void processTWIMessage()
{
int i;
if(g_twi_sr_recv_buffer[0] == TWIMSG_HEADER) {
switch(g_twi_sr_recv_buffer[1]) {
case TWIMSG_REGACCESS:
g_current_register = g_twi_sr_recv_buffer[2];
for(i = 3; i < g_twi_sr_recv_index; i++) {
*g_current_register = g_twi_sr_recv_buffer[i];
g_current_register++;
}
break;
case TWIMSG_SET_PIN_MODE:
setPinMode(g_twi_sr_recv_buffer[2], g_twi_sr_recv_buffer[3]);
break;
case TWIMSG_DIGITAL_WRITE_PIN:
digitalWritePin(g_twi_sr_recv_buffer[2], g_twi_sr_recv_buffer[3]);
break;
case TWIMSG_DIGITAL_READ_PIN:
digitalReadPin(g_twi_sr_recv_buffer[2]);
break;
case TWIMSG_ANALOG_WRITE_PIN:
analogWritePin(g_twi_sr_recv_buffer[2], g_twi_sr_recv_buffer[3]);
break;
case TWIMSG_ANALOG_READ_PIN:
analogReadPin(g_twi_sr_recv_buffer[2]);
break;
case TWIMSG_ANALOG_REF:
analogSetRef(g_twi_sr_recv_buffer[2]);
break;
}
} else {
/* This message is probably a bluetooth comms message: forward it to the serial */
/* No need to send zigbee portion of message, start at i=5 */
if((g_mobotMode == 0) || (g_mobotMode == 1) ) {
for(i = 5; (i-5) < g_twi_sr_recv_buffer[6] ; i++) {
g_serialBufferOut[(g_serialBufferOutN + g_serialBufferOutIndex)%SERIAL_BUFFER_SIZE] =
g_twi_sr_recv_buffer[i];
g_serialBufferOutN++;
}
} else {
for(i = 0; i < g_twi_sr_recv_buffer[1] ; i++) {
g_serialBufferOut[(g_serialBufferOutN + g_serialBufferOutIndex)%SERIAL_BUFFER_SIZE] =
g_twi_sr_recv_buffer[i];
g_serialBufferOutN++;
}
}
}
}
void ParkingShield::setLed(led_t led, bool enable)
{
if (isLedValid(led))
digitalWritePin(static_cast<output_t>(led), enable ? Device::SIGNAL_LOW : Device::SIGNAL_HIGH);
}
void ParkingShield::setBuzzer(bool enable) const
{
digitalWritePin(BUZZER, enable ? Device::SIGNAL_HIGH : Device::SIGNAL_LOW);
}
