static void handle_twi_command(void)
{
uint8_t command;
// Get the command from the receive buffer.
command = twi_receive_byte();
switch (command)
{
case TWI_CMD_RESET:
// Reset the servo.
watchdog_hard_reset();
break;
case TWI_CMD_PWM_ENABLE:
// Enable PWM to the servo motor.
pwm_enable();
break;
case TWI_CMD_PWM_DISABLE:
// Disable PWM to the servo motor.
pwm_disable();
break;
case TWI_CMD_WRITE_ENABLE:
// Enable write to read/write protected registers.
registers_write_enable();
break;
case TWI_CMD_WRITE_DISABLE:
// Disable write to read/write protected registers.
registers_write_disable();
break;
case TWI_CMD_REGISTERS_SAVE:
// Save register values into EEPROM.
eeprom_save_registers();
break;
case TWI_CMD_REGISTERS_RESTORE:
// Restore register values into EEPROM.
eeprom_restore_registers();
break;
case TWI_CMD_REGISTERS_DEFAULT:
// Restore register values to factory defaults.
registers_defaults();
break;
case TWI_CMD_EEPROM_ERASE:
// Erase the EEPROM.
eeprom_erase();
break;
case TWI_CMD_VOLTAGE_READ:
// Request a voltage reading.
adc_read_voltage();
break;
#if CURVE_MOTION_ENABLED
case TWI_CMD_CURVE_MOTION_ENABLE:
// Enable curve motion handling.
motion_enable();
break;
case TWI_CMD_CURVE_MOTION_DISABLE:
// Disable curve motion handling.
motion_disable();
break;
case TWI_CMD_CURVE_MOTION_RESET:
// Reset the motion to the current position.
motion_reset(adc_get_position_value());
break;
case TWI_CMD_CURVE_MOTION_APPEND:
// Append motion curve data stored in the registers.
motion_append();
break;
#endif
default:
// Ignore unknown command.
break;
}
}
void user_init(void)
{
int i;
uint8_t buffer[16];
loop_size = rand();
// Data to write
uint8_t msg1[] = "Test Message #1";
uint8_t msg2[] = "Test Message #2";
uint8_t msg3[] = "Hello world!";
//Init uart
uart_init(BIT_RATE_115200, BIT_RATE_115200);
sleepms(1);
console_printf("Booting...\r\n");
console_printf("-----------------------------------------------\r\n");
console_printf("AT24C512 Library Benchmark\r\n");
console_printf("-----------------------------------------------\r\n");
// i2c init
i2c_init();
// Erase memory
eeprom_erase(DEVICEADDRESS, 0, 224);
console_printf("-----------------------------------------------\r\n");
// Write some stuff to EEPROM
if(!eeprom_writePage(DEVICEADDRESS, 0x00, msg1, sizeof(msg1)))
console_printf("Failed write, address: %d, data: %s\r\n", 0x00, msg1);
else
console_printf("Message 1 stored in the memory.\r\n");
if(!eeprom_writePage(DEVICEADDRESS, 0x40, msg2, sizeof(msg2)))
console_printf("Failed write, address: %d, data: %s\r\n", 0x40, msg2);
else
console_printf("Message 2 stored in the memory.\r\n");
if(!eeprom_writePage(DEVICEADDRESS, 0x80, msg3, sizeof(msg3)))
console_printf("Failed write, address: %d, data: %s\r\n", 0x80, msg3);
else
console_printf("Message 3 stored in the memory.\r\n");
console_printf("-----------------------------------------------\r\n");
// Read the first page in EEPROM memory, a byte at a time
console_printf("EEPROM read byte, starting at 0x000:\r\n");
for (i = 0; i < sizeof(msg1)-1; i++) {
uint8_t b = eeprom_readByte(DEVICEADDRESS, i);
console_printf("0x%02x ", b);
}
console_printf("\r\n");
for (i = 0; i < sizeof(msg1)-1; i++) {
uint8_t b = eeprom_readByte(DEVICEADDRESS, i);
console_printf("%c ", isprint(b) ? b : '.');
}
console_printf("\r\n");
console_printf("-----------------------------------------------\r\n");
console_printf("EEPROM read buffer, starting at 0x000:\r\n");
os_sprintf(buffer, "%s", eeprom_readPage(DEVICEADDRESS, 0, sizeof(buffer)), sizeof(buffer));
//First print the hex bytes on this row
for (i = 0; i < sizeof(buffer)-1; i++) {
char outbuf[6];
console_printf("0x%02x ", buffer[i]);
}
console_printf("\r\n");
for (i = 0; i < sizeof(buffer)-1; i++) {
char outbuf[6];
console_printf("%c ", isprint(buffer[i]) ? buffer[i] : '.');
}
console_printf("\r\n");
console_printf("-----------------------------------------------\r\n");
// Now dump 224 bytes
console_printf("EEPROM dump:\r\n");
eeprom_dump(DEVICEADDRESS, 0, 224);
// Start write benchmark test
writeByByteTest();
// Start read benchmark test
readByByteTest();
system_os_task(user_procTask, user_procTaskPrio,user_procTaskQueue, user_procTaskQueueLen);
}
static void handle_twi_command(void)
{
uint8_t command;
// Get the command from the receive buffer.
command = twi_receive_byte();
switch (command)
{
case TWI_CMD_RESET:
// Reset the servo.
watchdog_hard_reset();
break;
case TWI_CMD_PWM_ENABLE:
#if PWM_STD_ENABLED || PWM_ENH_ENABLED
// Enable PWM to the servo motor.
pwm_enable();
#endif
#if STEP_ENABLED
// Enable Stepper motor control.
step_enable();
#endif
break;
case TWI_CMD_PWM_DISABLE:
#if PWM_STD_ENABLED || PWM_ENH_ENABLED
// Disable PWM to the servo motor.
pwm_disable();
#endif
#if STEP_ENABLED
// Enable Stepper motor control.
step_disable();
#endif
break;
case TWI_CMD_WRITE_ENABLE:
// Enable write to read/write protected registers.
registers_write_enable();
break;
case TWI_CMD_WRITE_DISABLE:
// Disable write to read/write protected registers.
registers_write_disable();
break;
case TWI_CMD_REGISTERS_SAVE:
// Save register values into EEPROM.
eeprom_save_registers();
break;
case TWI_CMD_REGISTERS_RESTORE:
// Restore register values into EEPROM.
eeprom_restore_registers();
break;
case TWI_CMD_REGISTERS_DEFAULT:
// Restore register values to factory defaults.
registers_defaults();
break;
case TWI_CMD_EEPROM_ERASE:
// Erase the EEPROM.
eeprom_erase();
break;
#if CURVE_MOTION_ENABLED
case TWI_CMD_CURVE_MOTION_ENABLE:
// Enable curve motion handling.
motion_enable();
break;
case TWI_CMD_CURVE_MOTION_DISABLE:
// Disable curve motion handling.
motion_disable();
break;
case TWI_CMD_CURVE_MOTION_RESET:
// Reset the motion to the current position.
motion_reset(adc_get_position_value());
break;
case TWI_CMD_CURVE_MOTION_APPEND:
// Append motion curve data stored in the registers.
motion_append();
break;
#endif
case TWI_CMD_GCALL_ENABLE:
// Enable the general call functionality
general_call_enable();
break;
case TWI_CMD_GCALL_DISABLE:
// Disable General call functionaility
general_call_disable();
break;
case TWI_CMD_GCALL_START_MOVE:
// start the general call movement
general_call_start_move();
break;
case TWI_CMD_GCALL_START_WAIT:
// dont move unless we get the start command or the group command
general_call_start_wait();
break;
case TWI_CMD_PWM_BRAKE_ENABLE:
#if PWM_ENH_ENABLED
pwm_brake_enable();
#endif
break;
case TWI_CMD_PWM_BRAKE_DISABLE:
#if PWM_ENH_ENABLED
pwm_brake_disable();
#endif
break;
default:
// Ignore unknown command.
break;
}
}
