Ray Liu
Modify the file main.cpp for M487
Diff: NuMaker-mbed-NuBrick/NuBrickMaster.cpp
- Revision:
- 0:a67fc999dd68
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/NuMaker-mbed-NuBrick/NuBrickMaster.cpp Fri Sep 29 05:44:02 2017 +0000
@@ -0,0 +1,743 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2016 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "NuBrickMaster.h"
+#include <cstring>
+
+SingletonPtr<PlatformMutex> NuBrickMaster::_mutex;
+
+NuBrickMaster::NuBrickMaster(I2C &i2c, int i2c_addr, bool debug)
+ : _i2c(i2c), _i2c_addr(i2c_addr),
+ _i2c_buf_pos(_i2c_buf), _i2c_buf_end(_i2c_buf + sizeof (_i2c_buf) / sizeof (_i2c_buf[0])), _i2c_buf_overflow(false),
+ _connected(false), _debug(debug), _null_field(0, ""),
+ _feature_report_fields(NULL), _num_feature_report_fields(0),
+ _input_report_fields(NULL), _num_input_report_fields(0),
+ _output_report_fields(NULL), _num_output_report_fields(0) {
+
+ // No lock needed in the constructor
+
+ // Set I2C bus clock to 100K.
+ _i2c.frequency(100000);
+
+ memset(_i2c_buf, 0x00, sizeof (_i2c_buf));
+}
+
+NuBrickMaster::~NuBrickMaster() {
+
+ // Remove fields of feature report allocated by subclass
+ remove_feature_fields();
+ // Remove fields of input report allocated by subclass
+ remove_input_fields();
+ // Remove fields of output report allocated by subclass
+ remove_output_fields();
+}
+
+bool NuBrickMaster::connect(void) {
+ // Support thread-safe
+ MutexGuard guard;
+
+ if (_connected) {
+ return true;
+ }
+
+ // Get device descriptor
+ if (! pull_device_desc()) {
+ _connected = false;
+ NUBRICK_ERROR_RETURN_FALSE("pull_device_desc() failed\r\n");
+ }
+ // Get report descriptor
+ if (! pull_report_desc()) {
+ _connected = false;
+ NUBRICK_ERROR_RETURN_FALSE("pull_report_desc() failed\r\n");
+ }
+
+ _connected = true;
+ return true;
+}
+
+NuBrickField &NuBrickMaster::operator[](const char *report_field_name) {
+ // Support thread-safe
+ MutexGuard guard;
+
+ if (! report_field_name) {
+ NUBRICK_ERROR_RETURN_NULL_FIELD("NULL string not support\r\n");
+ }
+
+ const char *dot_plus_field_name = strchr(report_field_name, '.');
+ if (dot_plus_field_name == NULL) {
+ NUBRICK_ERROR_RETURN_NULL_FIELD("%s not support\r\n", report_field_name);
+ }
+
+ const char *field_name = dot_plus_field_name + 1;
+ unsigned report_name_len = dot_plus_field_name - report_field_name;
+
+ if (strncmp("feature", report_field_name, report_name_len) == 0) {
+ NuBrickField *field = _feature_report_fields;
+ NuBrickField *field_end = _feature_report_fields + _num_feature_report_fields;
+
+ for (; field != field_end; field ++) {
+ const char *field_name_iter = field->_name;
+
+ if (strcmp(field_name, field_name_iter) == 0) {
+ return *field;
+ }
+ }
+ NUBRICK_ERROR_RETURN_NULL_FIELD("%s not support\r\n", report_field_name);
+ }
+ else if (strncmp("input", report_field_name, report_name_len) == 0) {
+ NuBrickField *field = _input_report_fields;
+ NuBrickField *field_end = _input_report_fields + _num_input_report_fields;
+
+ for (; field != field_end; field ++) {
+ const char *field_name_iter = field->_name;
+
+ if (strcmp(field_name, field_name_iter) == 0) {
+ return *field;
+ }
+ }
+ NUBRICK_ERROR_RETURN_NULL_FIELD("%s not support\r\n", report_field_name);
+
+ }
+ else if (strncmp("output", report_field_name, report_name_len) == 0) {
+ NuBrickField *field = _output_report_fields;
+ NuBrickField *field_end = _output_report_fields + _num_output_report_fields;
+
+ for (; field != field_end; field ++) {
+ const char *field_name_iter = field->_name;
+
+ if (strcmp(field_name, field_name_iter) == 0) {
+ return *field;
+ }
+ }
+ NUBRICK_ERROR_RETURN_NULL_FIELD("%s not support\r\n", report_field_name);
+ }
+ else {
+ NUBRICK_ERROR_RETURN_NULL_FIELD("%s not support\r\n", report_field_name);
+ }
+
+}
+
+bool NuBrickMaster::pull_device_desc(void) {
+ // Support thread-safe
+ MutexGuard guard;
+
+ // Send GetDeviceDescriptor command
+ nu_set16_le(_i2c_buf, NuBrick_Comm_GetDeviceDesc);
+ if (_i2c.write(_i2c_addr, (char *) _i2c_buf, 2, true)) {
+ NUBRICK_ERROR_RETURN_FALSE("i2c.write() failed\r\n");
+ }
+
+ // Receive device descriptor
+ if (_i2c.read(_i2c_addr, (char *) _i2c_buf, NuBrick_DeviceDesc_Len, false)) {
+ NUBRICK_ERROR_RETURN_FALSE("i2c.read() failed\r\n");
+ }
+
+ // Un-serialize device descriptor
+ _i2c_buf_pos = _i2c_buf;
+ if (! unserialize_device_desc()) {
+ NUBRICK_ERROR_RETURN_FALSE("unserialize_device_desc() failed\r\n");
+ }
+
+ return true;
+}
+
+bool NuBrickMaster::pull_report_desc(void) {
+ // Support thread-safe
+ MutexGuard guard;
+
+ // Send GetReportDescriptor command
+ nu_set16_le(_i2c_buf, NuBrick_Comm_GetReportDesc);
+ if (_i2c.write(_i2c_addr, (char *) _i2c_buf, 2, true)) {
+ NUBRICK_ERROR_RETURN_FALSE("i2c.write() failed\r\n");
+ }
+
+ // Receive report descriptor
+ if (_i2c.read(_i2c_addr, (char *) _i2c_buf, _dev_desc.report_desc_len, false)) {
+ NUBRICK_ERROR_RETURN_FALSE("i2c.read() failed\r\n");
+ }
+
+ // Un-serialize report descriptor
+ _i2c_buf_pos = _i2c_buf;
+ if (! unserialize_report_desc()) {
+ NUBRICK_ERROR_RETURN_FALSE("unserialize_report_desc() failed\r\n");
+ }
+
+ return true;
+}
+
+bool NuBrickMaster::pull_input_report(void) {
+ // Support thread-safe
+ MutexGuard guard;
+
+ NUBRICK_CHECK_CONNECT();
+
+ // Send GetInputReport command
+ nu_set16_le(_i2c_buf, NuBrick_Comm_GetInputReport);
+ if (_i2c.write(_i2c_addr, (char *) _i2c_buf, 2, true)) {
+ NUBRICK_ERROR_RETURN_FALSE("i2c.write() failed\r\n");
+ }
+
+ // Receive input report
+ if (_i2c.read(_i2c_addr, (char *) _i2c_buf, _dev_desc.input_report_len, false)) {
+ NUBRICK_ERROR_RETURN_FALSE("i2c.read() failed\r\n");
+ }
+
+ // Un-serialize input report
+ _i2c_buf_pos = _i2c_buf;
+ if (! unserialize_input_report()) {
+ NUBRICK_ERROR_RETURN_FALSE("unserialize_input_report() failed\r\n");
+ }
+
+ return true;
+}
+
+bool NuBrickMaster::push_output_report(void) {
+ // Support thread-safe
+ MutexGuard guard;
+
+ NUBRICK_CHECK_CONNECT();
+
+ _i2c_buf_pos = _i2c_buf;
+
+ // Send SetOutputReport command
+ set16_le_next(NuBrick_Comm_SetOutputReport);
+
+ // Serialize output report
+ if (! serialize_output_report()) {
+ NUBRICK_ERROR_RETURN_FALSE("serialize_output_report() failed\r\n");
+ }
+
+ // Send Output report
+ if (_i2c.write(_i2c_addr, (char *) _i2c_buf, _i2c_buf_pos - _i2c_buf, false)) {
+ NUBRICK_ERROR_RETURN_FALSE("i2c.write() failed\r\n");
+ }
+
+ return true;
+}
+
+bool NuBrickMaster::pull_feature_report(void) {
+ // Support thread-safe
+ MutexGuard guard;
+
+ NUBRICK_CHECK_CONNECT();
+
+ // Send GetFeatureReport command
+ nu_set16_le(_i2c_buf, NuBrick_Comm_GetFeatureReport);
+ if (_i2c.write(_i2c_addr, (char *) _i2c_buf, 2, true)) {
+ NUBRICK_ERROR_RETURN_FALSE("i2c.write() failed\r\n");
+ }
+
+ // Receive feature report
+ if (_i2c.read(_i2c_addr, (char *) _i2c_buf, _dev_desc.getfeat_report_len, false)) {
+ NUBRICK_ERROR_RETURN_FALSE("i2c.read() failed\r\n");
+ }
+
+ // Un-serialize feature report
+ _i2c_buf_pos = _i2c_buf;
+ if (! unserialize_feature_report()) {
+ NUBRICK_ERROR_RETURN_FALSE("unserialize_feature_report() failed\r\n");
+ }
+
+ return true;
+}
+
+bool NuBrickMaster::push_feature_report(void) {
+ // Support thread-safe
+ MutexGuard guard;
+
+ NUBRICK_CHECK_CONNECT();
+
+ _i2c_buf_pos = _i2c_buf;
+
+ // Send SetFeatureReport command
+ set16_le_next(NuBrick_Comm_SetFeatureReport);
+
+ // Serialize feature report
+ if (! serialize_feature_report()) {
+ NUBRICK_ERROR_RETURN_FALSE("serialize_feature_report() failed\r\n");
+ }
+
+ // Send feature report
+ if (_i2c.write(_i2c_addr, (char *) _i2c_buf, _i2c_buf_pos - _i2c_buf, false)) {
+ NUBRICK_ERROR_RETURN_FALSE("i2c.write() failed\r\n");
+ }
+
+ return true;
+}
+
+bool NuBrickMaster::print_device_desc(void) {
+ // Support thread-safe
+ MutexGuard guard;
+
+ NUBRICK_CHECK_CONNECT();
+
+ printf("Device descriptor length\t\t%d\r\n", _dev_desc.dev_desc_len);
+ printf("Report descriptor length\t\t%d\r\n", _dev_desc.report_desc_len);
+ printf("Input report length\t\t\t%d\r\n", _dev_desc.input_report_len);
+ printf("Output report length\t\t\t%d\r\n", _dev_desc.output_report_len);
+ printf("Get feature report length\t\t%d\r\n", _dev_desc.getfeat_report_len);
+ printf("Set feature report length\t\t%d\r\n", _dev_desc.setfeat_report_len);
+ printf("Company ID\t\t\t\t%d\r\n", _dev_desc.cid);
+ printf("Device ID\t\t\t\t%d\r\n", _dev_desc.did);
+ printf("Product ID\t\t\t\t%d\r\n", _dev_desc.pid);
+ printf("Product ID\t\t\t\t%d\r\n", _dev_desc.uid);
+ printf("Product ID\t\t\t\t%d\r\n", _dev_desc.ucid);
+
+ return true;
+}
+
+bool NuBrickMaster::print_feature_report(void) {
+ // Support thread-safe
+ MutexGuard guard;
+
+ NUBRICK_CHECK_CONNECT();
+
+ print_report(_feature_report_fields, _num_feature_report_fields, "feature report");
+
+ return true;
+}
+
+
+bool NuBrickMaster::print_input_report(void) {
+ // Support thread-safe
+ MutexGuard guard;
+
+ NUBRICK_CHECK_CONNECT();
+
+ print_report(_input_report_fields, _num_input_report_fields, "input report");
+
+ return true;
+}
+
+
+bool NuBrickMaster::print_output_report(void) {
+ // Support thread-safe
+ MutexGuard guard;
+
+ NUBRICK_CHECK_CONNECT();
+
+ print_report(_output_report_fields, _num_output_report_fields, "output report");
+
+ return true;
+}
+
+void NuBrickMaster::add_feature_fields(const NuBrickField::IndexName *field_index_name, unsigned num_index_name) {
+
+ remove_report_fields(_feature_report_fields, _num_feature_report_fields);
+ add_report_fields(field_index_name, num_index_name, _feature_report_fields, _num_feature_report_fields);
+}
+
+void NuBrickMaster::remove_feature_fields(void) {
+
+ remove_report_fields(_feature_report_fields, _num_feature_report_fields);
+}
+
+void NuBrickMaster::add_input_fields(const NuBrickField::IndexName *field_index_name, unsigned num_index_name) {
+
+ remove_report_fields(_input_report_fields, _num_input_report_fields);
+ add_report_fields(field_index_name, num_index_name, _input_report_fields, _num_input_report_fields);
+}
+
+void NuBrickMaster::remove_input_fields(void) {
+
+ remove_report_fields(_input_report_fields, _num_input_report_fields);
+}
+
+void NuBrickMaster::add_output_fields(const NuBrickField::IndexName *field_index_name, unsigned num_index_name) {
+
+ remove_report_fields(_output_report_fields, _num_output_report_fields);
+ add_report_fields(field_index_name, num_index_name, _output_report_fields, _num_output_report_fields);
+}
+
+void NuBrickMaster::remove_output_fields(void) {
+
+ remove_report_fields(_output_report_fields, _num_output_report_fields);
+}
+
+void NuBrickMaster::add_report_fields(const NuBrickField::IndexName *field_index_name, unsigned num_index_name,
+ NuBrickField *&report_fields, unsigned &num_report_fields) {
+
+ MBED_ASSERT(report_fields == NULL);
+ MBED_ASSERT(num_report_fields == 0);
+
+ unsigned i;
+
+ num_report_fields = num_index_name;
+ void *raw_memory = ::operator new(sizeof (NuBrickField) * num_index_name);
+ report_fields = static_cast<NuBrickField *>(raw_memory);
+ for (i = 0; i < num_index_name; i ++) {
+ NuBrickField *field = report_fields + i;
+ new (field) NuBrickField(field_index_name[i].first, field_index_name[i].second);
+ }
+}
+
+void NuBrickMaster::NuBrickMaster::remove_report_fields(NuBrickField *&report_fields, unsigned &num_report_fields) {
+
+ unsigned i;
+
+ for (i = 0; i < num_report_fields; i ++) {
+ NuBrickField *field = report_fields + i;
+ field->~NuBrickField();
+ }
+
+ ::operator delete((void *) report_fields);
+ report_fields = NULL;
+ num_report_fields = 0;
+}
+
+bool NuBrickMaster::unserialize_device_desc(void) {
+
+ // Device descriptor length
+ _dev_desc.dev_desc_len = get16_le_next();
+
+ // Report descriptor length
+ _dev_desc.report_desc_len = get16_le_next();
+
+ // Input report length
+ _dev_desc.input_report_len = get16_le_next();
+
+ // Output report length
+ _dev_desc.output_report_len = get16_le_next();
+
+ // Get feature report length
+ _dev_desc.getfeat_report_len = get16_le_next();
+
+ // Set feature report length
+ _dev_desc.setfeat_report_len = get16_le_next();
+
+ // CID
+ _dev_desc.cid = get16_le_next();
+
+ // DID
+ _dev_desc.did = get16_le_next();
+
+ // PID
+ _dev_desc.pid = get16_le_next();
+
+ // UID
+ _dev_desc.uid = get16_le_next();
+
+ // UCID
+ _dev_desc.ucid = get16_le_next();
+
+ // Reserved 1
+ _dev_desc.reserved1 = get16_le_next();
+
+ // Reserved 2
+ _dev_desc.reserved2 = get16_le_next();
+
+ if (_dev_desc.dev_desc_len != NuBrick_DeviceDesc_Len) {
+ NUBRICK_ERROR_RETURN_FALSE("Length of device descriptor doesn't match\r\n");
+ }
+
+ return true;
+}
+
+
+bool NuBrickMaster::unserialize_report_desc(void) {
+
+ // Report descriptor length
+ uint16_t report_desc_len = get16_le_next();
+ if (report_desc_len != _dev_desc.report_desc_len) {
+ NUBRICK_ERROR_RETURN_FALSE("Length of report descriptor doesn't match\r\n");
+ }
+
+ uint16_t desc_type;
+ NuBrickField *field = NULL;
+ NuBrickField *field_end = NULL;
+
+ // Check no feature report descriptor
+ if (! _num_feature_report_fields) {
+ return true;
+ }
+
+ // Feature report descriptor type
+ desc_type = get16_be_next();
+ if (desc_type != NuBrick_DescType_FeatureReport) {
+ NUBRICK_ERROR_RETURN_FALSE("Expect feature report descriptor type %d, but %d received\r\n", NuBrick_DescType_FeatureReport, desc_type);
+ }
+
+ // Un-serialize feature report fields from report descriptor
+ field = _feature_report_fields;
+ field_end = _feature_report_fields + _num_feature_report_fields;
+ for (; field != field_end; field ++) {
+ if (! unserialize_field_from_report_desc(field)) {
+ NUBRICK_ERROR_RETURN_FALSE("unserialize_field_from_report_desc() failed\r\n");
+ }
+ }
+
+ // Check no input report descriptor
+ if (! _num_input_report_fields) {
+ return true;
+ }
+
+ // Input report descriptor type
+ desc_type = get16_be_next();
+ if (desc_type != NuBrick_DescType_InputReport) {
+ NUBRICK_ERROR_RETURN_FALSE("Expect input report descriptor type %d, but %d received\r\n", NuBrick_DescType_InputReport, desc_type);
+ }
+
+ // Un-serialize input report fields from report descriptor
+ field = _input_report_fields;
+ field_end = _input_report_fields + _num_input_report_fields;
+ for (; field != field_end; field ++) {
+ if (! unserialize_field_from_report_desc(field)) {
+ NUBRICK_ERROR_RETURN_FALSE("unserialize_field_from_report_desc() failed\r\n");
+ }
+ }
+
+ // Check no output report descriptor
+ if (! _num_output_report_fields) {
+ return true;
+ }
+
+ // Output report descriptor type
+ desc_type = get16_be_next();
+ if (desc_type != NuBrick_DescType_OutputReport) {
+ NUBRICK_ERROR_RETURN_FALSE("Expect output report descriptor type %d, but %d received\r\n", NuBrick_DescType_OutputReport, desc_type);
+ }
+
+ // Un-serialize output report fields from report descriptor
+ field = _output_report_fields;
+ field_end = _output_report_fields + _num_output_report_fields;
+ for (; field != field_end; field ++) {
+ if (! unserialize_field_from_report_desc(field)) {
+ NUBRICK_ERROR_RETURN_FALSE("unserialize_field_from_report_desc() failed\r\n");
+ }
+ }
+
+ return true;
+}
+
+bool NuBrickMaster::unserialize_input_report(void) {
+
+ // Input report length
+ uint16_t report_len = get16_le_next();
+ if (report_len != _dev_desc.input_report_len) {
+ NUBRICK_ERROR_RETURN_FALSE("Length of input report doesn't match\r\n");
+ }
+
+ // Un-serialize fields from input report
+ NuBrickField *field = _input_report_fields;
+ NuBrickField *field_end = _input_report_fields + _num_input_report_fields;
+ for (; field != field_end; field ++) {
+ if (! unserialize_field_from_report(field)) {
+ NUBRICK_ERROR_RETURN_FALSE("unserialize_field_from_report() failed\r\n");
+ }
+ }
+
+ return true;
+}
+
+bool NuBrickMaster::serialize_output_report(void) {
+
+ uint8_t *i2c_buf_beg = _i2c_buf_pos;
+
+ // Output report length
+ set16_le_next(_dev_desc.output_report_len);
+
+ // Serialize fields to output report
+ NuBrickField *field = _output_report_fields;
+ NuBrickField *field_end = _output_report_fields + _num_output_report_fields;
+ for (; field != field_end; field ++) {
+ if (! serialize_field_to_report(field)) {
+ NUBRICK_ERROR_RETURN_FALSE("serialize_field_to_report() failed\r\n");
+ }
+ }
+
+ if ((_i2c_buf_pos - i2c_buf_beg) != _dev_desc.output_report_len) {
+ NUBRICK_ERROR_RETURN_FALSE("Length of output report doesn't match\r\n");
+ }
+
+ return true;
+}
+
+bool NuBrickMaster::unserialize_feature_report(void) {
+
+ // Feature report length
+ uint16_t report_len = get16_le_next();
+ if (report_len != _dev_desc.getfeat_report_len) {
+ NUBRICK_ERROR_RETURN_FALSE("Length of feature report doesn't match\r\n");
+ }
+
+ // Un-serialize fields from feature report
+ NuBrickField *field = _feature_report_fields;
+ NuBrickField *field_end = _feature_report_fields + _num_feature_report_fields;
+ for (; field != field_end; field ++) {
+ if (! unserialize_field_from_report(field)) {
+ NUBRICK_ERROR_RETURN_FALSE("unserialize_field_from_report() failed\r\n");
+ }
+ }
+
+ return true;
+}
+
+bool NuBrickMaster::serialize_feature_report(void) {
+
+ uint8_t *i2c_buf_beg = _i2c_buf_pos;
+
+ // Feature report length
+ set16_le_next(_dev_desc.setfeat_report_len);
+
+ // Serialize fields to feature report
+ NuBrickField *field = _feature_report_fields;
+ NuBrickField *field_end = _feature_report_fields + _num_feature_report_fields;
+ for (; field != field_end; field ++) {
+ if (! serialize_field_to_report(field)) {
+ NUBRICK_ERROR_RETURN_FALSE("serialize_field_to_report() failed\r\n");
+ }
+ }
+
+ if ((_i2c_buf_pos - i2c_buf_beg) != _dev_desc.setfeat_report_len) {
+ NUBRICK_ERROR_RETURN_FALSE("Length of set feature report doesn't match\r\n");
+ }
+
+ return true;
+}
+
+bool NuBrickMaster::unserialize_field_from_report_desc(NuBrickField *field) {
+ // Number/length of the field
+ uint8_t field_index = get8_next();
+ if (field_index != field->_field_index) {
+ NUBRICK_ERROR_RETURN_FALSE("Expect field index %d, but %d received\r\n", field->_field_index, field_index);
+ }
+
+ // Length of the field
+ field->_length = get8_next();
+ if (field->_length != 1 && field->_length != 2) {
+ NUBRICK_ERROR_RETURN_FALSE("Expect field length 1/2, but %d received\r\n", field->_length);
+ }
+
+ // Minimum of the field
+ uint8_t min = get8_next();
+ switch (min) {
+ case NuBrick_ReportDesc_Min_Plus1:
+ field->_minimum = get8_next();
+ break;
+
+ case NuBrick_ReportDesc_Min_Plus2:
+ field->_minimum = get16_le_next();
+ break;
+
+ default:
+ NUBRICK_ERROR_RETURN_FALSE("Expect field minimum %d/%d, but %d received\r\n", NuBrick_ReportDesc_Min_Plus1, NuBrick_ReportDesc_Min_Plus2, min);
+ }
+
+ // Maximum of the field
+ uint8_t max = get8_next();
+ switch (max) {
+ case NuBrick_ReportDesc_Max_Plus1:
+ field->_maximum = get8_next();
+ break;
+
+ case NuBrick_ReportDesc_Max_Plus2:
+ field->_maximum = get16_le_next();
+ break;
+
+ default:
+ NUBRICK_ERROR_RETURN_FALSE("Expect field maximum %d/%d, but %d received\r\n", NuBrick_ReportDesc_Max_Plus1, NuBrick_ReportDesc_Max_Plus2, max);
+ }
+
+ return true;
+}
+
+bool NuBrickMaster::unserialize_field_from_report(NuBrickField *field) {
+ // Value of the field
+ switch (field->_length) {
+ case 1:
+ field->_value = get8_next();
+ break;
+
+ case 2:
+ field->_value = get16_le_next();
+ break;
+
+ default:
+ NUBRICK_ERROR_RETURN_FALSE("Expect field length 1/2, but %d received\r\n", field->_length);
+ }
+
+ return true;
+}
+
+bool NuBrickMaster::serialize_field_to_report(const NuBrickField *field) {
+ // Value of the field
+ switch (field->_length) {
+ case 1:
+ set8_next(field->_value);
+ break;
+
+ case 2:
+ set16_le_next(field->_value);
+ break;
+
+ default:
+ NUBRICK_ERROR_RETURN_FALSE("Expect field length 1/2, but %d received\r\n", field->_length);
+ }
+
+ return true;
+}
+
+uint8_t NuBrickMaster::get8_next(void) {
+ NUBRICK_CHECK_GETN_NEXT(1);
+
+ uint8_t val = *_i2c_buf_pos ++;
+ return val;
+}
+
+void NuBrickMaster::set8_next(uint8_t val) {
+ NUBRICK_CHECK_SETN_NEXT(1);
+
+ *_i2c_buf_pos ++ = val;
+}
+
+uint16_t NuBrickMaster::get16_le_next(void) {
+ NUBRICK_CHECK_GETN_NEXT(2);
+
+ uint16_t val = nu_get16_le(_i2c_buf_pos);
+ _i2c_buf_pos += 2;
+ return val;
+}
+
+void NuBrickMaster::set16_le_next(uint16_t val) {
+ NUBRICK_CHECK_SETN_NEXT(2);
+
+ nu_set16_le(_i2c_buf_pos, val);
+ _i2c_buf_pos += 2;
+}
+
+uint16_t NuBrickMaster::get16_be_next(void) {
+ NUBRICK_CHECK_GETN_NEXT(2);
+
+ uint16_t val = nu_get16_be(_i2c_buf_pos);
+ _i2c_buf_pos += 2;
+ return val;
+}
+
+void NuBrickMaster::print_report(NuBrickField *fields, unsigned num_fields, const char *report_name) {
+
+ printf("Number of fields of %s\t%d\r\n", report_name, num_fields);
+
+ unsigned i;
+ for (i = 0; i < num_fields; i ++) {
+ NuBrickField *field = fields + i;
+
+ printf("Name\t\t%s\r\n", field->_name);
+ printf("Length\t\t%d\r\n", field->_length);
+ printf("Value\t\t%d\r\n", field->_value);
+ printf("Minimum\t\t%d\r\n", field->_minimum);
+ printf("Maximum\t\t%d\r\n", field->_maximum);
+ printf("\r\n");
+ }
+}