Diff: main.cpp

Revision:

2:4dd2f26c5648

Parent:

1:9b7603b90063

--- a/main.cpp	Mon Aug 31 15:09:36 2020 +0000
+++ b/main.cpp	Wed Nov 04 07:24:38 2020 +0000
@@ -16,9 +16,14 @@
 #define CMD_ROBOT_MOVE 4
 #define CMD_ROBOT_STOP 5
 
-uint8_t device_addr = 0x0A;
-char data[52] = {device_addr, 1, CMD_NULL,};
+#define device_addr 0x0A<<1
+#define BUFF_SIZE 52
+
 
+char data[BUFF_SIZE] = {0x0A, 1, CMD_NULL, (CMD_NULL&0xFF), 0, 0, 0, 0, 0, 0, 0, 0,
+                        0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 19, 20,
+                        0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+char sub_addr;
 I2CSlave slave(I2C_SDA, I2C_SCL);
 AnalogIn adc_temp(ADC_TEMP);
 
@@ -26,18 +31,38 @@
 
 //void writeByte(uint8_t address, uint8_t regAddress, uint8_t data);
 //char readByte(uint8_t address, uint8_t regAddress);
+
+/* protocol
+ *    [0]         [1]     [2]  [3]   [4]  [5] [6] [7] [8] [9] [10] [11] [12] [13] [14] [15] [16] [17] [18] [19] [20] [21] [22] [23] [24] [25] [26] [27] [28] [29] [30] [31] [32] [33] [34] [35] [36] [37] [38] [39] [40] [41] [42] [43] [44] [45] [46] [47] [48] [49]
+ *           device_addr        LEN  CMD  write_data
+ */
 int main()
 {
+    PC_DEBUG("hello")
     slave.frequency(400000);
     printf("slave started\n");
     slave.address(device_addr);
-    uint8_t status = 0;
+    int status = 0;
     while(1){
         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);
+            sub_addr = slave.read();
+            int len = slave.read(data+sub_addr, BUFF_SIZE);
+            printf("Read from master: %02x, %02x: ", sub_addr, len);
+            for(int i = 0; i < BUFF_SIZE; i++){
+                printf("%02X ", data[i]);
+            }
+            printf("\n");
+        }
+        else if(status == I2CSlave::ReadAddressed){
+            
+            slave.write(data+sub_addr, data[1]);
+            data[1] = 1;
+            printf("Written to master: ");
+            for(int i = 0; i < 52; i++){
+                printf("%02X ", data[i]);
+            }
+            printf("\n");
         }
     }
 }