From fd8c367304fe62a107332db19880c88f9ac0d082 Mon Sep 17 00:00:00 2001 From: Fede85 Date: Wed, 3 Jul 2013 22:00:02 +0200 Subject: SPI library to the new format and moved Robot_Motor and Robot_Control libraries --- .../Robot_Control/utility/RobotTextManager.cpp | 192 -------- libraries/Robot_Control/utility/RobotTextManager.h | 77 --- .../Robot_Control/utility/VirtualKeyboard.cpp | 127 ----- libraries/Robot_Control/utility/VirtualKeyboard.h | 28 -- .../Robot_Control/utility/scripts_Hello_User.h | 51 -- libraries/Robot_Control/utility/twi.c | 527 --------------------- libraries/Robot_Control/utility/twi.h | 53 --- 7 files changed, 1055 deletions(-) delete mode 100644 libraries/Robot_Control/utility/RobotTextManager.cpp delete mode 100644 libraries/Robot_Control/utility/RobotTextManager.h delete mode 100644 libraries/Robot_Control/utility/VirtualKeyboard.cpp delete mode 100644 libraries/Robot_Control/utility/VirtualKeyboard.h delete mode 100644 libraries/Robot_Control/utility/scripts_Hello_User.h delete mode 100644 libraries/Robot_Control/utility/twi.c delete mode 100644 libraries/Robot_Control/utility/twi.h (limited to 'libraries/Robot_Control/utility') 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 -#include -#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 -#include - -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 - -//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 -#include -#include -#include -#include -#include -#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 - - //#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 - -- cgit v1.2.3-18-g5258