void TWI_write_int( uint8_t SLA, uint8_t data) {
TWI_start();
TWI_write(SLA);
TWI_write(data);
TWI_stop();
}
void TWI_write_buf( uint8_t SLA, uint8_t adr, uint8_t len, uint8_t *buf) {
TWI_start();
TWI_write(SLA);
TWI_write(adr);
while (len--) TWI_write(*buf++);
TWI_stop();
}
void TWI_read_buf(uint8_t SLA, uint8_t adr, uint8_t len, uint8_t *buf) {
TWI_start();
TWI_write(SLA);
TWI_write(adr);
TWI_start();
TWI_write(SLA + 1);
while (len--) *buf++ = TWI_read( len ? ACK : NACK );
TWI_stop();
}
void sfp_read_vendor_name(uint8_t *buf) {
uint8_t len=15;
TWI_start();
TWI_write(0xa0);
TWI_write(0x14);
TWI_start();
TWI_write(0xa1);
while (len--) *buf++ = TWI_read( len ? ACK : NACK );
TWI_stop();
}
void sfp_read_to_buf(uint8_t SLA, uint8_t len, uint8_t *buf) {
TWI_start();
TWI_write(SLA);
TWI_write(0xa0);
TWI_start();
TWI_write(SLA + 1);
while (len--) *buf++ = TWI_read( len ? ACK : NACK );
TWI_stop();
}
uint8_t TWI_read_int(uint8_t SLA) {
uint8_t data;
TWI_start();
TWI_write(SLA);
TWI_start();
TWI_write(SLA + 1);
data = TWI_read(NACK);
TWI_stop();
return data;
}
void EI2C_read_buf(uint8_t device, uint16_t subAddr, uint16_t len, uint8_t *buf) {
while (len--) {
TWI_start();
TWI_write(device | ((subAddr>>8)<<1) );
TWI_write(subAddr);
TWI_start();
TWI_write(device + 1);
*buf++ = TWI_read( NACK );
TWI_stop();
subAddr++;
}
}
// funkcja do odczytu z EXPANDERA PCF8574 *********************
uint8_t PCF8574_read( uint8_t SLA ) {
uint8_t res=0;
TWI_start();
TWI_write(SLA + 1);
res = TWI_read( NACK );
TWI_stop();
return res;
}
void send_tape_value(uint8_t value){
uint8_t s[4];
s[0] = CMD_SENSOR_DATA;
s[1] = 2;
s[2] = TAPE_VALUE;
s[3] = value;
TWI_write(COMM_ADDRESS, s, 4);
}
void send_number_of_diods(uint8_t diod){
uint8_t s[4];
s[0]= CMD_SENSOR_DATA;
s[1]= 2;
s[2]= DIOD;
s[3]= diod;
TWI_write(CONTROL_ADDRESS,s,4);
}
void send_tape(uint8_t tape){
uint8_t s[4];
s[0] = CMD_SENSOR_DATA;
s[1] = 2;
s[2] = TAPE;
s[3] = tape;
TWI_write(GENERAL_CALL, s, 4);
}
void send_sensor_mode(uint8_t mode){
uint8_t s[3];
s[0] = CMD_SENSOR_MODE;
s[1] = 1;
s[2] = mode;
TWI_write(SENSOR_ADDRESS, s, 3);
}
void send_line_pos(uint8_t pos){
uint8_t s[4];
s[0] = CMD_SENSOR_DATA;
s[1] = 2;
s[2] = LINE_POSITION;
s[3] = pos;
TWI_write(GENERAL_CALL, s, 4);
}
//Funktion för att skicka differensen
void send_differences(uint8_t diff, uint8_t rot){
uint8_t s[6];
s[0] = CMD_SENSOR_DATA;
s[1] = 4;
s[2] = IRDIFF;
s[3] = diff;
s[4] = IRROT;
s[5] = rot;
TWI_write(GENERAL_CALL, s, 6);
}
int main(void)
{
unsigned char temp[2];
unsigned int j;
DDRB = 0x3F;
TWI_first_init();
sei();
TWI_write(DS1631,"\xAC\x0C",2); // Continues conversion mode, 12 bit precision
TWI_write(DS1631,"\x51",1); // Start conversion
TWI_write(DS1631,"\xAA",1); // Start reading temperature
for(;;) {
for(j=0; j<50000; j++) wait();// Wait a while, the GCC optimizer trashes empty loops so a volatile nop is inserted
TWI_read(DS1631,temp,2); // Read the temperature
PORTB = ~temp[0];
}
}
void send_reg_params(uint16_t p, uint16_t d){
uint8_t s[8];
s[0] = CMD_REG_PARAMS;
s[1] = 6;
s[2] = REG_P;
s[3] = p >> 8;
s[4] = p;
s[5] = REG_D;
s[6] = d >> 8;
s[7] = d;
TWI_write(COMM_ADDRESS, s, 8);
}
void send_long_ir_data(uint8_t long1, uint8_t long2){
uint8_t s[6];
s[0] = CMD_SENSOR_DATA;
s[1] = 4;
s[2] = IR_LONG_LEFT;
s[3] = long1;
s[4] = IR_LONG_RIGHT;
s[5] = long2;
TWI_write(CONTROL_ADDRESS, s, 6);
}
int main(void)
{
TWI_init();
UART_init();
sei();
while(1)
{
TWI_read(0x50,dat,128); // Czytaj 24c02 EEPROM (A0=A1=A2 = 0)
DEBUG_hextable(dat,128);
TWI_write(0x50,dat,128); // Zapisz do PCF8583 (A0 = 1)
TWI_read(0x51,dat,128); // Czytaj z PCF8583 (A0 = 1)
DEBUG_hextable(dat,128);
delayms(500);
}
}
void send_sensor_values(uint8_t ll, uint8_t lr,
uint8_t sl, uint8_t sr,
uint8_t sb){
uint8_t s[12];
s[0] = CMD_SENSOR_DATA;
s[1] = 10;
s[2] = IR_LONG_LEFT;
s[3] = ll;
s[4] = IR_LONG_RIGHT;
s[5] = lr;
s[6] = IR_SHORT_LEFT;
s[7] = sl;
s[8] = IR_SHORT_RIGHT;
s[9] = sr;
s[10] = IR_SHORT_BACK;
s[11] = sb;
TWI_write(COMM_ADDRESS, s, 12);
}
