static uchar
i2c_set_dev_offset (uchar dev_addr, unsigned int offset, int ten_bit,
int alen)
{
uchar status;
unsigned int table[2];
/* initialize the table of address offset bytes */
/* utilized for 2 byte address offsets */
/* NOTE: the order is high byte first! */
table[1] = offset & 0xff; /* low byte */
table[0] = offset / 0x100; /* high byte */
DP (puts ("i2c_set_dev_offset\n"));
status = i2c_select_device (dev_addr, 0, ten_bit);
if (status) {
#ifdef DEBUG_I2C
printf ("Failed to select device setting offset: 0x%02x\n",
status);
#endif
return status;
}
/* check the address offset length */
if (alen == 0)
/* no address offset */
return (0);
else if (alen == 1) {
/* 1 byte address offset */
status = i2c_write_data (&offset, 1);
if (status) {
#ifdef DEBUG_I2C
printf ("Failed to write data: 0x%02x\n", status);
#endif
return status;
}
} else if (alen == 2) {
/* 2 bytes address offset */
status = i2c_write_data (table, 2);
if (status) {
#ifdef DEBUG_I2C
printf ("Failed to write data: 0x%02x\n", status);
#endif
return status;
}
} else {
/* address offset unknown or not supported */
printf ("Address length offset %d is not supported\n", alen);
return 1;
}
return 0; /* sucessful completion */
}
void start_ping(void)
{
unsigned char Data[1];
unsigned char addr = 0xE0;
Data[0] = 0x51; // write 0x51 to reg 0 of the ranger
i2c_write_data(addr, 0, Data, 1); // write one byte of data to reg 0 at addr
}
/* Read bytes */
int i2c_read(uchar chip, uint addr, int alen, uchar *buffer, int len)
{
uint offset;
int i;
debug("i2c_read: chip=0x%x, addr=0x%x, len=0x%x\n",
chip, addr, len);
if (!i2c_addr_ok(addr, alen)) {
debug("i2c_read: Bad address %x.%d.\n", addr, alen);
return 1;
}
for (offset = 0; offset < len; offset++) {
if (alen) {
uchar data[alen];
for (i = 0; i < alen; i++) {
data[alen - i - 1] =
(addr + offset) >> (8 * i);
}
if (i2c_write_data(chip, data, alen)) {
debug("i2c_read: error sending (0x%x)\n",
addr);
return 1;
}
}
if (i2c_read_data(chip, buffer + offset, 1)) {
debug("i2c_read: error reading (0x%x)\n", addr);
return 1;
}
}
return 0;
}
void Range_Update(void)
{
if (new_range)
{
new_range = 0; //reset the new_range flag
cmrange = ReadRanger(); //get the range back from the ranger
Data[0] = 0x51; //write 0x51 to reg 0 of the ranger:
i2c_write_data(ranger_addr, 0, Data, 1) ; // write one byte of data to reg 0 at addr
}
}
void Ranger(void) {
if (new_range){ //80ms passed
printf("\r\n new range");
new_range = 0;
range=ReadRanger();
printf("\r\nrange2: %d", range);
comp_and_range_Data[0] = 0x51 ; // write 0x51 to reg 0 of the ranger:
i2c_write_data(0xE0, 0, comp_and_range_Data, 1) ; // write one byte of data to reg 0 at addr_r
}//end if new range
Drive_Motor(); //even if not new range info, run the drive motor
}//end ranger
int fmradio_i2c_write(unsigned char address, const unsigned char* buf, int count)
{
#ifdef SANSA_FUZEV2
bitclr32(&CCU_IO, 1<<12);
#endif
int ret = i2c_write_data(fm_i2c_bus, address, -1, buf, count);
#ifdef SANSA_FUZEV2
bitset32(&CCU_IO, 1<<12);
#endif
return ret;
}
//------------------------------------------------------------------------------------
//ranger function
//------------------------------------------------------------------------------------
void Ranger(void) {
if (new_range) //80ms passed
{
//printf("/r/n new range");
new_range = 0;
range=read_ranger();
//printf("range2: %d", range);
Data1[0] = 0x51 ; // write 0x51 to reg 0 of the ranger:
i2c_write_data(0xE0, 0, Data1, 1) ; // write one byte of data to reg 0 at addr_r
}
Drive_Motor(); //even if not new range info, run the drive motor
}
void main(void) {
// initialize board
Sys_Init();
putchar(' '); //the quotes in this line may not format correctly
Port_Init();
PCA_Init();
SMB_Init();
Interrupt_Init();
printf("Starting\n\r");
//print beginning message
printf("Embedded Control Drive Motor Control\r\n");
// Initialize motor in neutral and wait for 1 second
MOTOR_PW = PW_NEUT;
motorPW = 0xFFFF-MOTOR_PW;
PCA0CPL2 = motorPW;
PCA0CPH2 = motorPW>>8;
printf("Pulse Width = %d\r\n",MOTOR_PW);
c = 0;
while (c < 50); //wait 1 second in neutral
printf("end wait \r\n");
//Main Functionality
while (1) {
if (!SS1) { // If the slide switch is active, set PW to center
PW = PWCENTER;
PCA0CP0 = 0xFFFF - PW; // Update comparator with new PW value
while (!SS1); // Wait...
} else if (take_heading) { // Otherwise take a new heading
reading = Read_Compass(); // Get current heading
printf("%d\n\r", reading);
Steering_Servo(reading); // Change PW based on current heading
PCA0CP0 = 0xFFFF - PW; // Update comparator with new PW value
}
if (getRange) {
getRange = 0; // Reset 80 ms flag
range_val = read_ranger(); // Read the distance from the ranger
printf("Range: %d cm \r\n", range_val);
printf("Pulse Width: %d \r\n", MOTOR_PW);
// Start a new ping
Data[0] = 0x51; // write 0x51 to reg 0 of the ranger:
i2c_write_data(addr, 0, Data, 1); // write one byte of data to reg 0 at addr
}
if (SS0) Drive_Motor(range_val);
else Drive_Motor(45); // Hold the motor in neutral if the slide switch is off
}
}
/* Probe to see if a chip is present. */
int i2c_probe(uchar chip)
{
int rc;
uchar reg;
debug("i2c_probe: addr=0x%x\n", chip);
reg = 0;
rc = i2c_write_data(chip, ®, 1);
if (rc) {
debug("Error probing 0x%x.\n", chip);
return 1;
}
return 0;
}
void main(void)
{
Sys_Init();
putchar(' ');
XBR0_Init();
PCA_Init();
i2c_Init();
while(1)
{
if (new_range)
{
new_range = 0;
cmrange = ReadRanger();
Data[0] = 0x51; //write 0x51 to reg 0 of the ranger:
i2c_write_data(ranger_addr, 0, Data, 1) ; // write one byte of data to reg 0 at addr
printf("range = %d\r\n", cmrange);
}
}
}
void start_ping(void) { //The start ping function
ping_Data[0] = 0x51; // write 0x51 to reg 0 of the ranger
i2c_write_data(range_and_ping_addr, 0, ping_Data, 1); // write one byte of data to reg 0 at addr
}//end start ping
int fmradio_i2c_write(unsigned char address, const unsigned char* buf, int count)
{
return i2c_write_data(fm_i2c_bus, address, -1, buf, count);
}
