void xhide(void)
{
spi_transfer(low_byte(400));
spi_transfer(high_byte(400));
spi_transfer(low_byte(400));
spi_transfer(high_byte(400));
//spr++;
}
void __start(unsigned int addr) // start an SPI transaction to addr
{
rFIO0CLR |= 1<<16; //select slave
spi_transfer(high_byte(addr));
spi_transfer(low_byte(addr));
}
void EEPROM_ByteWrite(u16 Address, u08 Data)
// Description:
// Byte Write Operation. The communication via the I2C bus with an EEPROM
// (2465) is realized. A data byte is written into a user defined address.
{
/* i2c por SW */
#if (defined I2C_SW && I2C_SW == 1)
sw_i2c_start(); // Send start signal
sw_i2c_write(EEPROMAddress & 0b11111110);// Send identifier I2C address 0xA0 = 10100000b
delay_time(I2C_DELAY);
sw_i2c_write((unsigned char)(high_byte(Address)));// Send address to EEPROM (high byte address)
delay_time(I2C_DELAY);
sw_i2c_write((unsigned char) Address);// Send address to EEPROM (low byte address)
delay_time(I2C_DELAY);
sw_i2c_write(Data);// Send low byte to EEPROM (data to write)
delay_time(I2C_DELAY);// Delay a period of time to write
sw_i2c_stop(); // Send I2C Stop Transfer
delay_time(20); // Delay a period of time to write
DelayTask(WRITE_CYCLE_TIME);
#else
/* i2c por HW */
IIC_transmite(EEPROMAddress, Address, &Data);
#endif
}
/*---------------------------------------------------------------------------*/
u08 EEPROM_RandomRead(u16 Address)
// Description:
// Random Read Operation. Data is read from the EEPROM. The EEPROM
// address is defined with the parameter Address.
{
char data_in;
#if (defined I2C_SW && I2C_SW == 1)
sw_i2c_start(); // Send start signal
sw_i2c_write(EEPROMAddress);// Send identifer I2C address (10100000b)
delay_time(I2C_DELAY);
sw_i2c_write((unsigned char) (high_byte(Address)));// Send address to EEPROM
delay_time(I2C_DELAY);
sw_i2c_write((unsigned char) Address);// Send address to EEPROM
delay_time(I2C_DELAY);
sw_i2c_start();// Send I2C Start Transfer
sw_i2c_write(EEPROMAddress + 1);// Send identifer I2C address (10100001b)
delay_time(I2C_DELAY);
data_in = sw_i2c_read(0);// Read byte
sw_i2c_stop(); // Send I2C Stop Transfer
#else
/* Dummy write: Transmite NULL depois gera um sinal de start repeated */
IIC_transmite(EEPROMAddress, Address, NULL);
IIC_recebe(EEPROMAddress, &data_in);
#endif
return data_in;
}
void wr16(unsigned int addr, unsigned int v)
{
__wstart(addr);
spi_transfer(low_byte(v));
spi_transfer(high_byte(v));
__end();
}
//------------------------------------------------------------------------------
// Procedure: write_byte
// Inputs: data out, address
// Outputs: none
// Description: Writes a byte to the EEPROM given the address
//------------------------------------------------------------------------------
void write_byte (unsigned char data_out, unsigned int address)
{
send_slave_address_I2C(0xA0); // Send I2C Start Transfer
// Send identifier I2C address
write_byte_I2C(high_byte(address)); // Send address to EEPROM
write_byte_I2C((unsigned char)address); // Send address to EEPROM
write_byte_I2C(data_out); // Send low byte to EEPROM
stop_I2C(); // Send I2C Stop Transfer
delay_time(DELAY_WRITE); // Delay a period of time to write
}
static void w5200_write_register(uint16_t addr, uint8_t data) {
spi_cs_low();
spi_transfer(high_byte(addr));
spi_transfer(low_byte(addr));
spi_transfer(0x80);
spi_transfer(0x01);
spi_transfer(data);
spi_cs_high();
}
//------------------------------------------------------------------------------
// Procedure: read_byte
// Inputs: address
// Outputs: output byte
// Description: Reads a byte from the EEPROM given the address
//------------------------------------------------------------------------------
unsigned char read_byte (unsigned int address)
{
unsigned char data_in;
send_slave_address_I2C(0xA0); // Send I2C Start Transfer
// Send identifer I2C address
write_byte_I2C(high_byte(address)); // Send address to EEPROM
write_byte_I2C((unsigned char)address); // Send address to EEPROM
restart_I2C(0xA1); // Send identifer I2C address
read_byte_I2C(&data_in); // Read byte
stop_I2C(); // Send I2C Stop Transfer
return data_in;
}
/* Private register IO functions */
static uint8_t w5200_read_register(uint16_t addr){
uint8_t data;
spi_cs_low();
spi_transfer(high_byte(addr));
spi_transfer(low_byte(addr));
spi_transfer(0x00);
spi_transfer(0x01);
data = spi_transfer(0);
spi_cs_high();
return data;
}
Dynamixel::CommStatus Dynamixel::write_word(unsigned char id, unsigned char address, int value) {
const unsigned char parameters[3] = {address, low_byte(value), high_byte(value)};
return send_instruction_read_status(id, 0x03, parameters, 3);
}
