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