions
diff --git a/source/qFix/qfixI2CSlave.h b/source/qFix/qfixI2CSlave.h
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+++ b/source/qFix/qfixI2CSlave.h
@@ -0,0 +1,113 @@
+//------------------------------------------------------------------
+// qfixI2CSlave.h
+//
+// This is a convenience class for writing I2C slave programs
+// (like slaveBoard.cc).
+// This class supports the qfix I2C protocol.
+//
+// Copyright 2005 by KTB mechatronics GmbH
+// Author: Stefan Enderle
+//------------------------------------------------------------------
+
+
+#ifndef qfixI2CSlave_h
+#define qfixI2CSlave_h
+
+#include "qfixI2C.h"
+#include "qfixI2CDefs.h"
+#include "qfixI2CMaster.h" // Only for constants
+
+
+//---------------------------------------------------------------
+
+class I2CSlave
+{
+public:
+  I2C i2c;
+
+  uint8_t brdID;  // board ID (what board)
+  uint8_t logID;  // logical ID (which one of these boards)
+  
+  void (*commandPtr)(uint8_t cmd, uint8_t* params, uint8_t len);
+  void (*requestPtr)(uint8_t cmd, uint8_t* params, uint8_t len);
+
+
+  uint8_t params[100];
+  uint8_t data[100];
+
+public:
+  /** boardID denotes the board (BobbyBoard, LCD, ...) that 
+  *   shall be used. The logical ID is set to 0.
+  */
+  I2CSlave(uint8_t boardID);
+
+  /** boardID denotes the board (BobbyBoard, LCD, ...) that 
+  *   shall be used. logicalID is the sub-ID (e.g. which LCD).
+  */
+  I2CSlave(uint8_t boardID, uint8_t logicalID);
+
+  void setLogicalID(uint8_t logicalID);
+  
+  void run();
+};
+
+
+I2CSlave::I2CSlave(uint8_t boardID)
+: i2c(), brdID(boardID), logID(0)
+{
+  i2c.setSlaveAdress(boardID);
+}
+
+
+I2CSlave::I2CSlave(uint8_t boardID, uint8_t logicalID)
+: i2c(), brdID(boardID), logID(logicalID)
+{
+  i2c.setSlaveAdress(boardID);
+}
+
+
+void I2CSlave::setLogicalID(uint8_t logicalID)
+{
+  logID = logicalID;
+}
+
+void I2CSlave::run()
+{
+  while (1) {
+  
+    // wait for action on the I2C bus //
+    while (!i2c.isAction())   { }
+
+    // was it a command (send) //
+    if (i2c.isActionSend()) { 
+	
+	  // receive bytes: 0=logical ID, 1=command, 2..n=params
+      int len = i2c.receive(data);
+
+	  // if logical ID matches (or 255) -> execute //
+      if ( (data[0] == logID) || (data[0]==255) ) {
+	  
+	    // is it the first part of a request ? -> save params //
+        if (data[1] == CMD_PARAMS) {
+          for (int i=0; i<len; i++) {
+            params[i] = data[i];
+          }
+        }
+
+        // it is a command -> call the given command function //
+	    else commandPtr(data[1], data+2, len-2);
+	  }
+    }
+
+    // or was it a request (get) //
+    else if (i2c.isActionGet()) { 
+	  requestPtr(params[2], params+3, 0);  // call given rqs function
+    }
+
+    // else ERROR !
+  }
+}
+
+
+#endif
+