int main (void)
{
InitPeripherals();
m_clockdivide(0);
TWI_Slave_Initialise(I2C_ADDR<<TWI_ADR_BITS);
sei();
TWI_Start_Transceiver();
ADC_Init ADC_test;
ADC_test.ADC_CHANNEL = ADC0;
ADC_test.ADC_REF = VCC;
ADC_test.ADC_PRESCALAR = 64;
ADC_test.ADC_MODE = FREE_RUN;
adc_init(ADC_test);
adcInterruptEnable;
adcEnable;
adcAutoTriggerEnable;
adcStart;
while(1)
{
process_command();
}
}
unsigned char TrataErroTransI2C ( unsigned char TWIerrorMsg )
{
// Se houver falha, reinicia a recepcao e acende LED
TWI_Start_Transceiver();
PD3 = 1;
return TWIerrorMsg;
}
int main()
{
uint8_t messageBuf[TWI_BUFFER_SIZE];
InitPWM();
TWI_Slave_Initialise((PWM_ADDRESS << TWI_ADR_BITS) | (0 << TWI_GEN_BIT));
TWI_Start_Transceiver();
sei(); // enable interrupts
while(1) {
TWI_Get_Data_From_Transceiver(messageBuf, 1);
SetPWM(messageBuf[0]);
TWI_Start_Transceiver();
}
}
/**
* Call this function to set up the TWI slave.
* Remember to enable interrupts from the main application after initializing the TWI.
* ---------------------------------------------------------------------------------------------- */
void TWI_Slave_Initialise( unsigned char TWI_ownAddress ) {
TWAR = TWI_ownAddress << 1; // Set own TWI slave address. Reject TWI General Calls.
TWDR = 0xFF; // Default content = SDA released.
LOW(TWSR, TWPS0);
LOW(TWSR, TWPS1);
TWI_Start_Transceiver(1);
}
unsigned char TWI_Act_On_Failure_In_Last_Transmission ( unsigned char TWIerrorMsg ) {
// A failure has occurred, use TWIerrorMsg to determine the nature of the failure
// and take appropriate actions.
// See header file for a list of possible failures messages.
TWI_Start_Transceiver();
return ( TWIerrorMsg );
}
int main(void) {
init();
_delay_ms(100);
DDRD |= (1 << PIN7);
PORTD |= (1 << PIN7);
// enable TWI
TWI_Start_Transceiver();
pwm_enable();
uint8_t _cache = 0;
while(1) {
if(!TWI_Transceiver_Busy()) {
if(TWI_statusReg.RxDataInBuf){
TWI_Get_Data_From_Transceiver(message_buff, 1);
switch(message_buff[0] & MOTORPROTO_HEAD_GET) {
case MOTORPROTO_INSTR_READ:
ATOMIC_BLOCK(ATOMIC_FORCEON) {
data.value = enc.counter_b;
message_buff[0] = data.byte[0];
message_buff[1] = data.byte[1];
message_buff[2] = data.byte[2];
message_buff[3] = data.byte[3];
}
TWI_Start_Transceiver_With_Data(message_buff, 4);
message_buff[0] = 0;
break;
case MOTORPROTO_INSTR_RESET:
ATOMIC_BLOCK(ATOMIC_FORCEON) {
enc.counter_a = 0;
enc.counter_b = 0;
message_buff[0] = 0;
}
break;
case MOTORPROTO_INSTR_SET_FORWARD:
TWI_Get_Data_From_Transceiver(message_buff, 2);
_cache = message_buff[1];
pwm_set1a(_cache);
pwm_set1b(0);
message_buff[0] = 0;
break;
case MOTORPROTO_INSTR_SET_BACKWARD:
TWI_Get_Data_From_Transceiver(message_buff, 2);
_cache = message_buff[1];
pwm_set1a(0);
pwm_set1b(_cache);
message_buff[0] = 0;
break;
default:
break;
}
}
}
}
unsigned char TWI_Act_On_Failure_In_Last_Transmission ( unsigned char TWIerrorMsg )
{
// A failure has occurred, use TWIerrorMsg to determine the nature of the failure
// and take appropriate actions.
// Se header file for a list of possible failures messages.
// This very simple example puts the error code on PORTB and restarts the transceiver with
// all the same data in the transmission buffers.
PORTB = TWIerrorMsg;
TWI_Start_Transceiver();
return TWIerrorMsg;
}
unsigned char TWI_Act_On_Failure_In_Last_Transmission(unsigned char TWIerrorMsg)
{
// A failure has occurred, use TWIerrorMsg to determine the nature of the failure
// and take appropriate actions.
// Se header file for a list of possible failures messages.
// Here is a simple sample, where if received a NACK on the slave address,
// then a retransmission will be initiated.
if ((TWIerrorMsg == TWI_MTX_ADR_NACK) | (TWIerrorMsg == TWI_MRX_ADR_NACK))
TWI_Start_Transceiver();
return TWIerrorMsg;
}
uint8_t handle_error(uint8_t rc)
{
/* A failure has occurred, use TWIerrorMsg to determine the
* nature of the failure and take appropriate actions. Se
* header file for a list of possible failures messages.
*
* Here is a simple sample, where if received a NACK on the
* slave address, then a retransmission will be initiated. */
if (rc == TWI_MTX_ADR_NACK || rc == TWI_MRX_ADR_NACK)
TWI_Start_Transceiver();
return rc;
}
int main() {
joint::init();
// i2c
TWI_Slave_Initialise((unsigned char) ((I2C_SLAVE_ADDRESS << TWI_ADR_BITS) | (1 << TWI_GEN_BIT)), processCommands);
TWI_Start_Transceiver();
#if WATCHD0G_ENABLE
wdt_enable(WDTO_120MS);
#endif
sei();
while (true) {
if (joint::startCalibration) joint::calibrate();
#if WATCHD0G_ENABLE
wdt_reset();
#endif
}
}
void main( void )
{
unsigned char messageBuf[TWI_BUFFER_SIZE];
unsigned char TWI_slaveAddress;
// LED feedback port - connect port B to the STK500 LEDS
DDRB = 0xFF; // Set to ouput
PORTB = 0x55; // Startup pattern
// Own TWI slave address
TWI_slaveAddress = 0x10;
// Initialise TWI module for slave operation. Include address and/or enable General Call.
TWI_Slave_Initialise( (unsigned char)((TWI_slaveAddress<<TWI_ADR_BITS) | (TRUE<<TWI_GEN_BIT) ));
__enable_interrupt();
// Start the TWI transceiver to enable reseption of the first command from the TWI Master.
TWI_Start_Transceiver();
// This example is made to work together with the AVR315 TWI Master application note. In adition to connecting the TWI
// pins, also connect PORTB to the LEDS. The code reads a message as a TWI slave and acts according to if it is a
// general call, or an address call. If it is an address call, then the first byte is considered a command byte and
// it then responds differently according to the commands.
// This loop runs forever. If the TWI is busy the execution will just continue doing other operations.
for(;;)
{
#ifdef POWER_MANAGEMENT_ENABLED
// Sleep while waiting for TWI transceiver to complete or waiting for new commands.
// If we have data in the buffer, we can't enter sleep because we have to take care
// of it first.
// If the transceiver is busy, we enter idle mode because it will wake up by all TWI
// interrupts.
// If the transceiver not is busy, we can enter power-down mode because next receive
// should be a TWI address match and it wakes the device up from all sleep modes.
if( ! TWI_statusReg.RxDataInBuf ) {
if(TWI_Transceiver_Busy()) {
MCUCR = (1<<SE)|(0<<SM2)|(0<<SM1)|(0<<SM0); // Enable sleep with idle mode
} else {
MCUCR = (1<<SE)|(0<<SM2)|(1<<SM1)|(0<<SM0); // Enable sleep with power-down mode
}
__sleep();
} else {
__no_operation(); // There is data in the buffer, code below takes care of it.
}
#else // No power management
// Here you can add your own code that should be run while waiting for the TWI to finish
__no_operation(); // Put own code here.
#endif
// Check if the TWI Transceiver has completed an operation.
if ( ! TWI_Transceiver_Busy() )
{
// Check if the last operation was successful
if ( TWI_statusReg.lastTransOK )
{
// Check if the last operation was a reception
if ( TWI_statusReg.RxDataInBuf )
{
TWI_Get_Data_From_Transceiver(messageBuf, 2);
// Check if the last operation was a reception as General Call
if ( TWI_statusReg.genAddressCall )
{
// Put data received out to PORTB as an example.
PORTB = messageBuf[0];
}
else // Ends up here if the last operation was a reception as Slave Address Match
{
// Example of how to interpret a command and respond.
// TWI_CMD_MASTER_WRITE stores the data to PORTB
if (messageBuf[0] == TWI_CMD_MASTER_WRITE)
{
PORTB = messageBuf[1];
}
// TWI_CMD_MASTER_READ prepares the data from PINB in the transceiver buffer for the TWI master to fetch.
if (messageBuf[0] == TWI_CMD_MASTER_READ)
{
messageBuf[0] = PINB;
TWI_Start_Transceiver_With_Data( messageBuf, 1 );
}
}
}
else // Ends up here if the last operation was a transmission
{
__no_operation(); // Put own code here.
}
// Check if the TWI Transceiver has already been started.
// If not then restart it to prepare it for new receptions.
if ( ! TWI_Transceiver_Busy() )
{
TWI_Start_Transceiver();
}
}
else // Ends up here if the last operation completed unsuccessfully
{
TWI_Act_On_Failure_In_Last_Transmission( TWI_Get_State_Info() );
}
}
}
}
void main( void )
{
unsigned char messageBuf[TWI_BUFFER_SIZE];
unsigned char TWI_slaveAddress;
// Feedback (opcional)
/* DDRB = 0xFF; // Set to output
PORTB = 0x55; // Startup pattern */
// Le os pinos 0-2 para endereçamento
DDRC = ~((1 << 0) | (1 << 1) | (1 << 2)); //Bits 0-2 como entrada
// Own TWI slave address
TWI_slaveAddress = 0x10 + 0b00000111 & PORTD;
// Initialise TWI module for slave operation. Include address and/or enable General Call.
TWI_Slave_Initialise( (unsigned char)((TWI_slaveAddress<<TWI_ADR_BITS) | (TRUE<<TWI_GEN_BIT) ));
__enable_interrupt();
// Start the TWI transceiver to enable reseption of the first command from the TWI Master.
TWI_Start_Transceiver();
// This example is made to work together with the AVR315 TWI Master application note. In adition to connecting the TWI
// pins, also connect PORTB to the LEDS. The code reads a message as a TWI slave and acts according to if it is a
// general call, or an address call. If it is an address call, then the first byte is considered a command byte and
// it then responds differently according to the commands.
// This loop runs forever. If the TWI is busy the execution will just continue doing other operations.
for(;;)
{
// Check if the TWI Transceiver has completed an operation.
if ( ! TWI_Transceiver_Busy() )
{
// Check if the last operation was successful
if ( TWI_statusReg.lastTransOK )
{
// Confere se ha algo no buffer
if ( TWI_statusReg.RxDataInBuf )
{
TWI_Get_Data_From_Transceiver(messageBuf, 2);
// Confere se o ultimo pedido foi um General Call
if ( TWI_statusReg.genAddressCall )
{
// Trata o "broadcast"
PORTB = messageBuf[0];
}
else // Ends up here if the last operation was a reception as Slave Address Match
{
// Example of how to interpret a command and respond.
// TWI_CMD_MASTER_WRITE stores the data to PORTB
if (messageBuf[0] == TWI_CMD_MASTER_WRITE)
{
PORTB = messageBuf[1];
}
// TWI_CMD_MASTER_READ prepares the data from PINB in the transceiver buffer for the TWI master to fetch.
if (messageBuf[0] == TWI_CMD_MASTER_READ)
{
messageBuf[0] = PINB;
TWI_Start_Transceiver_With_Data( messageBuf, 1 );
}
}
}
// Apos a operacao ele reinicia o receptor
if ( ! TWI_Transceiver_Busy() )
{
TWI_Start_Transceiver();
}
}
else // Trata erro de transmissao
{
TrataErroTransI2C( TWI_Get_State_Info() );
}
}
}
}
void main( void )
{
unsigned char messageBuf[4];
unsigned char TWI_slaveAddress, TWI_slaveAddress2, TWI_slaveAddressMask, temp;
// LED feedback port - connect port B to the STK500 LEDS
DDRB = 0xFF; // Set to ouput
PORTB = 0x55; // Startup pattern
// Own TWI slave address
TWI_slaveAddress = (0x10<<TWI_ADR_BITS);
TWI_slaveAddress2 = (0x11<<TWI_ADR_BITS); // Alternativ slave address to respond to.
TWI_slaveAddressMask = TWI_slaveAddress ^ TWI_slaveAddress2; // XOR the addresses to get the address mask.
// Initialise TWI module for slave operation. Include address and/or enable General Call.
TWI_Slave_Initialise( TWI_slaveAddress | (TRUE<<TWI_GEN_BIT), TWI_slaveAddressMask);
__enable_interrupt();
// Start the TWI transceiver to enable reseption of the first command from the TWI Master.
TWI_Start_Transceiver();
// This example is made to work together with the AVR315 TWI Master application note. In adition to connecting the TWI
// pins, also connect PORTB to the LEDS. The code reads a message as a TWI slave and acts according to if it is a
// general call, or an address call. If it is an address call, then the first byte is considered a command byte and
// it then responds differently according to the commands.
// This loop runs forever. If the TWI is busy the execution will just continue doing other operations.
for(;;)
{
// Check if the TWI Transceiver has completed an operation.
if ( ! TWI_Transceiver_Busy() )
{
// Check if the last operation was successful
if ( TWI_statusReg.lastTransOK )
{
// Check if the last operation was a reception
if ( TWI_statusReg.RxDataInBuf )
{
TWI_Get_Data_From_Transceiver(messageBuf, 3);
// Check if the last operation was a reception as General Call
if ( TWI_statusReg.genAddressCall )
{
// Put data received out to PORTB as an example.
PORTB = messageBuf[1];
}
// Ends up here if the last operation was a reception as Slave Address Match
else
{
// Take action dependant on what slave address that was used in the message
if (messageBuf[0] == TWI_slaveAddress)
{
// Example of how to interpret a command and respond.
// TWI_CMD_MASTER_WRITE stores the data to PORTB
if (messageBuf[1] == TWI_CMD_MASTER_WRITE)
PORTB = messageBuf[2];
// TWI_CMD_MASTER_READ prepares the data from PINB in the transceiver buffer for the TWI master to fetch.
if (messageBuf[1] == TWI_CMD_MASTER_READ)
{
messageBuf[0] = PINB;
TWI_Start_Transceiver_With_Data( messageBuf, 1 );
}
}
else
{
PORTB = messageBuf[1]; // Put TWI address data on PORTB
}
}
}
// Ends up here if the last operation was a transmission
else
{
__no_operation(); // Put own code here.
}
// Check if the TWI Transceiver has already been started.
// If not then restart it to prepare it for new receptions.
if ( ! TWI_Transceiver_Busy() )
{
TWI_Start_Transceiver();
}
}
// Ends up here if the last operation completed unsuccessfully
else
{
TWI_Act_On_Failure_In_Last_Transmission( TWI_Get_State_Info() );
}
}
// Do something else while waiting for the TWI transceiver to complete.
__no_operation(); // Put own code here.
}
}
int main( void )
{
uint32_t val = 0;
char textbuf [ (2*16) + 1 ]; // lcd
/* setup
*/
// LCD
lcd_init();
// Timer: enable a timer so we can measure passage of time
//
// Given: 20MHz clock
// --> if we want resolution of ms (1/1000th second) .. actually, we want us (1/10th of a ms) so we can measure partial ms
// --> and we have 1/20000000 clock resolution
// -----> 2000 ticks will get us there (20,000 will get us ms)
//
// Goal: Use CTC interupt mode (CTC -> Clear on Timer Compare)
// So a compare matches, it clears to zero and triggers interupt
TCCR1B |= (1 << WGM12); // Configure timer 1 for CTC mode
OCR1A = 2000; // number to compare against
TIMSK1 |= (1 << OCIE1A); // Enable CTC interrupt
TCCR1B |= (1 << CS10); // Set up timer , with no prescaler (works at full MHz of clock)
// Receiver setup - set up pin change interupt
#if 1
EICRA &= ~ ( (1 << ISC01) | (1 << ISC01) ); // clear ISC01+ISC00
EICRA |= ( (1 << ISC00) ); // 00 set and 01 unset means any edge will make event
PCMSK0 |= ( (1 << PCINT0) | (1 << PCINT1) ); // Pins to monitor: PA0 and PA1
PCICR |= (1 << PCIE0); // PA is monitored
#endif
// Serial - setup (for motor controller)
mc_setup();
// TWI - set up
unsigned char twibuf [ TWI_BUFFER_SIZE ];
unsigned char TWI_slaveAddress;
TWI_slaveAddress = 0x10; // our TWI address
TWI_Slave_Initialise( (unsigned char)((TWI_slaveAddress<<TWI_ADR_BITS) | (TRUE<<TWI_GEN_BIT) )); // Initialise TWI module as slave; include addr+general
unsigned char twi_heartbeat_counter = 0;
// setup done - kick up interupts
sei();
// lets burn the first couple of seconds, so the receiver can get some signal
// before we start blasting stuff into the motor controllers
{
unsigned int start_sec = g_time_s;
while ( g_time_s - start_sec < 3 ) {
nop();
}
}
// Start the TWI transceiver to enable reseption of the first command from the TWI Master.
TWI_Start_Transceiver();
#if 1 // timer test .. show per-second counter update on lcd
if ( 1 ) {
unsigned int last_sec = g_time_s;
unsigned int last_us = _g_time_us_tick;
unsigned char sent_l = 0, sent_r = 0;
char message [ 17 ];
while(1) {
unsigned int ch1 = g_ch1_duration;
unsigned int ch2 = g_ch2_duration;
// 100ms has past?
if ( _g_time_us_tick - last_us > 1000 ) {
if ( g_control_twi ) {
// we're on TWI control, but if nothing comes in.. revert back to RC
if ( g_time_s - g_control_last_s > 2 ) {
g_control_twi = 0;
}
} else {
mc_set_by_receiver ( ch1, ch2, &sent_l, &sent_r, message );
}
last_us = _g_time_us_tick;
} // .1sec tick
// one second has past? update lcd
if ( g_time_s != last_sec ) {
//sprintf ( textbuf, "recv %2d %2d ", g_ch1_duration, g_ch2_duration );
sprintf ( textbuf, "m %2d %2d th %2d %2d #", sent_l, sent_r, ch1, ch2 );
lcd_xy ( 0, 0 );
lcd_puts( textbuf ); // display number right adjusted
//sprintf ( textbuf, "t%2d #", g_time_s );
sprintf ( textbuf, "t%2d # %s", g_time_s, message );
lcd_xy ( 0, 1 );
lcd_puts( textbuf ); // display number right adjusted
last_sec = g_time_s;
} // 1 sec tick
// TWI/I2C stuff, talk to r-pi
//
// Check if the TWI Transceiver has completed an operation.
if ( ! TWI_Transceiver_Busy() ) {
// Check if the last operation was successful
if ( TWI_statusReg.lastTransOK ) {
// Check if the last operation was a reception
if ( TWI_statusReg.RxDataInBuf ) {
TWI_Get_Data_From_Transceiver ( twibuf, 3 );
// Check if the last operation was a reception as General Call
if ( TWI_statusReg.genAddressCall ) {
// don't care
} else { // Ends up here if the last operation was a reception as Slave Address Match
// Example of how to interpret a command and respond.
#if 0
// TWI_CMD_MASTER_WRITE stores the data to PORTB
if (twibuf[0] == TWI_CMD_MASTER_WRITE) {
PORTB = twibuf[1];
}
#endif
// TWI_CMD_MASTER_READ prepares the data from PINB in the transceiver buffer for the TWI master to fetch.
if ( twibuf[0] == tc_heartbeat ) {
twibuf [ 0 ] = 1;
twibuf [ 1 ] = twi_heartbeat_counter++;
TWI_Start_Transceiver_With_Data ( twibuf, TWI_BUFFER_SIZE );
} else if ( twibuf[0] == tc_gethello ) {
sprintf ( twibuf + 1, "hello" );
twibuf [ 0 ] = strlen ( twibuf + 1 ); // len
TWI_Start_Transceiver_With_Data ( twibuf, TWI_BUFFER_SIZE );
} else if ( twibuf[0] == tc_setmotors ) {
g_control_last_s = g_time_s;
mc_speed ( mcm_left, twibuf [ 1 ] );
mc_speed ( mcm_right, twibuf [ 2 ] );
} else if ( twibuf[0] == tc_takeover ) {
g_control_last_s = g_time_s;
g_control_twi = 1;
} else if ( twibuf[0] == tc_release ) {
g_control_twi = 0;
} else {
twibuf [ 0 ] = 1;
twibuf [ 1 ] = 0xde;
twibuf [ 2 ] = 0xad;
twibuf [ 3 ] = 0xbe;
twibuf [ 4 ] = 0xef;
TWI_Start_Transceiver_With_Data ( twibuf, TWI_BUFFER_SIZE );
}
}
} else { // Ends up here if the last operation was a transmission
// don't care
}
// Check if the TWI Transceiver has already been started.
// If not then restart it to prepare it for new receptions.
if ( ! TWI_Transceiver_Busy() ) {
TWI_Start_Transceiver();
}
} else { // Ends up here if the last operation completed unsuccessfully
TWI_Act_On_Failure_In_Last_Transmission ( TWI_Get_State_Info() );
} // success/fail
} // TWI busy?
// spin
_delay_ms ( 20 );
} // while forever
} // if 1
#endif
/* churn forever
*/
while(1);
return ( 0 );
}
int main(void)
{
unsigned char messageBuf[TWI_BUFFER_SIZE];
unsigned char responseBuf[1];
unsigned char TWI_slaveAddress;
CMotor *m = NULL;
int speed = 0;
int direction = 0;
// Own TWI slave address
TWI_slaveAddress = 0x10;
// Initialise TWI module for slave operation. Include address and/or enable General Call.
TWI_Slave_Initialise( (unsigned char)((TWI_slaveAddress<<TWI_ADR_BITS) | (TRUE<<TWI_GEN_BIT) ));
sei();
// Start the TWI transceiver to enable reception of the first command from the TWI Master.
TWI_Start_Transceiver();
//start out withe the last tx being OK - to make sure we don't end up blocking on the first request
TWI_statusReg.lastTransOK = TRUE;
m = motor_new(0);
// This loop runs forever. If the TWI is busy the execution will just continue doing other operations.
for(;;)
{
// Check if the TWI Transceiver has completed an operation.
if ( ! TWI_Transceiver_Busy() )
{
// Check if the last operation was successful
if ( TWI_statusReg.lastTransOK )
{
// Check if the last operation was a reception
if ( TWI_statusReg.RxDataInBuf )
{
TWI_Get_Data_From_Transceiver(messageBuf, 4);
if (messageBuf[1] == TWI_CMD_MOTOR_HALT)
{
motor_halt(m);
responseBuf[0] = TWI_CMD_MOTOR_HALT;
TWI_Start_Transceiver_With_Data( responseBuf, 1 );
}
else if (messageBuf[1] == TWI_CMD_MOTOR_SETSPEED)
{
speed = messageBuf[2];
direction = messageBuf[3];
motor_setspeed_and_direction(m,speed,direction);
responseBuf[0] = TWI_CMD_MOTOR_SETSPEED;
TWI_Start_Transceiver_With_Data( responseBuf, 1 );
}
else
{
//log an error? UNknown CMD
}
}
else // Ends up here if the last operation was a transmission
{
//__no_operation(); // Put own code here.
responseBuf[0] = TWI_CMD_CONFIRM;
TWI_Start_Transceiver_With_Data( responseBuf, 1 );
}
// Check if the TWI Transceiver has already been started.
// If not then restart it to prepare it for new receptions.
if ( ! TWI_Transceiver_Busy() )
{
TWI_Start_Transceiver();
}
}
else // Ends up here if the last operation completed unsuccessfully
{
//fail safe - halt the motor
motor_halt(m);
TWI_Act_On_Failure_In_Last_Transmission( TWI_Get_State_Info() );
}
}
}
}
int main(){
unsigned char messageBuf[TWI_BUFFER_SIZE];
unsigned char TWI_slaveAddress;
// Own TWI slave address
TWI_slaveAddress = 0x20;
InitIO();
defset();
InitTimer();
OSCCAL=0xA8;
// wdt_reset();
/* Write logical one to WDCE and WDE */
// WDTCR = (1<<WDCE) | (1<<WDE) | (2<<WDP0);
// WDTCR = (1<<WDE) | (2<<WDP0);
TIMING=eeprom_read_word(&EETIMING);
TWI_Slave_Initialise( (unsigned char)((TWI_slaveAddress<<TWI_ADR_BITS) | (FALSE<<TWI_GEN_BIT) ));
sei();
TWI_Start_Transceiver();
while (1){
// Check if the TWI Transceiver has completed an operation.
if ( ! TWI_Transceiver_Busy() )
{
// Check if the last operation was successful
if ( TWI_statusReg.lastTransOK )
{
// Check if the last operation was a reception
if ( TWI_statusReg.RxDataInBuf )
{
PORTB^=1<<PB3;
TWI_Get_Data_From_Transceiver(messageBuf, 2);
// Check if the last operation was a reception as General Call
if ( TWI_statusReg.genAddressCall )
{
// Put data received out to PORTB as an example.
// PORTB = messageBuf[0];
}
else // Ends up here if the last operation was a reception as Slave Address Match
{
// Example of how to interpret a command and respond.
switch (messageBuf[0]){
case xval:
OCR1A=255-messageBuf[1];
break;
case yval:
OCR1B=255-messageBuf[1];
break;
// TWI_Start_Transceiver_With_Data( messageBuf, 1 );
}
}
}
else // Ends up here if the last operation was a transmission
{
// __no_operation(); // Put own code here.
}
// Check if the TWI Transceiver has already been started.
// If not then restart it to prepare it for new receptions.
if ( ! TWI_Transceiver_Busy() )
{
TWI_Start_Transceiver();
}
}
else // Ends up here if the last operation completed unsuccessfully
{
TWI_Act_On_Failure_In_Last_Transmission( TWI_Get_State_Info() );
}
}
}
}
