+++ /dev/null
-#include "MagnetSensor.h"
-
-uint8_t InitMagSensor(uint8_t Addr, uint16_t* Tref, float* SensX, float* SensY, float* SensZ)
-{
-
- // Write register command, AH = 0x00, AL = 0x5C, Hall plate spinning rate = DEFAULT, GAIN_SEL = 5(0x60, 0x00, 0x5C, 0x00)
- // Address register, (0x00 << 2)
- uint8_t txBuffer[4] = {0x60,0x00,0x5C,0x00};
- uint8_t status;uint8_t status2;
- uint8_t ReadReg[3];
- uint8_t Gain,Res_x,Res_y,Res_z;
-
-
- txBuffer[0] = 0x60;
- txBuffer[1] = 0x00;
- txBuffer[2] = 0x5C;
- txBuffer[3] = 0x00;
-
- status2 = twi_writeTo(Addr, txBuffer, 4,1, true);
- twi_readFrom(Addr, &status, 1, true);
-
- // Write register command, AH = 0x02, AL = 0xB4, RES for magnetic measurement = 1(0x60, 0x02, 0xB4, 0x08)
- // Address register, (0x02 << 2)
- txBuffer[1] = 0x02;
- txBuffer[2] = 0xB4;
- txBuffer[3] = 0x08;
- twi_writeTo(Addr,txBuffer,4,1,true);
- twi_readFrom(Addr, &status, 1, true);
-
- txBuffer[0] = 0x50;
- txBuffer[1] = 0x90;
- twi_writeTo(Addr,txBuffer,2,1,true);
- twi_readFrom(Addr, ReadReg, 3, true);
- uint16_t T_ref = ReadReg[1]<<8 | ReadReg[2];
- *Tref = T_ref;
-uputsnl("Test51");
- //Read Gain;
- txBuffer[1] = 0x00;
- twi_writeTo(Addr,txBuffer,2,1,true);
- twi_readFrom(Addr, ReadReg, 3, true);
-
- Gain = (ReadReg[2] & 0x70) >>4;
-
- //Read Resolution;
- txBuffer[1] = 0x08; //Read Gain;
- twi_writeTo(Addr,txBuffer,2,1,true);
- twi_readFrom(Addr, ReadReg, 3, true);
-
- Res_x = (ReadReg[1] & 0x6) >>1;
- Res_y = ((ReadReg[1] & 0x1) << 1)|((ReadReg[2] & 0x80) >>7);
- Res_z = (ReadReg[2] & 0x60) >>5;
-
- *SensX = SensitivityXY(Gain,Res_x);
- *SensY = SensitivityXY(Gain,Res_y);
- *SensZ = SensitivityZ(Gain,Res_z);
-
- return status2;
-}
-
-
-void MeasureMagSens(uint8_t Addr, uint16_t Tref, float* SensX, float* SensY, float* SensZ){
- uint8_t MagData[9] = {255,255,255,255,255,255,255,255,255};
- char s[30];
-
- char Num[2];
- sprintf(Num,"%1u",Addr-12);
-
- uint8_t dataTest = 0x3F; // Start Single Measurement
- twi_writeTo(Addr,&dataTest,1,1, true);
-
- uint8_t status_1;
- twi_readFrom(Addr, &status_1, 1, true);
-
- _delay_ms(100);
-
- uint8_t testdata2 = 0x4F;// Read Measured Values
- twi_writeTo(Addr, &testdata2, 1, 1, true);
- twi_readFrom(Addr,MagData, 9, true);
- if (MagData[0] == 3) {
- uint16_t tMag = (uint16_t)( MagData[1] * 256 + MagData[2]);
- int16_t xMag = MagData[3] * 256 + MagData[4];
- int16_t yMag = MagData[5] * 256 + MagData[6];
- int16_t zMag = MagData[7] * 256 + MagData[8];
- int16_t temp_temp = (uint16_t)(tMag) - (uint16_t)(Tref);
- float Temperature = 35.0 + (temp_temp/45.2);
- uputs("M");uputs(Num);uputs("_T ");
- sprintf(s,"%4.2f",Temperature);
- uputsnl(s);
- uputs("M");uputs(Num);uputs("_X ");
- sprintf(s,"%4.3f",((float)xMag*(*SensX))); //muT
- uputsnl(s);
- uputs("M");uputs(Num);uputs("_Y ");
- sprintf(s,"%4.3f",((float)yMag*(*SensY))); //muT
- uputsnl(s);
- uputs("M");uputs(Num);uputs("_Z ");
- sprintf(s,"%4.3f",((float)zMag*(*SensZ))); //muT
- uputsnl(s);
- uputs("ERR Mag ");uputs(Num);uputsnl(" NO"); // ERROR INFORMATION FOR EPICS
- } else {
- uputs("ERR Mag ");uputs(Num);uputsnl(" CONNECTION");
- }
-}
-
-float SensitivityXY(uint8_t Gain, uint8_t Res){
- float Sens =0.805;
- /*if (Gain != 0) {
- for (int i=1; i<=Gain;i++){
- if (i<3) {
- logVal = 1;
- } else if (i<5) {
- logVal = 2;
- } else {
- logVal = 3;
- }
- Sens = roundf((Sens - 0.161/((float)logVal)) * 1000) / 1000;
- }
- sprintf(s,"LOG: %f",Sens);
- uputsnl(s);
- }*/
-
- switch(Gain) {
- case 0: Sens=0.805; break;
- case 1: Sens=0.644; break;
- case 2: Sens=0.483; break;
- case 3: Sens=0.403; break;
- case 4: Sens=0.322; break;
- case 5: Sens=0.268; break;
- case 6: Sens=0.215; break;
- default: Sens=0.161; break;
- }
-
-
- return Sens*(float)pow(2,Res);
-}
-
-float SensitivityZ(uint8_t Gain, uint8_t Res){
- float Sens =0.805;
- switch(Gain) {
- case 0: Sens=1.468; break;
- case 1: Sens=1.174; break;
- case 2: Sens=0.881; break;
- case 3: Sens=0.734; break;
- case 4: Sens=0.587; break;
- case 5: Sens=0.489; break;
- case 6: Sens=0.391; break;
- default: Sens=0.294; break;
- }
-
-
- return Sens*(float)pow(2,Res);
-}
+++ /dev/null
-# Hey Emacs, this is a -*- makefile -*-\r
-\r
-# AVR-GCC Makefile template, derived from the WinAVR template (which\r
-# is public domain), believed to be neutral to any flavor of "make"\r
-# (GNU make, BSD make, SysV make)\r
-\r
-\r
-MCU = atmega168pa\r
-FORMAT = ihex\r
-TARGET = main\r
-SRC = $(TARGET).c uart/uart.c twi/twi.c MagnetSensor.c\r
-ASRC = \r
-OPT = 2\r
-\r
-# Name of this Makefile (used for "make depend").\r
-MAKEFILE = Makefile\r
-\r
-# Debugging format.\r
-# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.\r
-# AVR (extended) COFF requires stabs, plus an avr-objcopy run.\r
-DEBUG = stabs\r
-\r
-# Compiler flag to set the C Standard level.\r
-# c89 - "ANSI" C\r
-# gnu89 - c89 plus GCC extensions\r
-# c99 - ISO C99 standard (not yet fully implemented)\r
-# gnu99 - c99 plus GCC extensions\r
-CSTANDARD = -std=gnu99\r
-\r
-# Place -D or -U options here\r
-CDEFS = -DF_CPU=16000000\r
-\r
-# Place -I options here\r
-CINCS =\r
-\r
-\r
-CDEBUG = -g$(DEBUG)\r
-CWARN = -Wall -Wstrict-prototypes \r
-CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wl,--relax\r
-#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)\r
-CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) $(CTUNING)\r
-\r
-\r
-#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs \r
-\r
-\r
-#Additional libraries.\r
-\r
-# Minimalistic printf version\r
-PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min\r
-\r
-# Floating point printf version (requires MATH_LIB = -lm below)\r
-PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt\r
-\r
-PRINTF_LIB = \r
-\r
-# Minimalistic scanf version\r
-SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min\r
-\r
-# Floating point + %[ scanf version (requires MATH_LIB = -lm below)\r
-SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt\r
-\r
-SCANF_LIB = \r
-\r
-MATH_LIB = -lm\r
-\r
-# External memory options\r
-\r
-# 64 KB of external RAM, starting after internal RAM (ATmega128!),\r
-# used for variables (.data/.bss) and heap (malloc()).\r
-#EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff\r
-\r
-# 64 KB of external RAM, starting after internal RAM (ATmega128!),\r
-# only used for heap (malloc()).\r
-#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff\r
-\r
-EXTMEMOPTS =\r
-\r
-#LDMAP = $(LDFLAGS) -Wl,-Map=$(TARGET).map,--cref\r
-LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB_FLOAT) $(SCANF_LIB) $(MATH_LIB)\r
-\r
-\r
-# Programming support using avrdude. Settings and variables.\r
-\r
-AVRDUDE_PROGRAMMER = dragon_jtag\r
-AVRDUDE_PORT = usb\r
-\r
-AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex\r
-#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep\r
-\r
-\r
-# Uncomment the following if you want avrdude's erase cycle counter.\r
-# Note that this counter needs to be initialized first using -Yn,\r
-# see avrdude manual.\r
-#AVRDUDE_ERASE_COUNTER = -y\r
-\r
-# Uncomment the following if you do /not/ wish a verification to be\r
-# performed after programming the device.\r
-AVRDUDE_NO_VERIFY = -V\r
-\r
-# Increase verbosity level. Please use this when submitting bug\r
-# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> \r
-# to submit bug reports.\r
-#AVRDUDE_VERBOSE = -v -v\r
-\r
-AVRDUDE_BASIC = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)\r
-AVRDUDE_FLAGS = $(AVRDUDE_BASIC) $(AVRDUDE_NO_VERIFY) $(AVRDUDE_VERBOSE) $(AVRDUDE_ERASE_COUNTER)\r
-\r
-\r
-CC = avr-gcc\r
-OBJCOPY = avr-objcopy\r
-OBJDUMP = avr-objdump\r
-SIZE = avr-size\r
-NM = avr-nm\r
-AVRDUDE = avrdude\r
-REMOVE = rm -f\r
-MV = mv -f\r
-\r
-# Define all object files.\r
-OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) \r
-\r
-# Define all listing files.\r
-LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)\r
-\r
-# Combine all necessary flags and optional flags.\r
-# Add target processor to flags.\r
-ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)\r
-ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)\r
-\r
-\r
-# Default target.\r
-all: build\r
-\r
-build: elf hex eep\r
-\r
-elf: $(TARGET).elf\r
-hex: $(TARGET).hex\r
-eep: $(TARGET).eep\r
-lss: $(TARGET).lss \r
-sym: $(TARGET).sym\r
-\r
-\r
-# Program the device. \r
-program: $(TARGET).hex $(TARGET).eep\r
- $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)\r
-\r
-\r
-size: \r
- $(SIZE) -C --mcu=$(MCU) $(TARGET).elf \r
-\r
-# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.\r
-COFFCONVERT=$(OBJCOPY) --debugging \\r
---change-section-address .data-0x800000 \\r
---change-section-address .bss-0x800000 \\r
---change-section-address .noinit-0x800000 \\r
---change-section-address .eeprom-0x810000 \r
-\r
-\r
-coff: $(TARGET).elf\r
- $(COFFCONVERT) -O coff-avr $(TARGET).elf $(TARGET).cof\r
-\r
-\r
-extcoff: $(TARGET).elf\r
- $(COFFCONVERT) -O coff-ext-avr $(TARGET).elf $(TARGET).cof\r
-\r
-\r
-.SUFFIXES: .elf .hex .eep .lss .sym\r
-\r
-.elf.hex:\r
- $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@\r
-\r
-.elf.eep:\r
- -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \\r
- --change-section-lma .eeprom=0 -O $(FORMAT) $< $@\r
-\r
-# Create extended listing file from ELF output file.\r
-.elf.lss:\r
- $(OBJDUMP) -h -S $< > $@\r
-\r
-# Create a symbol table from ELF output file.\r
-.elf.sym:\r
- $(NM) -n $< > $@\r
-\r
-\r
-\r
-# Link: create ELF output file from object files.\r
-$(TARGET).elf: $(OBJ)\r
- $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)\r
-\r
-\r
-# Compile: create object files from C source files.\r
-.c.o:\r
- $(CC) -c $(ALL_CFLAGS) $< -o $@ \r
-\r
-\r
-# Compile: create assembler files from C source files.\r
-.c.s:\r
- $(CC) -S $(ALL_CFLAGS) $< -o $@\r
-\r
-\r
-# Assemble: create object files from assembler source files.\r
-.S.o:\r
- $(CC) -c $(ALL_ASFLAGS) $< -o $@\r
-\r
-\r
-\r
-# Target: clean project.\r
-clean:\r
- $(REMOVE) $(TARGET).hex $(TARGET).eep $(TARGET).cof $(TARGET).elf \\r
- $(TARGET).map $(TARGET).sym $(TARGET).lss \\r
- $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d)\r
-\r
-depend:\r
- if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \\r
- then \\r
- sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \\r
- $(MAKEFILE).$$$$ && \\r
- $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \\r
- fi\r
- echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \\r
- >> $(MAKEFILE); \\r
- $(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) $(ASRC) >> $(MAKEFILE)\r
-\r
-.PHONY: all build elf hex eep lss sym program coff extcoff clean depend program_bootloader program_arduino program_leo\r
-\r
-program_bootloader: all\r
- dfu-programmer $(MCU) erase && dfu-programmer $(MCU) flash $(TARGET).hex && dfu-programmer $(MCU) start\r
-\r
-# program_arduino: all\r
-# avrdude -patmega32u4 -cavr109 -P$(PORT) -b 57600 -D -Uflash:w:$(TARGET).hex:i\r
-\r
-program_leo: all\r
- avrdude -patmega32u4 -cavr109 -P/dev/ttyACM0 -b57600 -D -Uflash:w:$(TARGET).hex:i\r
+++ /dev/null
-/*\r
- twi.c - TWI/I2C library for Atmega32U4\r
-\r
- Copyright (c) 2006 Nicholas Zambetti. All right reserved.\r
-\r
- This library is free software; you can redistribute it and/or\r
- modify it under the terms of the GNU Lesser General Public\r
- License as published by the Free Software Foundation; either\r
- version 2.1 of the License, or (at your option) any later version.\r
-\r
- This library is distributed in the hope that it will be useful,\r
- but WITHOUT ANY WARRANTY; without even the implied warranty of\r
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU\r
- Lesser General Public License for more details.\r
-\r
- You should have received a copy of the GNU Lesser General Public\r
- License along with this library; if not, write to the Free Software\r
- Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA\r
-\r
- Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts\r
-\r
- Modified 2017 by Adrian Weber to use I2C without Arduino librarys\r
-*/\r
-\r
-#include <math.h>\r
-#include <stdlib.h>\r
-#include <inttypes.h>\r
-#include <avr/io.h>\r
-#include <avr/interrupt.h>\r
-#include <compat/twi.h>\r
-#include <stdbool.h>\r
-#include "uart.h"\r
-\r
-#ifndef cbi\r
-#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))\r
-#endif\r
-\r
-#ifndef sbi\r
-#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))\r
-#endif\r
-#include "twi.h"\r
-\r
-static volatile uint8_t twi_state;\r
-static volatile uint8_t twi_slarw;\r
-static volatile uint8_t twi_sendStop; // should the transaction end with a stop\r
-static volatile uint8_t twi_inRepStart; // in the middle of a repeated start\r
-\r
-static void (*twi_onSlaveTransmit)(void);\r
-static void (*twi_onSlaveReceive)(uint8_t*, int);\r
-\r
-static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH];\r
-static volatile uint8_t twi_masterBufferIndex;\r
-static volatile uint8_t twi_masterBufferLength;\r
-\r
-static uint8_t twi_txBuffer[TWI_BUFFER_LENGTH];\r
-static volatile uint8_t twi_txBufferIndex;\r
-static volatile uint8_t twi_txBufferLength;\r
-\r
-static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH];\r
-static volatile uint8_t twi_rxBufferIndex;\r
-\r
-static volatile uint8_t twi_error;\r
-\r
-\r
-/* \r
- * Function twi_init\r
- * Desc readys twi pins and sets twi bitrate\r
- * Input none\r
- * Output none\r
- */\r
-void twi_init(void)\r
-{\r
- // initialize state\r
- twi_state = TWI_READY;\r
- twi_sendStop = true; // default value\r
- twi_inRepStart = false;\r
- \r
- // activate internal pullups for twi.\r
- DDRD |= (1 << PD0);\r
- DDRD |= (1 << PD1);\r
- PORTD |= (1 << PD0);\r
- PORTD |= (1 << PD1);\r
-\r
- // initialize twi prescaler and bit rate\r
- cbi(TWSR, TWPS0);\r
- cbi(TWSR, TWPS1);\r
- TWBR = ((F_CPU / TWI_FREQ) - 16) / 2;\r
-\r
- /* twi bit rate formula from atmega128 manual pg 204\r
- SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR))\r
- note: TWBR should be 10 or higher for master mode\r
- It is 72 for a 16mhz Wiring board with 100kHz TWI */\r
-\r
- // enable twi module, acks, and twi interrupt\r
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA);\r
-}\r
-\r
-/* \r
- * Function twi_disable\r
- * Desc disables twi pins\r
- * Input none\r
- * Output none\r
- */\r
-void twi_disable(void)\r
-{\r
- // disable twi module, acks, and twi interrupt\r
- TWCR &= ~(_BV(TWEN) | _BV(TWIE) | _BV(TWEA));\r
-\r
- // deactivate internal pullups for twi.\r
- DDRD |= (1 << PD0);\r
- DDRD |= (1 << PD1);\r
- PORTD |= (0 << PD0);\r
- PORTD |= (0 << PD1);\r
-\r
-}\r
-\r
-/* \r
- * Function twi_slaveInit\r
- * Desc sets slave address and enables interrupt\r
- * Input none\r
- * Output none\r
- */\r
-void twi_setAddress(uint8_t address)\r
-{\r
- // set twi slave address (skip over TWGCE bit)\r
- TWAR = address << 1;\r
-}\r
-\r
-/* \r
- * Function twi_setClock\r
- * Desc sets twi bit rate\r
- * Input Clock Frequency\r
- * Output none\r
- */\r
-void twi_setFrequency(uint32_t frequency)\r
-{\r
- TWBR = ((F_CPU / frequency) - 16) / 2;\r
- \r
- /* twi bit rate formula from atmega128 manual pg 204\r
- SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR))\r
- note: TWBR should be 10 or higher for master mode\r
- It is 72 for a 16mhz Wiring board with 100kHz TWI */\r
-}\r
-\r
-/* \r
- * Function twi_readFrom\r
- * Desc attempts to become twi bus master and read a\r
- * series of bytes from a device on the bus\r
- * Input address: 7bit i2c device address\r
- * data: pointer to byte array\r
- * length: number of bytes to read into array\r
- * sendStop: Boolean indicating whether to send a stop at the end\r
- * Output number of bytes read\r
- */\r
-uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sendStop)\r
-{\r
- uint8_t i;\r
-\r
- // ensure data will fit into buffer\r
- if(TWI_BUFFER_LENGTH < length){\r
- return 0;\r
- }\r
- // wait until twi is ready, become master receiver\r
- while(TWI_READY != twi_state){\r
- continue;\r
- } \r
- twi_state = TWI_MRX;\r
- twi_sendStop = sendStop;\r
- // reset error state (0xFF.. no error occured)\r
- twi_error = 0xFF;\r
-\r
- // initialize buffer iteration vars\r
- twi_masterBufferIndex = 0;\r
- twi_masterBufferLength = length-1; // This is not intuitive, read on...\r
- // On receive, the previously configured ACK/NACK setting is transmitted in\r
- // response to the received byte before the interrupt is signalled. \r
- // Therefor we must actually set NACK when the _next_ to last byte is\r
- // received, causing that NACK to be sent in response to receiving the last\r
- // expected byte of data.\r
-\r
- // build sla+w, slave device address + w bit\r
- twi_slarw = TW_READ;\r
- twi_slarw |= address << 1;\r
-\r
- if (true == twi_inRepStart) {\r
- // if we're in the repeated start state, then we've already sent the start,\r
- // (@@@ we hope), and the TWI statemachine is just waiting for the address byte.\r
- // We need to remove ourselves from the repeated start state before we enable interrupts,\r
- // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning\r
- // up. Also, don't enable the START interrupt. There may be one pending from the \r
- // repeated start that we sent ourselves, and that would really confuse things.\r
- twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR\r
- do {\r
- TWDR = twi_slarw;\r
- } while(TWCR & _BV(TWWC));\r
- TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START\r
- }\r
- else\r
- // send start condition\r
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA);\r
-\r
- // wait for read operation to complete\r
- while(TWI_MRX == twi_state){\r
- continue;\r
- }\r
-\r
- if (twi_masterBufferIndex < length)\r
- length = twi_masterBufferIndex;\r
-\r
- // copy twi buffer to data\r
- for(i = 0; i < length; ++i){\r
- data[i] = twi_masterBuffer[i];\r
- }\r
- \r
- return length;\r
-}\r
-\r
-/* \r
- * Function twi_writeTo\r
- * Desc attempts to become twi bus master and write a\r
- * series of bytes to a device on the bus\r
- * Input address: 7bit i2c device address\r
- * data: pointer to byte array\r
- * length: number of bytes in array\r
- * wait: boolean indicating to wait for write or not\r
- * sendStop: boolean indicating whether or not to send a stop at the end\r
- * Output 0 .. success\r
- * 1 .. length to long for buffer\r
- * 2 .. address send, NACK received\r
- * 3 .. data send, NACK received\r
- * 4 .. other twi error (lost bus arbitration, bus error, ..)\r
- */\r
-uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait, uint8_t sendStop)\r
-{\r
- uint8_t i;\r
-\r
- // ensure data will fit into buffer\r
- if(TWI_BUFFER_LENGTH < length){\r
- return 1;\r
- }\r
-\r
- // wait until twi is ready, become master transmitter\r
- while(TWI_READY != twi_state){\r
- continue;\r
- }\r
- twi_state = TWI_MTX;\r
- twi_sendStop = sendStop;\r
- // reset error state (0xFF.. no error occured)\r
- twi_error = 0xFF;\r
-\r
- // initialize buffer iteration vars\r
- twi_masterBufferIndex = 0;\r
- twi_masterBufferLength = length;\r
- \r
- // copy data to twi buffer\r
- for(i = 0; i < length; ++i){\r
- twi_masterBuffer[i] = data[i];\r
- }\r
- \r
- // build sla+w, slave device address + w bit\r
- twi_slarw = TW_WRITE;\r
- twi_slarw |= address << 1;\r
- \r
-\r
- // if we're in a repeated start, then we've already sent the START\r
- // in the ISR. Don't do it again.\r
- //\r
- if (true == twi_inRepStart) {\r
- // if we're in the repeated start state, then we've already sent the start,\r
- // (@@@ we hope), and the TWI statemachine is just waiting for the address byte.\r
- // We need to remove ourselves from the repeated start state before we enable interrupts,\r
- // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning\r
- // up. Also, don't enable the START interrupt. There may be one pending from the \r
- // repeated start that we sent outselves, and that would really confuse things.\r
- twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR\r
- do {\r
- TWDR = twi_slarw; \r
- } while(TWCR & _BV(TWWC));\r
- TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START\r
- }\r
- else\r
- // send start condition\r
- TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA); // enable INTs\r
-\r
-\r
- // wait for write operation to complete\r
- while(wait && (TWI_MTX == twi_state)){\r
- continue;\r
- }\r
-\r
- if (twi_error == 0xFF)\r
- return 0; // success\r
- else if (twi_error == TW_MT_SLA_NACK)\r
- return 2; // error: address send, nack received\r
- else if (twi_error == TW_MT_DATA_NACK)\r
- return 3; // error: data send, nack received\r
- else\r
- return 4; // other twi error\r
-}\r
-\r
-/* \r
- * Function twi_transmit\r
- * Desc fills slave tx buffer with data\r
- * must be called in slave tx event callback\r
- * Input data: pointer to byte array\r
- * length: number of bytes in array\r
- * Output 1 length too long for buffer\r
- * 2 not slave transmitter\r
- * 0 ok\r
- */\r
-uint8_t twi_transmit(const uint8_t* data, uint8_t length)\r
-{\r
- uint8_t i;\r
-\r
- // ensure data will fit into buffer\r
- if(TWI_BUFFER_LENGTH < length){\r
- return 1;\r
- }\r
- \r
- // ensure we are currently a slave transmitter\r
- if(TWI_STX != twi_state){\r
- return 2;\r
- }\r
- \r
- // set length and copy data into tx buffer\r
- twi_txBufferLength = length;\r
- for(i = 0; i < length; ++i){\r
- twi_txBuffer[i] = data[i];\r
- }\r
- \r
- return 0;\r
-}\r
-\r
-/* \r
- * Function twi_attachSlaveRxEvent\r
- * Desc sets function called before a slave read operation\r
- * Input function: callback function to use\r
- * Output none\r
- */\r
-void twi_attachSlaveRxEvent( void (*function)(uint8_t*, int) )\r
-{\r
- twi_onSlaveReceive = function;\r
-}\r
-\r
-/* \r
- * Function twi_attachSlaveTxEvent\r
- * Desc sets function called before a slave write operation\r
- * Input function: callback function to use\r
- * Output none\r
- */\r
-void twi_attachSlaveTxEvent( void (*function)(void) )\r
-{\r
- twi_onSlaveTransmit = function;\r
-}\r
-\r
-/* \r
- * Function twi_reply\r
- * Desc sends byte or readys receive line\r
- * Input ack: byte indicating to ack or to nack\r
- * Output none\r
- */\r
-void twi_reply(uint8_t ack)\r
-{\r
- // transmit master read ready signal, with or without ack\r
- if(ack){\r
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA);\r
- }else{\r
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT);\r
- }\r
-}\r
-\r
-/* \r
- * Function twi_stop\r
- * Desc relinquishes bus master status\r
- * Input none\r
- * Output none\r
- */\r
-void twi_stop(void)\r
-{\r
- // send stop condition\r
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO);\r
-\r
- // wait for stop condition to be exectued on bus\r
- // TWINT is not set after a stop condition!\r
- while(TWCR & _BV(TWSTO)){\r
- continue;\r
- }\r
-\r
- // update twi state\r
- twi_state = TWI_READY;\r
-}\r
-\r
-/* \r
- * Function twi_releaseBus\r
- * Desc releases bus control\r
- * Input none\r
- * Output none\r
- */\r
-void twi_releaseBus(void)\r
-{\r
- // release bus\r
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT);\r
-\r
- // update twi state\r
- twi_state = TWI_READY;\r
-}\r
-\r
-ISR(TWI_vect)\r
-{\r
- switch(TW_STATUS){\r
- // All Master\r
- case TW_START: // sent start condition\r
- case TW_REP_START: // sent repeated start condition\r
- // copy device address and r/w bit to output register and ack\r
- TWDR = twi_slarw;\r
- twi_reply(1);\r
- break;\r
-\r
- // Master Transmitter\r
- case TW_MT_SLA_ACK: // slave receiver acked address\r
- case TW_MT_DATA_ACK: // slave receiver acked data\r
- // if there is data to send, send it, otherwise stop \r
- if(twi_masterBufferIndex < twi_masterBufferLength){\r
- // copy data to output register and ack\r
- TWDR = twi_masterBuffer[twi_masterBufferIndex++];\r
- twi_reply(1);\r
- }else{\r
- if (twi_sendStop)\r
- twi_stop();\r
- else {\r
- twi_inRepStart = true; // we're gonna send the START\r
- // don't enable the interrupt. We'll generate the start, but we \r
- // avoid handling the interrupt until we're in the next transaction,\r
- // at the point where we would normally issue the start.\r
- TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ;\r
- twi_state = TWI_READY;\r
- }\r
- }\r
- break;\r
- case TW_MT_SLA_NACK: // address sent, nack received\r
- twi_error = TW_MT_SLA_NACK;\r
- twi_stop();\r
- break;\r
- case TW_MT_DATA_NACK: // data sent, nack received\r
- twi_error = TW_MT_DATA_NACK;\r
- twi_stop();\r
- break;\r
- case TW_MT_ARB_LOST: // lost bus arbitration\r
- twi_error = TW_MT_ARB_LOST;\r
- twi_releaseBus();\r
- break;\r
-\r
- // Master Receiver\r
- case TW_MR_DATA_ACK: // data received, ack sent\r
- // put byte into buffer\r
- twi_masterBuffer[twi_masterBufferIndex++] = TWDR;\r
- case TW_MR_SLA_ACK: // address sent, ack received\r
- // ack if more bytes are expected, otherwise nack\r
- if(twi_masterBufferIndex < twi_masterBufferLength){\r
- twi_reply(1);\r
- }else{\r
- twi_reply(0);\r
- }\r
- break;\r
- case TW_MR_DATA_NACK: // data received, nack sent\r
- // put final byte into buffer\r
- twi_masterBuffer[twi_masterBufferIndex++] = TWDR;\r
- if (twi_sendStop)\r
- twi_stop();\r
- else {\r
- twi_inRepStart = true; // we're gonna send the START\r
- // don't enable the interrupt. We'll generate the start, but we \r
- // avoid handling the interrupt until we're in the next transaction,\r
- // at the point where we would normally issue the start.\r
- TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ;\r
- twi_state = TWI_READY;\r
- } \r
- break;\r
- case TW_MR_SLA_NACK: // address sent, nack received\r
- twi_stop();\r
- break;\r
- // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case\r
-\r
- // Slave Receiver\r
- case TW_SR_SLA_ACK: // addressed, returned ack\r
- case TW_SR_GCALL_ACK: // addressed generally, returned ack\r
- case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack\r
- case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack\r
- // enter slave receiver mode\r
- twi_state = TWI_SRX;\r
- // indicate that rx buffer can be overwritten and ack\r
- twi_rxBufferIndex = 0;\r
- twi_reply(1);\r
- break;\r
- case TW_SR_DATA_ACK: // data received, returned ack\r
- case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack\r
- // if there is still room in the rx buffer\r
- if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){\r
- // put byte in buffer and ack\r
- twi_rxBuffer[twi_rxBufferIndex++] = TWDR;\r
- twi_reply(1);\r
- }else{\r
- // otherwise nack\r
- twi_reply(0);\r
- }\r
- break;\r
- case TW_SR_STOP: // stop or repeated start condition received\r
- // ack future responses and leave slave receiver state\r
- twi_releaseBus();\r
- // put a null char after data if there's room\r
- if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){\r
- twi_rxBuffer[twi_rxBufferIndex] = '\0';\r
- }\r
- // callback to user defined callback\r
- twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex);\r
- // since we submit rx buffer to "wire" library, we can reset it\r
- twi_rxBufferIndex = 0;\r
- break;\r
- case TW_SR_DATA_NACK: // data received, returned nack\r
- case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack\r
- // nack back at master\r
- twi_reply(0);\r
- break;\r
- \r
- // Slave Transmitter\r
- case TW_ST_SLA_ACK: // addressed, returned ack\r
- case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack\r
- // enter slave transmitter mode\r
- twi_state = TWI_STX;\r
- // ready the tx buffer index for iteration\r
- twi_txBufferIndex = 0;\r
- // set tx buffer length to be zero, to verify if user changes it\r
- twi_txBufferLength = 0;\r
- // request for txBuffer to be filled and length to be set\r
- // note: user must call twi_transmit(bytes, length) to do this\r
- twi_onSlaveTransmit();\r
- // if they didn't change buffer & length, initialize it\r
- if(0 == twi_txBufferLength){\r
- twi_txBufferLength = 1;\r
- twi_txBuffer[0] = 0x00;\r
- }\r
- // transmit first byte from buffer, fall\r
- case TW_ST_DATA_ACK: // byte sent, ack returned\r
- // copy data to output register\r
- TWDR = twi_txBuffer[twi_txBufferIndex++];\r
- // if there is more to send, ack, otherwise nack\r
- if(twi_txBufferIndex < twi_txBufferLength){\r
- twi_reply(1);\r
- }else{\r
- twi_reply(0);\r
- }\r
- break;\r
- case TW_ST_DATA_NACK: // received nack, we are done \r
- case TW_ST_LAST_DATA: // received ack, but we are done already!\r
- // ack future responses\r
- twi_reply(1);\r
- // leave slave receiver state\r
- twi_state = TWI_READY;\r
- break;\r
-\r
- // All\r
- case TW_NO_INFO: // no state information\r
- break;\r
- case TW_BUS_ERROR: // bus error, illegal stop/start\r
- twi_error = TW_BUS_ERROR;\r
- twi_stop();\r
- break;\r
- }\r
-}\r
-\r
jspc29 / avr.git / commitdiff