Diff: PsiSwarm/i2c.cpp

Revision:

6:ff3c66f7372b

Parent:

5:598298aa4900

Child:

7:ef9ab01b9e26

--- a/PsiSwarm/i2c.cpp	Tue Oct 13 11:47:14 2015 +0000
+++ b/PsiSwarm/i2c.cpp	Thu Oct 22 00:46:14 2015 +0000
@@ -2,11 +2,12 @@
  *
  * File: i2c.cpp
  *
- * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
+ * (C) Dept. Electronics & Computer Science, University of York
+ * James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
  *
- * PsiSwarm Library Version: 0.2
+ * PsiSwarm Library Version: 0.3
  *
- * September 2015
+ * October 2015
  *
  */
 
@@ -152,6 +153,21 @@
         system_warnings += 2;
         okay = 0;
         debug("- WARNING: No I2C acknowledge for main GPIO IC\n");
+        if(HALT_ON_GPIO_ERROR){
+            debug("- PROGRAM HALTED.  Check that robot is switched on!\n");
+            while(1){
+               mbed_led1=1;
+               mbed_led2=1;
+               mbed_led3=0;
+               mbed_led4=0;
+               wait(0.25); 
+               mbed_led1=0;
+               mbed_led2=0;
+               mbed_led3=1;
+               mbed_led4=1;
+               wait(0.25);   
+            }   
+        }
     }
     //Set all inputs to polarity-inverted (so a logic low = 1)
     data [0] = 0x04;    //Write to polarity inversion ports
@@ -192,7 +208,7 @@
         debug("- WARNING: No I2C acknowledge for aux GPIO IC\n");
     }
     data [0] = 0x06;  //Write to GPPU register
-    data [1] = 0x0F;  //Set GP0-3 as active pull-up outputs
+    data [1] = 0x3F;  //Set GP0-3 as active pull-up outputs and P4,P5 as pull-up inputs
     primary_i2c.write(AUX_IC_ADDRESS,data,2,false);
 
     //My interrupt is not so reliable: poll with a 50ms timeout in case interrupts aren't handled
@@ -200,6 +216,18 @@
     //return ret_val;
 }
 
+void IF_read_aux_ic_data()
+{
+    //Read the values of the input pins on the auxilliary GPIO expander
+    char write_data [1];
+    char read_data [1];
+    write_data[0] = 0x09;
+    primary_i2c.write(AUX_IC_ADDRESS,write_data,1,false);
+    primary_i2c.read(AUX_IC_ADDRESS,read_data,1,false);
+    
+    pc.printf("Aux IC Data:%X\n",read_data[0]);
+}
+
 void IF_parse_gpio_byte0(char byte)
 {
     gpio_byte0 = byte;
@@ -240,6 +268,21 @@
     if(USE_LED4_FOR_VR_WARNINGS){
          mbed_led4 = (!power_good_motor_left || !power_good_motor_right || !power_good_infrared);
     }
+    //Halt the system if settings flag is set and all v-regs are bad [usually this means robot is switched off!]
+    if(HALT_ON_ALL_VREGS_LOW && !power_good_motor_left && !power_good_motor_right && !power_good_infrared){
+        while(1){
+             mbed_led1=1;
+             mbed_led2=0;
+             mbed_led3=1;
+             mbed_led4=0;
+             wait(0.25); 
+             mbed_led1=0;
+             mbed_led2=1;
+             mbed_led3=0;
+             mbed_led4=1;
+             wait(0.25); 
+        }
+    }
 }
 
 void IF_parse_gpio_byte1(char byte)