Psi Swarm Robot / PsiSwarmV7

Library for the PsiSwarm Robot - Version 0.7

Dependents:   PsiSwarm_V7_Blank

Fork of PsiSwarmLibrary by James Hilder

pic.cpp@6:b340a527add9, 2016-10-15 (annotated)

Committer:
jah128
Date:
Sat Oct 15 13:51:39 2016 +0000
Revision:
6:b340a527add9
Parent:
5:3cdd1a37cdd7 
Added Apache license to files

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:d6269d17c8cf 1 /* University of York Robotics Laboratory PsiSwarm Library: PIC and Audio Driver Source File
jah128 0:d6269d17c8cf 2 *
jah128 6:b340a527add9 3 * Copyright 2016 University of York
jah128 6:b340a527add9 4 *
jah128 6:b340a527add9 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
jah128 6:b340a527add9 6 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
jah128 6:b340a527add9 7 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
jah128 6:b340a527add9 8 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
jah128 6:b340a527add9 9 * See the License for the specific language governing permissions and limitations under the License.
jah128 6:b340a527add9 10 *
jah128 0:d6269d17c8cf 11 * File: pic.cpp
jah128 0:d6269d17c8cf 12 *
jah128 0:d6269d17c8cf 13 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 14 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 15 *
jah128 5:3cdd1a37cdd7 16 * PsiSwarm Library Version: 0.7
jah128 0:d6269d17c8cf 17 *
jah128 5:3cdd1a37cdd7 18 * October 2016
jah128 0:d6269d17c8cf 19 *
jah128 0:d6269d17c8cf 20 *
jah128 0:d6269d17c8cf 21 */
jah128 0:d6269d17c8cf 22
jah128 0:d6269d17c8cf 23
jah128 0:d6269d17c8cf 24 #include "psiswarm.h"
jah128 0:d6269d17c8cf 25
jah128 0:d6269d17c8cf 26
jah128 0:d6269d17c8cf 27 void play_audio_string(char * tune){
jah128 0:d6269d17c8cf 28 char length = strlen(tune);
jah128 0:d6269d17c8cf 29 play_tune(tune,length);
jah128 0:d6269d17c8cf 30 }
jah128 0:d6269d17c8cf 31
jah128 0:d6269d17c8cf 32 void play_tune(char * tune, char length){
jah128 0:d6269d17c8cf 33 char to_send [length+3];
jah128 0:d6269d17c8cf 34 char start_array[2];
jah128 0:d6269d17c8cf 35 start_array [0] = 'S';
jah128 0:d6269d17c8cf 36 start_array [1] = length;
jah128 0:d6269d17c8cf 37 strcpy(to_send,start_array);
jah128 0:d6269d17c8cf 38 strncat(to_send,tune,length);
jah128 0:d6269d17c8cf 39 debug(to_send);
jah128 0:d6269d17c8cf 40 primary_i2c.write(PIC_ADDRESS,to_send,length+2,false);
jah128 0:d6269d17c8cf 41 }
jah128 0:d6269d17c8cf 42
jah128 0:d6269d17c8cf 43
jah128 0:d6269d17c8cf 44 char IF_check_pic_firmware(){
jah128 0:d6269d17c8cf 45 char buffer[6];
jah128 0:d6269d17c8cf 46 buffer[0] = 0;
jah128 0:d6269d17c8cf 47 primary_i2c.write(PIC_ADDRESS,"I",1,false);
jah128 0:d6269d17c8cf 48 wait(0.1);
jah128 0:d6269d17c8cf 49 primary_i2c.read(PIC_ADDRESS,buffer,6);
jah128 0:d6269d17c8cf 50 debug(buffer);
jah128 0:d6269d17c8cf 51 if(buffer[0] != 'F' || buffer[1] != 'W'){
jah128 0:d6269d17c8cf 52 debug("WARNING: Cannot read information from PIC microcontroller");
jah128 0:d6269d17c8cf 53 return 1;
jah128 0:d6269d17c8cf 54 }
jah128 0:d6269d17c8cf 55 debug(buffer);
jah128 0:d6269d17c8cf 56 return 0;
jah128 0:d6269d17c8cf 57 }