obniz
Version:
obniz sdk for javascript
174 lines (173 loc) • 6.23 kB
JavaScript
;
Object.defineProperty(exports, "__esModule", { value: true });
exports.WSCommandI2C = void 0;
/**
* @packageDocumentation
* @ignore
*/
const WSCommandAbstract_1 = require("./WSCommandAbstract");
class WSCommandI2C extends WSCommandAbstract_1.WSCommandAbstract {
constructor() {
super(...arguments);
this.module = 6;
this._CommandInit = 0;
this._CommandDeinit = 1;
this._CommandWrite = 2;
this._CommandRead = 3;
this._CommandSlvWritten = 4;
}
// Commands
initMaster(params, module) {
const mode = 0;
const sda = parseInt(params.sda);
const scl = parseInt(params.scl);
const clock = parseInt(params.clock);
const buf = new Uint8Array(8);
buf[0] = module;
buf[1] = mode;
buf[2] = sda;
buf[3] = scl;
buf[4] = clock >> (3 * 8);
buf[5] = clock >> (2 * 8);
buf[6] = clock >> (1 * 8);
buf[7] = clock;
this.sendCommand(this._CommandInit, buf);
}
initSlave(params, module) {
const mode = 1;
const sda = parseInt(params.sda);
const scl = parseInt(params.scl);
const clock = 0;
let addressLength = params.slave_address_length;
const address = params.slave_address;
if (address > 0x7f) {
addressLength = 10;
}
const buf = new Uint8Array(11);
buf[0] = module;
buf[1] = mode;
buf[2] = sda;
buf[3] = scl;
buf[4] = clock >> (3 * 8);
buf[5] = clock >> (2 * 8);
buf[6] = clock >> (1 * 8);
buf[7] = clock;
buf[8] = addressLength;
buf[9] = address >> 8;
buf[10] = address;
this.sendCommand(this._CommandInit, buf);
}
deinit(params, module) {
const buf = new Uint8Array([module]);
this.sendCommand(this._CommandDeinit, buf);
}
write(params, module) {
let address = parseInt(params.address);
if (params.address_bits === 10 || address > 0x7f) {
address = address | 0x8000; // mark 10bit mode
}
const buf = new Uint8Array(3 + params.data.length);
buf[0] = module;
buf[1] = address >> 8;
buf[2] = address;
buf.set(params.data, 3);
this.sendCommand(this._CommandWrite, buf);
}
read(params, module) {
let address = parseInt(params.address);
if (params.address_bits === 10 || address > 0x7f) {
address = address | 0x8000; // mark 10bit mode
}
const read_length = params.read;
const buf = new Uint8Array(7);
buf[0] = module;
buf[1] = address >> 8;
buf[2] = address;
buf[3] = read_length >> (3 * 8);
buf[4] = read_length >> (2 * 8);
buf[5] = read_length >> (1 * 8);
buf[6] = read_length;
this.sendCommand(this._CommandRead, buf);
}
parseFromJson(json) {
// 0
for (let i = 0; i < 2; i++) {
const module = json['i2c' + i];
if (module === undefined) {
continue;
}
const schemaData = [
{ uri: '/request/i2c/init_master', onValid: this.initMaster },
{ uri: '/request/i2c/init_slave', onValid: this.initSlave },
{ uri: '/request/i2c/write', onValid: this.write },
{ uri: '/request/i2c/read', onValid: this.read },
{ uri: '/request/i2c/deinit', onValid: this.deinit },
];
const res = this.validateCommandSchema(schemaData, module, 'i2c' + i, i);
if (res.valid === 0) {
if (res.invalidButLike.length > 0) {
throw new Error(res.invalidButLike[0].message);
}
else {
throw new this.WSCommandNotFoundError(`[i2c${i}]unknown command`);
}
}
}
}
notifyFromBinary(objToSend, func, payload) {
if (func === this._CommandRead && payload.byteLength > 3) {
const module_index = payload[0];
const address = (payload[1] << 8) + payload[2];
const arr = new Array(payload.byteLength - 3);
for (let i = 0; i < arr.length; i++) {
arr[i] = payload[i + 3];
}
objToSend['i2c' + module_index] = {
mode: 'master',
address,
data: arr,
};
}
else if (func === this._CommandSlvWritten && payload.byteLength > 4) {
const module_index = payload[0];
// let address_bit_length = payload[1];
const address = (payload[2] << 8) + payload[3];
const arr = new Array(payload.byteLength - 4);
for (let i = 0; i < arr.length; i++) {
arr[i] = payload[i + 4];
}
objToSend['i2c' + module_index] = {
mode: 'slave',
is_fragmented: true,
address,
data: arr,
};
}
else if (func === this.COMMAND_FUNC_ID_ERROR && payload.byteLength > 2) {
// const _esperr = payload[0];
const err = payload[1];
const ref_func_id = payload[2];
if (ref_func_id === this._CommandWrite ||
ref_func_id === this._CommandRead) {
let reason = '' +
(ref_func_id === this._CommandWrite ? 'writing' : 'reading') +
' error. ';
if (err === 7) {
// in fact. it is 0x107. but truncated
reason += 'Communication Timeout. Maybe, target is not connected.';
}
else if (err === 255) {
reason += 'Communication Failed. Maybe, target is not connected.';
}
this.envelopError(objToSend, `i2c0`, { message: reason });
}
else {
super.notifyFromBinary(objToSend, func, payload);
}
}
else {
super.notifyFromBinary(objToSend, func, payload);
}
}
}
exports.WSCommandI2C = WSCommandI2C;