void arduinoDueSlave()
{
int16_t byte ;
uint16_t address ;
// Initialise serial at 100K baud
DDRE &= ~(1 << DDE0) ; // set RXD0 pin as input
PORTE &= ~(1 << PORTE0) ; // disable pullup on RXD0 pin
UCSR0A &= ~(1 << U2X0) ; // disable double speed operation.
UBRR0L = 4 ; // 200000 baud
UBRR0H = 0 ;
// set 8 N1
UCSR0B = 0 | (0 << RXCIE0) | (0 << TXCIE0) | (0 << UDRIE0) | (0 << RXEN0) | (0 << TXEN0) | (0 << UCSZ02) ;
UCSR0C = 0 | (1 << UCSZ01) | (1 << UCSZ00) ;
while (UCSR0A & (1 << RXC0)) UDR0 ; // flush receive buffer
UCSR0B |= (1 << RXEN0); // enable RX
UCSR0B |= (1 << RXCIE0); // enable Interrupt
UCSR0B |= (1 << TXEN0) ; // enable TX, but not interrupt yet
Arduino = 1 ;
lcd_clear() ;
lcd_puts_Pleft( 24, PSTR("Arduino Slave") ) ;
refreshDiplay();
for(;;)
{
static uint8_t lastTMR ;
wdt_reset() ;
while ( ( byte = get_fifo64( &Arduino_fifo ) ) != -1 )
{
processSlaveByte( byte ) ;
if (SlaveActionRequired)
{
SlaveActionRequired = 0 ;
if ( SlaveType < 16)
{
SlaveDisplayRefresh = 1 ;
}
else
{
switch ( SlaveType )
{
case 0x10 : // Protocol + channels
Protocol = SlaveTempReceiveBuffer[0] ;
SubProtocol = SlaveTempReceiveBuffer[1] ;
{
uint8_t i ;
uint8_t index = 0 ;
for ( i = 2 ; i < 34 ; i += 2 )
{
// May need cli/sei round this
Channels[index] = SlaveTempReceiveBuffer[i] | ( SlaveTempReceiveBuffer[i+1] << 8 ) ;
index += 1 ;
}
}
break ;
case 0x12 :
// 0x01, 0x12, 16 bit address, 0x01 - send 32 bytes EEPROM data @ address
address = SlaveTempReceiveBuffer[0] | ( SlaveTempReceiveBuffer[1] << 8 ) ;
EepromAddress = address ;
EepromRequested = 1 ;
break ;
}
}
}
}
uint8_t t10ms ;
t10ms = g_tmr10ms ;
tick10ms = t10ms - lastTMR ;
lastTMR = t10ms ;
if(tick10ms) //make sure the rest happen only every 10ms.
{
ControlsRequested = 1 ;
if ( SlaveDisplayRefresh )
{
SlaveDisplayRefresh = 0 ;
refreshDiplay() ;
}
}
if ( TxBusy == 0 )
{
if ( EepromRequested )
{
sendEeprom( EepromAddress ) ;
EepromRequested = 0 ;
}
else if ( ControlsRequested )
{
sendControls() ;
ControlsRequested = 0 ;
}
}
}
}
// Will be called approx 30 times per second
C_RESULT update_gamepad(void)
{
sendControls();
return C_OK;
}
