void manual_control(void){
uint8_t len = TWI_read(s);
if(len){
switch(s[0]){
case CMD_MANUAL:
switch(s[2]){
case LEFT:
manual_left();
break;
case RIGHT:
manual_right();
break;
case FORWARD:
manual_forward();
break;
case REVERSE:
manual_reverse();
break;
case ROTATE_LEFT:
rotate_left();
break;
case ROTATE_RIGHT:
rotate_right();
break;
case STOP:
manual_stop();
break;
}
break;
}
}
}
// funkcja do odczytu z EXPANDERA PCF8574 *********************
uint8_t PCF8574_read( uint8_t SLA ) {
uint8_t res=0;
TWI_start();
TWI_write(SLA + 1);
res = TWI_read( NACK );
TWI_stop();
return res;
}
int main(void)
{
TWI_init();
UART_init();
sei();
while(1)
{
TWI_read(0x50,dat,128); // Czytaj 24c02 EEPROM (A0=A1=A2 = 0)
DEBUG_hextable(dat,128);
TWI_write(0x50,dat,128); // Zapisz do PCF8583 (A0 = 1)
TWI_read(0x51,dat,128); // Czytaj z PCF8583 (A0 = 1)
DEBUG_hextable(dat,128);
delayms(500);
}
}
void TWI_read_buf(uint8_t SLA, uint8_t adr, uint8_t len, uint8_t *buf) {
TWI_start();
TWI_write(SLA);
TWI_write(adr);
TWI_start();
TWI_write(SLA + 1);
while (len--) *buf++ = TWI_read( len ? ACK : NACK );
TWI_stop();
}
void sfp_read_vendor_name(uint8_t *buf) {
uint8_t len=15;
TWI_start();
TWI_write(0xa0);
TWI_write(0x14);
TWI_start();
TWI_write(0xa1);
while (len--) *buf++ = TWI_read( len ? ACK : NACK );
TWI_stop();
}
void sfp_read_to_buf(uint8_t SLA, uint8_t len, uint8_t *buf) {
TWI_start();
TWI_write(SLA);
TWI_write(0xa0);
TWI_start();
TWI_write(SLA + 1);
while (len--) *buf++ = TWI_read( len ? ACK : NACK );
TWI_stop();
}
uint8_t TWI_read_int(uint8_t SLA) {
uint8_t data;
TWI_start();
TWI_write(SLA);
TWI_start();
TWI_write(SLA + 1);
data = TWI_read(NACK);
TWI_stop();
return data;
}
void EI2C_read_buf(uint8_t device, uint16_t subAddr, uint16_t len, uint8_t *buf) {
while (len--) {
TWI_start();
TWI_write(device | ((subAddr>>8)<<1) );
TWI_write(subAddr);
TWI_start();
TWI_write(device + 1);
*buf++ = TWI_read( NACK );
TWI_stop();
subAddr++;
}
}
int main(void)
{
unsigned char temp[2];
unsigned int j;
DDRB = 0x3F;
TWI_first_init();
sei();
TWI_write(DS1631,"\xAC\x0C",2); // Continues conversion mode, 12 bit precision
TWI_write(DS1631,"\x51",1); // Start conversion
TWI_write(DS1631,"\xAA",1); // Start reading temperature
for(;;) {
for(j=0; j<50000; j++) wait();// Wait a while, the GCC optimizer trashes empty loops so a volatile nop is inserted
TWI_read(DS1631,temp,2); // Read the temperature
PORTB = ~temp[0];
}
}
