// functions
void ir_sendBaseStation(void)
{
if(lees<schrijf){
I2CTWI_transmitByte(I2C_RP6_BASE_ADR, 27);
transmit_buffer[0]= SPI_EEPROM_readByte(lees);
transmit_buffer[1]= SPI_EEPROM_readByte(lees+1);
transmit_buffer[2]= SPI_EEPROM_readByte(lees+2);
transmit_buffer[3]= SPI_EEPROM_readByte(lees+3);
mSleep(10);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 1, 9);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 2, transmit_buffer[0]);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 0, 10);
mSleep(2000);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 2, transmit_buffer[1]);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 0, 10);
mSleep(2000);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 2, transmit_buffer[2]);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 0, 10);
mSleep(2000);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 2, transmit_buffer[3]);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 0, 10);
mSleep(2000);
lees = (lees + 8);
}else if(lees == schrijf){
I2CTWI_transmitByte(I2C_RP6_BASE_ADR, 27);
transmit_buffer[0]= SPI_EEPROM_readByte(lees);
transmit_buffer[1]= SPI_EEPROM_readByte(lees+1);
transmit_buffer[2]= SPI_EEPROM_readByte(lees+2);
transmit_buffer[3]= SPI_EEPROM_readByte(lees+3);
mSleep(10);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 1, 9);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 2, transmit_buffer[0]);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 0, 10);
mSleep(2000);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 2, transmit_buffer[1]);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 0, 10);
mSleep(2000);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 2, transmit_buffer[2]);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 0, 10);
mSleep(2000);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 2, transmit_buffer[3]);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 0, 10);
mSleep(2000);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 2, 50);
I2CTWI_transmit2Bytes(I2C_RP6_BASE_ADR, 0, 10);
lees = (lees + 8);
}
}
void sendByteAndReceiveByte(void)
{
if(getStopwatch1() > 500)
{
I2CTWI_transmitByte(ARDUINO_WRITE_ADDRESS, speed); //writing the speed of rp6
uint8_t someByteToRead = 0;
someByteToRead = I2CTWI_readByte(ARDUINO_READ_ADDRESS); //read the maximum speed
writeInteger(someByteToRead, DEC);
getSpeedLimit(someByteToRead);
setStopwatch1(0);
}
}
/**
* Here we demonstrate how to read a few specific registers.
* It is just the same as above, but we only read 4 registers and
* start with register Number 13.
* We also show how to combine values from high and low registers
* back together to a 16 Bit value.
*/
void readLightSensors(void)
{
uint8_t lightSens[4];
I2CTWI_transmitByte(I2C_RP6_BASE_ADR, 13); // Start with register 13 (LSL_L)...
I2CTWI_readBytes(I2C_RP6_BASE_ADR, lightSens, 4); // and read all 4 registers up to
// register Number 16 (LSR_H) !
writeString_P_WIFI("Light Sensor registers:\n");
writeString_P_WIFI(" | LSL_L:"); writeInteger_WIFI(lightSens[0], DEC);
writeString_P_WIFI(" | LSL_H:"); writeInteger_WIFI(lightSens[1], DEC);
writeString_P_WIFI(" | LSR_L:"); writeInteger_WIFI(lightSens[2], DEC);
writeString_P_WIFI(" | LSR_H:"); writeInteger_WIFI(lightSens[3], DEC);
writeString_P_WIFI("\n\n Light Sensor Values:");
writeString_P_WIFI(" | LSL:"); writeInteger_WIFI(lightSens[0] + (lightSens[1]<<8), DEC);
writeString_P_WIFI(" | LSR:"); writeInteger_WIFI(lightSens[2] + (lightSens[3]<<8), DEC);
writeChar_WIFI('\n');
}
/**
* This function reads ALL registers available in the standard I2C Bus Slave
* Example program for the Robot Base and outputs their values on the serial interface.
* You will see a lot of zeros when the Motors are not running. The main values that are not
* zero are the two Light Sensors and the two free ADC Channels.
*/
void readAllRegisters(void)
{
I2CTWI_transmitByte(I2C_RP6_BASE_ADR, 0); // Start with register 0...
I2CTWI_readBytes(I2C_RP6_BASE_ADR,RP6data, 30); // and read all 30 registers up to
// register Number 29 !
// Now we output the Data we have just read on the serial interface:
writeString_P_WIFI("\nREADING ALL RP6 REGISTERS:");
uint8_t i = 0;
for(i = 0; i < 30; i++)
{
if(i % 8 == 0) // add some newline chars otherwise everything
writeChar_WIFI('\n'); // is printed on ONE single line...
else
writeString_P_WIFI(" | ");
writeChar_WIFI('#');
writeIntegerLength_WIFI(i,DEC,2);
writeChar_WIFI(':');
writeIntegerLength_WIFI(RP6data[i],DEC,3);
}
writeChar_WIFI('\n');
}
int main(void)
{
initRP6Control(); // Always call this first! The Processor will not work
// correctly otherwise.
bars(2);
writeString_P("\n\nRP6Control Selftest!\n\n");
bars(2);
setLEDs(0b1111);
mSleep(50);
initLCD();
showScreenLCD("################", "################");
mSleep(400);
showScreenLCD("################", "################");
showScreenLCD("RP6Control M32", "SELFTEST");
mSleep(1000);
uint8_t keynumber = 0;
while(keynumber < 6)
{
uint8_t key = checkReleasedKeyEvent();
if(key == keynumber)
{
keynumber++;
showScreenLCD("PRESS BUTTON", "NUMBER ");
writeIntegerLCD(keynumber,DEC);
setLEDs(0b0000);
writeString_P("### PRESS BUTTON NUMBER ");
writeInteger(keynumber,DEC);
writeString_P("!\n");
}
}
showScreenLCD("Testing", "BEEPER & LEDS");
mSleep(250);
// Play a sound to indicate that our program starts:
sound(50,50,100); setLEDs(0b0000);
sound(80,50,100); setLEDs(0b0001);
sound(100,50,100);setLEDs(0b0010);
sound(120,50,100);setLEDs(0b0100);
sound(140,50,100);setLEDs(0b1000);
sound(160,50,100);setLEDs(0b1001);
sound(180,50,100);setLEDs(0b1011);
sound(200,50,100);setLEDs(0b1111);
mSleep(400);
setLEDs(0b0000);
showScreenLCD("Testing", "EERPOM");
test(1);
writeString_P("\nEEPROM TEST\n");
writeString_P("\nErasing 250 Bytes...\n");
uint8_t cnt;
for(cnt = 0; cnt < 250; cnt++)
{
SPI_EEPROM_writeByte(cnt, 0xFF);
while(SPI_EEPROM_getStatus() & SPI_EEPROM_STAT_WIP);
}
writeString_P("...Done!\nWriting 250 Bytes to EEPROM:\n");
for(cnt = 0; cnt < 250; cnt++)
{
writeIntegerLength(cnt, DEC, 3);
SPI_EEPROM_writeByte(cnt, cnt);
while(SPI_EEPROM_getStatus() & SPI_EEPROM_STAT_WIP);
writeChar(',');
if(cnt % 10 == 0) writeChar('\n');
}
mSleep(400);
setLEDs(0b1111);
writeString_P("\nReading and verifying:\n");
for(cnt = 0; cnt < 250; cnt++)
{
uint8_t result = SPI_EEPROM_readByte(cnt);
if(result != cnt)
{
writeString_P("\nEEPROM VERIFY ERROR!!!! EEPROM DAMAGED!!!\n");
writeString_P("Data read: "); writeInteger(result,DEC);
writeString_P(", should be: "); writeInteger(cnt,DEC); writeChar('\n');
errors++;
}
else
writeIntegerLength(result,DEC,3);
writeChar(',');
if(cnt % 10 == 0) writeChar('\n');
}
writeString_P("\nErasing 250 Bytes...\n");
for(cnt = 0; cnt < 250; cnt++)
{
SPI_EEPROM_writeByte(cnt, 0xFF);
while(SPI_EEPROM_getStatus() & SPI_EEPROM_STAT_WIP);
}
mSleep(400);
setLEDs(0b0000);
writeString_P("\nEEPROM TEST DONE!\n");
writeString_P("\nI2C TWI TEST:\n");
showScreenLCD("I2C TWI", "TEST");
I2CTWI_initMaster(100);
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
uint8_t runningLight = 1;
for(cnt = 0; cnt < 24; cnt++)
{
writeIntegerLength(cnt,DEC,3);
writeChar(':');
writeIntegerLength(runningLight,DEC,3);
writeChar(',');
writeChar(' ');
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, 3, runningLight);
I2CTWI_transmitByte(I2C_RP6_BASE_ADR, 29);
uint8_t result = I2CTWI_readByte(I2C_RP6_BASE_ADR);
if(result != runningLight)
{
writeString_P("\nTWI TEST ERROR!\n");
errors++;
}
runningLight <<= 1;
if(runningLight > 32)
runningLight = 1;
if((cnt+1) % 6 == 0) writeChar('\n');
mSleep(100);
}
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, 3, 0);
writeString_P("\nTWI TEST DONE!\n");
writeString_P("\nMicrophone Test\n");
writeString_P("Hit the Microphone three times with your finger!\n");
showScreenLCD("MIC TEST:", "");
#define PREPARE 1
#define WAIT 2
uint8_t state = PREPARE;
startStopwatch2();
while(true)
{
static uint8_t peak_count = 3;
if(state == PREPARE)
{
if(getStopwatch2() > 250)
{
setCursorPosLCD(1, 6);
writeIntegerLengthLCD( peak_count, DEC, 1);
dischargePeakDetector();
state = WAIT;
setStopwatch2(0);
}
}
else if(state == WAIT)
{
uint8_t key = checkReleasedKeyEvent();
if(key)
{
break;
}
if(getStopwatch2() > 50)
{
uint16_t tmp = getMicrophonePeak();
if(tmp > 4)
{
externalPort.LEDS = 0;
uint16_t i;
uint8_t j;
for(i = 0, j = 2; i < tmp; i+= 40)
{
if(i < 40)
{
externalPort.LEDS++;
}
else
{
externalPort.LEDS <<=1;
externalPort.LEDS++;
}
}
outputExt();
if(tmp > 120)
{
state = PREPARE;
peak_count--;
}
if(peak_count == 0)
break;
}
else
setLEDs(0b0000);
setStopwatch2(0);
}
}
}
writeString_P("\nMICROPHONE TEST DONE!\n");
showScreenLCD("ALL TESTS", "DONE!");
writeString_P("\n\n\n\n");
bars(2);
writeString_P("\n\nALL TESTS DONE!\n\n");
if(errors)
{
bars(4);
writeString_P("\nERROR ERROR ERROR ERROR ERROR ERROR ERROR\n");
writeString_P("\nATTENTION: TESTS FINISHED WITH ERRORS!!!\n");
writeString_P("PLEASE CHECK RP6-M32 ASSEMBLY!!!\n\n");
bars(4);
writeString_P("\n\n");
}
// Now we just show a running light...
startStopwatch1();
uint8_t runLEDs = 1;
uint8_t dir = 0;
while(true)
{
if(getStopwatch1() > 100) {
setLEDs(runLEDs);
if(dir == 0)
runLEDs <<= 1;
else
runLEDs >>= 1;
if(runLEDs > 7 )
dir = 1;
else if (runLEDs < 2 )
dir = 0;
setStopwatch1(0);
}
}
void ir_receiveBaseStation(void)
{
uint8_t tijdelijk;
writeString_P("aap!\n");
while ((personX == 0xFF) || (personY == 0xFF) || (startX == 0xFF) || (startY == 0xFF)) {
I2CTWI_transmitByte(I2C_RP6_BASE_ADR, 27);
tijdelijk = I2CTWI_readByte(I2C_RP6_BASE_ADR);
writeString_P("ADDR: ");
writeInteger((int16_t) tijdelijk, DEC);
I2CTWI_transmitByte(I2C_RP6_BASE_ADR, 28);
tijdelijk = I2CTWI_readByte(I2C_RP6_BASE_ADR);
writeString_P(" DATA: ");
writeInteger((int16_t) tijdelijk, DEC);
writeString_P("\n");
mSleep(100);
// implement device bit 0 - device bit - code
// Oops! i did it again (van 44 naar 9)
if (tijdelijk >= 48 && tijdelijk <= 56) {
startY = tijdelijk - 48;
} else if (tijdelijk >= 32 && tijdelijk <= 38) {
startX = tijdelijk - 32;
} else if (tijdelijk >= 16 && tijdelijk <= 24) {
personY = tijdelijk - 16;
} else if (tijdelijk <= 6) {
personX = tijdelijk;
}
// for now, just put it on the screen
clearLCD();
setCursorPosLCD(0, 0);
writeCharLCD('X');
setCursorPosLCD(0, 2);
writeIntegerLCD(startX, DEC);
setCursorPosLCD(0, 10);
writeCharLCD('Y');
setCursorPosLCD(0, 12);
writeIntegerLCD(startY, DEC);
setCursorPosLCD(1, 0);
writeCharLCD('X');
setCursorPosLCD(1, 2);
writeIntegerLCD(personX, DEC);
setCursorPosLCD(1, 10);
writeCharLCD('Y');
setCursorPosLCD(1, 12);
writeIntegerLCD(personY, DEC);
}
}
