Alan Millard / Mbed 2 deprecated BeautifulMemeProjectBT

Bluetooth communication for flocking.

Dependencies:   mbed

Fork of BeautifulMemeProject by James Hilder

PsiSwarm/eprom.cpp@6:ff3c66f7372b, 2015-10-22 (annotated)

Committer:
jah128
Date:
Thu Oct 22 00:46:14 2015 +0000
Revision:
6:ff3c66f7372b
Parent:
2:a6214fd156ff 
Initial version: beacon detection and sync. code, bearing estimation.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a5497a2e366 1 /** University of York Robotics Laboratory PsiSwarm Library: Eprom Functions Source File
jah128 1:f6356cf1cefc 2 *
jah128 0:8a5497a2e366 3 * File: eprom.cpp
jah128 0:8a5497a2e366 4 *
jah128 6:ff3c66f7372b 5 * (C) Dept. Electronics & Computer Science, University of York
jah128 6:ff3c66f7372b 6 * James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
jah128 1:f6356cf1cefc 7 *
jah128 6:ff3c66f7372b 8 * PsiSwarm Library Version: 0.3, October 2015
jah128 0:8a5497a2e366 9 *
jah128 0:8a5497a2e366 10 * Functions for accessing the 64Kb EPROM chip and reading the reserved firmware block
jah128 0:8a5497a2e366 11 *
jah128 0:8a5497a2e366 12 * Example:
jah128 0:8a5497a2e366 13 * @code
jah128 0:8a5497a2e366 14 * #include "psiswarm.h"
jah128 1:f6356cf1cefc 15 *
jah128 0:8a5497a2e366 16 * int main() {
jah128 0:8a5497a2e366 17 * init();
jah128 0:8a5497a2e366 18 * write_eeprom_byte(0,0xDD); //Writes byte 0xDD in EPROM address 0
jah128 0:8a5497a2e366 19 * char c = read_eeprom_byte(0); //c will hold 0xDD
jah128 0:8a5497a2e366 20 * //Valid address range is from 0 to 65279
jah128 0:8a5497a2e366 21 * }
jah128 0:8a5497a2e366 22 * @endcode
jah128 0:8a5497a2e366 23 */
jah128 1:f6356cf1cefc 24
jah128 1:f6356cf1cefc 25 #include "psiswarm.h"
jah128 0:8a5497a2e366 26
jah128 0:8a5497a2e366 27 /** Write a single byte to the EPROM
jah128 0:8a5497a2e366 28 *
jah128 0:8a5497a2e366 29 * @param address The address to store the data, range 0-65279
jah128 0:8a5497a2e366 30 * @param data The character to store
jah128 0:8a5497a2e366 31 */
jah128 1:f6356cf1cefc 32 void write_eeprom_byte ( int address, char data )
jah128 1:f6356cf1cefc 33 {
jah128 0:8a5497a2e366 34 char write_array[3];
jah128 1:f6356cf1cefc 35 if(address > 65279) {
jah128 1:f6356cf1cefc 36 debug("WARNING: Attempt to write to invalid EPROM address: %X",address);
jah128 1:f6356cf1cefc 37 } else {
jah128 1:f6356cf1cefc 38 write_array[0] = address / 256;
jah128 1:f6356cf1cefc 39 write_array[1] = address % 256;
jah128 1:f6356cf1cefc 40 write_array[2] = data;
jah128 1:f6356cf1cefc 41 primary_i2c.write(EEPROM_ADDRESS, write_array, 3, false);
jah128 1:f6356cf1cefc 42 //Takes 5ms to write a page: ideally this could be done with a timer or RTOS
jah128 1:f6356cf1cefc 43 wait(0.005);
jah128 0:8a5497a2e366 44 }
jah128 0:8a5497a2e366 45 }
jah128 1:f6356cf1cefc 46
jah128 0:8a5497a2e366 47 /** Read a single byte from the EPROM
jah128 0:8a5497a2e366 48 *
jah128 0:8a5497a2e366 49 * @param address The address to read from, range 0-65279
jah128 0:8a5497a2e366 50 * @return The character stored at address
jah128 1:f6356cf1cefc 51 */
jah128 1:f6356cf1cefc 52 char read_eeprom_byte ( int address )
jah128 1:f6356cf1cefc 53 {
jah128 0:8a5497a2e366 54 char address_array [2];
jah128 0:8a5497a2e366 55 address_array[0] = address / 256;
jah128 0:8a5497a2e366 56 address_array[1] = address % 256;
jah128 0:8a5497a2e366 57 char data [1];
jah128 0:8a5497a2e366 58 primary_i2c.write(EEPROM_ADDRESS, address_array, 2, false);
jah128 0:8a5497a2e366 59 primary_i2c.read(EEPROM_ADDRESS, data, 1, false);
jah128 0:8a5497a2e366 60 return data [0];
jah128 0:8a5497a2e366 61 }
jah128 0:8a5497a2e366 62
jah128 0:8a5497a2e366 63 /** Read the next byte from the EPROM, to be called after read_eeprom_byte
jah128 0:8a5497a2e366 64 *
jah128 0:8a5497a2e366 65 * @return The character stored at address after the previous one read from
jah128 0:8a5497a2e366 66 */
jah128 1:f6356cf1cefc 67 char read_next_eeprom_byte ()
jah128 1:f6356cf1cefc 68 {
jah128 0:8a5497a2e366 69 char data [1];
jah128 0:8a5497a2e366 70 primary_i2c.read(EEPROM_ADDRESS, data, 1, false);
jah128 0:8a5497a2e366 71 return data [0];
jah128 0:8a5497a2e366 72 }
jah128 0:8a5497a2e366 73
jah128 0:8a5497a2e366 74 /** Read the data stored in the reserved firmware area of the EPROM
jah128 0:8a5497a2e366 75 *
jah128 0:8a5497a2e366 76 * @return 1 if a valid firmware is read, 0 otherwise
jah128 0:8a5497a2e366 77 */
jah128 1:f6356cf1cefc 78 char read_firmware ()
jah128 1:f6356cf1cefc 79 {
jah128 0:8a5497a2e366 80 char address_array [2] = {255,0};
jah128 0:8a5497a2e366 81 primary_i2c.write(EEPROM_ADDRESS, address_array, 2, false);
jah128 2:a6214fd156ff 82 primary_i2c.read(EEPROM_ADDRESS, firmware_bytes, 21, false);
jah128 1:f6356cf1cefc 83
jah128 1:f6356cf1cefc 84 if(firmware_bytes[0] == PSI_BYTE) {
jah128 1:f6356cf1cefc 85 // Parse firmware
jah128 1:f6356cf1cefc 86 char firmware_string [8];
jah128 1:f6356cf1cefc 87 sprintf(firmware_string,"%d.%d",firmware_bytes[9],firmware_bytes[10]);
jah128 1:f6356cf1cefc 88 firmware_version = atof(firmware_string);
jah128 1:f6356cf1cefc 89 return 1;
jah128 1:f6356cf1cefc 90 }
jah128 0:8a5497a2e366 91 return 0;
jah128 0:8a5497a2e366 92 }