nxtOSEK/samples/i2cwritetest/i2cwritetest.c

   1 /* i2cwritetest.c */ \r
   2 #include "kernel.h"\r
   3 #include "kernel_id.h"\r
   4 #include "ecrobot_interface.h"\r
   5 \r
   6 /* OSEK declarations */\r
   7 DeclareCounter(SysTimerCnt);\r
   8 DeclareTask(Task1);\r
   9 DeclareTask(Task2);\r
  10 \r
  11 /* LEJOS OSEK hooks */\r
  12 void ecrobot_device_terminate()\r
  13 {\r
  14         i2c_disable(NXT_PORT_S2);\r
  15 }\r
  16 \r
  17 /* LEJOS OSEK hook to be invoked from an ISR in category 2 */\r
  18 void user_1ms_isr_type2(void)\r
  19 {\r
  20   StatusType ercd;\r
  21 \r
  22   ercd = SignalCounter(SysTimerCnt); /* Increment OSEK Alarm Counter */\r
  23   if(ercd != E_OK)\r
  24   {\r
  25     ShutdownOS(ercd);\r
  26   }\r
  27 }\r
  28 \r
  29 /* Task1 executed only once at initialization */\r
  30 TASK(Task1)\r
  31 {\r
  32         nxt_avr_set_input_power(NXT_PORT_S2,2);\r
  33         i2c_enable(NXT_PORT_S2);\r
  34 \r
  35         TerminateTask();\r
  36 }\r
  37 \r
  38 /* Task2 executed every 500msec */\r
  39 TASK(Task2)\r
  40 {\r
  41         static U8 data;\r
  42         \r
  43         while (i2c_busy(NXT_PORT_S2) != 0);\r
  44         /* write Single shot command */\r
  45         data = 0x01;\r
  46         i2c_start_transaction(NXT_PORT_S2,1,0x41,1,&data,1,1);\r
  47 \r
  48         systick_wait_ms(50);\r
  49 \r
  50         if (i2c_busy(NXT_PORT_S2) == 0)\r
  51         {\r
  52                 /* read mesurement data */      \r
  53                 i2c_start_transaction(NXT_PORT_S2,1,0x42,1,&data,1,0);\r
  54 \r
  55                 systick_wait_ms(50);\r
  56 \r
  57                 display_clear(0);\r
  58                 display_goto_xy(0, 0);\r
  59                 display_int(data, 0);\r
  60                 display_update();\r
  61         }\r
  62 \r
  63         TerminateTask();\r
  64 }\r
  65 \r