static int mphi_pumprx(mphi_driver_t* mphidrv)
{
mphi_slot_t slot;
MPHI_HANDLE_T* mphi;
int ret;
int8_t ctrl;
assert(mphidrv);
// check if message is available for read
ctrl = vchost_msgavail();
if(ctrl < 0)
return -1;
// get correct driver state
assert(ctrl < 2);
mphi = ctrl ? (mphidrv->mphi + MPHI_CHANNEL_IN_CONTROL) : (mphidrv->mphi + MPHI_CHANNEL_IN_DATA);
assert(mphi);
// get next available slot
ret = del_slotin(mphi, &slot);
if(ret != 0)
{
VC_DEBUG(MPHI, "error: no empty slot, ch=%d\n", mphi->channel);
++mphi->msgcnt_skipped;
return -1;
}
// read the message
lock_bus();
memset((void*)slot.addr, 0, slot.len);
slot.len = vchost_readmsg((void*)slot.addr, slot.len, &(slot.ctrl));
unlock_bus();
// sanity check
assert(ctrl == slot.ctrl);
if(slot.len <= 0)
{
assert(0); // message should've been available
return -1;
}
// update message stats
++mphi->msgcnt;
mphi->bytecnt += slot.len;
add_slotout(mphi, &slot);
mphi_dumpmsg(mphidrv, "RX", &slot);
if(mphi->event_callback)
{
// signal above that something happened
mphi->event_callback(mphi->event_callback_data);
}
return 0;
}
/*
* Wait until current output operation completes.
* Optionally purge queued output.
* XXX
* XXX May want to purge input slots also?
* XXX
*/
static void mphi_finish_io(int purge)
{
if (purge)
{
// Purge all slots queued for output.
mphi_slot_t slot;
MPHI_HANDLE_T* mphi = (MPHI_HANDLE_T*)(mphidrv.mphi + MPHI_CHANNEL_OUT);
while(0 == del_slotin(mphi, &slot));
}
// Wait for any pending output to finish.
lock_bus();
unlock_bus();
}
static int mphi_pumptx(mphi_driver_t* mphidrv)
{
MPHI_HANDLE_T* mphi;
mphi_slot_t slot;
int ret;
int8_t msgType;
mphi = (MPHI_HANDLE_T*)(mphidrv->mphi + MPHI_CHANNEL_OUT);
ret = del_slotin(mphi, &slot);
if(ret != 0)
{
// no free slots
return -1;
}
mphi_dumpmsg(mphidrv, "TX", &slot);
msgType = !slot.ctrl;
if (( slot.flags & MPHI_FLAGS_TERMINATE_DMA ) != 0 )
{
msgType |= VC_HOSTPORT_PARAM_TERMINATE_DMA;
}
// transmit
lock_bus();
vchost_writemsg((void*)slot.addr, slot.len, msgType);
vchost_writeparam(0);
unlock_bus();
++mphi->msgcnt;
mphi->bytecnt += slot.len;
// put it to "out" fifo
add_slotout(mphi, &slot);
if(mphi->event_callback)
{
// signal above that something happened
mphi->event_callback(mphi->event_callback_data);
}
return 0;
}
int main(void) {
u16 i;
u08 data[2];
int j=0;
init();
test_motor();
clear_screen();
_delay_ms(100);
data[0] = 0x1; //change to WAKE mode
send_address(0x2A,0);
write_register(&data[0], 1);
_delay_ms(100);
unlock_bus();
//send_address(0x2);
//read_register(&data[1], 1);
print_num(data[0]);
//while(1) {}
while(1) {
//X
send_address(0x1,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ",1);
//Y
send_address(0x3,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ", 1);
//Z
lcd_cursor(0,1);
send_address(0x5,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ",1);
print_num(count);
_delay_ms(50);
clear_screen();
OCR2A = 28;
}
/*
USI_TWI_Master_Initialize();
i2cMessageBuf[0] = 0x1c << 1; // Odd numbers for read
i2cMessageBuf[1] = 0x0d; // Register 0 contains version number
i2cMessageBuf[2] = (0x1c << 1) + 1; // Odd numbers for read
i2cMessageBuf[3] = 0x00; // Register 0 contains version number
USI_TWI_Start_Read_Write( i2cMessageBuf, 1 );
*/
while(get_sw1() == 0) {}
DDRD |= _BV(IR_PIN);
led_on(1);
led_on(0);
clear_screen();
while(1) {
_delay_ms(1500);
if (j) {
clear_screen();
print_string("test",4);
led_on(1);
led_off(0);
//sbi(PORTC,LCD_E_PIN);
//sbi(PORTC,LCD_RS_PIN);
//PORTA = 0xff;
sbi(PORTD,IR_PIN); //turn on IR pin
sbi(PORTC,SERVO0_PIN); //set servo pins
sbi(PORTC,SERVO1_PIN);
sbi(PORTC,SERVO2_PIN);
sbi(PORTF,SERVO3_PIN);
//test i2c pins
//sbi(PORTE,4);
//sbi(PORTE,5);
//motor test
sbi(PORTB,MOTOR0_EN_PIN);
sbi(PORTB,MOTOR1_EN_PIN);
sbi(PORTD,MOTOR0_DIR0_PIN);
sbi(PORTD,MOTOR0_DIR1_PIN);
sbi(PORTD,MOTOR1_DIR0_PIN);
sbi(PORTD,MOTOR1_DIR1_PIN);
j=0;
} else {
led_off(1);
led_on(0);
clear_screen();
print_string("program",7);
j=1;
//cbi(PORTC,LCD_E_PIN);
//cbi(PORTC,LCD_RS_PIN);
//PORTA = 0;
cbi(PORTD,IR_PIN); //turn off IR pin
cbi(PORTC,SERVO0_PIN); //clear servo pins
cbi(PORTC,SERVO1_PIN);
cbi(PORTC,SERVO2_PIN);
cbi(PORTF,SERVO3_PIN);
//test i2c pins
//cbi(PORTE,4);
//cbi(PORTE,5);
//motor test
cbi(PORTB,MOTOR0_EN_PIN);
cbi(PORTB,MOTOR1_EN_PIN);
cbi(PORTD,MOTOR0_DIR0_PIN);
cbi(PORTD,MOTOR0_DIR1_PIN);
cbi(PORTD,MOTOR1_DIR0_PIN);
cbi(PORTD,MOTOR1_DIR1_PIN);
}
}
return 0;
}
int main(void) {
u16 i;
u08 data[2];
int j=0;
init();
test_motor();
clear_screen();
/* while(1){
set_position(0,0);
set_position(1,0);
set_position(2,0);
set_position(3,0);
_delay_ms(1000);
set_position(0,255);
set_position(1,255);
set_position(2,255);
set_position(3,255);
_delay_ms(1000);
}
*/
_delay_ms(100);
for (i=0;i<1;i++) {
led_on(1);
_delay_ms(100);
led_off(1);
_delay_ms(100);
}
data[0] = 0x1; //change to WAKE mode
send_address(0x2A,0);
write_register(&data[0], 1);
_delay_ms(100);
unlock_bus();
//send_address(0x2);
//read_register(&data[1], 1);
print_num(data[0]);
//while(1) {}
while(1) {
//X
send_address(0x1,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ");
//Y
send_address(0x3,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ");
//Z
lcd_cursor(0,1);
send_address(0x5,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ");
print_num(count);
count++;
_delay_ms(50);
clear_screen();
OCR2A = 28;
}
while(get_sw() == 0) {}
led_on(1);
led_on(0);
clear_screen();
while(1) {
_delay_ms(1500);
if (j) {
clear_screen();
print_string("test");
led_on(1);
led_off(0);
//sbi(PORTC,LCD_E_PIN);
//sbi(PORTC,LCD_RS_PIN);
//PORTA = 0xff;
sbi(PORTC,SERVO0_PIN); //set servo pins
sbi(PORTC,SERVO1_PIN);
sbi(PORTC,SERVO2_PIN);
sbi(PORTF,SERVO3_PIN);
//test i2c pins
//sbi(PORTE,4);
//sbi(PORTE,5);
//motor test
sbi(PORTB,MOTOR0_EN_PIN);
sbi(PORTB,MOTOR1_EN_PIN);
sbi(PORTD,MOTOR0_DIR0_PIN);
sbi(PORTD,MOTOR0_DIR1_PIN);
sbi(PORTD,MOTOR1_DIR0_PIN);
sbi(PORTD,MOTOR1_DIR1_PIN);
j=0;
} else {
led_off(1);
led_on(0);
clear_screen();
print_string("program");
j=1;
//cbi(PORTC,LCD_E_PIN);
//cbi(PORTC,LCD_RS_PIN);
//PORTA = 0;
cbi(PORTC,SERVO0_PIN); //clear servo pins
cbi(PORTC,SERVO1_PIN);
cbi(PORTC,SERVO2_PIN);
cbi(PORTF,SERVO3_PIN);
//test i2c pins
//cbi(PORTE,4);
//cbi(PORTE,5);
//motor test
cbi(PORTB,MOTOR0_EN_PIN);
cbi(PORTB,MOTOR1_EN_PIN);
cbi(PORTD,MOTOR0_DIR0_PIN);
cbi(PORTD,MOTOR0_DIR1_PIN);
cbi(PORTD,MOTOR1_DIR0_PIN);
cbi(PORTD,MOTOR1_DIR1_PIN);
}
}
return 0;
}
//send the register address to read
void send_address(u08 reg, u08 read) {
u08 i;
//u08 addr = MMA8453_ADDR;
u08 addr = 0x1C;
unlock_bus();
i2c_start(); //send start bit
//send address bits 6:0
for (i=0;i<7;i++) {
if (addr & _BV(6)) { //send 1
SDA_HI;
} else { //send 0
SDA_LO;
}
_delay_us(I2C_DELAY);
clock_scl();
addr = addr << 1;
}
//send W bit of 0
SDA_LO;
_delay_us(I2C_DELAY);
clock_scl();
SDA_HI; //release the data line
_delay_us(1);
SCL_HI;
//read the ACK
if (I2C_PIN & _BV(SDA_PIN)) {
print_string ("addrNACK",8);
while(1){}
} else {
//received ACK
//print_string ("ACK",3);
}
_delay_us(I2C_DELAY);
SCL_LO;
_delay_us(I2C_DELAY);
/////////send the register address
//register address
for (i=0;i<8;i++) {
if (reg & _BV(7)) { //send 1
SDA_HI;
} else { //send 0
SDA_LO;
}
_delay_us(I2C_DELAY);
clock_scl();
reg = reg << 1;
}
SDA_HI; //release the data line
_delay_us(1);
SCL_HI;
//read the ACK
if (I2C_PIN & _BV(SDA_PIN)) {
print_string ("NACK",4);
while(1){}
} else {
//received ACK
//print_string ("ACK",3);
}
_delay_us(I2C_DELAY);
SCL_LO;
_delay_us(I2C_DELAY);
if (read)
i2c_stop();
}
