z ysaito
2018.07.26
Dependencies: TextLCD USBDevice mbed-rtos mbed
Diff: 2_main.cpp
- Revision:
- 0:f4e2a62331ef
- Child:
- 1:368ba89c2e6b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/2_main.cpp Tue Feb 16 16:35:14 2016 +0000
@@ -0,0 +1,646 @@
+#include "mbed.h"
+#include "USBHID.h"
+#include "USBSerial.h"
+#include "rtos.h"
+#include "common.h"
+#include "TextLCD.h"
+
+//#include "TextLCD.h"
+
+//We declare a USBHID device. By default input and output reports are 64 bytes long.
+USBHID hid(8, 8);
+
+//USBSerial serial;
+Serial pc(USBTX, USBRX); // UART
+
+// I2C i2c(p9, p10); // I2C SDA, SCL
+I2CSlave slave(p9, p10); //I2C SDA SCL
+
+//This report will contain data to be sent
+HID_REPORT send_report;
+HID_REPORT recv_report;
+
+DigitalOut led1(LED1); // 1: on, 0: off
+DigitalOut led2(LED2); // 1: on, 0: off
+DigitalOut led3(LED3); // 1: on, 0: off
+DigitalOut led4(LED4); // 1: on, 0: off
+
+// LED indicator
+DigitalOut led_ind0(p13);
+DigitalOut led_ind1(p14);
+DigitalOut led_ind2(p15);
+DigitalOut led_ind3(p25);
+DigitalOut led_ind4(p26);
+DigitalOut led_ind5(p27);
+DigitalOut led_ind6(p28);
+DigitalOut led_ind7(p8);
+
+// Switch Matrix 3bit SW ON = 0 input
+// bit 2 1 0 Send data
+// 0 1 1 1 :
+// 1 1 1 0 : 0x01 RF Tfm K
+// 2 1 0 1 : 0x02 RF Tfm I
+// 3 1 0 0 : 0x04 LB Tfm K
+// 4 0 1 1 : 0x08 LB Tfm I
+// 5 0 1 0 : 0x10 Winch Down
+// 6 0 0 1 : 0x20 Winch Up
+// 7 0 0 0 :
+DigitalIn sw1(p5); // Bit 0
+DigitalIn sw2(p6); // Bit 1
+DigitalIn sw3(p7); // Bit 2
+
+// Digital Input 1:OFF, 0:ON
+DigitalIn sw_jsmode(p30); // SW: Joy Stick mode ( 1: Single, 0: Dual )
+DigitalIn sw_crexpshape(p29); // SW: CrExp Shape ( 1: KO, 0: I )
+
+// Analig Joystick input for crawler control
+//AnalogIn js_l_ud(p20); // Crawler L-UD
+//AnalogIn js_l_lr(p19); // Crawler L-LR
+//AnalogIn js_r_ud(p17); // Crawler R-UD
+//AnalogIn js_r_lr(p16); // Crawler R-LR
+
+AnalogIn js_l_ud(p19); // Crawler L-UD
+AnalogIn js_l_lr(p20); // Crawler L-LR
+AnalogIn js_r_ud(p16); // Crawler R-UD
+AnalogIn js_r_lr(p17); // Crawler R-LR
+
+uint8_t js_center_value_r_ud = 0x80;
+uint8_t js_center_value_r_lr = 0x80;
+uint8_t js_center_value_l_ud = 0x80;
+uint8_t js_center_value_l_lr = 0x80;
+
+void led_demo(void);
+uint8_t calc_motor_speed( uint8_t data, int32_t dir );
+void lcd_out( int, int, char* );
+void calibrate_joystick( int mode, uint8_t data_ud, uint8_t data_lr );
+
+TextLCD lcd(p11, p12, p24, p23, p22, p21); // rs, e, d4-d7
+
+int i2c_saddress = 0;
+
+// LED demo
+void led_demo()
+{
+ int i;
+ for( i = 0; i < 7; i++ ) {
+ led_ind0 = 1;
+ led_ind1 = 1;
+ led_ind2 = 1;
+ led_ind3 = 1;
+ led_ind4 = 1;
+ led_ind5 = 1;
+ led_ind6 = 1;
+ led_ind7 = 1;
+ led1 = 1; // on
+ led2 = 0; // off
+ led3 = 0; // off
+ led4 = 0; // off
+ Thread::wait(50);
+ led_ind0 = 0;
+ led_ind1 = 0;
+ led_ind2 = 0;
+ led_ind3 = 0;
+ led_ind4 = 0;
+ led_ind5 = 0;
+ led_ind6 = 0;
+ led_ind7 = 0;
+ led1 = 0; // off
+ led2 = 1; // on
+ led3 = 0; // off
+ led4 = 0; // off
+ Thread::wait(50);
+ led_ind0 = 1;
+ led_ind1 = 1;
+ led_ind2 = 1;
+ led_ind3 = 1;
+ led_ind4 = 1;
+ led_ind5 = 1;
+ led_ind6 = 1;
+ led_ind7 = 1;
+ led1 = 0; // off
+ led2 = 0; // off
+ led3 = 1; // on
+ led4 = 0; // off
+ Thread::wait(50);
+ led_ind0 = 0;
+ led_ind1 = 0;
+ led_ind2 = 0;
+ led_ind3 = 0;
+ led_ind4 = 0;
+ led_ind5 = 0;
+ led_ind6 = 0;
+ led_ind7 = 0;
+ led1 = 0; // off
+ led2 = 0; // off
+ led3 = 0; // off
+ led4 = 1; // on
+ Thread::wait(50);
+ led_ind0 = 1;
+ led_ind1 = 1;
+ led_ind2 = 1;
+ led_ind3 = 1;
+ led_ind4 = 1;
+ led_ind5 = 1;
+ led_ind6 = 1;
+ led_ind7 = 1;
+ led1 = 0; // off
+ led2 = 0; // off
+ led3 = 0; // off
+ led4 = 0; // off
+ }
+}
+
+// *****************************************************************
+// calibration joystick data
+// *****************************************************************
+void calibrate_joystick( int mode, uint8_t data_ud, uint8_t data_lr ){
+ uint16_t tmp;
+
+ if( mode == 0 )
+ {
+ tmp = (uint16_t)js_center_value_r_ud;
+ tmp += (uint16_t)data_ud;
+ tmp /= 2;
+ js_center_value_r_ud = (uint8_t)tmp;
+
+ tmp = (uint16_t)js_center_value_r_lr;
+ tmp += (uint16_t)data_lr;
+ tmp /= 2;
+ js_center_value_r_lr = (uint8_t)tmp;
+ }
+ else
+ {
+
+ tmp = (uint16_t)js_center_value_l_ud;
+ tmp += (uint16_t)data_ud;
+ tmp /= 2;
+ js_center_value_l_ud = (uint8_t)tmp;
+
+ tmp = (uint16_t)js_center_value_l_lr;
+ tmp += (uint16_t)data_lr;
+ tmp /= 2;
+ js_center_value_l_lr = (uint8_t)tmp;
+ }
+}
+
+// *****************************************************************
+// calcuilation motor speed
+// *****************************************************************
+uint8_t calc_motor_speed( uint8_t data, int32_t dir ){
+ uint8_t speed;
+ if( dir == 0 ){
+// speed = (data - js_center_value) * 100 / js_center_value;
+ if( speed > 95 ) speed = 100;
+ }
+ else{
+// speed = (js_center_value - data) * 100 / js_center_value;
+ if( speed > 95 ) speed = 100;
+ }
+ return speed;
+}
+
+// *****************************************************************
+// switch control task
+// ----------------------
+//
+// Up: center -> 255
+// Down: 002 -> center
+// Right: center -> 255
+// Left : 0 -> center
+//
+// *****************************************************************
+void sw_task( void const *){
+
+ char msg[32];
+
+ uint16_t js_rud_data;
+ uint16_t js_rlr_data;
+ uint8_t js_rud_undata;
+ uint8_t js_rlr_undata;
+
+ uint16_t js_lud_data;
+ uint16_t js_llr_data;
+ uint8_t js_lud_undata;
+ uint8_t js_llr_undata;
+
+ float motor_speed_f = 0;
+ uint8_t motor_speed = 0;
+
+ send_report.length = 8;
+
+ send_report.data[0] = 0x80; // L JoyStick Right/Left
+ send_report.data[1] = 0x80; // L JoyStick Up/Down
+ send_report.data[2] = 0x80; // R JoyStick Right/Left
+ send_report.data[3] = 0x80; // R JoyStick Up/Down
+ send_report.data[4] = 0x00; // Operatiuon Switch
+ // 7 6 5 4 3 2 1 0
+ // +-+-+-+-+----+----+----+----+
+ // |-|-|-|-|LB-I|LB-K|RF-I|RF-K|
+ // +-+-+-+-+----+----+----+----+
+
+ send_report.data[5] = 0x00; // JS mode switch
+ // 7 6 5 4 3 2 1 0
+ // +-+-+-+-+-+-+---+----+
+ // |-|-|-|-|-|-|S/D|I/KO|
+ // +-+-+-+-+-+-+---+----+
+ // 1:S 1:KO <--- sw off
+ // 0:D 0:I <--- sw on
+
+
+
+ send_report.data[6] = 0x00; // No Function
+ send_report.data[7] = 0x00; // No Function
+ send_report.data[8] = 0x00;
+
+ DEBUG_PRINT_L1("Calibrating joystick ... ");
+ for( int i = 0; i < CALIBRATION_COUNT; i++){
+ js_rud_data = js_r_ud.read_u16();
+ js_rlr_data = js_r_lr.read_u16();
+ js_rud_undata = (uint8_t)(js_rud_data >> 8);
+ js_rlr_undata = (uint8_t)(js_rlr_data >> 8);
+ calibrate_joystick( 0, js_rud_undata, js_rlr_undata); // Under constraction
+ js_lud_data = js_l_ud.read_u16();
+ js_llr_data = js_l_lr.read_u16();
+ js_lud_undata = (uint8_t)(js_lud_data >> 8);
+ js_llr_undata = (uint8_t)(js_llr_data >> 8);
+ calibrate_joystick( 1, js_lud_undata, js_llr_undata); // Under constraction
+ }
+ DEBUG_PRINT_L1("done\r\n");
+
+ while(1){
+ js_rud_data = js_r_ud.read_u16();
+ js_rlr_data = js_r_lr.read_u16();
+ js_lud_data = js_l_ud.read_u16();
+ js_llr_data = js_l_lr.read_u16();
+
+ js_rud_undata = (uint8_t)(js_rud_data >> 8);
+ js_rlr_undata = (uint8_t)(js_rlr_data >> 8);
+ js_lud_undata = (uint8_t)(js_lud_data >> 8);
+ js_llr_undata = (uint8_t)(js_llr_data >> 8);
+
+ DEBUG_PRINT_L1("Handy> ");
+ DEBUG_PRINT_L1("R:%03d/%3d,%03d/%3d ", js_rud_undata, js_center_value_r_ud, js_rlr_undata, js_center_value_r_ud );
+ DEBUG_PRINT_L1("L:%03d/%3d,%03d/%3d ", js_lud_undata, js_center_value_l_ud, js_llr_undata, js_center_value_l_ud );
+ DEBUG_PRINT_L1("SW: %d %d %d ", sw1.read(), sw2.read(), sw3.read() );
+ DEBUG_PRINT_L1("JS: %d %d\r\n", sw_jsmode.read(), sw_crexpshape.read() );
+
+ // ---------------------------------------------
+ // Right JoyStick Control
+ // ---------------------------------------------
+ // Down
+ if( js_rud_undata > (js_center_value_r_ud + DEAD_ZONE_BAND_WIDTH) ){
+ // Crawler Forward Run
+ led4 = 1;
+ motor_speed = calc_motor_speed( js_rud_undata, 0 );
+ DEBUG_PRINT_L2("Handy> R-JS Up: js_data[%03d], motor_speeed[%03d], js_center[%03d]\r\n", js_rud_undata, js_rud_undata, js_center_value_r_ud);
+ send_report.data[3] = 255 - js_rud_undata; // speed
+ //------------123456789 123456--------------------
+ // sprintf(msg, "R-JS Dn (%03d) ", send_report.data[3]);
+ // lcd_out(0,0,msg);
+ led4 = 0;
+ }
+ // Up
+ else if( js_rud_undata < (js_center_value_r_ud - DEAD_ZONE_BAND_WIDTH) ){
+ // Crawler Reverse Run
+ led4 = 1;
+ motor_speed = calc_motor_speed( js_rud_undata, 1 );
+ DEBUG_PRINT_L2("Handy> R-JS Down: js_data[%03d], motor_speeed[%03d], js_center[%03d]\r\n", js_rud_undata, js_rud_undata, js_center_value_r_ud);
+ send_report.data[3] = 255 - js_rud_undata; // speed
+ //-----------123456789 123456--------------------
+ // sprintf(msg,"R-JS Up (%03d) ", send_report.data[3]);
+ // lcd_out(0,0,msg);
+ led4 = 0;
+ }
+ else{
+ send_report.data[3] = 0x80; // speed
+ //-----------123456789 123456--------------------
+ // sprintf(msg,"R-JS (%03d) ", send_report.data[3]);
+ // lcd_out(0,0,msg);
+ // calibrate_joystick(js_ud_un); // Under constraction
+ led4 = 0;
+ }
+
+ // Right
+ if( js_rlr_undata > (js_center_value_r_ud + DEAD_ZONE_BAND_WIDTH) ){
+ // Crawler Forward Run
+ led4 = 1;
+ motor_speed = calc_motor_speed( js_rlr_undata, 0 );
+ DEBUG_PRINT_L2("Handy> R-JS Right: js_data[%03d], motor_speeed[%03d], js_center[%03d]\r\n", js_rlr_undata, js_rlr_undata, js_center_value_r_ud);
+ send_report.data[2] = js_rlr_undata; // speed
+ //-----------123456789 123456--------------------
+ // sprintf(msg,"R-JS Rt (%03d) ", send_report.data[2]);
+ // lcd_out(0,0,msg);
+ led4 = 0;
+ }
+
+ // Left
+ else if( js_rlr_undata < (js_center_value_r_ud - DEAD_ZONE_BAND_WIDTH) ){
+ // Crawler Reverse Run
+ led4 = 1;
+ motor_speed = calc_motor_speed( js_rlr_undata, 1 );
+ DEBUG_PRINT_L2("Handy> R-JS Left: js_data[%03d], motor_speeed[%03d], js_center[%03d]\r\n", js_rlr_undata, js_rlr_undata, js_center_value_r_ud);
+ send_report.data[2] = js_rlr_undata; // speed
+ //-----------123456789 123456--------------------
+ // sprintf(msg,"R-JS Lt (%03d) ", send_report.data[2]);
+ // lcd_out(0,0,msg);
+ led4 = 0;
+ }
+
+ else{
+ send_report.data[2] = 0x80; // speed
+ // calibrate_joystick(js_ud_un); // Under constraction
+ led4 = 0;
+ }
+
+ // ---------------------------------------------
+ // Left JoyStick Control
+ // ---------------------------------------------
+ // Down
+ if( js_lud_undata > (js_center_value_l_ud + DEAD_ZONE_BAND_WIDTH) ){
+ // Crawler Forward Run
+ led4 = 1;
+ motor_speed = calc_motor_speed( js_lud_undata, 0 );
+ DEBUG_PRINT_L2("Handy> L-JS Up: js_data[%03d], motor_speeed[%03d], js_center[%03d]\r\n", js_lud_undata, js_lud_undata, js_center_value_l_ud);
+ send_report.data[1] = 255 - js_lud_undata; // speed
+ //-----------123456789 123456--------------------
+ // sprintf(msg,"L-JS Dn (%03d) ", send_report.data[1]);
+ // lcd_out(0,1,msg);
+ led4 = 0;
+ }
+ // Up
+ else if( js_lud_undata < (js_center_value_l_ud - DEAD_ZONE_BAND_WIDTH) ){
+ // Crawler Reverse Run
+ led4 = 1;
+ motor_speed = calc_motor_speed( js_lud_undata, 1 );
+ DEBUG_PRINT_L2("Handy> L-JS Down: js_data[%03d], motor_speeed[%03d], js_center[%03d]\r\n", js_lud_undata, js_lud_undata, js_center_value_l_ud);
+ send_report.data[1] = 255 - js_lud_undata; // speed
+ //-----------123456789 123456--------------------
+ // sprintf(msg,"L-JS Up (%03d) ", send_report.data[1]);
+ // lcd_out(0,1,msg);
+ led4 = 0;
+ }
+ else{
+ send_report.data[1] = 0x80; // speed
+ //-----------123456789 123456--------------------
+ // sprintf(msg,"L-JS (%03d) ", send_report.data[1]);
+ // lcd_out(0,1,msg);
+ // calibrate_joystick(js_l_ud_un); // Under constraction
+ led4 = 0;
+ }
+
+ // Right
+ if( js_llr_undata > (js_center_value_l_ud + DEAD_ZONE_BAND_WIDTH) ){
+ // Crawler Forward Run
+ led4 = 1;
+ motor_speed = calc_motor_speed( js_llr_undata, 0 );
+ DEBUG_PRINT_L2("Handy> L-JS Right: js_data[%03d], motor_speeed[%03d], js_center[%03d]\r\n", js_llr_undata, js_llr_undata, js_center_value_l_ud);
+ send_report.data[0] = js_llr_undata; // speed
+ //-----------123456789 123456--------------------
+ // sprintf(msg,"L-JS Rt (%03d) ", send_report.data[0]);
+ // lcd_out(0,1,msg);
+ led4 = 0;
+ }
+ // Left
+ else if( js_llr_undata < (js_center_value_l_ud - DEAD_ZONE_BAND_WIDTH) ){
+ // Crawler Reverse Run
+ led4 = 1;
+ motor_speed = calc_motor_speed( js_llr_undata, 1 );
+ DEBUG_PRINT_L2("Handy> L-JS Left: js_data[%03d], motor_speeed[%03d], js_center[%03d]\r\n", js_llr_undata, js_llr_undata, js_center_value_l_ud);
+ send_report.data[0] = js_llr_undata; // speed
+ //-----------123456789 123456--------------------
+ // sprintf(msg,"L-JS Lt (%03d) ", send_report.data[0]);
+ // lcd_out(0,1,msg);
+ led4 = 0;
+ }
+
+ else{
+ send_report.data[0] = 0x80; // speed
+ // calibrate_joystick(js_l_ud_un); // Under constraction
+ led4 = 0;
+ }
+
+ // ---------------------------------------------
+ // Other Switch Control: Pass
+ // ---------------------------------------------
+ if ((sw1 == 0)&&(sw2 == 1)&&(sw3==1)){
+ led3 = 1;
+ send_report.data[4] = 0x01; // RF Tfm K (Fwd)
+ led_ind4 = 1;
+ led_ind5 = 1;
+ // led3 = 0;
+ }
+ else if ((sw1 == 1)&&(sw2 == 0)&&(sw3==1)){
+ send_report.data[4] = 0x02; // RF Tfm I (Rvs)
+ led3 = 1;
+ led_ind4 = 1;
+ led_ind5 = 1;
+ // led3 = 0;
+ }
+ else if ((sw1 == 0)&&(sw2 == 0)&&(sw3==1)){
+ send_report.data[4] = 0x04; // LB Tfm K (Fwd)
+ led3 = 1;
+ led_ind4 = 1;
+ led_ind5 = 1;
+ // led3 = 0;
+ }
+ else if ((sw1 == 1)&&(sw2 == 1)&&(sw3==0)){
+ led3 = 1;
+ send_report.data[4] = 0x08; // LB Tfm I (Rvs)
+ led_ind4 = 1;
+ led_ind5 = 1;
+ // led3 = 0;
+ }
+ else if ((sw1 == 1)&&(sw2 == 0)&&(sw3==0)){
+ led2 = 1;
+ send_report.data[4] = 0x10; // Winch Down (Fwd)
+ led_ind0 = 1;
+ led_ind1 = 1;
+ // led3 = 0;
+ }
+ else if ((sw1 == 0)&&(sw2 == 1)&&(sw3==0)){
+ led2 = 1;
+ send_report.data[4] = 0x20; // Winch Up (Rvs)
+ led_ind0 = 1;
+ led_ind1 = 1;
+ // led3 = 0;
+ }
+ else{
+ send_report.data[4] = 0;
+ led_ind0 = 0;
+ led_ind1 = 0;
+ led_ind2 = 0;
+ led_ind3 = 0;
+ led_ind4 = 0;
+ led_ind5 = 0;
+ led_ind6 = 0;
+ led_ind7 = 0;
+ led2 = 0;
+ led3 = 0;
+ }
+
+ // 7 6 5 4 3 2 1 0
+ // +-+-+-+-+-+-+---+----+
+ // |-|-|-|-|-|-|S/D|I/KO|
+ // +-+-+-+-+-+-+---+----+
+ // 1:S 1:KO <--- sw off
+ // 0:D 0:I <--- sw on
+ if( sw_crexpshape == 1 ){ // sw off
+ send_report.data[5] |= 0x01; // SW off: K-Shape
+ }
+ else{ // sw off
+ send_report.data[5] &= 0xFE; // SW on: I-Shape
+ }
+
+ if( sw_jsmode == 1 ){ // sw off
+ send_report.data[5] |= 0x02; // SW off: Single
+ }
+ else{ // sw off
+ send_report.data[5] &= 0xFD; // SW: on Dual
+ }
+
+ // *************************
+ // Send Command to HID host: Hot Plug !!
+ // *************************
+ hid.send(&send_report); // send command to USB HID host
+
+ Thread::wait(5);
+ }
+
+}
+
+void lcd_out( int column, int row, char* msg ){
+
+// lcd.cls();
+ lcd.locate(column,row);
+
+/*
+ for( int i = 0; i < 16; i++ ){
+ lcd.putc(*msg++);
+ }
+*/
+ lcd.printf( msg );
+ Thread::wait(10);
+}
+
+
+// **********************************************************************
+//
+// Main Function of this program
+//
+// **********************************************************************
+int main(void) {
+
+ int32_t counter = 0;
+
+ char msg[16];
+ char buf[11];
+ int i;
+
+ pc.baud(115200);
+
+ sw_jsmode.mode( PullUp ); // use internal pullup
+ sw_crexpshape.mode( PullUp ); // use internal pullup
+
+ i2c_saddress = Target_IIC_ADDR; // defined at header
+ i2c_saddress <<= 1;
+ slave.address(i2c_saddress);
+ DEBUG_PRINT_L0("Handy> IIC Address: %02x\r\n",i2c_saddress);
+
+ lcd_out(0,0,"B2DebrisSurveyor");
+ lcd_out(0,1,"Revast Co.,Ltd. ");
+ led_demo();
+ lcd_out(0,0,"Rev1.00 20160201");
+ lcd_out(0,1,"System Booting..");
+
+ DEBUG_PRINT_L0("\r\n");
+ DEBUG_PRINT_L0("Handy> +-----------------------------------------------------------\r\n");
+ DEBUG_PRINT_L0("Handy> | Project: Crawler Explorer for 1F-1 PCV internal inspection\r\n");
+ DEBUG_PRINT_L0("Handy> |---------\r\n");
+ DEBUG_PRINT_L0("Handy> | This is: Handy Controller main program over USB-HID \r\n");
+ DEBUG_PRINT_L0("Handy> | Target MCU: %s\r\n", Targetmbed);
+ DEBUG_PRINT_L0("Handy> | Letest update: %s\r\n", LatestUpDate);
+ DEBUG_PRINT_L0("Handy> | Program Revision: %s\r\n", ProgramRevision);
+ DEBUG_PRINT_L0("Handy> | Author: %s\r\n", Author);
+ DEBUG_PRINT_L0("Handy> | Copyright(C) 2015 %s Allright Reserved\r\n", Company);
+ DEBUG_PRINT_L0("Handy> +-----------------------------------------------------------\r\n");
+
+ Thread task1(sw_task, NULL, osPriorityNormal, 256 * 4);
+
+ // 1234567890123456
+ lcd_out(0,0,"Booted up ! ");
+
+ if(hid.readNB(&recv_report)) {
+ for(int i = 1; i < recv_report.length; i++) {
+ DEBUG_PRINT_L0("%d ", recv_report.data[i]);
+ }
+ DEBUG_PRINT_L0("\r\n");
+ }
+ lcd_out(0,0,"B2DebrisSurveyor");
+
+
+ Thread::wait(5);
+
+ while (1) {
+ //try to read a msg
+
+ if(hid.readNB(&recv_report)) {
+ for(int i = 1; i < recv_report.length; i++) {
+ // DEBUG_PRINT("%d ", recv_report.data[i]);
+ // serial.printf("%d ", recv_report.data[i]);
+ }
+ // DEBUG_PRINT("\r\n");
+ // serial.printf("\r\n");
+
+ }
+
+ i = slave.receive();
+ slave.read(buf, NumberOfI2CCommand ); /* リードサイズは何故か10じゃないと変になる */
+ switch (i) {
+ case I2CSlave::NoData:
+ // DEBUG_PRINT_L0("Handy> the slave has not been addressed\r\n");
+ lcd_out(0,1,"System OK[-] ");
+ break;
+ case I2CSlave::ReadAddressed:
+ DEBUG_PRINT_L0("Handy> the master has requested a read from this slave\r\n");
+ slave.write(msg, strlen(msg) + 1); // Includes null char
+ break;
+ case I2CSlave::WriteGeneral:
+ DEBUG_PRINT_L0("Handy> the master is writing to all slave\r\n");
+ slave.read(buf, NumberOfI2CCommand);
+ DEBUG_PRINT_L0("Handy> Read G: %s\r\n", buf);
+ break;
+ case I2CSlave::WriteAddressed:
+ DEBUG_PRINT_L0("Handy> the master is writing to this slave\r\n");
+ slave.read(buf, NumberOfI2CCommand);
+ // DEBUG_PRINT_L0("Handy> Read A: %s\r\n", buf);
+ if( buf[5] == 0x01 ){
+ lcd_out(0,1,"System OK[|] "); // command
+ }
+ else if( buf[5] == 0x04 ){
+ lcd_out(0,1,"ERROR ");
+ }
+ else{
+ lcd_out(0,1,"System OK[/] "); // unknown command
+ }
+ break;
+ }
+ for(int i = 0; i < 10; i++) buf[i] = 0; // Clear buffer
+
+ counter++;
+ if( counter >= 2 ){
+ led1 = !led1;
+ /*
+ led_ind0 = !led_ind0;
+ led_ind1 = !led_ind1;
+ led_ind2 = !led_ind2;
+ led_ind3 = !led_ind3;
+ led_ind4 = !led_ind4;
+ led_ind5 = !led_ind5;
+ led_ind6 = !led_ind6;
+ led_ind7 = !led_ind7;
+ */
+ counter = 0;
+ }
+ Thread::wait(5);
+ }
+}
\ No newline at end of file