int main(void)
{
initRP6M256();
initLCD();
writeString_P_WIFI("\n\nRP6 CONTROL M256 I2C Master Example Program!\n");
// IMPORTANT:
I2CTWI_initMaster(100); // Initialize the TWI Module for Master operation
// with 100kHz SCL Frequency
// Register the event handlers:
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
setLEDs(0b1111); // Turn all LEDs on!
showScreenLCD("################", "################");
mSleep(500);
showScreenLCD("I2C-Master", "Example Program 1");
mSleep(1000);
// ---------------------------------------
setLEDs(0b0000); // All LEDs off!
uint8_t counter = 1;
// The command and register used here - in the next example we define them all.
#define CMD_SET_ACS_POWER 9
#define ACS_PWR_MED 2
// Set ACS to medium power (you can see the ACS value changes in the raw registers):
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_ACS_POWER, ACS_PWR_MED);
while(true)
{
// Increment a counter and send value to LEDs of the
// Slave Controller:
setLEDs(0b0001);
showScreenLCD("INCREMENT", "COUNTER");
setCursorPosLCD(1, 11);
writeIntegerLengthLCD(counter, DEC, 3);
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, 3, counter);
counter++;
// Read and display ALL registers of the slave controller:
setLEDs(0b0010);
readAllRegisters();
// Read the light sensors:
setLEDs(0b0100);
readLightSensors();
mSleep(250);
}
return 0;
}
int main(void)
{
initRP6M256();
initLCD();
writeString_P_WIFI("\n\nRP6 CONTROL M32 I2C Master Example Program!\n");
writeString_P_WIFI("\nMoving...\n");
// ---------------------------------------
WDT_setRequestHandler(watchDogRequest);
// ---------------------------------------
// Init TWI Interface:
I2CTWI_initMaster(100);
I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady);
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
setLEDs(0b1111);
showScreenLCD("################", "################");
mSleep(1000);
showScreenLCD("I2C-Master", "Movement...");
mSleep(1000);
setLEDs(0b0000);
// ---------------------------------------
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_ACS_POWER, ACS_PWR_MED);
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT, true);
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT_RQ, true);
while(true)
{
setLEDs(0b1001);
showScreenLCD("MOVE", "FWD");
writeString_P_WIFI("\nMoving Forwards...\n");
move(70, FWD, DIST_MM(300), BLOCKING);
setLEDs(0b1000);
showScreenLCD("ROTATE", "LEFT");
writeString_P_WIFI("\nRotating Left...\n");
rotate(60, LEFT, 180, BLOCKING);
setLEDs(0b1001);
showScreenLCD("MOVE", "FWD");
writeString_P_WIFI("\nMoving Forwards...\n");
move(70, FWD, DIST_MM(300), BLOCKING);
setLEDs(0b0001);
showScreenLCD("ROTATE", "RIGHT");
writeString_P_WIFI("\nRotating Right...\n");
rotate(60, RIGHT, 180, BLOCKING);
}
return 0;
}
int main(void)
{
initRP6M256();
initLCD();
// ---------------------------------------
WDT_setRequestHandler(watchDogRequest);
// ---------------------------------------
I2CTWI_initMaster(100);
I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady);
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
setLEDs(0b1111);
mSleep(1000);
setLEDs(0b0000);
// ---------------------------------------
// Setup ACS power:
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_ACS_POWER, ACS_PWR_OFF);
// Enable Watchdog for Interrupt requests:
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT, true);
// Enable timed watchdog requests:
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT_RQ, true);
startStopwatch1();
startStopwatch2();
startStopwatch3();
while(true)
{
/*
mSleep(600);
warnForObs();
mSleep(600);
task_checkINT();
mSleep(600);
light_detection();
mSleep(600);
task_I2CTWI();
mSleep(600);*/
writeIntegerLength_WIFI(adcBat,DEC,4);
behaviourController();
}
return 0;
}
