twi.c

/*******************************************************************************
* examples/twi.c                                                               *
* ==============                                                               *
*                                                                              *
* Version: 1.0.6                                                               *
* Date   : 21.11.17                                                            *
* Author : Peter Weissig                                                       *
*                                                                              *
* If you are changing this file, you may also consider to update               *
*     demos/diagnosticTool/diagnosticTool.c                                    *
*******************************************************************************/
 
//*********************************<Included files>*****************************
#include <tucbot/tucbot.h>
 
//*********************************<Methods>************************************
void testTwi_lcdhex(uint8_t data);
void testTwi(void);
int main(void);
 
//*********************************[testTwi_lcdhex]*****************************
void testTwi_lcdhex(uint8_t data) {
 
    uint8_t a;
 
    a = data >> 4;
    if (a < 10) {
        lcdout(a + 48); // 48 == '0'
    } else {
        lcdout(a + 55); // 55 == 'A' - 10
    }
 
    a = data & 0x0F;
    if (a < 10) {
        lcdout(a + 48); // 48 == '0'
    } else {
        lcdout(a + 55); // 55 == 'A' - 10
    }
}
 
//*********************************[testTwi]************************************
void testTwi(void) {
 
    uint8_t value = 0x05;
 
    lcdclr();
    lcdstr_p(PSTR("TWI       err=##"));
 
    while (1) {
        if (buttons_get(kButtonMiddle)) {
            leds_set(kLedMiddle, kLedOn );
            mdelay(100);
            leds_set(kLedMiddle, kLedOff);
 
            lcdxy(4,0);
            lcdstr_p(PSTR(    "write"       ));
            lcdxy(0,1);
            lcdstr_p(PSTR("S60A2>##<03P    "));
            // This is just a short info what we are going to send:
            // S    ... Start-Bit
            // 60   ... TWI device address (driving module - write mode)
            // A2   ... packet descriptor (kTwiPdMD_SensLineEnable)
            // >##< ... the data we will be sending (first byte of package)
            //          this will set the threshold value for the line sensors
            // 03   ... second byte of this package
            //          this will enable the all line sensors
            // P    ... Stop-Bit
 
            if (!twi_lock()) {
                lcdxy(14,0);
                lcdout('l');
                lcdout('!');
                continue;
            }
 
            twi_reset();
            twiout(kTwiPdMD_SensLineEnable); twiout(value); twiout(0x03);
            twi_write();
            twi_wait();
 
            lcdxy(6,1);
            testTwi_lcdhex(value);
 
            lcdxy(14,0);
            testTwi_lcdhex(twi_errorGet());
            twi_unlock();
 
            value+= 0x10;
 
            mdelay(400);
 
        } else if (buttons_get(kButtonRight)) {
            leds_set(kLedRight , kLedOn );
            mdelay(100);
            leds_set(kLedRight , kLedOff);
 
            lcdxy(4,0);
            lcdstr_p(PSTR(    "read "       ));
            lcdxy(0,1);
            lcdstr_p(PSTR("S60A2PS61>##<03P"));
            // This is just a short info what we are going to send and
            // what we are receiving:
            // S    ... Start-Bit
            // 60   ... TWI device address (driving module - write mode)
            // A2   ... packet descriptor (kTwiPdMD_SensLineEnable)
            // P    ... Stop-Bit (by only sending the packet descriptor
            //          we force the driving module to upload the package with
            //          the next read command)
            // S    ... Start-Bit
            // 61   ... TWI device address (driving module - read mode)
            // A2   ... packet descriptor (kTwiPdMD_SensLineEnable)
            // >##< ... the data we want to read (first byte of package)
            //          this is the current threshold value of the line sensors
            // 03   ... second byte of this package
            // P    ... Stop-Bit
 
            if (!twi_lock()) {
                lcdxy(14,0);
                lcdout('l');
                lcdout('!');
                continue;
            }
            twi_reset();
            twiout(kTwiPdMD_SensLineEnable);
            twi_write();
            twi_read(2);
            twi_wait();
 
            if (twistat()) {
                lcdxy(10,1);
                testTwi_lcdhex(twiinp());
            }
 
            lcdxy(14,0);
            testTwi_lcdhex(twi_errorGet());
 
            twi_unlock();
 
            mdelay(400);
        }
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    buttons_request(kRequestContinuous);
 
    testTwi();
 
    return (0);
}