Change i2c slave irq logic, add irq handler to i2c slave menu program

menu_programs/i2c_slave.py

@@ -7,9 +7,13 @@ ASCII_a = 97
 ADDRESS = 0x44
 
 def i2c_slave_run(robot):
+
+    def i2c_slave_irq(i2c_slave):
+        print(i2c_slave)
+        print(robot.i2c_slave.read(1))
     
     robot.init_i2c_slave(ADDRESS)
-    
+    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

micropython/modules/opencube_brick/oc_i2c_slave.c

@@ -30,6 +30,7 @@ typedef struct _oc_i2c_slave_obj_t {
     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_obj_t;
 
@@ -42,6 +43,7 @@ static oc_i2c_slave_obj_t oc_i2c_slave_obj = {
     {{0}},
     0,
     0,
+    0,
     NULL
 };
 
@@ -70,7 +72,7 @@ static void oc_i2c_slave_handler(i2c_inst_t *i2c, i2c_slave_event_t event) {
             // save into memory
             oc_i2c_slave_obj.context.mem[oc_i2c_slave_obj.context.mem_address] = i2c_read_byte_raw(i2c);
             oc_i2c_slave_obj.context.mem_address++;
-            oc_i2c_slave_obj.mp_irq_flags = OC_I2C_SLAVE_RECEIVE;
+            oc_i2c_slave_obj.mp_irq_flags_unfinished |= OC_I2C_SLAVE_RECEIVE;
         }
         break;
 
@@ -78,14 +80,16 @@ static void oc_i2c_slave_handler(i2c_inst_t *i2c, i2c_slave_event_t event) {
         // load from memory
         i2c_write_byte_raw(i2c, oc_i2c_slave_obj.context.mem[oc_i2c_slave_obj.context.mem_address]);
         oc_i2c_slave_obj.context.mem_address++;
-        oc_i2c_slave_obj.mp_irq_flags = OC_I2C_SLAVE_READ;
+        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_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) {
+        if (oc_i2c_slave_obj.mp_irq_trigger & oc_i2c_slave_obj.mp_irq_flags_unfinished) {
+            oc_i2c_slave_obj.mp_irq_flags = oc_i2c_slave_obj.mp_irq_flags_unfinished;
+            oc_i2c_slave_obj.mp_irq_flags_unfinished = 0;
             mp_irq_handler(oc_i2c_slave_obj.mp_irq_obj);
         }
         break;