void sendInt(unsigned int intToSend){
unsigned int upperByte;
unsigned int lowerByte;
upperByte=intToSend & 0xFF00;//clear lower bits
upperByte=upperByte >> 8; //shift to make it a char
lowerByte=intToSend & 0x00FF; //clear upper bits
sendByte(upperByte);
sendByte(lowerByte);
} //sendInt()
/**
* Returns 1 if the caster wheel is dropped.
*/
uint8_t cm_read_caster_wheel_drop(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_BUMP_DROP);
endCommand();
if (readByte() & 0x10)
return 1;
else
return 0;
}
/**
* Returns 1 if the right bumper is pressed.
*/
uint8_t cm_read_right_bumper(void)
{
sendByte(CmdSensors);
padCommand();
sendByte(SEN_BUMP_DROP);
endCommand();
if (readByte() & 0x01)
return 1;
else
return 0;
}
/**
* Sets the digital outputs on the Create's cargo bay connector.
* @param pin*: Turns the pin on if non-zero.
* Note 1: Not used in simulations.
* Note 2: Only available on Create robots. Does nothing on Roomba or Scooba robots.
*/
void cm_digital_outputs(const uint8_t &pin0, const uint8_t &pin1, const uint8_t &pin2)
{
uint8_t b = 0;
if (pin0) b |= 0x01;
if (pin1) b |= 0x02;
if (pin2) b |= 0x04;
sendByte(CmdOutputs);
padCommand();
sendByte(b);
endCommand();
}
// Send a Midi CC message to a given channel, as a given controller 0-127, with given
// value 0-127
void Midi::sendControlChange(unsigned int channel, unsigned int controller, unsigned int value)
{
int status = STATUS_EVENT_CONTROL_CHANGE | ((channel - 1) & 0x0f);
if (sendFullCommands_ || (lastStatusSent_ != status)) {
sendByte(status);
}
sendByte(controller & 0x7f);
sendByte(value & 0x7f);
}
void iPodSerial::sendCommand(
byte mode,
byte cmdByte1,
byte cmdByte2)
{
sendHeader();
sendLength(1 + 1 + 1);
sendByte(mode);
sendByte(cmdByte1);
sendByte(cmdByte2);
sendChecksum();
}
inline void sendFrame1(unsigned int value)
{
unsigned int checksum=0xaa;
serial_write(HDLC_frameFlag);
sendByte(value);
checksum ^= value;
sendByte(checksum);
serial_write(HDLC_frameFlag);
}
// Send Midi NOTE ON message to a given channel, with note 0-127 and velocity 0-127
void Midi::sendNoteOn(unsigned int channel, unsigned int note, unsigned int velocity)
{
int status = STATUS_EVENT_NOTE_ON | ((channel - 1) & 0x0f);
if (sendFullCommands_ || (lastStatusSent_ != status)) {
sendByte(status);
}
sendByte(note & 0x7f);
sendByte(velocity & 0x7f);
}
// Send a Midi VELOCITY CHANGE message to a given channel, with given note 0-127,
// and new velocity 0-127
void Midi::sendVelocityChange(unsigned int channel, unsigned int note, unsigned int velocity)
{
int status = STATUS_EVENT_VELOCITY_CHANGE | ((channel - 1) & 0x0f);
if (sendFullCommands_ || (lastStatusSent_ != status)) {
sendByte(status);
}
sendByte(note & 0x7f);
sendByte(velocity & 0x7f);
}
void CompactQik2s9v1::motor1Forward(uint8_t speed)
{
if ( speed > 127 )
{
sendByte(MOTOR1FORWARDFASTPACKET);
sendByte(speed-127);
}
else
{
sendByte(MOTOR1FORWARDPACKET);
sendByte(speed);
}
}
/*
Reads a value from a ADXL345 register and returns it
*/
unsigned int accelReadReg(const Accel *a, int reg){
int I2C = a->I2C;
sendStart(I2C); // start transaction
sendByte(I2C, a->write); // write accel device
sendByte(I2C, reg); // specify device register
repeatStart(I2C);
sendByte(I2C, a->read); // read accel device
unsigned int d = readByte(I2C); // grab data
I2CAcknowledgeByte(I2C, 0); // Send nack
while(!I2CAcknowledgeHasCompleted(I2C));
I2CStop(I2C); // end transaction
return d;
}
void KDC_5060R_receive(void){
GPIO_ResetBits(CE_Port,CE_Pin);
sendByte(CMD_OUTPUT);
GPIO_SetBits(CE_Port,CE_Pin);
key_data[0]=sendByte(0);
key_data[1]=sendByte(0);
key_data[2]=sendByte(0);
key_data[3]=sendByte(0);
GPIO_ResetBits(CE_Port,CE_Pin);
}
void CompactQik2s9v1::motor1Reverse(uint8_t speed)
{
if ( speed > 127 )
{
sendByte(MOTOR1REVERSEFASTPACKET);
sendByte(speed-127);
}
else
{
sendByte(MOTOR1REVERSEPACKET);
sendByte(speed);
}
}
void iPodSerial::sendCommandWithOneNumberParam(
byte mode,
byte cmdByte1,
byte cmdByte2,
unsigned long numberParam)
{
sendHeader();
sendLength(1 + 1 + 1 + 4);
sendByte(mode);
sendByte(cmdByte1);
sendByte(cmdByte2);
sendNumber(numberParam);
sendChecksum();
}
void iPodSerial::sendCommandWithOneByteParam(
byte mode,
byte cmdByte1,
byte cmdByte2,
byte byteParam)
{
sendHeader();
sendLength(1 + 1 + 1 + 1);
sendByte(mode);
sendByte(cmdByte1);
sendByte(cmdByte2);
sendByte(byteParam);
sendChecksum();
}
byte read_adcNS(byte ch, u16* iv) // Read ADC, without entering SLEEP mode
{
byte res[2];
if ((ch < 0) || (ch > 12))
return INVARG;
sendByte(READADC);
sendByte(ch);
*res = COMERR;
sread(1, res);
if (*res != 'D') return *res;
if(sread(2, res) != 2) return COMERR;
*iv = res[0] | (res[1] << 8);
return 0;
}
void sendString(void){
consoleDrawText(7, 5, "sending...");
int length = strlen(str);
sendByte(length);
int i;
for(i=0;i<length;i++){
sendByte(str[i]);
}
}
uint8_t I2C::write(uint8_t address, uint8_t registerAddress, uint8_t data)
{
returnStatus = 0;
returnStatus = start();
if(returnStatus){return(returnStatus);}
returnStatus = sendAddress(SLA_W(address));
if(returnStatus){return(returnStatus);}
returnStatus = sendByte(registerAddress);
if(returnStatus){return(returnStatus);}
returnStatus = sendByte(data);
if(returnStatus){return(returnStatus);}
returnStatus = stop();
return(returnStatus);
}
//------------------- Modifiers for Capture ------------------------------
byte disable_actions()
{
// Disable all modifiers to the capture call. The capture calls will be set to
// do analog triggering on the first channel captured.
byte res[1];
sendByte(SETACTION);
sendByte(AANATRIG);
sendByte(0); //Self trigger on channel zero means the first channel captured
*res = COMERR;
sread(1,res);
if(*res != 'D') return *res;
return 0;
}
void ChainableLED::setColorRGB(byte led, byte red, byte green, byte blue)
{
// Send data frame prefix (32x "0")
sendByte(0x00);
sendByte(0x00);
sendByte(0x00);
sendByte(0x00);
// Send color data for each one of the leds
for (byte i=0; i<_num_leds; i++)
{
if (i == led)
{
_led_state[i*3 + _CL_RED] = red;
_led_state[i*3 + _CL_GREEN] = green;
_led_state[i*3 + _CL_BLUE] = blue;
}
sendColor(_led_state[i*3 + _CL_RED],
_led_state[i*3 + _CL_GREEN],
_led_state[i*3 + _CL_BLUE]);
}
// Terminate data frame (32x "0")
sendByte(0x00);
sendByte(0x00);
sendByte(0x00);
sendByte(0x00);
}
int SoftwareI2CPort::send(uint8_t address, uint32_t subaddress, uint32_t subaddressLength, const void * data, uint32_t dataLength)
{
fillAddressBuffer(address, subaddress, subaddressLength);
m_scl.setDirection(GpioPin::kInput);
m_sda.setDirection(GpioPin::kInput);
m_scl.clear();
m_sda.clear();
sendStart();
bool ret = sendByte((address << 1), true);
if (!ret)
{
sendStop();
return I2C_ERROR_NO_SLAVE_ACK;
}
const uint8_t * subaddressData = (const uint8_t *)&m_addressBuffer[1];
while (subaddressLength--)
{
ret = sendByte(*subaddressData++, true);
if (!ret)
{
sendStop();
return I2C_ERROR_GOT_NAK;
}
}
const uint8_t * transfer_data = reinterpret_cast<const uint8_t *>(data);
uint32_t u16Size = dataLength;
while (u16Size--)
{
ret = sendByte(*transfer_data++, true);
if (!ret)
{
sendStop();
return I2C_ERROR_GOT_NAK;
}
}
sendStop();
return I2C_OK;
}
void FrSkySportSingleWireSerial::sendEmpty(uint16_t dataTypeId)
{
if(port != NULL)
{
setMode(TX);
sendByte(0x00);
uint8_t *bytes = (uint8_t*)&dataTypeId;
sendByte(bytes[0]);
sendByte(bytes[1]);
for(uint8_t i = 0; i < 4; i++) sendByte(0x00);
sendCrc();
port->flush();
setMode(RX);
}
}
/**
* Controls the LEDs on top of the robot.
* @param play Turns the Play light on if non-zero.
* @param advance Turns the Advance light on if non-zero.
* @param power_color Sets the shade of the Power light between green (at 0) and orange (at 255).
* @param power_intensity Sets the brightness of the Power light from off (at 0) to full brightness (at 255).
*/
void cm_set_leds(const uint8_t &play, const uint8_t &advance, const uint8_t &power_color, const uint8_t &power_intensity)
{
uint8_t b = 0;
if (play) b |= LEDPlay;
if (advance) b |= LEDAdvance;
sendByte(CmdLeds);
padCommand();
sendByte(b);
padCommand();
sendByte(power_color);
padCommand();
sendByte(power_intensity);
endCommand();
}
void setLeds(BYTE out[2]) {
// We start with the lowest bit, and moving towards the higher
sendByte(out[1]);
sendByte(out[0]);
lLatch_On();
Nop();
Nop();
Nop();
Nop();
Nop();
Nop();
lLatch_Off();
}
/**************************************************************************//**
*
* main
*
* @brief main function
*
* @param -
*
* @return -
*
******************************************************************************/
void main(void)
{
uint8_t data;
// source ACLK with internal VLO clock
BCSCTL3 |= LFXT1S_2;
// Set DCO register value based on the selected input clock frequency
BCSCTL1 = BCSCTL1_VAL;
DCOCTL = DCOCTL_VAL;
// set GPIO as UART pins - P1.1=UCA0RXD, P1.2=UCA0TXD
P1SEL = BIT1 + BIT2 ;
P1SEL2 = BIT1 + BIT2;
// setup USCI UART registers
UCA0CTL1 |= UCSSEL_2 + UCSWRST;
UCA0BR0 = USCI_BR0_VAL;
UCA0BR1 = USCI_BR1_VAL;
UCA0MCTL = USCI_BRS_VAL;
UCA0CTL1 &= ~UCSWRST;
// do somekind of splash screen
splash();
while(1)
{
if(rcvByte(&data) == true)
{
// echo back the received data
sendByte(data);
}
}
}
void iPodSerial::sendCommandWithOneByteAndOneNumberParam(
byte mode,
byte cmdByte1,
byte cmdByte2,
byte byteParam1,
unsigned long numberParam2)
{
sendHeader();
sendLength(1 + 1 + 1 + 1 + (1 * 4));
sendByte(mode);
sendByte(cmdByte1);
sendByte(cmdByte2);
sendByte(byteParam1);
sendNumber(numberParam2);
sendChecksum();
}
void iPodSerial::sendBytes(size_t length, const byte *pData)
{
for (size_t i = 0; i < length; i++)
{
sendByte(pData[i]);
}
}
int main(int argc, char** argv) {
char value, count = '0';
lcdInit();
i2c_init();
for(int i = 0; i < 16; i++)
{
sendByte(count++,0x30<<1);
lcdSetPos(i,0);
lcdWriteChar(count);
//for(int i = 0; i<10; i++ )
__delay_ms(10);
value = readByte(0x30<<1);
lcdSetPos(i,1);
lcdWriteChar(value);
//for(int i = 0; i<10; i++ )
__delay_ms(10);
}
while(1)
{
}
return (EXIT_SUCCESS);
}
//--------------------------------------------------------------------------------
void SDLog::printHex4(uint8_t data)
//--------------------------------------------------------------------------------
{
uint8_t c = data & 0x0f;
c += c < 10 ? '0' : 'A' - 10 ;
sendByte(c);
}
void main()
{
lcdInit();
spiOn();
spiOff();
sendByte(out);
sendArray(array);
lcdOn();
lcdOff();
sendBuffer();
sendPart(3, 7, LCD_Buffer);
clear();
clearPart(5, 76);
clearPartColor(5, 76, clBLACK);
setPenColor(clBLACK);
setBackColor(clWHITE);
delay_nsek(40);
scsOn();
scsOff();
i = getValue(LCD_Buffer, 23, 266);
setValue(LCD_Buffer, 23, 266, 0x3F);
setCharge();
resetCharge();
drawPixel(5, 5, LCD_Buffer);
drawVLine(5, 5, 5, LCD_Buffer);
drawHLine(5, 5, 5, LCD_Buffer);
drawLine(5, 5, 55, 55, LCD_Buffer);
drawRect(5, 5, 55, 55, LCD_Buffer);
drawFillRect(5, 5, 55, 55, clWHITE, LCD_Buffer);
drawCircle(10, 10, 5, LCD_Buffer);
}
