From 1d36a77e506bb5beb5ac4d0a33d72be7faef7d47 Mon Sep 17 00:00:00 2001 From: Florent Duchon Date: Wed, 16 May 2012 17:08:48 +0200 Subject: digital/beacon: add twi specific --- digital/beacon/src/main_avr.c | 26 +---------- digital/beacon/src/twi_specific.c | 96 +++++++++++++++++++++++++++++++++++++++ digital/beacon/src/twi_specific.h | 68 +++++++++++++++++++++++++++ 3 files changed, 166 insertions(+), 24 deletions(-) create mode 100644 digital/beacon/src/twi_specific.c create mode 100644 digital/beacon/src/twi_specific.h (limited to 'digital/beacon/src') diff --git a/digital/beacon/src/main_avr.c b/digital/beacon/src/main_avr.c index 4f5cc5eb..180c2060 100644 --- a/digital/beacon/src/main_avr.c +++ b/digital/beacon/src/main_avr.c @@ -26,6 +26,7 @@ #include #include #include "configuration.h" +#include "twi_specific.h" #include "calibration.h" #include "codewheel.h" #include "debug_avr.h" @@ -45,32 +46,9 @@ AppState_t appState = APP_INITIAL_STATE; // application state #else DeviceType_t deviceType = DEVICE_TYPE_END_DEVICE; #endif - - -void twi_RXTX_update(void) -{ - uint8_t TXbuffer[AC_TWI_SLAVE_SEND_BUFFER_SIZE]; - uint8_t RXbuffer[AC_TWI_SLAVE_RECV_BUFFER_SIZE]; - uint8_t RXlen; - - /* 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) - { - } -} void APL_TaskHandler(void) { - if(deviceType == DEVICE_TYPE_COORDINATOR) - { - twi_RXTX_update(); - } switch (appState) { case APP_INITIAL_STATE: @@ -85,7 +63,7 @@ void APL_TaskHandler(void) { case DEVICE_TYPE_COORDINATOR: network_init(); - twi_init(AC_BEACON_TWI_ADDRESS); + twi_init_specific(); uprintf("COORDINATOR initialisation OK !\n\r"); break; case DEVICE_TYPE_END_DEVICE: diff --git a/digital/beacon/src/twi_specific.c b/digital/beacon/src/twi_specific.c new file mode 100644 index 00000000..5def1a2b --- /dev/null +++ b/digital/beacon/src/twi_specific.c @@ -0,0 +1,96 @@ +/* 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 "position.h" +#include "misc.h" +#include "twi.h" +#include "network.h" + + +static HAL_AppTimer_t twiTimer; + +/* 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_RFU1_FIELD] = 0; + TXbuffer[TWI_TX_RFU2_FIELD] = 0; + TXbuffer[TWI_TX_SEQ_FIELD] = seq; + + /* Opponent 1 */ + TXbuffer[TWI_TX_X1_MSB_FIELD] = v16_to_v8 (position_get_coord(OPPONENT_1,X), 1); + TXbuffer[TWI_TX_X1_LSB_FIELD] = v16_to_v8 (position_get_coord(OPPONENT_1,X), 0); + TXbuffer[TWI_TX_Y1_MSB_FIELD] = v16_to_v8 (position_get_coord(OPPONENT_1,Y), 1); + TXbuffer[TWI_TX_Y1_LSB_FIELD] = v16_to_v8 (position_get_coord(OPPONENT_1,Y), 0); + TXbuffer[TWI_TX_TRUST1_FIELD] = position_get_trust(OPPONENT_1); + + /* Opponent 2 */ + TXbuffer[TWI_TX_X2_MSB_FIELD] = v16_to_v8 (position_get_coord(OPPONENT_2,X), 1); + TXbuffer[TWI_TX_X2_LSB_FIELD] = v16_to_v8 (position_get_coord(OPPONENT_2,X), 0); + TXbuffer[TWI_TX_Y2_MSB_FIELD] = v16_to_v8 (position_get_coord(OPPONENT_2,Y), 1); + TXbuffer[TWI_TX_Y2_LSB_FIELD] = v16_to_v8 (position_get_coord(OPPONENT_2,Y), 0); + TXbuffer[TWI_TX_TRUST2_FIELD] = position_get_trust(OPPONENT_2); + + /* Compute CRC */ + TXbuffer[TWI_TX_CRC_FIELD] = crc_compute (&TXbuffer[1], sizeof (TXbuffer) - 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]) + { + jack_update_status(RXbuffer[TWI_RX_JACK_FIELD]); + } + 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); +} + diff --git a/digital/beacon/src/twi_specific.h b/digital/beacon/src/twi_specific.h new file mode 100644 index 00000000..ee244cb7 --- /dev/null +++ b/digital/beacon/src/twi_specific.h @@ -0,0 +1,68 @@ +/* twi_specific.h */ +/* 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. + * + * }}} */ + +#ifndef _TWI_SPECIFIC_H +#define _TWI_SPECIFIC_H + +#define TWI_TASK_PERIOD 4L + + +typedef enum +{ + TWI_RX_CRC_FIELD, + TWI_RX_SEQ_FIELD, + TWI_RX_JACK_FIELD, + TWI_RX_NB_ADV_FIELD, + TWI_RX_X_MSB_FIELD, + TWI_RX_X_LSB_FIELD, + TWI_RX_Y_MSB_FIELD, + TWI_RX_Y_LSB_FIELD +} TTWI_RX_field; + +typedef enum +{ + TWI_TX_CRC_FIELD, + TWI_TX_RFU1_FIELD, + TWI_TX_RFU2_FIELD, + TWI_TX_SEQ_FIELD, + TWI_TX_X1_MSB_FIELD, + TWI_TX_X1_LSB_FIELD, + TWI_TX_Y1_MSB_FIELD, + TWI_TX_Y1_LSB_FIELD, + TWI_TX_TRUST1_FIELD, + TWI_TX_X2_MSB_FIELD, + TWI_TX_X2_LSB_FIELD, + TWI_TX_Y2_MSB_FIELD, + TWI_TX_Y2_LSB_FIELD, + TWI_TX_TRUST2_FIELD +} TTWI_TX_field; + +/* This function manages the TWI RX/RX transferts */ +void twi_task(void); + +/* Initialisze specific TWI */ +void twi_init_specific(void); + +#endif \ No newline at end of file -- cgit v1.2.3