Diff: main.cpp

Revision:

1:9b7603b90063

Parent:

0:6cf9362fc1a1

Child:

2:4dd2f26c5648

--- a/main.cpp	Wed Aug 26 06:22:26 2020 +0000
+++ b/main.cpp	Mon Aug 31 15:09:36 2020 +0000
@@ -1,4 +1,5 @@
 #include "mbed.h"
+#include <I2CSlave.h>
 #include "Robot.h"
 
 #define L_dir D2
@@ -8,18 +9,51 @@
 #define R_step D6
 #define R_enb D7
 
+#define CMD_NULL 0
+#define CMD_LM_MOVE 1
+#define CMD_RM_MOVE 2
+#define CMD_MOTOR_STOP 3
+#define CMD_ROBOT_MOVE 4
+#define CMD_ROBOT_STOP 5
+
+uint8_t device_addr = 0x0A;
+char data[52] = {device_addr, 1, CMD_NULL,};
+
+I2CSlave slave(I2C_SDA, I2C_SCL);
+AnalogIn adc_temp(ADC_TEMP);
+
 Robot a(L_dir, L_step, L_enb, R_dir, R_step, R_enb);
 
-int main(){
-    a.enable(both);
-    a.move_cm(go, 10);
+//void writeByte(uint8_t address, uint8_t regAddress, uint8_t data);
+//char readByte(uint8_t address, uint8_t regAddress);
+int main()
+{
+    slave.frequency(400000);
+    printf("slave started\n");
+    slave.address(device_addr);
+    uint8_t status = 0;
     while(1){
-        //a.move_speed(go, 30);
-        while(a.isRun()){
-            //a.run_speed(both);
-            a.run(both);
+        status = slave.receive();
+        if(status) printf("status: %d\n", status);
+        if(status == I2CSlave::WriteAddressed){
+            slave.read(data, 52);
+            printf("Read from master: %s\n", data);
         }
-        a.stop(both);
     }
 }
 
+/*void writeByte(uint8_t address, uint8_t regAddress, uint8_t data){
+    char data_write[2];
+    data_write[0] = regAddress;
+    data_write[1] = data;
+    i2c.write(address, data_write, 2, 0);
+}
+
+char readByte(uint8_t address, uint8_t regAddress){
+    char data[1];// 'data' will store the register data
+    char data_write[1]; // for assigning register address
+    data_write[0] = regAddress;
+    i2c.write(address, data_write, 1, 1);// no stop
+    i2c.read(address, data, 1, 0);
+    return data[0];
+}*/
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