pic.cpp

00001 /* University of York Robotics Laboratory PsiSwarm Library: PIC and Audio Driver Source File
00002  * 
00003  * File: pic.cpp
00004  *
00005  * (C) Dept. Electronics & Computer Science, University of York
00006  * James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
00007  * 
00008  * PsiSwarm Library Version: 0.3
00009  *
00010  * October 2015
00011  *
00012  */
00013 
00014 
00015 #include "psiswarm.h"
00016 
00017 
00018 void play_audio_string(char * tune){
00019     char length = strlen(tune);
00020     play_tune(tune,length);   
00021 }
00022 
00023 void play_tune(char * tune, char length){
00024     char to_send [length+3];
00025     char start_array[2];
00026     start_array [0] = 'S';
00027     start_array [1] = length;
00028     strcpy(to_send,start_array);
00029     strncat(to_send,tune,length);
00030     debug(to_send);
00031     primary_i2c.write(PIC_ADDRESS,to_send,length+2,false);
00032 }
00033 
00034 
00035 char IF_check_pic_firmware(){
00036     char buffer[6];
00037     buffer[0] = 0;
00038      primary_i2c.write(PIC_ADDRESS,"I",1,false);
00039      wait(0.1);
00040      primary_i2c.read(PIC_ADDRESS,buffer,6);   
00041          debug(buffer); 
00042     if(buffer[0] != 'F' || buffer[1] != 'W'){
00043         debug("WARNING:  Cannot read information from PIC microcontroller");
00044         return 1;
00045     }
00046     debug(buffer);
00047     return 0;
00048 }