C++ Library for the PsiSwarm Robot - Version 0.7
Fork of PsiSwarmV7 by
eprom.cpp@4:1c621cb8cf0d, 2016-08-03 (annotated)
- Committer:
- jah128
- Date:
- Wed Aug 03 12:25:23 2016 +0000
- Revision:
- 4:1c621cb8cf0d
- Parent:
- 2:c6986ee3c7c5
- Child:
- 5:3cdd1a37cdd7
test;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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jah128 | 0:d6269d17c8cf | 1 | /** University of York Robotics Laboratory PsiSwarm Library: Eprom Functions Source File |
jah128 | 0:d6269d17c8cf | 2 | * |
jah128 | 0:d6269d17c8cf | 3 | * File: eprom.cpp |
jah128 | 0:d6269d17c8cf | 4 | * |
jah128 | 0:d6269d17c8cf | 5 | * (C) Dept. Electronics & Computer Science, University of York |
jah128 | 0:d6269d17c8cf | 6 | * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis |
jah128 | 0:d6269d17c8cf | 7 | * |
jah128 | 4:1c621cb8cf0d | 8 | * PsiSwarm Library Version: 0.5 |
jah128 | 0:d6269d17c8cf | 9 | * |
jah128 | 4:1c621cb8cf0d | 10 | * April 2016 |
jah128 | 0:d6269d17c8cf | 11 | * |
jah128 | 0:d6269d17c8cf | 12 | * Functions for accessing the 64Kb EPROM chip and reading the reserved firmware block |
jah128 | 0:d6269d17c8cf | 13 | * |
jah128 | 0:d6269d17c8cf | 14 | * Example: |
jah128 | 0:d6269d17c8cf | 15 | * @code |
jah128 | 0:d6269d17c8cf | 16 | * #include "psiswarm.h" |
jah128 | 0:d6269d17c8cf | 17 | * |
jah128 | 0:d6269d17c8cf | 18 | * int main() { |
jah128 | 0:d6269d17c8cf | 19 | * init(); |
jah128 | 0:d6269d17c8cf | 20 | * write_eeprom_byte(0,0xDD); //Writes byte 0xDD in EPROM address 0 |
jah128 | 0:d6269d17c8cf | 21 | * char c = read_eeprom_byte(0); //c will hold 0xDD |
jah128 | 0:d6269d17c8cf | 22 | * //Valid address range is from 0 to 65279 |
jah128 | 0:d6269d17c8cf | 23 | * } |
jah128 | 0:d6269d17c8cf | 24 | * @endcode |
jah128 | 0:d6269d17c8cf | 25 | */ |
jah128 | 0:d6269d17c8cf | 26 | |
jah128 | 0:d6269d17c8cf | 27 | #include "psiswarm.h" |
jah128 | 0:d6269d17c8cf | 28 | |
jah128 | 0:d6269d17c8cf | 29 | /** Write a single byte to the EPROM |
jah128 | 0:d6269d17c8cf | 30 | * |
jah128 | 0:d6269d17c8cf | 31 | * @param address The address to store the data, range 0-65279 |
jah128 | 0:d6269d17c8cf | 32 | * @param data The character to store |
jah128 | 0:d6269d17c8cf | 33 | */ |
jah128 | 0:d6269d17c8cf | 34 | void write_eeprom_byte ( int address, char data ) |
jah128 | 0:d6269d17c8cf | 35 | { |
jah128 | 0:d6269d17c8cf | 36 | char write_array[3]; |
jah128 | 0:d6269d17c8cf | 37 | if(address > 65279) { |
jah128 | 0:d6269d17c8cf | 38 | debug("WARNING: Attempt to write to invalid EPROM address: %X",address); |
jah128 | 0:d6269d17c8cf | 39 | } else { |
jah128 | 0:d6269d17c8cf | 40 | write_array[0] = address / 256; |
jah128 | 0:d6269d17c8cf | 41 | write_array[1] = address % 256; |
jah128 | 0:d6269d17c8cf | 42 | write_array[2] = data; |
jah128 | 0:d6269d17c8cf | 43 | primary_i2c.write(EEPROM_ADDRESS, write_array, 3, false); |
jah128 | 0:d6269d17c8cf | 44 | //Takes 5ms to write a page: ideally this could be done with a timer or RTOS |
jah128 | 0:d6269d17c8cf | 45 | wait(0.005); |
jah128 | 0:d6269d17c8cf | 46 | } |
jah128 | 0:d6269d17c8cf | 47 | } |
jah128 | 0:d6269d17c8cf | 48 | |
jah128 | 0:d6269d17c8cf | 49 | /** Read a single byte from the EPROM |
jah128 | 0:d6269d17c8cf | 50 | * |
jah128 | 0:d6269d17c8cf | 51 | * @param address The address to read from, range 0-65279 |
jah128 | 0:d6269d17c8cf | 52 | * @return The character stored at address |
jah128 | 0:d6269d17c8cf | 53 | */ |
jah128 | 0:d6269d17c8cf | 54 | char read_eeprom_byte ( int address ) |
jah128 | 0:d6269d17c8cf | 55 | { |
jah128 | 0:d6269d17c8cf | 56 | char address_array [2]; |
jah128 | 0:d6269d17c8cf | 57 | address_array[0] = address / 256; |
jah128 | 0:d6269d17c8cf | 58 | address_array[1] = address % 256; |
jah128 | 0:d6269d17c8cf | 59 | char data [1]; |
jah128 | 0:d6269d17c8cf | 60 | primary_i2c.write(EEPROM_ADDRESS, address_array, 2, false); |
jah128 | 0:d6269d17c8cf | 61 | primary_i2c.read(EEPROM_ADDRESS, data, 1, false); |
jah128 | 0:d6269d17c8cf | 62 | return data [0]; |
jah128 | 0:d6269d17c8cf | 63 | } |
jah128 | 0:d6269d17c8cf | 64 | |
jah128 | 0:d6269d17c8cf | 65 | /** Read the next byte from the EPROM, to be called after read_eeprom_byte |
jah128 | 0:d6269d17c8cf | 66 | * |
jah128 | 0:d6269d17c8cf | 67 | * @return The character stored at address after the previous one read from |
jah128 | 0:d6269d17c8cf | 68 | */ |
jah128 | 0:d6269d17c8cf | 69 | char read_next_eeprom_byte () |
jah128 | 0:d6269d17c8cf | 70 | { |
jah128 | 0:d6269d17c8cf | 71 | char data [1]; |
jah128 | 0:d6269d17c8cf | 72 | primary_i2c.read(EEPROM_ADDRESS, data, 1, false); |
jah128 | 0:d6269d17c8cf | 73 | return data [0]; |
jah128 | 0:d6269d17c8cf | 74 | } |
jah128 | 0:d6269d17c8cf | 75 | |
jah128 | 0:d6269d17c8cf | 76 | /** Read the data stored in the reserved firmware area of the EPROM |
jah128 | 0:d6269d17c8cf | 77 | * |
jah128 | 0:d6269d17c8cf | 78 | * @return 1 if a valid firmware is read, 0 otherwise |
jah128 | 0:d6269d17c8cf | 79 | */ |
jah128 | 0:d6269d17c8cf | 80 | char read_firmware () |
jah128 | 0:d6269d17c8cf | 81 | { |
jah128 | 0:d6269d17c8cf | 82 | char address_array [2] = {255,0}; |
jah128 | 0:d6269d17c8cf | 83 | primary_i2c.write(EEPROM_ADDRESS, address_array, 2, false); |
jah128 | 0:d6269d17c8cf | 84 | primary_i2c.read(EEPROM_ADDRESS, firmware_bytes, 21, false); |
jah128 | 0:d6269d17c8cf | 85 | |
jah128 | 0:d6269d17c8cf | 86 | if(firmware_bytes[0] == PSI_BYTE) { |
jah128 | 0:d6269d17c8cf | 87 | // Parse firmware |
jah128 | 0:d6269d17c8cf | 88 | char firmware_string [8]; |
jah128 | 0:d6269d17c8cf | 89 | sprintf(firmware_string,"%d.%d",firmware_bytes[9],firmware_bytes[10]); |
jah128 | 0:d6269d17c8cf | 90 | firmware_version = atof(firmware_string); |
jah128 | 1:060690a934a9 | 91 | char pcb_version_string [8]; |
jah128 | 1:060690a934a9 | 92 | sprintf(pcb_version_string,"%d.%d",firmware_bytes[7],firmware_bytes[8]); |
jah128 | 1:060690a934a9 | 93 | pcb_version = atof(pcb_version_string); |
jah128 | 1:060690a934a9 | 94 | char serial_number_string [8]; |
jah128 | 1:060690a934a9 | 95 | sprintf(serial_number_string,"%d.%d",firmware_bytes[5],firmware_bytes[6]); |
jah128 | 1:060690a934a9 | 96 | serial_number = atof(serial_number_string); |
jah128 | 1:060690a934a9 | 97 | has_compass = firmware_bytes[11]; |
jah128 | 1:060690a934a9 | 98 | has_side_ir = firmware_bytes[12]; |
jah128 | 1:060690a934a9 | 99 | has_base_ir = firmware_bytes[13]; |
jah128 | 1:060690a934a9 | 100 | has_base_colour_sensor= firmware_bytes[14]; |
jah128 | 1:060690a934a9 | 101 | has_top_colour_sensor= firmware_bytes[15]; |
jah128 | 1:060690a934a9 | 102 | has_wheel_encoders= firmware_bytes[16]; |
jah128 | 1:060690a934a9 | 103 | has_audio_pic= firmware_bytes[17]; |
jah128 | 1:060690a934a9 | 104 | has_ultrasonic_sensor= firmware_bytes[18]; |
jah128 | 1:060690a934a9 | 105 | has_temperature_sensor= firmware_bytes[19]; |
jah128 | 1:060690a934a9 | 106 | has_recharging_circuit= firmware_bytes[20]; |
jah128 | 1:060690a934a9 | 107 | has_433_radio= firmware_bytes[21]; |
jah128 | 4:1c621cb8cf0d | 108 | if(firmware_version > 1.0){ |
jah128 | 4:1c621cb8cf0d | 109 | motor_calibration_set = firmware_bytes[22]; |
jah128 | 4:1c621cb8cf0d | 110 | if(motor_calibration_set == 1){ |
jah128 | 4:1c621cb8cf0d | 111 | left_motor_calibration_value = (float) firmware_bytes[23] * 65536; |
jah128 | 4:1c621cb8cf0d | 112 | left_motor_calibration_value += ((float) firmware_bytes[24] * 256); |
jah128 | 4:1c621cb8cf0d | 113 | left_motor_calibration_value += firmware_bytes[25]; |
jah128 | 4:1c621cb8cf0d | 114 | left_motor_calibration_value /= 16777216; |
jah128 | 4:1c621cb8cf0d | 115 | right_motor_calibration_value = (float) firmware_bytes[26] * 65536; |
jah128 | 4:1c621cb8cf0d | 116 | right_motor_calibration_value += ((float) firmware_bytes[27] * 256); |
jah128 | 4:1c621cb8cf0d | 117 | right_motor_calibration_value += firmware_bytes[28]; |
jah128 | 4:1c621cb8cf0d | 118 | right_motor_calibration_value /= 16777216; |
jah128 | 4:1c621cb8cf0d | 119 | } |
jah128 | 4:1c621cb8cf0d | 120 | } else motor_calibration_set = 0; |
jah128 | 0:d6269d17c8cf | 121 | return 1; |
jah128 | 0:d6269d17c8cf | 122 | } |
jah128 | 0:d6269d17c8cf | 123 | return 0; |
jah128 | 0:d6269d17c8cf | 124 | } |