/* test_twi_master.c */ /* avr.twi.master - TWI master module. {{{ * * Copyright (C) 2005 Clément Demonchy * * Robot APB Team/Efrei 2006. * Web: http://assos.efrei.fr/robot/ * Email: robot AT efrei DOT fr * * 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 "common.h" #include "modules/twi/twi.h" #include "modules/proto/proto.h" #include "modules/uart/uart.h" #include "modules/utils/utils.h" #include "io.h" void proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) { #define c(cmd, size) (cmd << 8 | size) switch (c (cmd, size)) { /* Send one byte to a slave address */ case c ('s', 2): /* s destination_addr data */ twi_ms_send (args[0], &args[1], 1); while (!twi_ms_is_finished ()) ; break; /* Read one byte from an address slave */ case c ('r', 1): /* c slave_address */ { uint8_t data[1] = {0x00}; int8_t d = twi_ms_read (args[0], data, 1); if (d != 0) proto_send0 ('e'); else { while (!twi_ms_is_finished ()) ; proto_send ('R', 1, data); } } break; /* Reset */ case c ('z', 0): utils_reset (); break; /* Error */ default: proto_send0 ('?'); return; } /* Acknowledge what has been done */ proto_send (cmd, size, args); } int main (void) { /* Enable interruptions */ sei (); /* Initialize serial port */ uart0_init (); /* We have successfully boot */ proto_send0 ('z'); /* Initialize TWI */ twi_init (0x04); /* I am a master */ proto_send0 ('M'); while (42) { uint8_t c = uart0_getc (); proto_accept (c); } return 0; }