void SetCommand()
{
//copy the data
for (int i = 0; i < 13; i++)
{
DeviceConfig[i] = input_data[i+1];
}
//send the data to the peripherie
Output_data();
//save the data to the eeprom, if wanted
if ((DeviceConfig[12] & 0x01) == 0x01)
{
for (int i = 0; i < 12; i++)
{
uint8_t eeprom_addr = EEPROM_CONFIG_OFFSET + i;
eeprom_update_byte((uint8_t*)eeprom_addr, DeviceConfig[i]);
}
}
//enable or disable load_at_boot
if ((DeviceConfig[12] & 0x10) == 0x10)
{
eeprom_update_byte((uint8_t*)EEPROM_BOOT_VALUES, 0x10);
}
else
{
eeprom_update_byte((uint8_t*)EEPROM_BOOT_VALUES, 0x00);
}
return;
}
void SetupHardware(void)
{
/* Disable watchdog if enabled by bootloader/fuses */
MCUSR &= ~(1 << WDRF);
wdt_disable();
/* Disable clock division */
clock_prescale_set(clock_div_1);
/* Hardware Initialization */
USB_Init();
// http://avrbeginners.net/architecture/spi/spi.html
SPI_Init(SPI_SPEED_FCPU_DIV_32 | SPI_SCK_LEAD_FALLING | SPI_SAMPLE_LEADING | SPI_ORDER_MSB_FIRST | SPI_MODE_MASTER);
//initialize TWI-Bus
TWI_Init(TWI_BIT_PRESCALE_1, TWI_BITLENGTH_FROM_FREQ(1, 200000));
//check wether to load data at boot and do it
if (eeprom_read_byte((uint8_t*)EEPROM_BOOT_VALUES) == 0x10 )
{
for (int i = 0; i < ConfigSize; i++)
{
uint8_t eeprom_addr = EEPROM_CONFIG_OFFSET + i;
DeviceConfig[i] = eeprom_read_byte((uint8_t*)eeprom_addr);
}
Output_data();
}
}
//****************************************************************************
// Core() IS THE MAIN EXECUTION LOOP FUNCTION.
// THE ONE AND ONLY BLOCKING CALL IN HERE SHALL BE THE StartReading function.
//****************************************************************************
void MAPShokuyo::Core()
{
//There are no inputs to read from in this component.
//Make sure you have one and only blocking function (Rest, Wait, MAPS::Sleep, select, whatever...)
//inside Core().
// Start of user code Core processing with no inputs
// Wait4Event(isDyingEvent); //Pause the current thread until shutdown.
Output_data(MAPS::CurrentTime()) ;
Rest(500000);
// End of user code
}
