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-rw-r--r--libraries/Robot_Control/utility/RobotTextManager.cpp192
-rw-r--r--libraries/Robot_Control/utility/RobotTextManager.h77
-rw-r--r--libraries/Robot_Control/utility/VirtualKeyboard.cpp127
-rw-r--r--libraries/Robot_Control/utility/VirtualKeyboard.h28
-rw-r--r--libraries/Robot_Control/utility/scripts_Hello_User.h51
-rw-r--r--libraries/Robot_Control/utility/twi.c527
-rw-r--r--libraries/Robot_Control/utility/twi.h53
7 files changed, 0 insertions, 1055 deletions
diff --git a/libraries/Robot_Control/utility/RobotTextManager.cpp b/libraries/Robot_Control/utility/RobotTextManager.cpp
deleted file mode 100644
index b516409..0000000
--- a/libraries/Robot_Control/utility/RobotTextManager.cpp
+++ /dev/null
@@ -1,192 +0,0 @@
-#include <avr/pgmspace.h>
-#include <ArduinoRobot.h>
-#include "VirtualKeyboard.h"
-#include "RobotTextManager.h"
-#include "scripts_Hello_User.h"
-
-const int TextManager::lineHeight=10;
-const int TextManager::charWidth=6;
-
-
-void TextManager::setMargin(int margin_left,int margin_top){
- this->margin_left=margin_left;
- this->margin_top=margin_top;
-}
-int TextManager::getLin(int lineNum){
- return lineNum*lineHeight+margin_top;
-}
-
-int TextManager::getCol(int colNum){
- return colNum*charWidth+margin_left;
-}
-
-void TextManager::writeText(int lineNum, int colNum, char* txt, bool onOff){
- if(!onOff)
- Robot.setTextColor(WHITE);
-
- Robot.setCursor(getCol(colNum),getLin(lineNum));
- Robot.print(txt);
-
- Robot.setTextColor(BLACK);
-}
-
-void TextManager::drawInput(bool onOff){
- if(!onOff)
- Robot.setTextColor(WHITE);
-
- Robot.setCursor(getCol(inputCol),getLin(inputLin)+1);
- Robot.print('_');
-
- Robot.setTextColor(BLACK);
-
-}
-
-void TextManager::mvInput(int dire){
- drawInput(0);
- if(dire<0){
- if(inputPos>0){
- inputPos--;
- inputCol--;
- }
- }else{
- if(inputPos<16){
- inputPos++;
- inputCol++;
- }
- }
- drawInput(1);
-}
-
-char TextManager::selectLetter(){
- static int oldVal;
- char val=map(Robot.knobRead(),0,1023,32,125);
- if(val==oldVal){
- return 0; //No changes
- }else{
- oldVal=val;
- return val; //Current letter
- }
-}
-
-void TextManager::refreshCurrentLetter(char letter){
- if(letter){
- writeText(inputLin,inputCol,inputPool+inputPos,false);//erase
- inputPool[inputPos]=letter;
- writeText(inputLin,inputCol,inputPool+inputPos,true);//write
- }
-}
-
-
-void TextManager::getInput(int lin, int col){
- writeText(lin,col,">"); //Input indicator
-
- writeText(lin, col+1, inputPool);
-
- inputLin=lin; //Ini input cursor
- inputCol=col+1;
- inputPos=0;
- drawInput(true);
-
- Vkey.display(100);//Vkey is a object of VirtualKeyboard class
-
- while(true){
- switch(Robot.keyboardRead()){
- case BUTTON_LEFT:
- //Robot.beep(BEEP_SIMPLE);
- mvInput(-1);
- break;
- case BUTTON_RIGHT:
- //Robot.beep(BEEP_SIMPLE);
- mvInput(1);
- break;
- case BUTTON_MIDDLE:
- //Robot.beep(BEEP_DOUBLE);
- char selection=Vkey.getSelection();
- if(selection!='\0'){
- refreshCurrentLetter(selection);
- mvInput(1);
- }else{
- drawInput(false);
- return;
- }
- }
- Vkey.run();
- delay(10);
- }
-}
-void TextManager::setInputPool(int code){
- switch(code){
- case USERNAME:
- Robot.userNameRead(inputPool);
- break;
- case ROBOTNAME:
- Robot.robotNameRead(inputPool);
- break;
- case CITYNAME:
- Robot.cityNameRead(inputPool);
- break;
- case COUNTRYNAME:
- Robot.countryNameRead(inputPool);
- break;
- }
- for(int i=0;i<18;i++){
- if(inputPool[i]=='\0'){
- for(int j=i;j<18;j++){
- inputPool[j]='\0';
- }
- break;
- }
- }
-}
-void TextManager::pushInput(int code){
- switch(code){
- case USERNAME:
- Robot.userNameWrite(inputPool);
- break;
- case ROBOTNAME:
- Robot.robotNameWrite(inputPool);
- break;
- case CITYNAME:
- Robot.cityNameWrite(inputPool);
- break;
- case COUNTRYNAME:
- Robot.countryNameWrite(inputPool);
- break;
- }
- for(int i=0;i<18;i++){
- inputPool[i]='\0';
- }
-}
-void TextManager::input(int lin,int col, int code){
- setInputPool(code);
- getInput(lin,col);
- pushInput(code);
-}
-
-void TextManager::showPicture(char * filename, int posX, int posY){
- Robot.pause();
- Robot._drawBMP(filename,posX,posY);
- Robot.play();
-}
-
-void TextManager::getPGMtext(int seq){
- //It takes a string from program space, and fill it
- //in the buffer
- //if(in hello user example){
- if(true){
- strcpy_P(PGMbuffer,(char*)pgm_read_word(&(::scripts_Hello_User[seq])));
- }
-}
-
-void TextManager::writeScript(int seq, int line, int col){
- //print a string from program space to a specific line,
- //column on the LCD
-
- //first fill the buffer with text from program space
- getPGMtext(seq);
- //then print it to the screen
- textManager.writeText(line,col,PGMbuffer);
-}
-
-
-TextManager textManager=TextManager();
diff --git a/libraries/Robot_Control/utility/RobotTextManager.h b/libraries/Robot_Control/utility/RobotTextManager.h
deleted file mode 100644
index 6c0b7bd..0000000
--- a/libraries/Robot_Control/utility/RobotTextManager.h
+++ /dev/null
@@ -1,77 +0,0 @@
-#ifndef ROBOTTEXTMANAGER_H
-#define ROBOTTEXTMANAGER_H
-
-#define USERNAME 0
-#define ROBOTNAME 1
-#define CITYNAME 2
-#define COUNTRYNAME 3
-#define EMPTY 4
-
-class TextManager{
- //The TextManager class is a collection of features specific for Hello
- //User example.
- //
- //- It includes solution for setting text position based on
- // line/column. The original Robot.text(), or the more low level
- // print() function can only set text position on pixels from left,
- // top.
- //
- //- The process of accepting input with the virtual keyboard, saving
- // into or reading from EEPROM is delt with here.
- //
- //- A workflow for stop the music while displaying image. Trouble
- // will happen otherwise.
-
- public:
- //add some margin to the text, left side only atm.
- void setMargin(int margin_left,int margin_top);
-
- //print text based on line, column.
- void writeText(int lineNum, int colNum, char* txt, bool onOff=true);
-
- //print a script from the scripts library
- void writeScript(int seq, int line, int col);
-
- //The whole process of getting input
- void input(int lin,int col, int code);
- //Print a cursor and virtual keyboard on screen, and save the user's input
- void getInput(int lin, int col);
- //Get user name, robot name, city name or country name from EEPROM
- //and store in the input pool.
- void setInputPool(int code);
- //save user input to EEPROM
- void pushInput(int code);
-
- //Replaces Robot.drawPicture(), as this one solves collision between
- //image and music
- void showPicture(char * filename, int posX, int posY);
-
- private:
- int margin_left,margin_top;
- int getLin(int lineNum); //Convert line to pixels from top
- int getCol(int colNum); //Convert line to pixels from left
-
- static const int lineHeight;//8+2=10
- static const int charWidth;//5+1=6
-
- int inputPos;
- int inputLin;
- int inputCol;
-
- void drawInput(bool onOff);
- void mvInput(int dire);
-
- char selectLetter();
- void refreshCurrentLetter(char letter);
-
- void getPGMtext(int seq);
-
- char PGMbuffer[85]; //the buffer for storing strings
- char inputPool[18];
-};
-
-//a trick for removing the need of creating an object of TextManager.
-//So you can call me.somefunction() directly in the sketch.
-extern TextManager textManager;
-
-#endif
diff --git a/libraries/Robot_Control/utility/VirtualKeyboard.cpp b/libraries/Robot_Control/utility/VirtualKeyboard.cpp
deleted file mode 100644
index ad73c75..0000000
--- a/libraries/Robot_Control/utility/VirtualKeyboard.cpp
+++ /dev/null
@@ -1,127 +0,0 @@
-#include "VirtualKeyboard.h"
-
-int VirtualKeyboard::getColLin(int val){
- uint8_t col,lin;
- lin=val/10;
- col=val%10; // saving 36 bytes :(
- /*if(0<=val && 9>=val){
- col=val;
- lin=0;
- }else if(10<=val && 19>=val){
- col=val-10;
- lin=1;
- }else if(20<=val && 29>=val){
- col=val-20;
- lin=2;
- }else if(30<=val && 39>=val){
- col=val-30;
- lin=3;
- }*/
- return (col<<8)+lin; //Put col and lin in one int
-}
-void VirtualKeyboard::run(){
-/** visually select a letter on the keyboard
-* The selection boarder is 1px higher than the character,
-* 1px on the bottom, 2px to the left and 2px to the right.
-*
-*/
- if(!onOff)return;
- //Serial.println(onOff);
- static int oldColLin=0;
- uint8_t val=map(Robot.knobRead(),0,1023,0,38);
- if(val==38)val=37; //The last value is jumpy when using batteries
- int colLin=getColLin(val);
-
- if(oldColLin!=colLin){
- uint8_t x=(oldColLin>>8 & 0xFF)*11+10;//col*11+1+9
- uint8_t y=(oldColLin & 0xFF)*11+1+top;//lin*11+1+top
- uint8_t w=9;
- if(oldColLin==1795) //last item "Enter", col=7 lin=3
- w=33; //(5+1)*6-1+2+2 charWidth=5, charMargin=1, count("Enter")=6, lastItem_MarginRight=0, marginLeft==marginRight=2
- Robot.drawRect(x,y,w,9,hideColor);
-
-
- x=(colLin>>8 & 0xFF)*11+10;
- y=(colLin & 0xFF)*11+1+top;
- w=9;
- if(colLin==1795) //last item "Enter", col=7 lin=3
- w=33; //(5+1)*6-1+2+2 charWidth=5, charMargin=1, count("Enter")=6, lastItem_MarginRight=0, marginLeft==marginRight=2
- Robot.drawRect(x,y,w,9,showColor);
- oldColLin=colLin;
- }
-}
-
-char VirtualKeyboard::getSelection(){
- if(!onOff)return -1;
-
- uint8_t val=map(Robot.knobRead(),0,1023,0,38);
- if(0<=val && 9>=val)
- val='0'+val;
- else if(10<=val && 35>=val)
- val='A'+val-10;
- else if(val==36)
- val=' ';
- else if(val>=37)
- val='\0';
-
- return val;
-}
-void VirtualKeyboard::hide(){
- onOff=false;
- Robot.fillRect(0,top,128,44,hideColor);//11*4
-}
-
-void VirtualKeyboard::display(uint8_t top, uint16_t showColor, uint16_t hideColor){
-/** Display the keyboard at y position of top
-* formular:
-* When text size is 1, one character is 5*7
-* margin-left==margin-right==3,
-* margin-top==margin-bottom==2,
-* keyWidth=5+3+3==11,
-* keyHeight=7+2+2==11,
-* keyboard-margin-left=keyboard-margin-right==9
-* so character-x=11*col+9+3=11*col+12
-* character-y=11*lin+2+top
-*
-**/
- this->top=top;
- this->onOff=true;
-
- this->showColor=showColor;
- this->hideColor=hideColor;
-
- for(uint8_t i=0;i<36;i++){
- Robot.setCursor(i%10*11+12,2+top+i/10*11);
- if(i<10)
- Robot.print(char('0'+i));
- else
- Robot.print(char(55+i));//'A'-10=55
- }//for saving 58 bytes :(
-
- /*for(int i=0;i<10;i++){
- Robot.setCursor(i*11+12,2+top);//11*0+2+top
- Robot.print(char('0'+i));//line_1: 0-9
- }
- for(int i=0;i<10;i++){
- Robot.setCursor(i*11+12,13+top);//11*1+2+top
- Robot.print(char('A'+i));//line_2: A-J
- }
- for(int i=0;i<10;i++){
- Robot.setCursor(i*11+12,24+top);//11*2+2+top
- Robot.print(char('K'+i));//line_3: K-T
- }
- for(int i=0;i<6;i++){
- Robot.setCursor(i*11+12,35+top);//11*3+2+top
- Robot.print(char('U'+i));//line_4: U-Z
- }*/
- //space and enter at the end of the last line.
- Robot.setCursor(78,35+top);//6*11+12=78
- Robot.print('_');//_
-
- Robot.setCursor(89,35+top);//7*11+12=89
- Robot.print("Enter");//enter
-}
-
-
-
-VirtualKeyboard Vkey=VirtualKeyboard(); \ No newline at end of file
diff --git a/libraries/Robot_Control/utility/VirtualKeyboard.h b/libraries/Robot_Control/utility/VirtualKeyboard.h
deleted file mode 100644
index 273edb7..0000000
--- a/libraries/Robot_Control/utility/VirtualKeyboard.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#ifndef VIRTUAL_KEYBOARD_H
-#define VIRTUAL_KEYBOARD_H
-
-#include <Arduino.h>
-#include <ArduinoRobot.h>
-
-class VirtualKeyboard{
- public:
- //void begin();
- void display(uint8_t top, uint16_t showColor=BLACK, uint16_t hideColor=WHITE);
- void hide();
-
- char getSelection();
- void run();
-
- private:
- uint8_t top;
- bool onOff;
-
- uint16_t showColor;
- uint16_t hideColor;
-
- int getColLin(int val);
-
-};
-
-extern VirtualKeyboard Vkey;
-#endif \ No newline at end of file
diff --git a/libraries/Robot_Control/utility/scripts_Hello_User.h b/libraries/Robot_Control/utility/scripts_Hello_User.h
deleted file mode 100644
index 29f085f..0000000
--- a/libraries/Robot_Control/utility/scripts_Hello_User.h
+++ /dev/null
@@ -1,51 +0,0 @@
-#include <avr/pgmspace.h>
-
-//an advanced trick for storing strings inside the program space
-//as the ram of Arduino is very tiny, keeping too many string in it
-//can kill the program
-
-prog_char hello_user_script1[] PROGMEM="What's your name?";
-prog_char hello_user_script2[] PROGMEM="Give me a name!";
-prog_char hello_user_script3[] PROGMEM="And the country?";
-prog_char hello_user_script4[] PROGMEM="The city you're in?";
-prog_char hello_user_script5[] PROGMEM=" Plug me to\n\n your computer\n\n and start coding!";
-
-prog_char hello_user_script6[] PROGMEM=" Hello User!\n\n It's me, your robot\n\n I'm alive! <3";
-prog_char hello_user_script7[] PROGMEM=" First I need some\n\n input from you!";
-prog_char hello_user_script8[] PROGMEM=" Use the knob\n\n to select letters";
-prog_char hello_user_script9[] PROGMEM=" Use L/R button\n\n to move the cursor,\n\n middle to confirm";
-prog_char hello_user_script10[] PROGMEM=" Press middle key\n to continue...";
-prog_char hello_user_script11[] PROGMEM=" Choose \"enter\" to\n\n finish the input";
-
-PROGMEM const char *scripts_Hello_User[]={
- hello_user_script1,
- hello_user_script2,
- hello_user_script3,
- hello_user_script4,
- hello_user_script5,
- hello_user_script6,
- hello_user_script7,
- hello_user_script8,
- hello_user_script9,
- hello_user_script10,
- hello_user_script11,
-};
-
-/*
-void getPGMtext(int seq){
- //It takes a string from program space, and fill it
- //in the buffer
- strcpy_P(buffer,(char*)pgm_read_word(&(scripts[seq])));
-}
-
-void writeScript(int seq, int line, int col){
- //print a string from program space to a specific line,
- //column on the LCD
-
- //first fill the buffer with text from program space
- getPGMtext(seq);
- //then print it to the screen
- textManager.writeText(line,col,buffer);
-}
-
-*/ \ No newline at end of file
diff --git a/libraries/Robot_Control/utility/twi.c b/libraries/Robot_Control/utility/twi.c
deleted file mode 100644
index 6b2db3c..0000000
--- a/libraries/Robot_Control/utility/twi.c
+++ /dev/null
@@ -1,527 +0,0 @@
-/*
- twi.c - TWI/I2C library for Wiring & Arduino
- Copyright (c) 2006 Nicholas Zambetti. All right reserved.
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public
- License as published by the Free Software Foundation; either
- version 2.1 of the License, or (at your option) any later version.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- Lesser General Public License for more details.
-
- You should have received a copy of the GNU Lesser General Public
- License along with this library; if not, write to the Free Software
- Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-
- Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts
-*/
-
-#include <math.h>
-#include <stdlib.h>
-#include <inttypes.h>
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include <compat/twi.h>
-#include "Arduino.h" // for digitalWrite
-
-#ifndef cbi
-#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
-#endif
-
-#ifndef sbi
-#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
-#endif
-
-#include "pins_arduino.h"
-#include "twi.h"
-
-static volatile uint8_t twi_state;
-static volatile uint8_t twi_slarw;
-static volatile uint8_t twi_sendStop; // should the transaction end with a stop
-static volatile uint8_t twi_inRepStart; // in the middle of a repeated start
-
-static void (*twi_onSlaveTransmit)(void);
-static void (*twi_onSlaveReceive)(uint8_t*, int);
-
-static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH];
-static volatile uint8_t twi_masterBufferIndex;
-static volatile uint8_t twi_masterBufferLength;
-
-static uint8_t twi_txBuffer[TWI_BUFFER_LENGTH];
-static volatile uint8_t twi_txBufferIndex;
-static volatile uint8_t twi_txBufferLength;
-
-static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH];
-static volatile uint8_t twi_rxBufferIndex;
-
-static volatile uint8_t twi_error;
-
-/*
- * Function twi_init
- * Desc readys twi pins and sets twi bitrate
- * Input none
- * Output none
- */
-void twi_init(void)
-{
- // initialize state
- twi_state = TWI_READY;
- twi_sendStop = true; // default value
- twi_inRepStart = false;
-
- // activate internal pullups for twi.
- digitalWrite(SDA, 1);
- digitalWrite(SCL, 1);
-
- // initialize twi prescaler and bit rate
- cbi(TWSR, TWPS0);
- cbi(TWSR, TWPS1);
- TWBR = ((F_CPU / TWI_FREQ) - 16) / 2;
-
- /* twi bit rate formula from atmega128 manual pg 204
- SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR))
- note: TWBR should be 10 or higher for master mode
- It is 72 for a 16mhz Wiring board with 100kHz TWI */
-
- // enable twi module, acks, and twi interrupt
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA);
-}
-
-/*
- * Function twi_slaveInit
- * Desc sets slave address and enables interrupt
- * Input none
- * Output none
- */
-void twi_setAddress(uint8_t address)
-{
- // set twi slave address (skip over TWGCE bit)
- TWAR = address << 1;
-}
-
-/*
- * Function twi_readFrom
- * Desc attempts to become twi bus master and read a
- * series of bytes from a device on the bus
- * Input address: 7bit i2c device address
- * data: pointer to byte array
- * length: number of bytes to read into array
- * sendStop: Boolean indicating whether to send a stop at the end
- * Output number of bytes read
- */
-uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sendStop)
-{
- uint8_t i;
-
- // ensure data will fit into buffer
- if(TWI_BUFFER_LENGTH < length){
- return 0;
- }
-
- // wait until twi is ready, become master receiver
- while(TWI_READY != twi_state){
- continue;
- }
- twi_state = TWI_MRX;
- twi_sendStop = sendStop;
- // reset error state (0xFF.. no error occured)
- twi_error = 0xFF;
-
- // initialize buffer iteration vars
- twi_masterBufferIndex = 0;
- twi_masterBufferLength = length-1; // This is not intuitive, read on...
- // On receive, the previously configured ACK/NACK setting is transmitted in
- // response to the received byte before the interrupt is signalled.
- // Therefor we must actually set NACK when the _next_ to last byte is
- // received, causing that NACK to be sent in response to receiving the last
- // expected byte of data.
-
- // build sla+w, slave device address + w bit
- twi_slarw = TW_READ;
- twi_slarw |= address << 1;
-
- if (true == twi_inRepStart) {
- // if we're in the repeated start state, then we've already sent the start,
- // (@@@ we hope), and the TWI statemachine is just waiting for the address byte.
- // We need to remove ourselves from the repeated start state before we enable interrupts,
- // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning
- // up. Also, don't enable the START interrupt. There may be one pending from the
- // repeated start that we sent outselves, and that would really confuse things.
- twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR
- TWDR = twi_slarw;
- TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START
- }
- else
- // send start condition
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA);
-
- // wait for read operation to complete
- while(TWI_MRX == twi_state){
- continue;
- }
-
- if (twi_masterBufferIndex < length)
- length = twi_masterBufferIndex;
-
- // copy twi buffer to data
- for(i = 0; i < length; ++i){
- data[i] = twi_masterBuffer[i];
- }
-
- return length;
-}
-
-/*
- * Function twi_writeTo
- * Desc attempts to become twi bus master and write a
- * series of bytes to a device on the bus
- * Input address: 7bit i2c device address
- * data: pointer to byte array
- * length: number of bytes in array
- * wait: boolean indicating to wait for write or not
- * sendStop: boolean indicating whether or not to send a stop at the end
- * Output 0 .. success
- * 1 .. length to long for buffer
- * 2 .. address send, NACK received
- * 3 .. data send, NACK received
- * 4 .. other twi error (lost bus arbitration, bus error, ..)
- */
-uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait, uint8_t sendStop)
-{
- uint8_t i;
-
- // ensure data will fit into buffer
- if(TWI_BUFFER_LENGTH < length){
- return 1;
- }
-
- // wait until twi is ready, become master transmitter
- while(TWI_READY != twi_state){
- continue;
- }
- twi_state = TWI_MTX;
- twi_sendStop = sendStop;
- // reset error state (0xFF.. no error occured)
- twi_error = 0xFF;
-
- // initialize buffer iteration vars
- twi_masterBufferIndex = 0;
- twi_masterBufferLength = length;
-
- // copy data to twi buffer
- for(i = 0; i < length; ++i){
- twi_masterBuffer[i] = data[i];
- }
-
- // build sla+w, slave device address + w bit
- twi_slarw = TW_WRITE;
- twi_slarw |= address << 1;
-
- // if we're in a repeated start, then we've already sent the START
- // in the ISR. Don't do it again.
- //
- if (true == twi_inRepStart) {
- // if we're in the repeated start state, then we've already sent the start,
- // (@@@ we hope), and the TWI statemachine is just waiting for the address byte.
- // We need to remove ourselves from the repeated start state before we enable interrupts,
- // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning
- // up. Also, don't enable the START interrupt. There may be one pending from the
- // repeated start that we sent outselves, and that would really confuse things.
- twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR
- TWDR = twi_slarw;
- TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START
- }
- else
- // send start condition
- TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA); // enable INTs
-
- // wait for write operation to complete
- while(wait && (TWI_MTX == twi_state)){
- continue;
- }
-
- if (twi_error == 0xFF)
- return 0; // success
- else if (twi_error == TW_MT_SLA_NACK)
- return 2; // error: address send, nack received
- else if (twi_error == TW_MT_DATA_NACK)
- return 3; // error: data send, nack received
- else
- return 4; // other twi error
-}
-
-/*
- * Function twi_transmit
- * Desc fills slave tx buffer with data
- * must be called in slave tx event callback
- * Input data: pointer to byte array
- * length: number of bytes in array
- * Output 1 length too long for buffer
- * 2 not slave transmitter
- * 0 ok
- */
-uint8_t twi_transmit(const uint8_t* data, uint8_t length)
-{
- uint8_t i;
-
- // ensure data will fit into buffer
- if(TWI_BUFFER_LENGTH < length){
- return 1;
- }
-
- // ensure we are currently a slave transmitter
- if(TWI_STX != twi_state){
- return 2;
- }
-
- // set length and copy data into tx buffer
- twi_txBufferLength = length;
- for(i = 0; i < length; ++i){
- twi_txBuffer[i] = data[i];
- }
-
- return 0;
-}
-
-/*
- * Function twi_attachSlaveRxEvent
- * Desc sets function called before a slave read operation
- * Input function: callback function to use
- * Output none
- */
-void twi_attachSlaveRxEvent( void (*function)(uint8_t*, int) )
-{
- twi_onSlaveReceive = function;
-}
-
-/*
- * Function twi_attachSlaveTxEvent
- * Desc sets function called before a slave write operation
- * Input function: callback function to use
- * Output none
- */
-void twi_attachSlaveTxEvent( void (*function)(void) )
-{
- twi_onSlaveTransmit = function;
-}
-
-/*
- * Function twi_reply
- * Desc sends byte or readys receive line
- * Input ack: byte indicating to ack or to nack
- * Output none
- */
-void twi_reply(uint8_t ack)
-{
- // transmit master read ready signal, with or without ack
- if(ack){
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA);
- }else{
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT);
- }
-}
-
-/*
- * Function twi_stop
- * Desc relinquishes bus master status
- * Input none
- * Output none
- */
-void twi_stop(void)
-{
- // send stop condition
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO);
-
- // wait for stop condition to be exectued on bus
- // TWINT is not set after a stop condition!
- while(TWCR & _BV(TWSTO)){
- continue;
- }
-
- // update twi state
- twi_state = TWI_READY;
-}
-
-/*
- * Function twi_releaseBus
- * Desc releases bus control
- * Input none
- * Output none
- */
-void twi_releaseBus(void)
-{
- // release bus
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT);
-
- // update twi state
- twi_state = TWI_READY;
-}
-
-SIGNAL(TWI_vect)
-{
- switch(TW_STATUS){
- // All Master
- case TW_START: // sent start condition
- case TW_REP_START: // sent repeated start condition
- // copy device address and r/w bit to output register and ack
- TWDR = twi_slarw;
- twi_reply(1);
- break;
-
- // Master Transmitter
- case TW_MT_SLA_ACK: // slave receiver acked address
- case TW_MT_DATA_ACK: // slave receiver acked data
- // if there is data to send, send it, otherwise stop
- if(twi_masterBufferIndex < twi_masterBufferLength){
- // copy data to output register and ack
- TWDR = twi_masterBuffer[twi_masterBufferIndex++];
- twi_reply(1);
- }else{
- if (twi_sendStop)
- twi_stop();
- else {
- twi_inRepStart = true; // we're gonna send the START
- // don't enable the interrupt. We'll generate the start, but we
- // avoid handling the interrupt until we're in the next transaction,
- // at the point where we would normally issue the start.
- TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ;
- twi_state = TWI_READY;
- }
- }
- break;
- case TW_MT_SLA_NACK: // address sent, nack received
- twi_error = TW_MT_SLA_NACK;
- twi_stop();
- break;
- case TW_MT_DATA_NACK: // data sent, nack received
- twi_error = TW_MT_DATA_NACK;
- twi_stop();
- break;
- case TW_MT_ARB_LOST: // lost bus arbitration
- twi_error = TW_MT_ARB_LOST;
- twi_releaseBus();
- break;
-
- // Master Receiver
- case TW_MR_DATA_ACK: // data received, ack sent
- // put byte into buffer
- twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
- case TW_MR_SLA_ACK: // address sent, ack received
- // ack if more bytes are expected, otherwise nack
- if(twi_masterBufferIndex < twi_masterBufferLength){
- twi_reply(1);
- }else{
- twi_reply(0);
- }
- break;
- case TW_MR_DATA_NACK: // data received, nack sent
- // put final byte into buffer
- twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
- if (twi_sendStop)
- twi_stop();
- else {
- twi_inRepStart = true; // we're gonna send the START
- // don't enable the interrupt. We'll generate the start, but we
- // avoid handling the interrupt until we're in the next transaction,
- // at the point where we would normally issue the start.
- TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ;
- twi_state = TWI_READY;
- }
- break;
- case TW_MR_SLA_NACK: // address sent, nack received
- twi_stop();
- break;
- // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case
-
- // Slave Receiver
- case TW_SR_SLA_ACK: // addressed, returned ack
- case TW_SR_GCALL_ACK: // addressed generally, returned ack
- case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack
- case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack
- // enter slave receiver mode
- twi_state = TWI_SRX;
- // indicate that rx buffer can be overwritten and ack
- twi_rxBufferIndex = 0;
- twi_reply(1);
- break;
- case TW_SR_DATA_ACK: // data received, returned ack
- case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack
- // if there is still room in the rx buffer
- if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){
- // put byte in buffer and ack
- twi_rxBuffer[twi_rxBufferIndex++] = TWDR;
- twi_reply(1);
- }else{
- // otherwise nack
- twi_reply(0);
- }
- break;
- case TW_SR_STOP: // stop or repeated start condition received
- // put a null char after data if there's room
- if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){
- twi_rxBuffer[twi_rxBufferIndex] = '\0';
- }
- // sends ack and stops interface for clock stretching
- twi_stop();
- // callback to user defined callback
- twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex);
- // since we submit rx buffer to "wire" library, we can reset it
- twi_rxBufferIndex = 0;
- // ack future responses and leave slave receiver state
- twi_releaseBus();
- break;
- case TW_SR_DATA_NACK: // data received, returned nack
- case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack
- // nack back at master
- twi_reply(0);
- break;
-
- // Slave Transmitter
- case TW_ST_SLA_ACK: // addressed, returned ack
- case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack
- // enter slave transmitter mode
- twi_state = TWI_STX;
- // ready the tx buffer index for iteration
- twi_txBufferIndex = 0;
- // set tx buffer length to be zero, to verify if user changes it
- twi_txBufferLength = 0;
- // request for txBuffer to be filled and length to be set
- // note: user must call twi_transmit(bytes, length) to do this
- twi_onSlaveTransmit();
- // if they didn't change buffer & length, initialize it
- if(0 == twi_txBufferLength){
- twi_txBufferLength = 1;
- twi_txBuffer[0] = 0x00;
- }
- // transmit first byte from buffer, fall
- case TW_ST_DATA_ACK: // byte sent, ack returned
- // copy data to output register
- TWDR = twi_txBuffer[twi_txBufferIndex++];
- // if there is more to send, ack, otherwise nack
- if(twi_txBufferIndex < twi_txBufferLength){
- twi_reply(1);
- }else{
- twi_reply(0);
- }
- break;
- case TW_ST_DATA_NACK: // received nack, we are done
- case TW_ST_LAST_DATA: // received ack, but we are done already!
- // ack future responses
- twi_reply(1);
- // leave slave receiver state
- twi_state = TWI_READY;
- break;
-
- // All
- case TW_NO_INFO: // no state information
- break;
- case TW_BUS_ERROR: // bus error, illegal stop/start
- twi_error = TW_BUS_ERROR;
- twi_stop();
- break;
- }
-}
-
diff --git a/libraries/Robot_Control/utility/twi.h b/libraries/Robot_Control/utility/twi.h
deleted file mode 100644
index 6526593..0000000
--- a/libraries/Robot_Control/utility/twi.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
- twi.h - TWI/I2C library for Wiring & Arduino
- Copyright (c) 2006 Nicholas Zambetti. All right reserved.
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of the GNU Lesser General Public
- License as published by the Free Software Foundation; either
- version 2.1 of the License, or (at your option) any later version.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- Lesser General Public License for more details.
-
- You should have received a copy of the GNU Lesser General Public
- License along with this library; if not, write to the Free Software
- Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-*/
-
-#ifndef twi_h
-#define twi_h
-
- #include <inttypes.h>
-
- //#define ATMEGA8
-
- #ifndef TWI_FREQ
- #define TWI_FREQ 100000L
- #endif
-
- #ifndef TWI_BUFFER_LENGTH
- #define TWI_BUFFER_LENGTH 32
- #endif
-
- #define TWI_READY 0
- #define TWI_MRX 1
- #define TWI_MTX 2
- #define TWI_SRX 3
- #define TWI_STX 4
-
- void twi_init(void);
- void twi_setAddress(uint8_t);
- uint8_t twi_readFrom(uint8_t, uint8_t*, uint8_t, uint8_t);
- uint8_t twi_writeTo(uint8_t, uint8_t*, uint8_t, uint8_t, uint8_t);
- uint8_t twi_transmit(const uint8_t*, uint8_t);
- void twi_attachSlaveRxEvent( void (*)(uint8_t*, int) );
- void twi_attachSlaveTxEvent( void (*)(void) );
- void twi_reply(uint8_t);
- void twi_stop(void);
- void twi_releaseBus(void);
-
-#endif
-
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