Version vom 14. September 2012, 19:54 Uhr

Planung

Erst mal die Planung:

• 1. Der I2C-Slave für die M32 soll genauso arbeiten, wie der RP6Base I2C-Slave (RP6Base_I2CSlave.c) in den Demos.
• 2. Er soll möglichst (fast) alle Funktionen/Ressourcen der M32 über I2C "fernsteuerbar" bzw. abfragbar machen.
• 3. Er soll als I2C-Master eine andere M32, die CCPRO M128 oder die M256 WiFi akzeptieren.
• 4. Er soll die I2C-Adresse 12 bekommen.
• 5. Er soll über XBUS INT2 mit dem Master verbunden sein.
• 6. Er soll wie der Base-Slave auch eine Timeout-Funktion haben.
• 7. Er soll folgende Befehle (commands) über I2C verstehen:

// Commands:
#define CMD_CONFIGIOS				0
#define CMD_SETIOS				1
#define CMD_CONFIG				2
#define CMD_SETLEDS				3
#define CMD_DISCHARGEPEAKDETECTOR		4
#define CMD_GETMICROPHONEPEAK			5
#define CMD_SETMEM_CS2				6
#define CMD_WRITESPI				7
#define CMD_WRITEWORDSPI			8
#define CMD_READSPI				9
#define CMD_READWORDSPI				10

#define CMD_SET_WDT				11
#define CMD_SET_WDT_RQ				12
#define CMD_SET_HEARTBEAT			13

#define CMD_SPI_EEPROM_WRITEBYTE		14
#define CMD_SPI_EEPROM_WRITEWORD		15
#define CMD_SPI_EEPROM_ENABLEWRITE 		16
#define CMD_SPI_EEPROM_DISABLEWRITE 		17
#define CMD_SPI_EEPROM_READBYTE			18
#define CMD_SPI_EEPROM_READWORD			19
#define CMD_SPI_EEPROM_GETSTATUS		20

#define CMD_INITLCD				21
#define CMD_CLEARLCD				22
#define CMD_CLEARPOSLCD				23
#define CMD_WRITECHARLCD			24
#define CMD_WRITEINTEGERLCD			25
#define CMD_SETCURSORPOSLCD			26

#define CMD_BEEP				27
#define CMD_SETBEEPERPITCH			28
#define CMD_SOUND				29

Dabei setzt Befehl 0 die 8 freien I/O-Pins der M32 als Ein- oder Ausgänge.
Befehl 1 schaltet die einzelnen I/O-Portpins.
Befehl 2 ist Platzhalter ohne Funktion (z.B. zur Konfiguration des Slave).
Befehl 3 schaltet die LEDs. Befehle 4, 5 gehen mit dem Mikro um.
Befehle 6-10 sind die SPI-Befehle.
Befehle 11,12 gehören zum Watchdog-Timer (wie bei der Base!).
Befehl 13 schaltet die LCD Heartbeat (Herzschlag) Funktion.
Befehle 14-20 lesen und schreiben von/aus dem SPI-EEPROM auf der M32.
Befehle 21-26 steuern das LCD auf der M32 an.
Befehle 27-29 steuern den Sound mit dem Beeper.

• 8. Er soll folgende Register zum Lesen durch den Master vorhalten:

#define I2C_REG_STATUS1     	0
#define I2C_REG_STATUS2     	1
#define I2C_REG_IO_STATUS     	2
#define I2C_REG_MEM_CS2    	3
#define I2C_REG_SPIBYTE    	4
#define I2C_REG_SPIWORD_L   	5
#define I2C_REG_SPIWORD_H   	6
#define I2C_REG_SPIEEPROMSTATUS 7
#define I2C_REG_SPIEEPROMBYTE  	8
#define I2C_REG_SPIEEPROMWORD_L 9
#define I2C_REG_SPIEEPROMWORD_H 10
#define I2C_REG_ADC_4_L      	11
#define I2C_REG_ADC_4_H      	12
#define I2C_REG_ADC_3_L      	13
#define I2C_REG_ADC_3_H      	14
#define I2C_REG_ADC_2_L      	15
#define I2C_REG_ADC_2_H      	16
#define I2C_REG_ADC_6_L     	17
#define I2C_REG_ADC_6_H     	18
#define I2C_REG_ADC_5_L    	19
#define I2C_REG_ADC_5_H    	20
#define I2C_REG_ADC_7_L      	21
#define I2C_REG_ADC_7_H    	22
#define I2C_REG_ADC_MIC_L     	23
#define I2C_REG_ADC_MIC_H     	24
#define I2C_REG_ADC_KEYPAD_L    25
#define I2C_REG_ADC_KEYPAD_H   	26
#define I2C_REG_RELEASEDKEYNUMBER 27
#define I2C_REG_PRESSEDKEYNUMBER  28
#define I2C_REG_LEDS      	29

Die REGs 0,1 sind die Interrupt- und Status-Register wie beim Base-Slave.
IO-Status (REG 2) sind die 8 freien I/O-Ports (sofern auf Eingänge geschaltet).
REGs 3-10 sind Leseregister der SPI- und SPI-EEPROM-Funktionen.
REGs 11-22 sind die freien ADC-Kanäle der M32.
REGs 23,24 sind der ADC-Wert des Mikro.
REGs 25,26 sind der ADC-Keypad-Wert.
REGs 27,28 sind die Nummern der zuletzt losgelassenen bzw. gedrückten Taste.
Mit REG 29 läßt sich der aktuelle Stand der 4 LEDs auslesen (an/aus).

• 9. Er soll auf die RP6Control Library V1.32beta aufsetzen. Grund: Die aktuelle Lib V1.32beta ist voll kompatibel zur neuesten Version 1.3 und stellt mit eigenen Tasks schon regelmäßig die ADC-Werte und Werte der I/O-Ports zur Verfügung.
• 10. Bei Timeout soll die M32 funktionsfähig bleiben (Base-Slave bleibt dann in einer Endlosschleife stehen und muss resettet werden!).

I2C-Slave

Hier mal eine erste Version des M32 I2C-Slave.

Bitte testet diese Version! Was sollte noch geändert/verbessert werden? Fehler?

Datei RP6Control_I2CSlave.c:

/* 
 * ****************************************************************************
 * RP6 ROBOT SYSTEM - RP6 CONTROL M32 EXAMPLES
 * ****************************************************************************
 * Example: I2C Slave
 * Author(s): Dirk
 * ****************************************************************************
 * Description:
 *
 * A very common thing that many users will want to do with their M32 is 
 * to control it with a second controller which has more free resources. 
 * (more free memory, free I/O Ports and ADCs, faster, etc. pp.
 * for example the RP6 C-Control PRO M128 or M256 WIFI expansion Module)
 * 
 * This programs allows you to control the RP6 CONTROL M32 completely via
 * I2C-Bus as a slave device!
 * 
 * ############################################################################
 * The Robot does NOT move in this example! You can simply put it on a table
 * next to your PC and you should connect it to the PC via the USB Interface!
 * ############################################################################
 * ****************************************************************************
 */

/*****************************************************************************/
// Includes:

#include "RP6ControlLib.h"	 	// The RP6 Control Library v1.32beta.
								// Always needs to be included!
#include "RP6I2CslaveTWI.h"     // Include the I²C-Bus Slave Library

/*****************************************************************************/

// The Slave Address on the I2C Bus can be specified here:
#define RP6Control_I2C_SLAVE_ADR 12

/*****************************************************************************/

// This bitfield contains the main interrupt event status bits. This can be
// read out and any Master devices can react on the specific events.
union {
 	uint8_t byte;
	struct {
		uint8_t timeout:1;
		uint8_t mem_cs2Change:1;
		uint8_t insChange:1;
		uint8_t keyChange:1;
		uint8_t keypressed:1;
		uint8_t unused:3;
	};
} interrupt_status;

// Some status bits with current settings and other things.
union {
 	uint8_t byte;
	struct {
		uint8_t old_mem_cs2:1;
		uint8_t mem_cs2:1;
		uint8_t watchDogTimer:1;
		uint8_t wdtRequest:1;
		uint8_t wdtRequestEnable:1;
		uint8_t heartbeat:1;
		uint8_t unused:2;
	};
} status;

/*****************************************************************************/

/**
 * Generates Interrupt Signal and starts Software Watchdog
 */ 
void signalInterrupt(void)
{
	I2CTWI_dataWasRead = 0;
	DDRD |= EINT2;					// XBUS INT2
	PORTD |= EINT2;
	if(status.watchDogTimer)
		startStopwatch2();
}

/**
 * Clears Interrupt
 */ 
void clearInterrupt(void)
{
	stopStopwatch2();
	setStopwatch2(0);
	status.wdtRequest = false;
	PORTD &= ~EINT2;				// XBUS INT2
	DDRD &= ~EINT2;
}

freeIOs_t old_ins;
uint8_t   old_releasedKeyNumber;
uint8_t   update_count = 0;		

/**
 * This function needs to be called frequently in the main loop. It updates
 * some values (currently only mem_cs2Change, insChange, keyChange and
 * keypressed status, but this may be expanded in future). 
 */ 
void task_update(void)
{
	if(getStopwatch4() > 250)
	{
		// Update mem_cs2 status:
		status.mem_cs2 = PINB & MEM_CS2;
		update_count++;
		setStopwatch4(0);
	}
	if(update_count > 5)
	{
		// Update mem_cs2Change:
		if(!interrupt_status.mem_cs2Change
		 && (status.mem_cs2 != status.old_mem_cs2))
		{
			status.old_mem_cs2 = status.mem_cs2;
			interrupt_status.mem_cs2Change = true;
			signalInterrupt();
		}
		else if(interrupt_status.mem_cs2Change
		 && (status.mem_cs2 == status.old_mem_cs2))
		{
			interrupt_status.mem_cs2Change = false;
			signalInterrupt();
		}
		// Update insChange:
		if(!interrupt_status.insChange && (ins.byte != old_ins.byte))
		{
			old_ins = ins;
			interrupt_status.insChange = true;
			signalInterrupt();
		}
		else if(interrupt_status.insChange && (ins.byte == old_ins.byte))
		{
			interrupt_status.insChange = false;
			signalInterrupt();
		}
		// Update keyChange:
		if(!interrupt_status.keyChange
		 && (releasedKeyNumber != old_releasedKeyNumber))
		{
			old_releasedKeyNumber = releasedKeyNumber;
			interrupt_status.keyChange = true;
			signalInterrupt();
		}
		else if(interrupt_status.keyChange
		 && (releasedKeyNumber == old_releasedKeyNumber))
		{
			interrupt_status.keyChange = false;
			signalInterrupt();
		}
		update_count = 0;
	}
	// Update keypressed status:
	interrupt_status.keypressed = pressedKeyNumber;
}

/*****************************************************************************/
// I2C Registers that can be read by the Master. Their names should 
// be self-explanatory and directly relate to the equivalent variables/functions 
// in the RP6Library

#define I2C_REG_STATUS1 		 	0
#define I2C_REG_STATUS2 		 	1
#define I2C_REG_IO_STATUS	 	 	2
#define I2C_REG_MEM_CS2				3
#define I2C_REG_SPIBYTE				4
#define I2C_REG_SPIWORD_L			5
#define I2C_REG_SPIWORD_H			6
#define I2C_REG_SPIEEPROMSTATUS		7
#define I2C_REG_SPIEEPROMBYTE		8
#define I2C_REG_SPIEEPROMWORD_L		9
#define I2C_REG_SPIEEPROMWORD_H		10
#define I2C_REG_ADC_4_L	 		 	11
#define I2C_REG_ADC_4_H	 		 	12
#define I2C_REG_ADC_3_L	 		 	13
#define I2C_REG_ADC_3_H	 		 	14
#define I2C_REG_ADC_2_L	 		 	15
#define I2C_REG_ADC_2_H	 		 	16
#define I2C_REG_ADC_6_L			 	17
#define I2C_REG_ADC_6_H			 	18
#define I2C_REG_ADC_5_L				19
#define I2C_REG_ADC_5_H				20
#define I2C_REG_ADC_7_L	 		 	21
#define I2C_REG_ADC_7_H 			22
#define I2C_REG_ADC_MIC_L 		 	23
#define I2C_REG_ADC_MIC_H 		 	24
#define I2C_REG_ADC_KEYPAD_L 	 	25
#define I2C_REG_ADC_KEYPAD_H 		26
#define I2C_REG_RELEASEDKEYNUMBER	27
#define I2C_REG_PRESSEDKEYNUMBER 	28
#define I2C_REG_LEDS	 		 	29


// These variables contain the results of the functions readSPI(),
// readWordSPI(), SPI_EEPROM_readByte[s](), SPI_EEPROM_getStatus() after the
// Master sent one of the commands CMD_READSPI, CMD_READWORDSPI,
// CMD_SPI_EEPROM_READBYTE/WORD, CMD_SPI_EEPROM_GETSTATUS. So these variables
// are updated only "on demand" and NOT permanently!
uint8_t  spibyte;
uint16_t spiword;
uint8_t  spieepromstatus;
uint8_t  spieeprombyte;
uint16_t spieepromword;

/**
 * This very important function updates ALL registers that the Master can read.
 * It is called frequently out of the Main loop. 
 */
void task_updateRegisters(void)
{
	if(!I2CTWI_readBusy) 
	{
		I2CTWI_readRegisters[I2C_REG_STATUS1] =				(uint8_t)(interrupt_status.byte);
		I2CTWI_readRegisters[I2C_REG_STATUS2] =				(uint8_t)(status.byte);
		I2CTWI_readRegisters[I2C_REG_IO_STATUS] =			(uint8_t)(ins.byte);
		I2CTWI_readRegisters[I2C_REG_MEM_CS2] =				(uint8_t)(status.mem_cs2);
		I2CTWI_readRegisters[I2C_REG_SPIBYTE] =				(uint8_t)(spibyte);
		I2CTWI_readRegisters[I2C_REG_SPIWORD_L] =			(uint8_t)(spiword);
		I2CTWI_readRegisters[I2C_REG_SPIWORD_H] =			(uint8_t)(spiword>>8);
		I2CTWI_readRegisters[I2C_REG_SPIEEPROMSTATUS] =		(uint8_t)(spieepromstatus);
		I2CTWI_readRegisters[I2C_REG_SPIEEPROMBYTE] = 		(uint8_t)(spieeprombyte);
		I2CTWI_readRegisters[I2C_REG_SPIEEPROMWORD_L] =		(uint8_t)(spieepromword);
		I2CTWI_readRegisters[I2C_REG_SPIEEPROMWORD_H] =		(uint8_t)(spieepromword>>8);
		I2CTWI_readRegisters[I2C_REG_ADC_4_L] =				(uint8_t)(adc4);
		I2CTWI_readRegisters[I2C_REG_ADC_4_H] =				(uint8_t)(adc4>>8);
		I2CTWI_readRegisters[I2C_REG_ADC_3_L] =				(uint8_t)(adc3);
		I2CTWI_readRegisters[I2C_REG_ADC_3_H] =				(uint8_t)(adc3>>8);
		I2CTWI_readRegisters[I2C_REG_ADC_2_L] =				(uint8_t)(adc2);
		I2CTWI_readRegisters[I2C_REG_ADC_2_H] =				(uint8_t)(adc2>>8);
		I2CTWI_readRegisters[I2C_REG_ADC_6_L] =				(uint8_t)(adc6);
		I2CTWI_readRegisters[I2C_REG_ADC_6_H] =				(uint8_t)(adc6>>8);
		I2CTWI_readRegisters[I2C_REG_ADC_5_L] =				(uint8_t)(adc5);
		I2CTWI_readRegisters[I2C_REG_ADC_5_H] =				(uint8_t)(adc5>>8);
		I2CTWI_readRegisters[I2C_REG_ADC_7_L] =				(uint8_t)(adc7);
		I2CTWI_readRegisters[I2C_REG_ADC_7_H] =				(uint8_t)(adc7>>8);
		I2CTWI_readRegisters[I2C_REG_ADC_MIC_L] =			(uint8_t)(adcMic);
		I2CTWI_readRegisters[I2C_REG_ADC_MIC_H] =			(uint8_t)(adcMic>>8);
		I2CTWI_readRegisters[I2C_REG_ADC_KEYPAD_L] =		(uint8_t)(adcKeypad);
		I2CTWI_readRegisters[I2C_REG_ADC_KEYPAD_H] =		(uint8_t)(adcKeypad>>8);
		I2CTWI_readRegisters[I2C_REG_RELEASEDKEYNUMBER] =	(uint8_t)(releasedKeyNumber);
		I2CTWI_readRegisters[I2C_REG_PRESSEDKEYNUMBER] =	(uint8_t)(pressedKeyNumber);
		I2CTWI_readRegisters[I2C_REG_LEDS] =				(uint8_t)(externalPort.LEDS);
		if(I2CTWI_dataWasRead && I2CTWI_dataReadFromReg == 0)
			clearInterrupt();
	}
}

/*****************************************************************************/
// Command Registers - these can be written by the Master.
// The other registers (read registers) can NOT be written to. The only way to
// communicate with the M32 is via specific commands. 
// Of course you can also add more registers if you like...

// ----------------------

#define I2C_REGW_CMD 0
#define I2C_REGW_CMD_PARAM1 1
#define I2C_REGW_CMD_PARAM2 2
#define I2C_REGW_CMD_PARAM3 3
#define I2C_REGW_CMD_PARAM4 4
#define I2C_REGW_CMD_PARAM5 5
#define I2C_REGW_CMD_PARAM6 6

// ----------------------

uint8_t cmd;
uint8_t param1;
uint8_t param2;
uint8_t param3;
uint8_t param4;
uint8_t param5;
uint8_t param6;

/**
 * Checks if a new Command has been received and also reads all 
 * paramters associated with this command.
 * It returns true if a new command has been received.
 */
uint8_t getCommand(void)
{
	if(I2CTWI_writeRegisters[I2C_REGW_CMD] && !I2CTWI_writeBusy) 
	{
		cmd = I2CTWI_writeRegisters[I2C_REGW_CMD]; // store command register
		I2CTWI_writeRegisters[I2C_REGW_CMD] = 0; // clear command register (!!!)
		param1 = I2CTWI_writeRegisters[I2C_REGW_CMD_PARAM1]; // parameters 1-6...
		param2 = I2CTWI_writeRegisters[I2C_REGW_CMD_PARAM2];
		param3 = I2CTWI_writeRegisters[I2C_REGW_CMD_PARAM3];
		param4 = I2CTWI_writeRegisters[I2C_REGW_CMD_PARAM4];
		param5 = I2CTWI_writeRegisters[I2C_REGW_CMD_PARAM5];
		param6 = I2CTWI_writeRegisters[I2C_REGW_CMD_PARAM6];
		return true;
	}
	return false;
}

/*****************************************************************************/
// Command processor:

// Commands:
#define CMD_CONFIGIOS				0
#define CMD_SETIOS					1
#define CMD_CONFIG					2
#define CMD_SETLEDS					3
#define CMD_DISCHARGEPEAKDETECTOR	4
#define CMD_GETMICROPHONEPEAK		5
#define CMD_SETMEM_CS2				6
#define CMD_WRITESPI				7
#define CMD_WRITEWORDSPI			8
#define CMD_READSPI					9
#define CMD_READWORDSPI				10

#define CMD_SET_WDT					11
#define CMD_SET_WDT_RQ				12
#define CMD_SET_HEARTBEAT			13

#define CMD_SPI_EEPROM_WRITEBYTE	14
#define CMD_SPI_EEPROM_WRITEWORD	15
#define CMD_SPI_EEPROM_ENABLEWRITE 	16
#define CMD_SPI_EEPROM_DISABLEWRITE 17
#define CMD_SPI_EEPROM_READBYTE		18
#define CMD_SPI_EEPROM_READWORD		19
#define CMD_SPI_EEPROM_GETSTATUS	20

#define CMD_INITLCD					21
#define CMD_CLEARLCD				22
#define CMD_CLEARPOSLCD				23
#define CMD_WRITECHARLCD			24
#define CMD_WRITEINTEGERLCD			25
#define CMD_SETCURSORPOSLCD			26

#define CMD_BEEP					27
#define CMD_SETBEEPERPITCH			28
#define CMD_SOUND					29


uint8_t rw_buffer[3];

/**
 * This function checks if commands have been received and processes them.
 */ 
void task_commandProcessor(void)
{
	if(getCommand()) 
	{
		switch(cmd) 
		{
			case CMD_CONFIGIOS: if(param1) setFreeIOsToOUT(); else setFreeIOsToIN(); break;
			case CMD_SETIOS: setOUTs(param1); break;
			case CMD_CONFIG: break;
			case CMD_SETLEDS: setLEDs(param1); break;
			case CMD_DISCHARGEPEAKDETECTOR:	dischargePeakDetector(); break;
			case CMD_GETMICROPHONEPEAK:	adcMic = getMicrophonePeak(); break;
			case CMD_SETMEM_CS2: if(param1) PORTB |= MEM_CS2; else PORTB &= ~MEM_CS2; break;
			case CMD_WRITESPI: writeSPI(param1); break;
			case CMD_WRITEWORDSPI: writeWordSPI((param1<<8)+param2); break;
			case CMD_READSPI: spibyte = readSPI(); break;
			case CMD_READWORDSPI: spiword = readWordSPI(); break;
			case CMD_SET_WDT: status.watchDogTimer = param1 ? true : false; break;
			case CMD_SET_WDT_RQ: status.wdtRequestEnable = param1 ? true : false; break;
			case CMD_SET_HEARTBEAT: status.heartbeat = param1 ? true : false; break;
			case CMD_SPI_EEPROM_WRITEBYTE: SPI_EEPROM_writeByte((param1<<8)+param2, param3); break;
			case CMD_SPI_EEPROM_WRITEWORD: rw_buffer[0] = param3; rw_buffer[1] = param4;
				SPI_EEPROM_writeBytes((param1<<8)+param2, &rw_buffer[0], 2); break;
			case CMD_SPI_EEPROM_ENABLEWRITE: SPI_EEPROM_enableWrite(); break;
			case CMD_SPI_EEPROM_DISABLEWRITE: SPI_EEPROM_disableWrite(); break;
			case CMD_SPI_EEPROM_READBYTE: spieeprombyte = SPI_EEPROM_readByte((param1<<8)+param2); break;
			case CMD_SPI_EEPROM_READWORD: SPI_EEPROM_readBytes((param1<<8)+param2, &rw_buffer[0], 2);
				spieepromword = (rw_buffer[0]<<8)+rw_buffer[1]; break;
			case CMD_SPI_EEPROM_GETSTATUS: spieepromstatus = SPI_EEPROM_getStatus(); break;
			case CMD_INITLCD: initLCD(); break;
			case CMD_CLEARLCD: clearLCD(); break;
			case CMD_CLEARPOSLCD: clearPosLCD(param1, param2, param3); break;
			case CMD_WRITECHARLCD: writeCharLCD(param1); break;
			case CMD_WRITEINTEGERLCD: writeIntegerLCD((param1<<8)+param2, param3); break;
			case CMD_SETCURSORPOSLCD: setCursorPosLCD(param1, param2); break;
			case CMD_BEEP: beep(param1, (param2<<8)+param3); break;
			case CMD_SETBEEPERPITCH: setBeeperPitch(param1); break;
			case CMD_SOUND: sound(param1, (param2<<8)+param3, (param4<<8)+param5); break;
		}
	}
}

/**
 * This is the Software watchdog function. After any interrupt event, a timer is
 * started and if a certain amount of time has passed by with no reaction from
 * the Master, the RP6 CONTROL M32 shows this by blinking with status LEDs 1..4
 * for 3 seconds. After this the interrupt and interrupt status are cleared.
 * Usually the Master program has errors or is locked up if it does not react,
 * so the blinking LEDs show, that there is a communication problem.
 */
void task_MasterTimeout(void)
{
	if(status.watchDogTimer)
	{
		static uint8_t blinkflag = 0;
		if(getStopwatch2() > 3000)	// 3 seconds timeout for the master to react on
		{							// our interrupt events - if he does not react, we 
									// blink with LEDs 1..4 for another 3 seconds!
			interrupt_status.timeout = true;
			if(getStopwatch2() > 6000)
			{
				setLEDs(0b0000);	// Clear LEDs
				interrupt_status.byte = 0; // Clear interrupt status
				setStopwatch4(0);
				clearInterrupt();	// Clear interrupt
			}
		}
		else if(getStopwatch3() > 250)
		{
			status.wdtRequest = true;
			signalInterrupt();
			setStopwatch3(0);
		}
		if(interrupt_status.timeout)
		{
			if(getStopwatch5() > 200)
			{
				if(blinkflag)
				{
					setLEDs(0b1001);
					blinkflag = 0;
				}
				else
				{
					setLEDs(0b0110);
					blinkflag = 1;
				}
				setStopwatch5(0);
			}
		}
	}
}

/**
 * LCD Heartbeat function
 */
void task_LCDHeartbeat(void)
{
	if(status.heartbeat)
	{
		if(getStopwatch1() > 500)
		{
			static uint8_t heartbeat = false;
			if(heartbeat)
			{
				clearPosLCD(1, 15, 1);
				heartbeat = false;
			}
			else
			{
				setCursorPosLCD(1, 15);
				writeStringLCD_P("*"); 
				heartbeat = true;
			}
			setStopwatch1(0);
		}
	}
}

/*****************************************************************************/
// Main - The program starts here:

int16_t main(void)
{
	initRP6Control();

	clearLCD();

	setLEDs(0b1111);
	mSleep(500);	   
	setLEDs(0b0000);

	I2CTWI_initSlave(RP6Control_I2C_SLAVE_ADR);

	status.byte = 0;
	interrupt_status.byte = 0;
// TEST TEST TEST TEST TEST TEST
status.watchDogTimer = true;
status.heartbeat = true;
// TEST TEST TEST TEST TEST TEST
	startStopwatch1(); // For LCDHeartbeat function
	startStopwatch3();
	startStopwatch4();
	startStopwatch5();

	while(true) 
	{
		task_commandProcessor();
		task_update();
		task_updateRegisters();
		task_RP6M32System();
		task_MasterTimeout();
		task_LCDHeartbeat();
	}

	return 0;
}

I2C-Master (RP6v2 M256 WiFi)

Vorbereitung

Um für die Sound- und EEPROM-Befehle keine Probleme zu bekommen, müssen wir die aktuelle RP6M256Lib.h (Version 1.1 - 16.07.2012) anpassen.

Die folgenden Zeilen müssen auskommentiert werden:

...
uint8_t SPI_EEPROM_readByte(uint16_t memAddr);
void SPI_EEPROM_writeByte(uint16_t memAddr, uint8_t data);
void SPI_EEPROM_enableWrite(void);
void SPI_EEPROM_disableWrite(void);
uint8_t SPI_EEPROM_getStatus(void);

void SPI_EEPROM_writeBytes(uint16_t startAddr, uint8_t *buffer, uint8_t length);
void SPI_EEPROM_readBytes(uint16_t startAddr, uint8_t *buffer, uint8_t length);
...
void beep(unsigned char pitch, unsigned int time);
void setBeeperPitch(uint8_t pitch);
#define sound(_pitch_,_time_,_delay_) {beep(_pitch_,_time_);mSleep(_delay_ + _time_);}
...

Keine Sorge! Dadurch verändert sich in der RP6M256Lib nichts, weil es alle diese Funktionen nicht gibt!

Demo

Datei RP6M256_M32_I2CMaster.c:

M32 I2C Master Library

Hier soll mal die Master Library stehen, die die Befehle enthält, um die M32 über I2C (fast) auf dieselbe Weise zu steuern, wie das direkt der Fall wäre.

Header

Datei RP6M256_M32_I2CMasterLib.h:

Library

Datei RP6M256_M32_I2CMasterLib.c:

Siehe auch

• RP6
• RP6 - Programmierung
• RP6v2
• RP6 - Morse-Code
• CCRP5
• Yeti
• Asuro

Weblinks

• RP6Control M32: Projekt I2C-Slave

Autoren

--Dirk 19:20, 12. Sep 2012 (CET)