uint8_t TWI_send_float(uint8_t adr, float flo)
{
union Union_floatcast foo;
foo.f = flo;
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return 0;
}
send_data_and_wait(adr);
if(CONTROL != ADDRESS_W)
{
Error();
return 0;
}
send_data_and_wait(I_FLOAT);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
for(int i = 0; i < 4; ++i)
{
send_data_and_wait(foo.s[i]);
}
stop_bus();
return 1;
}
bool send_sensors(int sens[8], int serv)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return false;
}
set_data(G_ADRESS); //General Call, NO instruction byte, NO NACK control of data
send_bus();
wait_for_bus();
if(CONTROL != ADRESS_W)
{
Error();
return false;
}
for(int i=0; i < 8; ++i) //8 Sensors?
{
set_data(sens[i]);
send_bus();
wait_for_bus();
}
set_data(serv);
send_bus();
wait_for_bus();
stop_bus();
return true;
}
uint8_t TWI_send_string(uint8_t adr, char str[])
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return 0;
}
send_data_and_wait(adr);
if(CONTROL != ADDRESS_W)
{
Error();
return 0;
}
send_data_and_wait(I_STRING);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
for(int i = 0; i < strlen(str); ++i)
{
send_data_and_wait(str[i]);
}
stop_bus();
return 1;
}
uint8_t TWI_send_string_fixed_length(uint8_t adr, uint8_t str[], int length)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return 0;
}
send_data_and_wait(adr);
if(CONTROL != ADDRESS_W)
{
Error();
return 0;
}
send_data_and_wait(I_STRING);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
for(int i = 0; i < length; ++i)
{
send_data_and_wait(str[i]);
}
stop_bus();
return 1;
}
uint8_t TWI_send_elevation(uint8_t elevation)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return 0;
}
send_data_and_wait(ST_ADDRESS);
if(CONTROL != ADDRESS_W)
{
Error();
return 0;
}
send_data_and_wait(I_ELEVATION);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
send_data_and_wait(elevation);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
stop_bus();
return 1;
}
bool send_string(int adr, char str[])
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return false;
}
set_data(adr);
send_bus();
wait_for_bus();
if(CONTROL != ADRESS_W)
{
Error();
return false;
}
set_data(I_STRING);
send_bus();
wait_for_bus();
if(CONTROL != DATA_W)
{
Error();
return false;
}
for(int i = 0; i < strlen(str); ++i)
{
set_data(str[i]);
send_bus();
wait_for_bus();
}
stop_bus();
return true;
}
bool send_string_fixed_length(int adr, uint8_t str[], int len)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return false;
}
set_data(adr);
send_bus();
wait_for_bus();
if(CONTROL != ADRESS_W)
{
Error();
return false;
}
set_data(I_STRING);
send_bus();
wait_for_bus();
if(CONTROL != DATA_W)
{
Error();
return false;
}
for(int i = 0; i < len; ++i)
{
set_data(str[i]);
send_bus();
wait_for_bus();
}
stop_bus();
return true;
}
uint8_t TWI_send_sweep(uint8_t pos)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return 0;
}
send_data_and_wait(S_ADDRESS);
if(CONTROL != ADDRESS_W)
{
Error();
return 0;
}
send_data_and_wait(I_SWEEP);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
send_data_and_wait(pos);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
stop_bus();
return 1;
}
uint8_t TWI_send_autonom_settings(uint8_t adr,uint8_t autoset)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return 0;
}
send_data_and_wait(adr);
if(CONTROL != ADDRESS_W)
{
Error();
return 0;
}
send_data_and_wait(I_AUTONOM);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
send_data_and_wait(autoset);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
stop_bus();
return 1;
}
bool send_status(int adr)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return false;
}
set_data(adr);
send_bus();
wait_for_bus();
if(CONTROL != ADRESS_W)
{
Error();
return false;
}
set_data(I_STATUS);
send_bus();
wait_for_bus();
if(CONTROL == ARBITRATION)
{
return true;
}
else if(CONTROL != DATA_W)
{
Error();
return false;
}
stop_bus();
return true;
}
uint8_t TWI_send_something(uint8_t adr, uint8_t instruction, uint8_t packet)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return 0;
}
send_data_and_wait(adr);
if(CONTROL != ADDRESS_W)
{
Error();
return 0;
}
send_data_and_wait(instruction);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
send_data_and_wait(packet);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
stop_bus();
return 1;
}
void Error()
{
if(CONTROL != ARBITRATION)
{
stop_bus();
}
else
{
clear_int();
}
}
bool send_command(int direction, int rot_elev, int speed)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return false;
}
set_data(ST_ADRESS);
send_bus();
wait_for_bus();
if(CONTROL != ADRESS_W)
{
Error();
return false;
}
set_data(I_COMMAND);
send_bus();
wait_for_bus();
if(CONTROL != DATA_W)
{
Error();
return false;
}
set_data(direction);
send_bus();
wait_for_bus();
if(CONTROL != DATA_W)
{
Error();
return false;
}
set_data(rot_elev);
send_bus();
wait_for_bus();
if(CONTROL != DATA_W)
{
Error();
return false;
}
set_data(speed);
send_bus();
wait_for_bus();
if(CONTROL != DATA_W)
{
Error();
return false;
}
stop_bus();
return true;
}
uint8_t TWI_send_command(uint8_t direction, uint8_t rotation, uint8_t speed)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return 0;
}
send_data_and_wait(ST_ADDRESS);
if(CONTROL != ADDRESS_W)
{
Error();
return 0;
}
send_data_and_wait(I_COMMAND);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
send_data_and_wait(direction);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
send_data_and_wait(rotation);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
send_data_and_wait(speed);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
stop_bus();
return 1;
}
uint8_t TWI_send_control_settings(uint8_t adr, uint8_t KP,uint8_t KI,uint8_t KD)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return 0;
}
send_data_and_wait(adr);
if(CONTROL != ADDRESS_W)
{
Error();
return 0;
}
send_data_and_wait(I_SETTINGS);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
send_data_and_wait(KP);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
send_data_and_wait(KI);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
send_data_and_wait(KD);
if(CONTROL != DATA_W)
{
Error();
return 0;
}
stop_bus();
return 1;
}
uint8_t TWI_send_sensors(uint8_t sens[8], uint8_t serv)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return 0;
}
send_data_and_wait(G_ADDRESS);//General Call, NO instruction byte, NO NACK control of data
if(CONTROL != ADDRESS_W)
{
Error();
return 0;
}
for(int i=0; i < 8; ++i) //7 Sensors?
{
send_data_and_wait(sens[i]);
}
send_data_and_wait(serv);
stop_bus();
return 1;
}
uint8_t TWI_send_status(uint8_t adr)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return 0;
}
send_data_and_wait(adr);
if(CONTROL != ADDRESS_W)
{
Error();
return 0;
}
send_data_and_wait(I_STATUS);
if(CONTROL == ARBITRATION)
{
clear_int();
return 1;
}
stop_bus();
return 1;
}
bool send_something(int adr, int instruction, int packet)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return false;
}
set_data(adr);
send_bus();
wait_for_bus();
if(CONTROL != ADRESS_W)
{
Error();
return false;
}
set_data(instruction);
send_bus();
wait_for_bus();
if(CONTROL != DATA_W)
{
Error();
return false;
}
set_data(packet);
send_bus();
wait_for_bus();
if(CONTROL != DATA_W)
{
Error();
return false;
}
stop_bus();
return true;
}
bool send_sweep(int pos)
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return false;
}
set_data(S_ADRESS);
send_bus();
wait_for_bus();
if(CONTROL != ADRESS_W)
{
Error();
return false;
}
set_data(I_SWEEP);
send_bus();
wait_for_bus();
if(CONTROL != DATA_W)
{
Error();
return false;
}
set_data(pos);
send_bus();
wait_for_bus();
if(CONTROL != DATA_W)
{
Error();
return false;
}
stop_bus();
return true;
}
bool send_settings()
{
start_bus();
wait_for_bus();
if(CONTROL != START)
{
Error();
return false;
}
set_data(C_ADRESS);
send_bus();
wait_for_bus();
if(CONTROL != ADRESS_W)
{
Error();
return false;
}
set_data(I_SETTINGS);
send_bus();
wait_for_bus();
if(CONTROL != DATA_W)
{
Error();
return false;
}
//set_data(settings)
send_bus();
wait_for_bus();
if(CONTROL != DATA_W)
{
Error();
return false;
}
stop_bus();
return true;
}
