void PCA9548A_Reset(void)
{
IO_SET(PCA9548A_RESET, LOW);
__delay_cycles(100000);
IO_SET(PCA9548A_RESET, HIGH);
__delay_cycles(100000);
}
void
pressure_update (void)
{
if (pressure.wait)
{
pressure.wait--;
}
else
{
switch (pressure.state)
{
case PRESSURE_INITIAL:
if (pressure.low)
{
/* Open circuit. */
IO_SET (OUTPUT_PNEUM_OPEN);
pressure.state++;
pressure.wait = PRESSURE_OPEN_WAIT;
}
break;
case PRESSURE_IDLE:
if (pressure_get () < pressure.low)
{
/* Start pump. */
mimot_motor_output_set (1, 0x3ff);
pressure.state++;
pressure.wait = PRESSURE_START_WAIT;
}
else
pressure.wait = PRESSURE_INTERVAL;
break;
case PRESSURE_STARTING:
/* Started, close circuit. */
IO_CLR (OUTPUT_PNEUM_OPEN);
pressure.state++;
break;
case PRESSURE_PUMPING:
/* Pump until high. */
if (pressure_get () > pressure.high)
{
/* Done. Stop. Open circuit. */
mimot_motor_free (1, 0);
IO_SET (OUTPUT_PNEUM_OPEN);
pressure.state = PRESSURE_IDLE;
pressure.wait = PRESSURE_REST;
}
else
pressure.wait = PRESSURE_INTERVAL;
break;
}
}
}
/*========================= IMPLEMENTATION =========================*/
int spi_init(SpiMaster_t SpiMasterEnable, SpiMode_t SpiMode, SpiDataOrder_t DataOrder, SpiSpeed_t SpiSpeed)
{
// enable SPI module
PRR &= ~(1 << PRSPI);
// I/O interface
IO_INPUT_NO_PULLUP(SPI, 1, MISO);
IO_OUTPUT(SPI, 3, MOSI, SCK, SS);
// set default value SS pin
IO_SET(SPI,1,SS);
// Clear interrupt flag (and write SPI2X)
IO_PUT(SPSR,(1<<SPIF) | (SpiSpeed & (1<<(SPI2X+MAGIC_OFFSET)))>>MAGIC_OFFSET);
// init buffer
sgSpi.buffer.in_ptr = NULL;
sgSpi.buffer.out_ptr = NULL;
sgSpi.buffer.end = NULL;
sgSpi.buffer.size = 0;
sgSpi.busy = false;
// Configure SPI and enable the SPI interface
SPCR = (uint8_t)SpiMasterEnable
| (uint8_t)SpiMode
| (uint8_t)DataOrder
| ((uint8_t)(SpiSpeed & ((1<<SPR1) | (1<<SPR0))))
| (1<<SPE);
return 0;
}