From 2669e1fd2092b33c885166a7ddeecf74a7908dcc Mon Sep 17 00:00:00 2001 From: Florent Duchon Date: Tue, 2 Apr 2013 20:40:21 +0200 Subject: digital/beacon/tests: add twi unitary test for lol-v2 --- digital/beacon/tests/twi/twi_specific.c | 106 ++++++++++++++++++++++++++++++++ 1 file changed, 106 insertions(+) create mode 100644 digital/beacon/tests/twi/twi_specific.c (limited to 'digital/beacon/tests/twi/twi_specific.c') diff --git a/digital/beacon/tests/twi/twi_specific.c b/digital/beacon/tests/twi/twi_specific.c new file mode 100644 index 00000000..cf6695c3 --- /dev/null +++ b/digital/beacon/tests/twi/twi_specific.c @@ -0,0 +1,106 @@ +/* twi_specific.c */ +/* twi specific funtion. {{{ + * + * Copyright (C) 2012 Florent Duchon + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ + +#include "modules/utils/byte.h" +#include "modules/utils/crc.h" +#include "twi_specific.h" +#include "configuration.h" +#include "twi.h" +#include "network.h" + + +static HAL_AppTimer_t twiTimer; + +uint16_t opponent1_x = 13; +uint16_t opponent1_y = 37; +uint16_t opponent1_trust = 42; +uint16_t opponent2_x = 1500; +uint16_t opponent2_y = 1671; +uint16_t opponent2_trust = 99; + +/* This function manages the TWI RX/RX transferts */ +void twi_task(void) +{ + uint8_t TXbuffer[AC_TWI_SLAVE_SEND_BUFFER_SIZE]; + uint8_t RXbuffer[AC_TWI_SLAVE_RECV_BUFFER_SIZE]; + uint8_t RXlen; + static uint8_t seq = 0; + + TXbuffer[TWI_TX_SEQ_FIELD] = seq; + + /* Opponent 1 */ + TXbuffer[TWI_TX_X1_MSB_FIELD] = v16_to_v8 (opponent1_x, 1); + TXbuffer[TWI_TX_X1_LSB_FIELD] = v16_to_v8 (opponent1_x, 0); + TXbuffer[TWI_TX_Y1_MSB_FIELD] = v16_to_v8 (opponent1_y, 1); + TXbuffer[TWI_TX_Y1_LSB_FIELD] = v16_to_v8 (opponent1_y, 0); + TXbuffer[TWI_TX_TRUST1_FIELD] = opponent1_trust; + + /* Opponent 2 */ + TXbuffer[TWI_TX_X2_MSB_FIELD] = v16_to_v8 (opponent2_x, 1); + TXbuffer[TWI_TX_X2_LSB_FIELD] = v16_to_v8 (opponent2_x, 0); + TXbuffer[TWI_TX_Y2_MSB_FIELD] = v16_to_v8 (opponent2_y, 1); + TXbuffer[TWI_TX_Y2_LSB_FIELD] = v16_to_v8 (opponent2_y, 0); + TXbuffer[TWI_TX_TRUST2_FIELD] = opponent2_trust; + + /* Compute CRC */ + TXbuffer[TWI_TX_CRC_FIELD] = crc_compute (&TXbuffer[1],TWI_TX_FIELD_NB-1); + + /* data to be communicated to the master */ + twi_slave_update (TXbuffer, sizeof (TXbuffer)); + + /* Check for data. */ + RXlen = twi_slave_poll (RXbuffer, AC_TWI_SLAVE_RECV_BUFFER_SIZE); + + /* data availlable */ + if(RXlen != 0) + { + if (crc_compute (RXbuffer + 1, RXlen - 1) == RXbuffer[0]) + { + if(RXbuffer[TWI_RX_JACK_FIELD] == 1) + { + PORTD=0xFF; + } + else + { + PORTD=0x00; + } + } + else + { + /* CRC not valid, dump values */ + } + } +} + +/* Initialisze specific TWI */ +void twi_init_specific(void) +{ + twi_init(AC_BEACON_TWI_ADDRESS); + twiTimer.interval = TWI_TASK_PERIOD; + twiTimer.mode = TIMER_REPEAT_MODE; + twiTimer.callback = twi_task; + HAL_StartAppTimer(&twiTimer); +} + -- cgit v1.2.3