private ushort[] runCommand(SGPCommand cmd, ushort[] parameters = null)
{
bus.SetDevice(this.address);
var bytesToWrite = new byte[cmd.OpCode.Length + (cmd.ParameterLength * (WORD_LENGTH + CRC_LENGTH))];
if (cmd.ParameterLength > 0 && parameters?.Length != cmd.ParameterLength)
{
throw new ArgumentException(nameof(parameters));
}
Array.Copy(cmd.OpCode, 0, bytesToWrite, 0, cmd.OpCode.Length);
if (parameters != null)
{
foreach (var i in Enumerable.Range(0, parameters.Length))
{
Span <byte> span = bytesToWrite.AsSpan().Slice(i * (WORD_LENGTH + CRC_LENGTH) + cmd.OpCode.Length, (WORD_LENGTH + CRC_LENGTH));
span[0] = (byte)(parameters[i] >> 8);
span[1] = (byte)(parameters[i] & 0xFF);
span[2] = CRC(span.Slice(0, WORD_LENGTH));
}
}
var argBytes = bytesToWrite.AsSpan(1);
bus.WriteI2cBlockData(bytesToWrite[0], argBytes.ToArray());
Thread.Sleep(cmd.ResponseTimeMs);
if (cmd.ResponseLength > 0)
{
var data = new byte[cmd.ResponseLength * (WORD_LENGTH + CRC_LENGTH)];
bus.ReadI2cBlockData(0, data);
ushort[] result = ReadCheckSummedWords(data);
return(result);
}
return(Array.Empty <ushort>());
}