rp6base_i2cmaster_04_uncommented.c

RP6机器人范例程序。包括移动

// Uncommented Version of RP6Base_I2C_Master_04.c!
// written by Dominik S. Herwald
// ------------------------------------------------------------------------------------------

#include "RP6RobotBaseLib.h" 	
#include "RP6I2CmasterTWI.h"    

#define SRF_LEFT_ADR  0xE6
#define SRF_RIGHT_ADR 0xE8

#define MEASURE_US_LEFT_LOW 	0
#define MEASURE_US_LEFT_HIGH 	1
#define MEASURE_US_RIGHT_LOW 	2
#define MEASURE_US_RIGHT_HIGH 	3

uint16_t distance_left = 0;
uint16_t distance_right = 0;

void I2C_requestedDataReady(uint8_t dataRequestID)
{
	uint8_t messageBuf[8];
	static uint8_t dist_tmp;
	switch(dataRequestID)
	{
		case MEASURE_US_LEFT_HIGH:
			I2CTWI_getReceivedData( messageBuf, 2 );
			dist_tmp = messageBuf[0];
			I2CTWI_transmitByte(SRF_LEFT_ADR, 3);
			I2CTWI_requestDataFromDevice(SRF_LEFT_ADR, MEASURE_US_LEFT_LOW, 1);
		break;
		case MEASURE_US_LEFT_LOW:
			I2CTWI_getReceivedData( messageBuf, 2 );
			distance_left = messageBuf[0] + (dist_tmp << 8);
			writeString_P("DistanceL: ");
			writeInteger(distance_left, DEC);
			writeString_P(" cm ");
		break;
		case MEASURE_US_RIGHT_HIGH:
			I2CTWI_getReceivedData( messageBuf, 2 );
			dist_tmp = messageBuf[0];
			I2CTWI_transmitByte(SRF_RIGHT_ADR, 3);
			I2CTWI_requestDataFromDevice(SRF_RIGHT_ADR, MEASURE_US_RIGHT_LOW, 1);
		break;
		case MEASURE_US_RIGHT_LOW:
			I2CTWI_getReceivedData( messageBuf, 2 );
			distance_right = messageBuf[0] + (dist_tmp << 8);
			writeString_P("\t\tDistanceR: ");
			writeInteger(distance_right, DEC);
			writeString_P(" cm\n");
		break;
	}
}

void I2C_transmissionError(uint8_t errorState)
{
	writeString_P("\nI2C ERROR --> TWI STATE IS: 0x");
	writeInteger(errorState, HEX);
	writeChar('\n');
}

void task_SRF(void)
{
	static uint8_t measureInProgress = false;
	static uint8_t channel = 0;
	if(!measureInProgress)
	{
		if(TWI_operation == I2CTWI_NO_OPERATION)
		{
			if(channel == 0)
				I2CTWI_transmit2Bytes(SRF_LEFT_ADR, 0, 81);
			else if(channel == 1)
				I2CTWI_transmit2Bytes(SRF_RIGHT_ADR, 0, 81);
			measureInProgress = true;
			setStopwatch1(0);
		}
	}
	else if(getStopwatch1() > 70)
	{
		if(channel == 0)
		{
			I2CTWI_transmitByte(SRF_LEFT_ADR, 2);
			I2CTWI_requestDataFromDevice(SRF_LEFT_ADR, MEASURE_US_LEFT_HIGH, 1);
			channel = 1;
		}
		else if(channel == 1)
		{
			I2CTWI_transmitByte(SRF_RIGHT_ADR, 2);
			I2CTWI_requestDataFromDevice(SRF_RIGHT_ADR, MEASURE_US_RIGHT_HIGH, 1);
			channel = 0;
		}
		measureInProgress = false;
		setStopwatch1(0);
	}
}


#define PCF8574_8LEDS_ADR  0x70
#define PCF8591_4LDRS_ADR  0x90

void task_ext_LDRs(void)
{
	if(getStopwatch2() > 200) 
	{
		I2CTWI_transmitByte(PCF8591_4LDRS_ADR, 0b01000100 );
		uint8_t results[6];
		I2CTWI_readBytes(PCF8591_4LDRS_ADR,results,5);

		writeString_P(" | LDR1:"); writeInteger(results[1], DEC); 
		writeString_P(" | LDR2:"); writeInteger(results[2], DEC); 
		writeString_P(" | LDR3:"); writeInteger(results[3], DEC); 
		writeString_P(" | LDR4:"); writeInteger(results[4], DEC); 
		writeChar('\n');
		setStopwatch2(0);
	}
}

void task_knightRider(void)
{
	static uint8_t runningLight = 3; 
	static uint8_t dir = 0;
	if(getStopwatch3() > 70) {
		I2CTWI_transmitByte(PCF8574_8LEDS_ADR, (~runningLight) );
		if(runningLight == 128) 
		{
			dir = 1;
			runningLight = 192;
		}
		else if(runningLight < 3) 
		{
			dir = 0;
			runningLight = 3;
		}
		else if(dir)
			runningLight >>= 1;
		else
			runningLight <<= 1;
		setStopwatch3(0);	
	}
}

int main(void)
{
	initRobotBase();
	
	I2CTWI_initMaster(100);
	I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady);
	I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);

	setLEDs(0b111111);
	mSleep(500);	   
	setLEDs(0b000000);
	
	powerON();

	startStopwatch1();
	startStopwatch2();
	startStopwatch3();
	
	while(true)  
	{
		task_knightRider();
		task_ext_LDRs();
		task_SRF();
		task_I2CTWI();
		task_RP6System();
	}
	return 0;
}