Examples

Controller Example

Send commands via serial interface and request data from peripherals.

Usage

1. Upload to Arduino
2. Open Serial Monitor (115200 baud)
3. Send: address,typeID,commandType,data0,data1,data2,data3,data4,data5,data6
4. Request: request=address

Example Commands

8,1,1,75.0,1.0,0.0,65.0,2.0,7.0,3.14     // Send to address 8
request=8                                 // Request data from address 8

Peripheral Example

Respond to controller commands and data requests.

Key Code Patterns

void handleMessage(CRUMBSMessage &message) {
    switch (message.commandType) {
        case 0: // Data request
            break;
        case 1: // Set parameters
            break;
    }
}

void handleRequest() {
    CRUMBSMessage response = {};
    response.data[0] = 42.0f;

    uint8_t buffer[CRUMBS_MESSAGE_SIZE];
    size_t size = peripheral.encodeMessage(response, buffer, sizeof(buffer));
    Wire.write(buffer, size);
}

void setup() {
    peripheral.begin();
    peripheral.onReceive(handleMessage);
    peripheral.onRequest(handleRequest);
}

Common Patterns

Multiple Devices

uint8_t addresses[] = {0x08, 0x09, 0x0A};
for (int i = 0; i < 3; i++) {
    controller.sendMessage(msg, addresses[i]);
    delay(10);
}

Data Requests

Wire.requestFrom(address, CRUMBS_MESSAGE_SIZE);
delay(50);
CRUMBSMessage response;
if (!controller.receiveMessage(response)) {
    Serial.println("Failed to read response frame");
}

CRC Validation

if (!crumbsController.decodeMessage(buffer, bytesRead, response)) {
    Serial.println("CRC mismatch or malformed frame");
    return;
}

I2C Scanning

for (uint8_t addr = 8; addr < 120; addr++) {
    Wire.beginTransmission(addr);
    if (Wire.endTransmission() == 0) {
        Serial.print("Found device at 0x");
        Serial.println(addr, HEX);
    }
}