diff --git a/menu_programs/i2c_master.py b/menu_programs/i2c_master.py
index 65629d66a4709610ab42bffd2788bf73d87a039a..1df93a4c7d9b149693aa97e0e7658b4159131a06 100644
--- a/menu_programs/i2c_master.py
+++ b/menu_programs/i2c_master.py
@@ -6,60 +6,82 @@ from lib.hw_defs.pins import UTZ_I2C_SDA_PIN, UTZ_I2C_SCK_PIN, I2C_STRONG_PULL_R
ASCII_a = 97
ADDRESS = 0x44
+W_ADDRESS = 0x0b
+W_ADDRESS_MAX = 0x1b
+R_ADDRESS = 0x0a
+
+
+TIMEOUT = 3
def i2c_master_run(robot):
robot.init_i2c_master()
- data_received_parsed = 0x5F
- data_received = None
+ write_mem_add = W_ADDRESS
data_sending = 0
- debounce = False
- connected = False
- robot.display.fill(0)
- robot.display.centered_text(f"I2C master", 0, 1)
- robot.display.text('< exit', 0, 54, 1)
- robot.display.show()
- utime.sleep(0.2)
- while ADDRESS not in robot.i2c_master.i2c.scan():
+ while True:
+ data_received_parsed = 0x5F
+ data_received = None
+ debounce = False
+ timeout = 0
+
+ robot.display.fill(0)
robot.display.centered_text(f"I2C master", 0, 1)
+ robot.display.text('< exit', 0, 54, 1)
robot.display.centered_text(f"Slave", 18, 1)
robot.display.centered_text(f"not found", 28, 1)
- robot.display.text('< exit', 0, 54, 1)
- robot.display.show()
- buttons = robot.buttons.pressed_since()
- if buttons[Button.LEFT]:
- return
+
+ robot.buttons.pressed_since()
+ utime.sleep(0.3)
+ all_add = robot.i2c_master.i2c.scan()
+ while not all_add:
+ robot.display.show()
+ all_add = robot.i2c_master.i2c.scan()
+ buttons = robot.buttons.pressed_since()
+ if buttons[Button.LEFT]:
+ return
+ slave_add = all_add[0]
- while True:
- robot.display.fill(0)
- robot.display.centered_text(f"I2C master", 0, 1)
- robot.display.text(f"Sending: {chr(data_sending+ASCII_a)}", 0, 16, 1)
- robot.display.text(f"Received: {chr(data_received_parsed)}", 0, 26, 1)
- robot.display.text('< exit char', 0, 54, 1)
- robot.display.draw_arrow(74, 56, robot.display.UP, 1)
- robot.display.draw_arrow(84, 61, robot.display.DOWN, 1)
- robot.display.show()
+ while timeout < TIMEOUT:
+ robot.display.fill(0)
+ robot.display.centered_text(f"I2C master", 0, 1)
+ robot.display.text(f"Slave add {slave_add}", 0, 16, 1)
+ robot.display.text(f"Send to {write_mem_add}: {chr(data_sending+ASCII_a)}", 0, 26, 1)
+ robot.display.text(f"Read from {R_ADDRESS}: {chr(data_received_parsed)}", 0, 36, 1)
+ robot.display.text('< exit char', 0, 54, 1)
+ robot.display.draw_arrow(74, 56, robot.display.UP, 1)
+ robot.display.draw_arrow(84, 61, robot.display.DOWN, 1)
+ robot.display.show()
- robot.i2c_master.write(ADDRESS, (data_sending + ASCII_a).to_bytes(1, 'big'), mem_add=1)
- data_received = robot.i2c_master.read(ADDRESS, 1, mem_add=2)
- if data_received and data_received != b'\x00':
- data_received_parsed = int.from_bytes(data_received, 'big')
+ data_written = robot.i2c_master.write(slave_add, (data_sending + ASCII_a).to_bytes(1, 'big'), mem_add=write_mem_add)
+ data_received = robot.i2c_master.read(slave_add, 1, mem_add=R_ADDRESS)
+ if data_received and data_received != b'\x00':
+ print("Received: ", data_received)
+ data_received_parsed = int.from_bytes(data_received, 'big')
+ elif not data_written:
+ timeout += 1
+ print(data_written, data_received)
- buttons = robot.buttons.pressed_since()
- if buttons[Button.LEFT]:
- break
- if not debounce:
- if buttons[Button.UP]:
- robot.buttons.set_pin(I2C_STRONG_PULL_RPIN_BIT, True)
- data_sending -= 1
- data_sending = data_sending % 26
- debounce = True
- if buttons[Button.DOWN]:
- robot.buttons.set_pin(I2C_STRONG_PULL_RPIN_BIT, False)
- data_sending += 1
- data_sending = data_sending % 26
- debounce = True
-
- if not buttons[Button.UP] and not buttons[Button.DOWN]:
- debounce = False
- utime.sleep(0.1)
\ No newline at end of file
+ buttons = robot.buttons.pressed_since()
+ if buttons[Button.LEFT]:
+ return
+ if not debounce:
+ if buttons[Button.UP]:
+ #robot.buttons.set_pin(I2C_STRONG_PULL_RPIN_BIT, False)
+ data_sending -= 1
+ data_sending = data_sending % 26
+ debounce = True
+ if buttons[Button.DOWN]:
+ data_sending += 1
+ data_sending = data_sending % 26
+ debounce = True
+ if buttons[Button.RIGHT]:
+ #robot.buttons.set_pin(I2C_STRONG_PULL_RPIN_BIT, True)
+ write_mem_add += 1
+ if write_mem_add > W_ADDRESS_MAX:
+ write_mem_add = W_ADDRESS
+ debounce = True
+
+
+ if not buttons[Button.UP] and not buttons[Button.DOWN] and not buttons[Button.RIGHT] and not buttons[Button.LEFT]:
+ debounce = False
+ utime.sleep(0.1)
\ No newline at end of file
diff --git a/menu_programs/i2c_slave.py b/menu_programs/i2c_slave.py
index b8687b3447dd7ccf4794c9c2254bd652aee9f03e..c6d428ea19d80f69a71f697632e9ed2eef8f1694 100644
--- a/menu_programs/i2c_slave.py
+++ b/menu_programs/i2c_slave.py
@@ -1,43 +1,68 @@
import utime
-from machine import mem32,mem8,Pin
+from machine import mem32,mem8,Pin,
from lib.robot_consts import Button
from lib.hw_defs.pins import UTZ_I2C_SDA_PIN, UTZ_I2C_SCK_PIN, I2C_STRONG_PULL_RPIN
ASCII_a = 97
ADDRESS = 0x44
+ADDRESS_MAX = 0x50
+W_ADDRESS = 0x0b
+R_ADDRESS = 0x0a
+drdy = 0
-def i2c_slave_run(robot):
+def i2c_slave_irq(i2c_slave):
+ global drdy
+ if (i2c_slave.irq().flags() & i2c_slave.RECEIVED):
+ drdy = 1
- def i2c_slave_irq(i2c_slave):
- print(i2c_slave)
- print(robot.i2c_slave.read(1))
+def i2c_slave_run(robot):
+ global drdy,irq_c
robot.init_i2c_slave(ADDRESS)
- robot.i2c_slave.irq(i2c_slave_irq, robot.i2c_slave.READ | robot.i2c_slave.RECEIVED, False)
+ robot.i2c_slave.irq(i2c_slave_irq, (robot.i2c_slave.READ | robot.i2c_slave.RECEIVED), False)
+
data_received = None
data_show = 0x5F
data_sending = 0
debounce = False
+ slave_add = ADDRESS
+ received_add = 0
+
+ robot.i2c_slave.write(R_ADDRESS, data_sending + ASCII_a)
robot.display.fill(0)
robot.display.centered_text(f"I2C slave", 0, 1)
robot.display.text('< exit', 0, 54, 1)
robot.display.show()
while True:
+ if drdy:
+ flags = robot.i2c_slave.written_flags()
+ for i in range(len(flags)):
+ flag_q = flags[i]
+ if flag_q > 0:
+ received_add = i * 64
+ for j in range(64):
+ if flag_q & 1:
+ received_add += j
+ break
+ flag_q = flag_q >> 1
+ break
+ drdy = 0
+
+ data_received = robot.i2c_slave.read(received_add)
+ if data_received:
+ data_show = data_received
+
robot.display.fill(0)
robot.display.centered_text(f"I2C slave", 0, 1)
- robot.display.text(f"Sending: {chr(data_sending+ASCII_a)}", 0, 16, 1)
- robot.display.text(f"Received: {chr(data_show)}", 0, 26, 1)
+ robot.display.text(f"Slave add {slave_add}", 0, 16, 1)
+ robot.display.text(f"Send to {R_ADDRESS}: {chr(data_sending+ASCII_a)}", 0, 26, 1)
+ robot.display.text(f"Read from {received_add}: {chr(data_show)}", 0, 36, 1)
robot.display.text('< exit char', 0, 54, 1)
robot.display.draw_arrow(74, 56, robot.display.UP, 1)
robot.display.draw_arrow(84, 61, robot.display.DOWN, 1)
robot.display.show()
- data_received = robot.i2c_slave.read(1)
-
- if data_received:
- print(data_received)
- data_show = data_received
-
+
buttons = robot.buttons.pressed_since()
if buttons[Button.LEFT]:
break
@@ -45,14 +70,22 @@ def i2c_slave_run(robot):
if buttons[Button.UP]:
data_sending -= 1
data_sending = data_sending % 26
- robot.i2c_slave.write(2, data_sending + ASCII_a)
+ robot.i2c_slave.write(R_ADDRESS, data_sending + ASCII_a)
debounce = True
if buttons[Button.DOWN]:
data_sending += 1
data_sending = data_sending % 26
- robot.i2c_slave.write(2, data_sending + ASCII_a)
+ robot.i2c_slave.write(R_ADDRESS, data_sending + ASCII_a)
+ debounce = True
+ if buttons[Button.RIGHT]:
+ slave_add += 1
+ if slave_add > ADDRESS_MAX:
+ slave_add = ADDRESS
+ robot.i2c_slave.init(address=slave_add)
+ robot.i2c_slave.write(R_ADDRESS, data_sending + ASCII_a)
+ robot.i2c_slave.irq(i2c_slave_irq, (robot.i2c_slave.READ | robot.i2c_slave.RECEIVED), False)
debounce = True
- if not buttons[Button.UP] and not buttons[Button.DOWN]:
+ if not buttons[Button.UP] and not buttons[Button.DOWN] and not buttons[Button.RIGHT]:
debounce = False
utime.sleep(0.1)
\ No newline at end of file
diff --git a/micropython/modules/opencube_brick/oc_i2c_slave.c b/micropython/modules/opencube_brick/oc_i2c_slave.c
index 0c86d88c02ec7a771e2fe165eb8faaf07617473c..3b7411ee97c17df01fb2b11aa88868813d07796f 100644
--- a/micropython/modules/opencube_brick/oc_i2c_slave.c
+++ b/micropython/modules/opencube_brick/oc_i2c_slave.c
@@ -19,6 +19,8 @@
// sequentially from the current memory address.
typedef struct {
uint8_t mem[256];
+ uint64_t mem_written[4];
+ uint64_t mem_read[4];
uint8_t mem_address;
bool mem_address_written;
} oc_i2c_slave_memory;
@@ -27,11 +29,11 @@ typedef struct _oc_i2c_slave_obj_t {
mp_obj_base_t base;
bool enabled;
uint8_t address;
- oc_i2c_slave_memory context;
uint16_t mp_irq_trigger; // user IRQ trigger mask
uint16_t mp_irq_flags; // user IRQ active IRQ flags
uint16_t mp_irq_flags_unfinished; // future IRQ flags
mp_irq_obj_t *mp_irq_obj; // user IRQ object
+ oc_i2c_slave_memory context;
} oc_i2c_slave_obj_t;
const mp_obj_type_t oc_i2c_slave_type;
@@ -40,11 +42,11 @@ static oc_i2c_slave_obj_t oc_i2c_slave_obj = {
{&oc_i2c_slave_type},
false,
0,
- {{0}},
0,
0,
0,
- NULL
+ NULL,
+ {{0}},
};
static bool reserved_addr(uint8_t addr);
@@ -64,13 +66,15 @@ static void oc_i2c_slave_handler(i2c_inst_t *i2c, i2c_slave_event_t event) {
switch (event) {
case I2C_SLAVE_RECEIVE: // master has written some data
- if (oc_i2c_slave_obj.context.mem_address_written) {
+ if (!oc_i2c_slave_obj.context.mem_address_written) {
// writes always start with the memory address
oc_i2c_slave_obj.context.mem_address = i2c_read_byte_raw(i2c);
oc_i2c_slave_obj.context.mem_address_written = true;
} else {
// save into memory
oc_i2c_slave_obj.context.mem[oc_i2c_slave_obj.context.mem_address] = i2c_read_byte_raw(i2c);
+ // save a flag of the written memory address using bits withou using division uint64_t
+ oc_i2c_slave_obj.context.mem_written[oc_i2c_slave_obj.context.mem_address >> 6] |= 1 << (oc_i2c_slave_obj.context.mem_address & (0xff>>2));
oc_i2c_slave_obj.context.mem_address++;
oc_i2c_slave_obj.mp_irq_flags_unfinished |= OC_I2C_SLAVE_RECEIVE;
}
@@ -79,12 +83,15 @@ static void oc_i2c_slave_handler(i2c_inst_t *i2c, i2c_slave_event_t event) {
case I2C_SLAVE_REQUEST: // master is requesting data
// load from memory
i2c_write_byte_raw(i2c, oc_i2c_slave_obj.context.mem[oc_i2c_slave_obj.context.mem_address]);
+ //save a flag of read memory address
+ oc_i2c_slave_obj.context.mem_read[oc_i2c_slave_obj.context.mem_address >> 6] |= 1 << (oc_i2c_slave_obj.context.mem_address & (0xff>>2));
+
oc_i2c_slave_obj.context.mem_address++;
oc_i2c_slave_obj.mp_irq_flags_unfinished |= OC_I2C_SLAVE_READ;
break;
case I2C_SLAVE_FINISH: // master has signalled Stop / Restart
- oc_i2c_slave_obj.context.mem_address = 0;
+ //oc_i2c_slave_obj.context.mem_address = 0;
oc_i2c_slave_obj.context.mem_address_written = false;
// Check the flags to see if the user handler should be called
if (oc_i2c_slave_obj.mp_irq_trigger & oc_i2c_slave_obj.mp_irq_flags_unfinished) {
@@ -118,10 +125,11 @@ static mp_obj_t oc_i2c_slave_init_helper(oc_i2c_slave_obj_t *self, size_t n_args
if (self->enabled) {
i2c_slave_deinit(UTZ_I2C_BUS);
}
- memset(&self->context, 0, sizeof(oc_i2c_slave_memory));
+
self->mp_irq_obj = NULL;
self->mp_irq_trigger = 0;
self->mp_irq_flags = 0;
+ memset(&self->context, 0, sizeof(oc_i2c_slave_memory));
self->enabled = true;
self->address = args[ARG_address].u_int;
@@ -168,7 +176,8 @@ static MP_DEFINE_CONST_FUN_OBJ_KW(oc_i2c_slave_init_obj, 1, oc_i2c_slave_init);
static void oc_i2c_slave_print(const mp_print_t *print, mp_obj_t self_in) {
oc_i2c_slave_obj_t *self = MP_OBJ_TO_PTR(self_in);
- mp_printf(print, "Open-Cube I2C slave at address %u, irq=%d", self->address,self->mp_irq_trigger);
+ mp_printf(print, "Open-Cube I2C slave at address %u, flags=%d",
+ self->address,self->mp_irq_trigger, self->mp_irq_flags);
}
// I2C_slave.read()
@@ -176,6 +185,8 @@ static mp_obj_t oc_i2c_slave_read(mp_obj_t self_in, mp_obj_t addr) {
oc_i2c_slave_obj_t *self = MP_OBJ_TO_PTR(self_in);
if (mp_obj_is_int(addr)) {
uint8_t address = mp_obj_get_int(addr);
+ // clear the flag of write memory address
+ self->context.mem_written[address >> 6] &= ~(1 << (address & (0xff>>2)));
return mp_obj_new_int(self->context.mem[address]);
}
return mp_const_none;
@@ -188,12 +199,40 @@ static mp_obj_t oc_i2c_slave_write(mp_obj_t self_in, mp_obj_t addr, mp_obj_t dat
if (mp_obj_is_int(addr) && mp_obj_is_int(data)) {
uint8_t address = mp_obj_get_int(addr);
uint8_t value = mp_obj_get_int(data);
+ // clear the flag of read memory address
+ self->context.mem_read[address >> 6] &= ~(1 << (address & (0xff>>2)));
self->context.mem[address] = value;
}
return mp_const_none;
}
static MP_DEFINE_CONST_FUN_OBJ_3(oc_i2c_slave_write_obj, oc_i2c_slave_write);
+// I2C_slave.read_flags()
+static mp_obj_t oc_i2c_slave_read_flags(mp_obj_t self_in) {
+ oc_i2c_slave_obj_t *self = MP_OBJ_TO_PTR(self_in);
+ mp_obj_t tuple[4] = {
+ tuple[0] = mp_obj_new_int_from_ull(self->context.mem_read[0]),
+ tuple[1] = mp_obj_new_int_from_ull(self->context.mem_read[1]),
+ tuple[2] = mp_obj_new_int_from_ull(self->context.mem_read[2]),
+ tuple[3] = mp_obj_new_int_from_ull(self->context.mem_read[3]),
+ };
+ return mp_obj_new_tuple(4, tuple);
+}
+static MP_DEFINE_CONST_FUN_OBJ_1(oc_i2c_slave_read_flags_obj, oc_i2c_slave_read_flags);
+
+// I2C_slave.written_flags()
+static mp_obj_t oc_i2c_slave_written_flags(mp_obj_t self_in) {
+ oc_i2c_slave_obj_t *self = MP_OBJ_TO_PTR(self_in);
+ mp_obj_t tuple[4] = {
+ tuple[0] = mp_obj_new_int_from_ull(self->context.mem_written[0]),
+ tuple[1] = mp_obj_new_int_from_ull(self->context.mem_written[1]),
+ tuple[2] = mp_obj_new_int_from_ull(self->context.mem_written[2]),
+ tuple[3] = mp_obj_new_int_from_ull(self->context.mem_written[3]),
+ };
+ return mp_obj_new_tuple(4, tuple);
+}
+static MP_DEFINE_CONST_FUN_OBJ_1(oc_i2c_slave_written_flags_obj, oc_i2c_slave_written_flags);
+
// I2C_slave.irq()
static mp_obj_t oc_i2c_slave_irq(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
mp_arg_val_t args[MP_IRQ_ARG_INIT_NUM_ARGS];
@@ -210,8 +249,10 @@ static mp_obj_t oc_i2c_slave_deinit(mp_obj_t self_in) {
i2c_slave_deinit(UTZ_I2C_BUS);
i2c_deinit(UTZ_I2C_BUS);
self->enabled = false;
+ MP_STATE_PORT(oc_i2c_slave_irq_obj) = NULL;
self->mp_irq_obj = NULL;
self->mp_irq_trigger = 0;
+
return mp_const_none;
}
static MP_DEFINE_CONST_FUN_OBJ_1(oc_i2c_slave_deinit_obj, oc_i2c_slave_deinit);
@@ -241,6 +282,7 @@ static mp_irq_obj_t *oc_i2c_slave_irq_helper(oc_i2c_slave_obj_t *self, bool any_
if (self->mp_irq_obj == NULL) {
self->mp_irq_trigger = 0;
self->mp_irq_obj = mp_irq_new(&oc_i2c_slave_irq_methods, MP_OBJ_FROM_PTR(self));
+ MP_STATE_PORT(oc_i2c_slave_irq_obj) = self->mp_irq_obj;
}
if (any_args) {
@@ -270,6 +312,8 @@ static mp_irq_obj_t *oc_i2c_slave_irq_helper(oc_i2c_slave_obj_t *self, bool any_
static const mp_rom_map_elem_t oc_i2c_slave_locals_dict[] = {
{ MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&oc_i2c_slave_read_obj) },
{ MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&oc_i2c_slave_write_obj) },
+ { MP_ROM_QSTR(MP_QSTR_read_flags), MP_ROM_PTR(&oc_i2c_slave_read_flags_obj) },
+ { MP_ROM_QSTR(MP_QSTR_written_flags), MP_ROM_PTR(&oc_i2c_slave_written_flags_obj) },
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&oc_i2c_slave_init_obj) },
{ MP_ROM_QSTR(MP_QSTR_irq), MP_ROM_PTR(&oc_i2c_slave_irq_obj) },
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&oc_i2c_slave_deinit_obj) },
@@ -288,4 +332,6 @@ MP_DEFINE_CONST_OBJ_TYPE(
make_new, &oc_i2c_slave_make_new,
locals_dict, &oc_i2c_slave_locals_dict_obj,
print, &oc_i2c_slave_print
-);
\ No newline at end of file
+);
+
+MP_REGISTER_ROOT_POINTER(void *oc_i2c_slave_irq_obj);
\ No newline at end of file
diff --git a/micropython/mpy b/micropython/mpy
index af2770e02c1fcd9e6517223ae81c9a0d089a23e1..3823aeb0f14c04084eba6566164d9b7dbd9e7ced 160000
--- a/micropython/mpy
+++ b/micropython/mpy
@@ -1 +1 @@
-Subproject commit af2770e02c1fcd9e6517223ae81c9a0d089a23e1
+Subproject commit 3823aeb0f14c04084eba6566164d9b7dbd9e7ced