int main(void)
{
CPU_PRESCALE(CPU_16MHz);
SPI_SlaveInit();
InitWEnc();
u08 main_msg;
// Start keeping track of position at 0
WE_wheel_0 = 0;
while(!WE_wheel_0);
WE_position = 0;
// Loop indefinitely
while(1)
{
// obtain command from main uC
main_msg = SPI_SlaveReceive();
switch(main_msg)
{
case SPI_WHEEL_POS:
SPI_SlaveReceiveX(WE_position);
break;
case SPI_WHEEL_RPM:
SPI_SlaveReceiveX(WE_RPM);
break;
default:
break;
}
}
}
int main (void)
{
TWI_init(); //TWI Bus Initialisieren
TWI_59116_reset();
TWI_59116_setup();
if(CORE==Master){
DDRA=0xff; //PORTA als Ausgang
DDRD|=(1<<2); // PD2 als Ausgang
Interrupt_init();
sei();
SPI_MasterInit();
Ebene_ein=0;
while(1)
{
effect_blinky2(1); //ok
effect_planboing(0,AXIS_Z,20); //ok
effect_planboing(1,AXIS_X,20); //ok
effect_planboing(0,AXIS_Y,20); //ok
effect_planboing(1,AXIS_Z,20); //ok
for (uint8_t ii=0;ii<8;ii++)
effect_box_shrink_grow (0,ii%4, ii & 4, 20); //ok
//sendvoxels_rand_z(100,10,20); // ok
effect_random_sparkle (1,3,20,10); //ok
effect_box_woopwoop(1,40,1); //naja
effect_rain(0,300); //ok
//effect_wormsqueeze (2, AXIS_Z, 1, 100, 25); //ok
for(int i=0;i<8;i++){ // Pixel durchtesten
for(int j=0;j<64;j++)
{ LED[0][i][j/8][j%8]=0xff;
_delay_us(500);
}
for(int j=0;j<64;j++)
{ LED[0][i][j/8][j%8]=0;
_delay_us(500);
}
}
}
}else{
DDRA=0x00; //PORTA als Eingang
DDRD&=~(1<<2); // PD2 als Eingang
SPI_SlaveInit();
Ebene_ein=0;
while(1)
{
I2C_Leds_ein(Ebene_ein%8); //Säulentreiber einschalten für nächste Ebene
}
}
return 0;
}
int main(void)
{
DDRA = 0x00; PORTA = 0xFF; //Input Port, joystick and buttons.
DDRB = 0xFF; PORTB = 0x00; //Output Port, test output to led.
DDRD = 0xFF; PORTD = 0x00;
DDRC = 0xFF; PORTC = 0x00; //C0 is motor.
unsigned char i=0;
tasks[i].state = JS_SMStart;
tasks[i].period = periodJoystick;
tasks[i].elapsedTime = tasks[i].period;
tasks[i].TickFct = &TickFct_Joystick;
i++;
tasks[i].state = JP_SMStart;
tasks[i].period = periodJump;
tasks[i].elapsedTime = tasks[i].period;
tasks[i].TickFct = &TickFct_Jump;
i++;
tasks[i].state = CH_SMStart;
tasks[i].period = periodCrouch;
tasks[i].elapsedTime = tasks[i].period;
tasks[i].TickFct = &TickFct_Crouch;
i++;
tasks[i].state = RT_SMStart;
tasks[i].period = periodReset;
tasks[i].elapsedTime = tasks[i].period;
tasks[i].TickFct = &TickFct_Reset;
i++;
tasks[i].state = TN_SMStart;
tasks[i].period = periodTransmission;
tasks[i].elapsedTime = tasks[i].period;
tasks[i].TickFct = &TickFct_Transmission;
i++;
tasks[i].state = MR_SMStart;
tasks[i].period = periodMotor;
tasks[i].elapsedTime = tasks[i].period;
tasks[i].TickFct = &TickFct_Motor;
i++;
tasks[i].state = SE_SMStart;
tasks[i].period = periodScore;
tasks[i].elapsedTime = tasks[i].period;
tasks[i].TickFct = &TickFct_Score;
TimerSet(tasksPeriodGCD);
TimerOn();
ADC_init();
SPI_SlaveInit();
while (1)
{
while(!TimerFlag);
TimerFlag = 0;
}
return 0;
}
int main(void)
{
uint32_t i = 0;
uint8_t err = 0;
spi_transfer_t xfer = {0};
spi_slave_config_t userConfig;
BOARD_InitPins();
BOARD_BootClockRUN();
BOARD_InitDebugConsole();
PRINTF("\n\rSlave is working....\n\r");
/*
* userConfig.polarity = kSPI_ClockPolarityActiveHigh;
* userConfig.phase = kSPI_ClockPhaseFirstEdge;
* userConfig.direction = kSPI_MsbFirst;
* userConfig.enableStopInWaitMode = false;
* userConfig.dataMode = kSPI_8BitMode;
* userConfig.txWatermark = kSPI_TxFifoOneHalfEmpty;
* userConfig.rxWatermark = kSPI_RxFifoOneHalfFull;
*/
SPI_SlaveGetDefaultConfig(&userConfig);
SPI_SlaveInit(EXAMPLE_SPI_SLAVE, &userConfig);
SPI_SlaveTransferCreateHandle(EXAMPLE_SPI_SLAVE, &handle, slaveCallback, NULL);
for (i = 0; i < 64; i++)
{
sendBuff[i] = i;
}
/* receive data from master */
xfer.txData = sendBuff;
xfer.rxData = buff;
xfer.dataSize = BUFFER_SIZE;
SPI_SlaveTransferNonBlocking(EXAMPLE_SPI_SLAVE, &handle, &xfer);
while (slaveFinished != true)
{
}
for (i = 0; i < BUFFER_SIZE; i++)
{
if (buff[i] != i)
{
PRINTF("\n\rThe %d number is wrong! It is %dn\r", i, buff[i]);
err++;
}
}
PRINTF("\r\n");
if (err == 0)
{
PRINTF("Succeed!\n\r");
}
while (1)
{
}
}
int main (void){
DIO_voidInit();
SPI_voidInit();
SPI_voidEnable();
SPI_voidInterruptEnable();
SPI_voidSetISR(SPI_IRQHandelr);
SPI_SlaveInit();
UART_voidInit();
UART_voidTxEnable();
while(1);
return 0 ;
}
//__________________________________________________________________________________________________
void anibike_dl_slave_initialize ( void )
{
// map PORT C to virtual port 1
PORT_MapVirtualPort1( PORTCFG_VP1MAP_PORTC_gc );
// set clk out and data in
DATALINK_PORT.DIRCLR = DATALINK_DATA_PIN|DATALINK_CLK_PIN|DATALINK_CS_PIN;
PORT_ConfigurePins( &DATALINK_PORT,
DATALINK_CLK_PIN|DATALINK_DATA_PIN,
false,
false,
PORT_OPC_TOTEM_gc,
PORT_ISC_BOTHEDGES_gc );
PORT_ConfigurePins( &DATALINK_PORT,
DATALINK_CS_PIN,
false,
false,
PORT_OPC_PULLUP_gc,
PORT_ISC_FALLING_gc );
//PORT_ISC_BOTHEDGES_gc );
/* Initialize SPI slave on port C. */
SPI_SlaveInit(&spiSlaveC,
&DATALINK_SPI,
&DATALINK_PORT,
false,
SPI_MODE_0_gc,
SPI_INTLVL_MED_gc);
PORT_ConfigureInterrupt0( &DATALINK_PORT, PORT_INT0LVL_HI_gc, DATALINK_CS_PIN );
PMIC.CTRL |= PMIC_LOLVLEN_bm|PMIC_MEDLVLEN_bm|PMIC_HILVLEN_bm;
DL_SLAVE_CIRC_BUFFER_START = 0;
DL_SLAVE_CIRC_BUFFER_END = 0;
g_receive_buffer = g_buffer_II;
g_proj_buffer = g_buffer_I;
g_current_double_buffer = 0;
set_projection_buffer ( g_proj_buffer );
}
void spi_format(spi_t *obj, int bits, int mode, int slave)
{
spi_master_config_t master_config;
spi_slave_config_t slave_config;
/* Bits: values between 4 and 16 are valid */
MBED_ASSERT(bits >= 4 && bits <= 16);
obj->bits = bits;
if (slave) {
/* Slave config */
SPI_SlaveGetDefaultConfig(&slave_config);
slave_config.dataWidth = (spi_data_width_t)(bits - 1);
slave_config.polarity = (mode & 0x2) ? kSPI_ClockPolarityActiveLow : kSPI_ClockPolarityActiveHigh;
slave_config.phase = (mode & 0x1) ? kSPI_ClockPhaseSecondEdge : kSPI_ClockPhaseFirstEdge;
SPI_SlaveInit(spi_address[obj->instance], &slave_config);
} else {
/* Master config */
SPI_MasterGetDefaultConfig(&master_config);
master_config.dataWidth = (spi_data_width_t)(bits - 1);
master_config.polarity = (mode & 0x2) ? kSPI_ClockPolarityActiveLow : kSPI_ClockPolarityActiveHigh;
master_config.phase = (mode & 0x1) ? kSPI_ClockPhaseSecondEdge : kSPI_ClockPhaseFirstEdge;
master_config.direction = kSPI_MsbFirst;
switch (obj->instance) {
case 0:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM0);
RESET_PeripheralReset(kFC0_RST_SHIFT_RSTn);
break;
case 1:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM1);
RESET_PeripheralReset(kFC1_RST_SHIFT_RSTn);
break;
case 2:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM2);
RESET_PeripheralReset(kFC2_RST_SHIFT_RSTn);
break;
case 3:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM3);
RESET_PeripheralReset(kFC3_RST_SHIFT_RSTn);
break;
case 4:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM4);
RESET_PeripheralReset(kFC4_RST_SHIFT_RSTn);
break;
case 5:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM5);
RESET_PeripheralReset(kFC5_RST_SHIFT_RSTn);
break;
case 6:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM6);
RESET_PeripheralReset(kFC6_RST_SHIFT_RSTn);
break;
case 7:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM7);
RESET_PeripheralReset(kFC7_RST_SHIFT_RSTn);
break;
#if (FSL_FEATURE_SOC_FLEXCOMM_COUNT > 8U)
case 8:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM8);
RESET_PeripheralReset(kFC8_RST_SHIFT_RSTn);
break;
#endif
#if (FSL_FEATURE_SOC_FLEXCOMM_COUNT > 9U)
case 9:
CLOCK_AttachClk(kFRO12M_to_FLEXCOMM9);
RESET_PeripheralReset(kFC9_RST_SHIFT_RSTn);
break;
#endif
}
SPI_MasterInit(spi_address[obj->instance], &master_config, 12000000);
}
}
/*! \brief Test function.
*
* This function tests the SPI master and slave drivers in polled operation,
* with a master (on port C) communicating with a slave (on port D).
*
* Hardware setup:
*
* - Connect PC4 to PD4 (SS)
* - Connect PC5 to PD5 (MOSI)
* - Connect PC6 to PD6 (MISO)
* - Connect PC7 to PD7 (SCK)
*
* The drivers are tested in two phases:
*
* 1: Data is transmitted on byte at a time from the master to the slave.
* The slave increments the received data and sends it back. The master reads
* the data from the slave and verifies that it equals the data sent + 1.
*
* 2: Data is transmitted 4 bytes at a time to the slave. As the master sends
* a byte to the slave, the preceding byte is sent back to the master.
* When all bytes have been sent, it is verified that the last 3 bytes
* received at the master, equal the first 3 bytes sent.
*
* The variable, 'success', will be non-zero when the function reaches the
* infinite for-loop if the test was successful.
*/
int main(void)
{
/* Init SS pin as output with wired AND and pull-up. */
PORTC.DIRSET = PIN4_bm;
PORTC.PIN4CTRL = PORT_OPC_WIREDANDPULL_gc;
/* Set SS output to high. (No slave addressed). */
PORTC.OUTSET = PIN4_bm;
/* Instantiate pointer to ssPort. */
PORT_t *ssPort = &PORTC;
/* Initialize SPI master on port C. */
SPI_MasterInit(&spiMasterC,
&SPIC,
&PORTC,
false,
SPI_MODE_0_gc,
SPI_INTLVL_LO_gc,
false,
SPI_PRESCALER_DIV4_gc);
/* Initialize SPI slave on port D. */
SPI_SlaveInit(&spiSlaveD,
&SPID,
&PORTD,
false,
SPI_MODE_0_gc,
SPI_INTLVL_LO_gc);
/* PHASE 1: Transceive individual bytes. */
/* MASTER: Pull SS line low. This has to be done since
* SPI_MasterTransceiveByte() does not control the SS line(s). */
SPI_MasterSSLow(ssPort, PIN4_bm);
for(uint8_t i = 0; i < NUM_BYTES; i++) {
/* MASTER: Transmit data from master to slave. */
SPI_MasterTransceiveByte(&spiMasterC, masterSendData[i]);
/* SLAVE: Wait for data to be available. */
while (SPI_SlaveDataAvailable(&spiSlaveD) == false) {
}
/* SLAVE: Get the byte received. */
uint8_t slaveByte = SPI_SlaveReadByte(&spiSlaveD);
/* SLAVE: Increment received byte and send back. */
slaveByte++;
SPI_SlaveWriteByte(&spiSlaveD, slaveByte);
/* MASTER: Transmit dummy data to shift data from slave to master. */
uint8_t masterReceivedByte = SPI_MasterTransceiveByte(&spiMasterC, 0x00);
/* MASTER: Check if the correct value was received. */
if (masterReceivedByte != (masterSendData[i] + 1) ) {
success = false;
}
}
/* MASTER: Release SS to slave. */
SPI_MasterSSHigh(ssPort, PIN4_bm);
/* PHASE 2: Transceive data packet. */
/* Create data packet (SS to slave by PC4). */
SPI_MasterCreateDataPacket(&dataPacket,
masterSendData,
masterReceivedData,
NUM_BYTES,
&PORTC,
PIN4_bm);
/* Transceive packet. */
SPI_MasterTransceivePacket(&spiMasterC, &dataPacket);
/* Check that correct data was received. Assume success at first. */
for (uint8_t i = 0; i < NUM_BYTES - 1; i++) {
if (masterReceivedData[i + 1] != masterSendData[i]) {
success = false;
}
}
while(true) {
nop();
}
}
/*! \brief Test function.
*
* This function tests the SPI master and slave drivers in interrupt-driven
* operation, with a master (on port C) communicating with a slave (on port D).
*
* Hardware setup:
*
* - Connect PC4 to PD4 (SS)
* - Connect PC5 to PD5 (MOSI)
* - Connect PC6 to PD6 (MISO)
* - Connect PC7 to PD7 (SCK)
*
* The driver is tested by transmitting data from the master to the slave.
* The slave increments the received data and sends it back. The master reads
* the data from the slave and verifies that it equals the data sent + 1.
*
* The first data transaction is initiated by the main routine. When a
* transaction has finished, an interrupt will be triggered which will start
* new transactions until all bytes have been transceived.
*
* The variable, 'success', will be non-zero when the function reaches the
* infinite for-loop if the test was successful.
*
* \note This example uses multilevel interrupts. For more information on how
* to use the interrupt controller, refer to application note AVR1305.
*/
int main( void )
{
/* Init SS pin as output with wired AND and pull-up. */
PORTC.DIRSET = PIN4_bm;
PORTC.PIN4CTRL = PORT_OPC_WIREDANDPULL_gc;
/* Set SS output to high. (No slave addressed). */
PORTC.OUTSET = PIN4_bm;
/* Initialize SPI master on port C. */
SPI_MasterInit(&spiMasterC,
&SPIC,
&PORTC,
false,
SPI_MODE_0_gc,
SPI_INTLVL_LO_gc,
false,
SPI_PRESCALER_DIV4_gc);
/* Initialize SPI slave on port D. */
SPI_SlaveInit(&spiSlaveD,
&SPID,
&PORTD,
false,
SPI_MODE_0_gc,
SPI_INTLVL_MED_gc);
/* Enable low and medium level interrupts in the interrupt controller. */
PMIC.CTRL |= PMIC_MEDLVLEN_bm | PMIC_LOLVLEN_bm;
sei();
/* Create data packet (SS to slave by PC4) */
SPI_MasterCreateDataPacket(&dataPacket,
sendData,
receivedData,
NUM_BYTES + 1,
&PORTC,
PIN4_bm);
/* Transmit and receive first data byte. */
uint8_t status;
do {
status = SPI_MasterInterruptTransceivePacket(&spiMasterC, &dataPacket);
} while (status != SPI_OK);
/* Wait for transmission to complete. */
while (dataPacket.complete == false) {
}
/* Check that correct data was received. Assume success at first. */
success = true;
for (uint8_t i = 0; i < NUM_BYTES; i++) {
if (receivedData[i + 1] != (uint8_t)(sendData[i] + 1)) {
success = false;
}
}
while(true) {
nop();
}
}
int main(void)
{
char cmd;
char param1;
char param2;
char param3;
cmd = 0;
param1 = 0;
param2 = 0;
param3 = 0;
DDRB = 0x00;
PORTB |= 0x01;
// set for 16 MHz clock, and make sure the LED is off
CPU_PRESCALE(0);
LED_CONFIG;
LED_ON;
SPI_SlaveInit();
ACK_CONFIG;
ACK_HIGH;
TEST_CONFIG;
usb_init();
_delay_ms(1000);
usb_serial_flush_input();
int flashCounter = 0;
char LEDstate = 1;
while (1) {
idle:
TEST_HIGH;
ACK_HIGH;
SPDR = 0xff;
if(ATT_PIN)
{
timeoutCounter++;
if(timeoutCounter >= 30000)//we've been disconnected
{
mode = 0x41;
motorSetting1 = 0xff;
motorSetting2 = 0xff;
analogEnabled = 0;
configMode = 0;
timeoutCounter = 0;
flashCounter++;
if(flashCounter > 5)
{
if(LEDstate == 1)
{
LED_OFF;
LEDstate = 0;
}
else
{
LED_ON;
LEDstate = 1;
}
flashCounter = 0;
}
}
if(usb_serial_available())
{
LED_ON;
int c = usb_serial_getchar();
if (c >= 0)
{
switch(parseIndex)
{
case 0:
if(c == 0x5A)
parseIndex++;
else
usb_serial_putchar('x');
break;
case 1:
buttons1 &= c;//combine this with any pending presses
buttons1postReportState = c;
parseIndex++;
break;
case 2:
buttons2 &= c;//combine this with any pending presses
buttons2postReportState = c;
parseIndex++;
break;
case 3:
joyRX = c;
parseIndex++;
break;
case 4:
joyRY = c;
parseIndex++;
break;
case 5:
joyLX = c;
parseIndex++;
break;
case 6:
joyLY = c;
parseIndex = 0;
recievedUpdate = 1;
break;
}
}
else
{
parseIndex = 0;
usb_serial_putchar('x');
}
}
_delay_us(1);
goto idle;
}
timeoutCounter = 0;
if((buttons1 & 0x10) == 0) upPressure = 0xFF; else upPressure = 0x00;
if((buttons1 & 0x20) == 0) rightPressure = 0xFF; else rightPressure = 0x00;
if((buttons1 & 0x40) == 0) downPressure = 0xFF; else downPressure = 0x00;
if((buttons1 & 0x80) == 0) leftPressure = 0xFF; else leftPressure = 0x00;
if((buttons2 & 0x01) == 0) L2Pressure = 0xFF; else L2Pressure = 0x00;
if((buttons2 & 0x02) == 0) R2Pressure = 0xFF; else R2Pressure = 0x00;
if((buttons2 & 0x04) == 0) L1Pressure = 0xFF; else L1Pressure = 0x00;
if((buttons2 & 0x08) == 0) R1Pressure = 0xFF; else R1Pressure = 0x00;
if((buttons2 & 0x10) == 0) trianglePressure = 0xFF; else trianglePressure = 0x00;
if((buttons2 & 0x20) == 0) circlePressure = 0xFF; else circlePressure = 0x00;
if((buttons2 & 0x40) == 0) crossPressure = 0xFF; else crossPressure = 0x00;
if((buttons2 & 0x80) == 0) squarePressure = 0xFF; else squarePressure = 0x00;
cli();//disable usb interrupts
LED_ON;
TEST_LOW;
cmd = SPI_SlaveReceive(0xff,1);
TEST_HIGH;
if(cmd != 0x01)
goto finish;
if(configMode)
{
cmd = SPI_SlaveReceive(0xF3,1);
SPI_SlaveReceive(0x5A,1);
switch(cmd)
{
case 0x40:
param1 = SPI_SlaveReceive(0x00,1);
// if(param1 == 0) //lots on param1 but the reponses are all the same?
{
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x02,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x5A,0);
}
break;
case 0x41://check response data
if(analogEnabled==1)
{
//button pressures byte mask, appears after 0x44 is called
SPI_SlaveReceive(0xFF,1);//use mask instead?
SPI_SlaveReceive(0xFF,1);
SPI_SlaveReceive(0x03,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x5A,0);
}
else
{
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,0);
}
break;
case 0x43://exit config mode
param1 = SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,0);
if(param1 == 0)
{
configMode = 0;
}
break;
case 0x44://turn on analog mode
param1 = SPI_SlaveReceive(0x00,1);
param2 = SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,0);
if(param1 == 1)
{
mode = 0x73;//no analog button pressures
analogEnabled = 1;
}
else
{
mode = 0x41;
analogEnabled = 0;
}
break;
case 0x45://query model
param1 = SPI_SlaveReceive(0x03,1);
param2 = SPI_SlaveReceive(0x02,1);
if(analogEnabled==1)
SPI_SlaveReceive(0x01,1);
else
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x02,1);
SPI_SlaveReceive(0x01,1);
SPI_SlaveReceive(0x00,0);
break;
case 0x46:
param1 = SPI_SlaveReceive(0x00,1);
if(param1 == 0)
{
param2 = SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x01,1);
SPI_SlaveReceive(0x02,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x0F,0);
}
if(param1 == 1)
{
param2 = SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x01,1);
SPI_SlaveReceive(0x01,1);
SPI_SlaveReceive(0x01,1);
SPI_SlaveReceive(0x0F,0);
}
break;
case 0x47:
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x02,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x01,1);
SPI_SlaveReceive(0x00,0);
break;
case 0x4C:
param1 = SPI_SlaveReceive(0x00,1);
if(param1 == 0)
{
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x04,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,0);
}
if(param1 == 1)
{
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x07,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,0);
}
break;
case 0x4D://setup motors
motorSetting1 = SPI_SlaveReceive(motorSetting1,1);
motorSetting2 = SPI_SlaveReceive(motorSetting2,1);
SPI_SlaveReceive(0xFF,1);
SPI_SlaveReceive(0xFF,1);
SPI_SlaveReceive(0xFF,1);
SPI_SlaveReceive(0xFF,0);
break;
case 0x4F://set pressure byte mask, extended pressures
mode = 0x79;//analog button pressures
param1 = SPI_SlaveReceive(0x00,1);
param2 = SPI_SlaveReceive(0x00,1);
param3 = SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x00,1);
SPI_SlaveReceive(0x5A,0);
break;
}
}
else
{
TEST_LOW;
cmd = SPI_SlaveReceive(mode,1);
SPI_SlaveReceive(0x5A,1);
if(mode == 0x41)//digital only
{
param1 = SPI_SlaveReceive(buttons1,1);
param2 = SPI_SlaveReceive(buttons2,0);
}
if(mode == 0x73)//digital buttons, analog joysticks
{
param1 = SPI_SlaveReceive(buttons1,1);
if(param1 ==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(buttons2,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyRX,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyRY,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyLX,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyLY,0)==TIME_OUT_ERROR_CODE) goto finish;
}
if(mode == 0x79)//analog joysticks, analog buttons
{
param1 = SPI_SlaveReceive(buttons1,1);
if(param1 ==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(buttons2,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyRX,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyRY,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyLX,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(joyLY,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(rightPressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(leftPressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(upPressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(downPressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(trianglePressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(circlePressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(crossPressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(squarePressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(L1Pressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(R1Pressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(L2Pressure,1)==TIME_OUT_ERROR_CODE) goto finish;
if(SPI_SlaveReceive(R2Pressure,0)==TIME_OUT_ERROR_CODE) goto finish;
}
//cmd should usually be 0x42 for polling
if(cmd == 0x43)
{
if(param1 == 0x01)
configMode = 1;
}
}
finish:
TEST_HIGH;
ACK_HIGH;
if((buttons1 == 0xff)&&(buttons2 == 0xff))
{
LED_OFF;
}
//copy queued releases into button state
buttons1 = buttons1postReportState;
buttons2 = buttons2postReportState;
sei();//renable usb interrupts
if(recievedUpdate == 1)
{
//ack the update was sent to the console
usb_serial_putchar('k');
recievedUpdate = 0;
}
while(!ATT_PIN)
{
_delay_us(20); //conservative so we aren't still in ATT low at the top of the loop
}
counter++;
}
}