/* test_twi_slave.c */ /* avr.twi.slave - TWI slave 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" #ifdef HOST # include "modules/host/mex.h" #endif void proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) { #define c(cmd, size) (cmd << 8 | size) switch (c (cmd, size)) { /* Reset */ case 'z': utils_reset (); break; /* Error */ default: proto_send0 ('?'); return; } /* Acknowledge what has been done */ proto_send (cmd, size, args); } int main (int argc, char **argv) { avr_init (argc, argv); #ifdef HOST mex_node_connect (); #endif /* Enable interruptions */ sei (); /* Initialize serial port */ uart0_init (); /* We have successfully boot */ proto_send0 ('z'); /* Initialize TWI */ twi_init (0x02); /* I am a slave */ proto_send0 ('S'); while (42) { #ifdef HOST mex_node_wait_date (mex_node_date () + 1); #endif uint8_t data[AC_TWI_SL_RECV_BUFFER_SIZE]; data[0] = 0; /* Check for data */ if (twi_sl_poll (data, AC_TWI_SL_RECV_BUFFER_SIZE)) { /* Receive and store them */ twi_sl_update (data, AC_TWI_SL_RECV_BUFFER_SIZE); } while (uart0_poll ()) proto_accept (uart0_getc ()); } return 0; }