Add option for I2C slave to read all registers

lib/robot.py

@@ -75,7 +75,7 @@ class Robot:
     # Turn off cube
     def turn_off(self):
         self.turn_off_pin.value(1)
-        sleep(0.096)
+        sleep(0.08)
         self.led.on()
         self.turn_off_pin.value(0) # resetting pin for quick startup
         sleep(1)

micropython/modules/opencube_brick/oc_i2c_slave.c

@@ -98,7 +98,7 @@ static void oc_i2c_slave_handler(i2c_inst_t *i2c, i2c_slave_event_t event) {
             if (context->mem_address == OC_I2C_SLAVE_TIME_TRIGGER_REG_END) {
                 uint32_t* delay_us = (uint32_t*) &context->mem[OC_I2C_SLAVE_TIME_TRIGGER_REG_START];
                 oc_i2c_slave_obj.time_trigger = *delay_us;
-                if (oc_i2c_slave_obj.mp_irq_trigger & OC_I2C_SLAVE_TRIGGER) {
+                if (oc_i2c_slave_obj.mp_irq_trigger & OC_I2C_SLAVE_TRIGGER && *delay_us > 0) {
                     oc_cancel_alarm(&oc_i2c_slave_obj);
                     oc_i2c_slave_obj.alarm_id = alarm_pool_add_alarm_in_us(oc_i2c_slave_obj.pool, 
                         (uint64_t)(*delay_us), alarm_callback, &oc_i2c_slave_obj, true);
@@ -253,6 +253,17 @@ static mp_obj_t oc_i2c_slave_read(mp_obj_t self_in, mp_obj_t addr) {
 }
 static MP_DEFINE_CONST_FUN_OBJ_2(oc_i2c_slave_read_obj, oc_i2c_slave_read);
 
+static mp_obj_t oc_i2c_slave_read_all(mp_obj_t self_in, mp_obj_t nbytes) {
+    oc_i2c_slave_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    vstr_t vstr;
+    vstr_init_len(&vstr, mp_obj_get_int(nbytes));
+    for (size_t i = 0; i < vstr.len; i++) {
+        vstr.buf[i] = self->context.mem[i];
+    }
+    return mp_obj_new_bytes_from_vstr(&vstr);
+}
+static MP_DEFINE_CONST_FUN_OBJ_2(oc_i2c_slave_read_all_obj, oc_i2c_slave_read_all);
+
 // I2C_slave.write()
 static mp_obj_t oc_i2c_slave_write(mp_obj_t self_in, mp_obj_t addr, mp_obj_t data) {
     oc_i2c_slave_obj_t *self = MP_OBJ_TO_PTR(self_in);
@@ -372,6 +383,7 @@ static mp_irq_obj_t *oc_i2c_slave_irq_helper(oc_i2c_slave_obj_t *self, bool any_
 // The table structure is similar to the module table, as detailed below.
 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_read_all), MP_ROM_PTR(&oc_i2c_slave_read_all_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) },