/* 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/uart/uart.h" #include "modules/proto/proto.h" #include "modules/twi/twi.h" #include "modules/utils/utils.h" #include "io.h" void proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) { uint8_t data[1] = {0x00}; int8_t c; switch (cmd) { case 's': if (size == 2) { proto_send ('s', 0, 0); twi_ms_send (args[0], &args[1], 1); while (!twi_ms_is_finished ()) ; proto_send ('f', 0, 0); } else proto_send ('e', 0, 0); break; case 'r': if (size == 2) { uart0_putc ('r'); c = twi_ms_read (args[0], data, 1); if (c != 0) proto_send ('e', 1 , 0); else { while (!twi_ms_is_finished ()) ; proto_send ('f', 1, data); } } else proto_send ('e', 1, 0); break; case 'z': utils_reset (); break; default: proto_send ('e', 1, 0); } } int main (void) { uint8_t c; sei (); uart0_init (); twi_init (0x04); uart0_putc ('m'); uart0_putc ('s'); uart0_putc ('s'); uart0_putc ('\r'); while (42) { c = uart0_getc (); proto_accept (c); } return 0; }