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//------------------------------------------------------------------
// 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
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