NXTDuino v1

/* ------------------------------ NXTDUINO.NXC ------------------------------ */

#define PORT    S1
#define ADDR    0x22<<1
#define BUF_LEN 16

enum{LOW = 0, HIGH = 1};
enum{INPUT = 0, OUTPUT = 1};

//Macro functions
#define BytesToShort(byte1,byte2) (byte1 | (byte2<<8))
#define ShortHI(val) (val>>8)
#define ShortLO(val) (val & 0xFF)

//

enum
{
    CMD_PINMODE = 0x11, //{PIN, INPUT/OUTPUT}
    CMD_DIGITALWRITE,   //{PIN, HIGH/LOW}
    CMD_DIGITALREAD,    //{PIN} -> (byte)digitalRead(PIN)
    CMD_ANALOGWRITE,    //{PIN,(int)VALUE}
    CMD_ANALOGREAD,     //{PIN} -> (int)analogRead(PIN)
};

//NXTDuino
    void pinMode(int pin, int what);
    void digitalWrite(int pin, int what);
    int digitalRead(int pin);
    void analogWrite(int pin, int value);
    int analogRead(int pin);
//

byte outBuf[8] = {ADDR, 0,0,0, 0};  //NXT --> Arduino
byte inBuf [8] = {0 ,0 ,0, 0};  //Arduino --> NXT

int inBytes  = 0;   //Received bytes
int outBytes = 0;   //Bytes to send
long status = 0;
int bytesReady = 1;


inline void waitPending(){while(I2CCheckStatus(PORT) == STAT_COMM_PENDING) Wait(1);}
void printStatus();


task main()
{
    SetSensorLowspeed(PORT, false);
    //pinMode(8, INPUT);
    //Wait(100);
    int value = 0;

    while (true)
    {
        ClearScreen();

        printStatus();

        value = analogRead(0);

        TextOut(0, LCD_LINE5, NumToStr(value));
        TextOut(0, LCD_LINE7, StrCat("inBuf[0]: ", NumToStr(inBuf[0])));
        TextOut(0, LCD_LINE8, StrCat("inBuf[1]: ", NumToStr(inBuf[1])));


        //TextOut(0, LCD_LINE6, StrCat("Received: ", NumToStr(I2CBytesReady(PORT))));
        Wait(50);
    }
}


//NXTDuino functions
    void pinMode(int pin, int what)
    {
        ArrayBuild(outBuf, ADDR, CMD_PINMODE, pin, what);
        I2CWrite(PORT, 0x0, outBuf);
    }

    void digitalWrite(int pin, int what)
    {
        ArrayBuild(outBuf, ADDR, CMD_DIGITALWRITE, pin, what);
        I2CWrite(PORT, 0x0, outBuf);
    }
    int digitalRead(int pin)
    {
        ArrayBuild(outBuf, ADDR, CMD_DIGITALREAD, pin);
        I2CWrite(PORT, 0x1, outBuf);
        while(I2CBytesReady(PORT) == 0);
        I2CRead(PORT, 0x1, inBuf);
        return inBuf[0];
    }
    void analogWrite(int pin, int value)
    {
        ArrayBuild(outBuf, ADDR, CMD_ANALOGWRITE, pin, value);
        I2CWrite(PORT, 0x0, outBuf);
    }
    int analogRead(int pin)
    {
        ArrayBuild(outBuf, ADDR, CMD_ANALOGREAD, pin);
        I2CWrite(PORT, 0x2, outBuf);
        waitPending();
        I2CRead(PORT, 0x2, inBuf);
        return BytesToShort(inBuf[0], inBuf[1]);
    }
//

void printStatus()
{
    if(I2CCheckStatus(PORT) == NO_ERR)
    {
        TextOut(0, LCD_LINE1, "CONNECTED");
    }
    else
    {
        TextOut(0, LCD_LINE1, "NOT CONNECTED");
    }
}


/* ------------------------------ NXTDUINO.INO ------------------------------ */


#include <Wire.h>

#define ADDR 0x22 // the double in the NXT (e.g. Arduino: 0x13, NXT: 0x26)

//Macro functions
#define BytesToShort(byte1,byte2) (byte1 | (byte2<<8))
#define ShortHI(val) (val>>8)
#define ShortLO(val) (val & 0xFF)
//

enum
{
    CMD_PINMODE = 0x11, //{PIN, INPUT/OUTPUT}
    CMD_DIGITALWRITE,   //{PIN, HIGH/LOW}
    CMD_DIGITALREAD,    //{PIN} -> (byte)digitalRead(PIN)
    CMD_ANALOGWRITE,    //{PIN,(int)VALUE}
    CMD_ANALOGREAD,     //{PIN} -> (int)analogRead(PIN)
};

byte SensorName[9] = "Arduino ";
byte SensorVersion[9] = "v1.0    ";
byte SensorType[9] = "amazin  ";

void requestEvent(void);
void receiveEvent(int howMany);

byte bufferReceived[16];
byte bufferToSend[16];
byte receivedCount = 0;

void setup()
{
    Serial.begin(115200);
    Wire.begin(ADDR);
    Wire.onRequest(requestEvent);
    Wire.onReceive(receiveEvent);
    Serial.println("NXTDuino Inited");
}

void loop()
{
    delay(100);
}

void requestEvent(void)
{
    Serial.println("Data request!\n");
    //Serial.println(bufferReceived[0], HEX);

    int value;

    //First byte (aka Register)
        switch(bufferReceived[0])
        {
            //"Sensor" stuff
                case 0x0: //Version
                    Wire.write(SensorVersion, 8);
                    break;
                case 0x08: //Name
                    Wire.write(SensorName, 8);
                    break;
                case 0x10: //Type
                    Wire.write(SensorType, 8);
                    break;

        //Read commands, from 0x11 to 0xFF
            case CMD_DIGITALREAD:   //digitalRead
                Wire.write(digitalRead(bufferReceived[1]));
                break;
            case CMD_ANALOGREAD:    //digitalRead
                value = analogRead(bufferReceived[1]);
                Wire.write((byte[]){ShortLO(value), ShortHI(value)}, 2);
                break;

            //What? Nothing!?
                default:
                    Wire.write(0x0);
                    break;
        }
}

void receiveEvent(int howMany)
{
    Serial.print("-->Received: ");
    Serial.print(howMany, HEX);
    Serial.println(" byte(s)\n");

    for(receivedCount = 0; Wire.available() > 0; receivedCount++)
    {
        bufferReceived[receivedCount] = Wire.read();
        //Serial.println(bufferReceived[receivedCount], HEX);
    }
    switch(bufferReceived[0])
    {
        //Write only commands, from 0x11 to 0xFF

            case CMD_PINMODE:   //pinMode
                pinMode(bufferReceived[1], bufferReceived[2]);
                break;
            case CMD_DIGITALWRITE:  //digitalWrite
                digitalWrite(bufferReceived[1], bufferReceived[2]);
                break;
            case CMD_ANALOGWRITE:   //analogWrite
                analogWrite(bufferReceived[1], bufferReceived[2]);
                break;
        //Maybe a read command, maybe nothing...
            default:
                break;
    }
}