Add function to trigger all I2C slaves

lib/cube/i2c_master.py

@@ -7,7 +7,7 @@ from lib.hw_defs.pins import UTZ_I2C_SDA_PIN, UTZ_I2C_SCK_PIN, I2C_STRONG_PULL_R
 from lib.robot_consts import I2C_MULTICUBE_FREQ, I2C_NXT_UTZ_BUS
 
 I2C_TIME_TRIGGER_REG = const(256-4)
-
+I2C_TIME_TRIGGER_WRITE_TIME = const(900) # us
 class I2C_master:
     def __init__(self, pcf_buttons):
         self.pcf_buttons = pcf_buttons
@@ -38,11 +38,11 @@ class I2C_master:
         except Exception as e:
             return False
         return True
-    
-    def trigger(self, add, time_us, callback=None):
+
+    def trigger(self, time_us, address, callback=None):
         try:
             time_start = time.ticks_us()
-            self.i2c.writeto_mem(add, I2C_TIME_TRIGGER_REG, time_us.to_bytes(4, 'little'))
+            self.i2c.writeto_mem(address, I2C_TIME_TRIGGER_REG, time_us.to_bytes(4, 'little'))
             time_diff = time_us-time.ticks_diff(time.ticks_us(), time_start)
             print("Time diff: ", time_diff)
             if callback:
@@ -55,6 +55,31 @@ class I2C_master:
             return False
         return True
     
+    def trigger_all(self, time_us, addresses=None, callback=None):
+        try:
+            time_start = time.ticks_us()
+            if not addresses:
+                addresses = self.i2c.scan()
+            time_scan = time_start-time.ticks_us()
+            time_reserve = time_scan - len(addresses)*I2C_TIME_TRIGGER_WRITE_TIME
+            if time_reserve < 0:
+                return False
+            
+            time_next = time_scan
+            for i in range(len(addresses)):
+                time_slave = time.ticks_us()
+                self.i2c.writeto_mem(addresses[0], I2C_TIME_TRIGGER_REG, time_next.to_bytes(4, 'little'))
+                time_next = time_next - time.ticks_diff(time.ticks_us(), time_slave)
+                print("Time diff: ", time_next)
+            if callback:
+                if time_next > 0:
+                    self.trigger_timer.init(freq=1000000/time_next, mode=Timer.ONE_SHOT, callback=callback)
+                else:
+                    callback(None)
+        except Exception as e:
+            return False
+        return True
+    
     def deinit(self):
         self.trigger_timer.deinit()
         self.i2c = None

menu_programs/i2c_master.py

@@ -80,7 +80,9 @@ def i2c_master_run(robot):
                     data_sending = data_sending % 26
                     debounce = True
                 if buttons[Button.OK]:
-                    robot.i2c_master.trigger(slave_add, SLAVE_TRIGGER_TIME, callback=master_trigger_callback)
+                    trigger = robot.i2c_master.trigger_all(SLAVE_TRIGGER_TIME, adressed=all_add, callback=master_trigger_callback)
+                    if not trigger:
+                        break
                     debounce = True
                 if buttons[Button.RIGHT]:
                     #robot.buttons.set_pin(I2C_STRONG_PULL_RPIN_BIT, True)