void process_command(void)
{
if ( ! TWI_Transceiver_Busy() )
{
if ( TWI_statusReg.RxDataInBuf )
{
TWI_Get_Data_From_Transceiver(messageBuf, 1);
switch (messageBuf[0])
{
case M_BLUE_TOGGLE:
m_blue(TOGGLE);
unsigned char twi_data_1[7];
twi_data_1[0]=M_BLUE_TOGGLE;
twi_data_1[1]=5;
twi_data_1[2]=1;
twi_data_1[3]=2;
twi_data_1[4]=3;
twi_data_1[5]=4;
twi_data_1[6]=5;
TWI_Start_Transceiver_With_Data(twi_data_1, 7);
break;
case SEND_ADC_DATA:
m_green(TOGGLE);
unsigned char twi_data_2[7];
twi_data_2[0]=SEND_ADC_DATA;
twi_data_2[1]=5;
twi_data_2[2]=(adc_value & 0x00FF);
twi_data_2[3]=((adc_value & 0xFF00)>>8);
twi_data_2[4]=(adc_value & 0x00FF);
twi_data_2[5]=((adc_value & 0xFF00)>>8);
twi_data_2[6]=0xAA;
TWI_Start_Transceiver_With_Data(twi_data_2, 7);
break;
case M_GREEN_ON:
m_green(ON);
break;
case M_BLUE_ON:
m_blue(ON);
break;
}
}
}
virtual void
convert( norm_double val, NormRgb & nrgb ) override
{
if ( ! std::isfinite( val ) ) {
nrgb.fill(0.0);
}
nrgb[0] = m_red(val);
nrgb[1] = m_green(val);
nrgb[2] = m_blue(val);
}
void process_command(void)
{
if (twi_data.data_length > 255) // in the m_twi.h, the buffer size is defined as 255, you can change this value
{
twi_data.command = I2C_ERROR;
twi_data.data_length = 0;
return;
}
switch (twi_data.command)
{
case M_BLUE_TOGGLE:
m_blue(TOGGLE);
twi_data.command=M_BLUE_TOGGLE;
twi_data.data_length=5;
twi_data.data[0]=1;
twi_data.data[1]=2;
twi_data.data[2]=3;
twi_data.data[3]=4;
twi_data.data[4]=5;
break;
case M_GREEN_TOGGLE:
m_green(TOGGLE);
twi_data.command=M_GREEN_TOGGLE;
twi_data.data_length=4;
twi_data.data[0]=5;
twi_data.data[1]=6;
twi_data.data[2]=7;
twi_data.data[3]=8;
break;
case M_GREEN_ON:
m_green(ON);
break;
case M_BLUE_ON:
m_blue(ON);
break;
}
}
int main(void)
{
/* insert your hardware initialization here */
InitPeripherals();
#ifdef MASTER
USART USART_CHANNEL;
USART_CHANNEL.USART_BAUDRATE = 9600;
USART_CHANNEL.USART_RECEIVER_STATUS = RECEIVER_ENABLE;
USART_CHANNEL.USART_TRANSMITTER_STATUS = TRANSMITTER_ENABLE;
USART_CHANNEL.USART_STOP_BIT = 1;
USART_CHANNEL.USART_PARITY = PARITY_EVEN;
USART_Init(USART_CHANNEL);
clear(TCCR1B, CS12);
clear(TCCR1B, CS11);
set(TCCR1B, CS10); // prescalar is 1
set(TCCR1B, WGM13);
set(TCCR1B, WGM12);
set(TCCR1A, WGM11);
clear(TCCR1A, WGM10);
set(TCCR1A, COM1A1);
set(TCCR1A, COM1A0);
set(DDRB, 1);
ICR1 = (int)(8000000/500000) - 1;
OCR1A = (int)((float)ICR1 * 0.5); // common minus output 500KHz signals
set(DDRD, 5);
set(PORTD, 5); // COIL3 PLUS on
// unsigned long frequency = 500000;
// float duty_cycle = 0.5;
// unsigned int pulse_number = 3;
// init_coil(frequency, duty_cycle, pulse_number);
//
// COIL3_PLUS_ON;
//
// drive_coil_communication();
sei();
#endif
#ifdef SLAVE
// unsigned long frequency = 500000;
// float duty_cycle = 0.5;
// unsigned int pulse_number = 3;
// init_coil(frequency, duty_cycle, pulse_number);
// COIL1_MINUS_ON;
set(DDRD, 4);
set(PORTD, 4); // COIL2_MINUS on
set(DDRD, 1);
set(PORTD, 1); // USART TX is high
set(DDRB, 3);
set(PORTB, 3); // turn on receiver
#endif
m_green(ON);m_yellow(ON);m_blue(ON);
m_wait(1000);
m_green(OFF);m_yellow(OFF);m_blue(OFF);
m_wait(2000);
for(;;){
/* insert your main loop code here */
#ifdef MASTER
set(PORTD, 5);
USART_Transmit_string("MODLAB!\n\r");
clear(PORTD, 5);
m_wait(1000);
#endif
#ifdef SLAVE
m_blue(TOGGLE);
#endif
}
return 0; /* never reached */
}
