From: Philipp Klaus Date: Tue, 12 Dec 2017 17:48:02 +0000 (+0100) Subject: rm *~ (backup files) X-Git-Url: https://jspc29.x-matter.uni-frankfurt.de/git/?a=commitdiff_plain;h=a3039e48cc07eafb7b38fb0f2c14a4f9fe3ab37c;p=avr.git rm *~ (backup files) --- diff --git a/sensors/MagneticFieldSensor/MagnetSensor.c~ b/sensors/MagneticFieldSensor/MagnetSensor.c~ deleted file mode 100644 index 5ae763d..0000000 --- a/sensors/MagneticFieldSensor/MagnetSensor.c~ +++ /dev/null @@ -1,151 +0,0 @@ -#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); -} diff --git a/sensors/MagneticFieldSensor/MagnetSensor.h~ b/sensors/MagneticFieldSensor/MagnetSensor.h~ deleted file mode 100644 index 5a71ec7..0000000 --- a/sensors/MagneticFieldSensor/MagnetSensor.h~ +++ /dev/null @@ -1,6 +0,0 @@ -#include "main.h" - -uint8_t InitMagSensor(uint8_t Addr, uint16_t* Tref, float *SensX, float* SensY, float *SensZ); -void MeasureMagSens(uint8_t Addr, uint16_t Tref, float* SensX, float* SensY, float* SensZ); -float SensitivityXY(uint8_t Gain, uint8_t Res); -float SensitivityZ(uint8_t Gain, uint8_t Res); diff --git a/sensors/MagneticFieldSensor/Makefile~ b/sensors/MagneticFieldSensor/Makefile~ deleted file mode 100644 index 75a44f2..0000000 --- a/sensors/MagneticFieldSensor/Makefile~ +++ /dev/null @@ -1,233 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- - -# AVR-GCC Makefile template, derived from the WinAVR template (which -# is public domain), believed to be neutral to any flavor of "make" -# (GNU make, BSD make, SysV make) - - -MCU = atmega168pa -FORMAT = ihex -TARGET = main -SRC = $(TARGET).c uart/uart.c twi/twi.c MagnetSensor.c -ASRC = -OPT = 2 - -# Name of this Makefile (used for "make depend"). -MAKEFILE = Makefile - -# Debugging format. -# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. -# AVR (extended) COFF requires stabs, plus an avr-objcopy run. -DEBUG = stabs - -# Compiler flag to set the C Standard level. -# c89 - "ANSI" C -# gnu89 - c89 plus GCC extensions -# c99 - ISO C99 standard (not yet fully implemented) -# gnu99 - c99 plus GCC extensions -CSTANDARD = -std=gnu99 - -# Place -D or -U options here -CDEFS = -DF_CPU=16000000 - -# Place -I options here -CINCS = - - -CDEBUG = -g$(DEBUG) -CWARN = -Wall -Wstrict-prototypes -CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wl,--relax -#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) -CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) $(CTUNING) - - -#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs - - -#Additional libraries. - -# Minimalistic printf version -PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min - -# Floating point printf version (requires MATH_LIB = -lm below) -PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt - -PRINTF_LIB = - -# Minimalistic scanf version -SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min - -# Floating point + %[ scanf version (requires MATH_LIB = -lm below) -SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt - -SCANF_LIB = - -MATH_LIB = -lm - -# External memory options - -# 64 KB of external RAM, starting after internal RAM (ATmega128!), -# used for variables (.data/.bss) and heap (malloc()). -#EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff - -# 64 KB of external RAM, starting after internal RAM (ATmega128!), -# only used for heap (malloc()). -#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff - -EXTMEMOPTS = - -#LDMAP = $(LDFLAGS) -Wl,-Map=$(TARGET).map,--cref -LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB_FLOAT) $(SCANF_LIB) $(MATH_LIB) - - -# Programming support using avrdude. Settings and variables. - -AVRDUDE_PROGRAMMER = dragon_jtag -AVRDUDE_PORT = usb - -AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex -#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep - - -# Uncomment the following if you want avrdude's erase cycle counter. -# Note that this counter needs to be initialized first using -Yn, -# see avrdude manual. -#AVRDUDE_ERASE_COUNTER = -y - -# Uncomment the following if you do /not/ wish a verification to be -# performed after programming the device. -AVRDUDE_NO_VERIFY = -V - -# Increase verbosity level. Please use this when submitting bug -# reports about avrdude. See -# to submit bug reports. -#AVRDUDE_VERBOSE = -v -v - -AVRDUDE_BASIC = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -AVRDUDE_FLAGS = $(AVRDUDE_BASIC) $(AVRDUDE_NO_VERIFY) $(AVRDUDE_VERBOSE) $(AVRDUDE_ERASE_COUNTER) - - -CC = avr-gcc -OBJCOPY = avr-objcopy -OBJDUMP = avr-objdump -SIZE = avr-size -NM = avr-nm -AVRDUDE = avrdude -REMOVE = rm -f -MV = mv -f - -# Define all object files. -OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) - -# Define all listing files. -LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) - -# Combine all necessary flags and optional flags. -# Add target processor to flags. -ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) -ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) - - -# Default target. -all: build - -build: elf hex eep - -elf: $(TARGET).elf -hex: $(TARGET).hex -eep: $(TARGET).eep -lss: $(TARGET).lss -sym: $(TARGET).sym - - -# Program the device. -program: $(TARGET).hex $(TARGET).eep - $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) - - -size: - $(SIZE) -C --mcu=$(MCU) $(TARGET).elf - -# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. -COFFCONVERT=$(OBJCOPY) --debugging \ ---change-section-address .data-0x800000 \ ---change-section-address .bss-0x800000 \ ---change-section-address .noinit-0x800000 \ ---change-section-address .eeprom-0x810000 - - -coff: $(TARGET).elf - $(COFFCONVERT) -O coff-avr $(TARGET).elf $(TARGET).cof - - -extcoff: $(TARGET).elf - $(COFFCONVERT) -O coff-ext-avr $(TARGET).elf $(TARGET).cof - - -.SUFFIXES: .elf .hex .eep .lss .sym - -.elf.hex: - $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ - -.elf.eep: - -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ - --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ - -# Create extended listing file from ELF output file. -.elf.lss: - $(OBJDUMP) -h -S $< > $@ - -# Create a symbol table from ELF output file. -.elf.sym: - $(NM) -n $< > $@ - - - -# Link: create ELF output file from object files. -$(TARGET).elf: $(OBJ) - $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) - - -# Compile: create object files from C source files. -.c.o: - $(CC) -c $(ALL_CFLAGS) $< -o $@ - - -# Compile: create assembler files from C source files. -.c.s: - $(CC) -S $(ALL_CFLAGS) $< -o $@ - - -# Assemble: create object files from assembler source files. -.S.o: - $(CC) -c $(ALL_ASFLAGS) $< -o $@ - - - -# Target: clean project. -clean: - $(REMOVE) $(TARGET).hex $(TARGET).eep $(TARGET).cof $(TARGET).elf \ - $(TARGET).map $(TARGET).sym $(TARGET).lss \ - $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) - -depend: - if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ - then \ - sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ - $(MAKEFILE).$$$$ && \ - $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ - fi - echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ - >> $(MAKEFILE); \ - $(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) $(ASRC) >> $(MAKEFILE) - -.PHONY: all build elf hex eep lss sym program coff extcoff clean depend program_bootloader program_arduino program_leo - -program_bootloader: all - dfu-programmer $(MCU) erase && dfu-programmer $(MCU) flash $(TARGET).hex && dfu-programmer $(MCU) start - -# program_arduino: all -# avrdude -patmega32u4 -cavr109 -P$(PORT) -b 57600 -D -Uflash:w:$(TARGET).hex:i - -program_leo: all - avrdude -patmega32u4 -cavr109 -P/dev/ttyACM0 -b57600 -D -Uflash:w:$(TARGET).hex:i diff --git a/sensors/MagneticFieldSensor/main.c~ b/sensors/MagneticFieldSensor/main.c~ deleted file mode 100644 index adba17c..0000000 --- a/sensors/MagneticFieldSensor/main.c~ +++ /dev/null @@ -1,56 +0,0 @@ -/* - * main.c - * - * Created on: 07.03.2017 - * Author: Adrian Weber - */ -#include "main.h" - - -int main(void) -{ char s[30]; - uint8_t Status[4]={0,0,0,0}; - uint8_t Status_Mag[4]={0,0,0,0}; - uint16_t TRef[4]={0,0,0,0}; - float SensX[4]; - float SensY[4]; - float SensZ[4]; - - //For CLK setting - CLKPR = (0< -#include -#include -#include -#include -#include -#include -#include -#include -#include "uart/uart.h" -#include "MagnetSensor.h" -#include "twi/twi.h" -#include -#include - - -#ifndef F_CPU -#define F_CPU 16000000 -#endif - -# define USART_BAUDRATE 19200 -# define BAUD_PRESCALE (unsigned int)(1.0 * F_CPU / USART_BAUDRATE / 16 - 0.5); - -#define ADDR_MAG_0 0x0C -#define ADDR_MAG_1 0x0D -#define ADDR_MAG_2 0x0E -#define ADDR_MAG_3 0x0F - - - - -#ifndef __AVR_ATmega168PA__ -#define __AVR_ATmega168PA__ -#endif /* MAIN_H_ */ - - -#endif diff --git a/sensors/MagneticFieldSensor/twi.c~ b/sensors/MagneticFieldSensor/twi.c~ deleted file mode 100644 index a97a051..0000000 --- a/sensors/MagneticFieldSensor/twi.c~ +++ /dev/null @@ -1,570 +0,0 @@ -/* - twi.c - TWI/I2C library for Atmega32U4 - - Copyright (c) 2006 Nicholas Zambetti. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - - Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts - - Modified 2017 by Adrian Weber to use I2C without Arduino librarys -*/ - -#include -#include -#include -#include -#include -#include -#include -#include "uart.h" - -#ifndef cbi -#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) -#endif - -#ifndef sbi -#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) -#endif -#include "twi.h" - -static volatile uint8_t twi_state; -static volatile uint8_t twi_slarw; -static volatile uint8_t twi_sendStop; // should the transaction end with a stop -static volatile uint8_t twi_inRepStart; // in the middle of a repeated start - -static void (*twi_onSlaveTransmit)(void); -static void (*twi_onSlaveReceive)(uint8_t*, int); - -static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_masterBufferIndex; -static volatile uint8_t twi_masterBufferLength; - -static uint8_t twi_txBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_txBufferIndex; -static volatile uint8_t twi_txBufferLength; - -static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_rxBufferIndex; - -static volatile uint8_t twi_error; - - -/* - * Function twi_init - * Desc readys twi pins and sets twi bitrate - * Input none - * Output none - */ -void twi_init(void) -{ - // initialize state - twi_state = TWI_READY; - twi_sendStop = true; // default value - twi_inRepStart = false; - - // activate internal pullups for twi. - DDRD |= (1 << PD0); - DDRD |= (1 << PD1); - PORTD |= (1 << PD0); - PORTD |= (1 << PD1); - - // initialize twi prescaler and bit rate - cbi(TWSR, TWPS0); - cbi(TWSR, TWPS1); - TWBR = ((F_CPU / TWI_FREQ) - 16) / 2; - - /* twi bit rate formula from atmega128 manual pg 204 - SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) - note: TWBR should be 10 or higher for master mode - It is 72 for a 16mhz Wiring board with 100kHz TWI */ - - // enable twi module, acks, and twi interrupt - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); -} - -/* - * Function twi_disable - * Desc disables twi pins - * Input none - * Output none - */ -void twi_disable(void) -{ - // disable twi module, acks, and twi interrupt - TWCR &= ~(_BV(TWEN) | _BV(TWIE) | _BV(TWEA)); - - // deactivate internal pullups for twi. - DDRD |= (1 << PD0); - DDRD |= (1 << PD1); - PORTD |= (0 << PD0); - PORTD |= (0 << PD1); - -} - -/* - * Function twi_slaveInit - * Desc sets slave address and enables interrupt - * Input none - * Output none - */ -void twi_setAddress(uint8_t address) -{ - // set twi slave address (skip over TWGCE bit) - TWAR = address << 1; -} - -/* - * Function twi_setClock - * Desc sets twi bit rate - * Input Clock Frequency - * Output none - */ -void twi_setFrequency(uint32_t frequency) -{ - TWBR = ((F_CPU / frequency) - 16) / 2; - - /* twi bit rate formula from atmega128 manual pg 204 - SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) - note: TWBR should be 10 or higher for master mode - It is 72 for a 16mhz Wiring board with 100kHz TWI */ -} - -/* - * Function twi_readFrom - * Desc attempts to become twi bus master and read a - * series of bytes from a device on the bus - * Input address: 7bit i2c device address - * data: pointer to byte array - * length: number of bytes to read into array - * sendStop: Boolean indicating whether to send a stop at the end - * Output number of bytes read - */ -uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sendStop) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 0; - } - // wait until twi is ready, become master receiver - while(TWI_READY != twi_state){ - continue; - } - twi_state = TWI_MRX; - twi_sendStop = sendStop; - // reset error state (0xFF.. no error occured) - twi_error = 0xFF; - - // initialize buffer iteration vars - twi_masterBufferIndex = 0; - twi_masterBufferLength = length-1; // This is not intuitive, read on... - // On receive, the previously configured ACK/NACK setting is transmitted in - // response to the received byte before the interrupt is signalled. - // Therefor we must actually set NACK when the _next_ to last byte is - // received, causing that NACK to be sent in response to receiving the last - // expected byte of data. - - // build sla+w, slave device address + w bit - twi_slarw = TW_READ; - twi_slarw |= address << 1; - - if (true == twi_inRepStart) { - // if we're in the repeated start state, then we've already sent the start, - // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. - // We need to remove ourselves from the repeated start state before we enable interrupts, - // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning - // up. Also, don't enable the START interrupt. There may be one pending from the - // repeated start that we sent ourselves, and that would really confuse things. - twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR - do { - TWDR = twi_slarw; - } while(TWCR & _BV(TWWC)); - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START - } - else - // send start condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); - - // wait for read operation to complete - while(TWI_MRX == twi_state){ - continue; - } - - if (twi_masterBufferIndex < length) - length = twi_masterBufferIndex; - - // copy twi buffer to data - for(i = 0; i < length; ++i){ - data[i] = twi_masterBuffer[i]; - } - - return length; -} - -/* - * Function twi_writeTo - * Desc attempts to become twi bus master and write a - * series of bytes to a device on the bus - * Input address: 7bit i2c device address - * data: pointer to byte array - * length: number of bytes in array - * wait: boolean indicating to wait for write or not - * sendStop: boolean indicating whether or not to send a stop at the end - * Output 0 .. success - * 1 .. length to long for buffer - * 2 .. address send, NACK received - * 3 .. data send, NACK received - * 4 .. other twi error (lost bus arbitration, bus error, ..) - */ -uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait, uint8_t sendStop) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 1; - } - - // wait until twi is ready, become master transmitter - while(TWI_READY != twi_state){ - continue; - } - twi_state = TWI_MTX; - twi_sendStop = sendStop; - // reset error state (0xFF.. no error occured) - twi_error = 0xFF; - - // initialize buffer iteration vars - twi_masterBufferIndex = 0; - twi_masterBufferLength = length; - - // copy data to twi buffer - for(i = 0; i < length; ++i){ - twi_masterBuffer[i] = data[i]; - } - - // build sla+w, slave device address + w bit - twi_slarw = TW_WRITE; - twi_slarw |= address << 1; - - - // if we're in a repeated start, then we've already sent the START - // in the ISR. Don't do it again. - // - if (true == twi_inRepStart) { - // if we're in the repeated start state, then we've already sent the start, - // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. - // We need to remove ourselves from the repeated start state before we enable interrupts, - // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning - // up. Also, don't enable the START interrupt. There may be one pending from the - // repeated start that we sent outselves, and that would really confuse things. - twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR - do { - TWDR = twi_slarw; - } while(TWCR & _BV(TWWC)); - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START - } - else - // send start condition - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA); // enable INTs - - - // wait for write operation to complete - while(wait && (TWI_MTX == twi_state)){ - continue; - } - - if (twi_error == 0xFF) - return 0; // success - else if (twi_error == TW_MT_SLA_NACK) - return 2; // error: address send, nack received - else if (twi_error == TW_MT_DATA_NACK) - return 3; // error: data send, nack received - else - return 4; // other twi error -} - -/* - * Function twi_transmit - * Desc fills slave tx buffer with data - * must be called in slave tx event callback - * Input data: pointer to byte array - * length: number of bytes in array - * Output 1 length too long for buffer - * 2 not slave transmitter - * 0 ok - */ -uint8_t twi_transmit(const uint8_t* data, uint8_t length) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 1; - } - - // ensure we are currently a slave transmitter - if(TWI_STX != twi_state){ - return 2; - } - - // set length and copy data into tx buffer - twi_txBufferLength = length; - for(i = 0; i < length; ++i){ - twi_txBuffer[i] = data[i]; - } - - return 0; -} - -/* - * Function twi_attachSlaveRxEvent - * Desc sets function called before a slave read operation - * Input function: callback function to use - * Output none - */ -void twi_attachSlaveRxEvent( void (*function)(uint8_t*, int) ) -{ - twi_onSlaveReceive = function; -} - -/* - * Function twi_attachSlaveTxEvent - * Desc sets function called before a slave write operation - * Input function: callback function to use - * Output none - */ -void twi_attachSlaveTxEvent( void (*function)(void) ) -{ - twi_onSlaveTransmit = function; -} - -/* - * Function twi_reply - * Desc sends byte or readys receive line - * Input ack: byte indicating to ack or to nack - * Output none - */ -void twi_reply(uint8_t ack) -{ - // transmit master read ready signal, with or without ack - if(ack){ - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA); - }else{ - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT); - } -} - -/* - * Function twi_stop - * Desc relinquishes bus master status - * Input none - * Output none - */ -void twi_stop(void) -{ - // send stop condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO); - - // wait for stop condition to be exectued on bus - // TWINT is not set after a stop condition! - while(TWCR & _BV(TWSTO)){ - continue; - } - - // update twi state - twi_state = TWI_READY; -} - -/* - * Function twi_releaseBus - * Desc releases bus control - * Input none - * Output none - */ -void twi_releaseBus(void) -{ - // release bus - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT); - - // update twi state - twi_state = TWI_READY; -} - -ISR(TWI_vect) -{ - switch(TW_STATUS){ - // All Master - case TW_START: // sent start condition - case TW_REP_START: // sent repeated start condition - // copy device address and r/w bit to output register and ack - TWDR = twi_slarw; - twi_reply(1); - break; - - // Master Transmitter - case TW_MT_SLA_ACK: // slave receiver acked address - case TW_MT_DATA_ACK: // slave receiver acked data - // if there is data to send, send it, otherwise stop - if(twi_masterBufferIndex < twi_masterBufferLength){ - // copy data to output register and ack - TWDR = twi_masterBuffer[twi_masterBufferIndex++]; - twi_reply(1); - }else{ - if (twi_sendStop) - twi_stop(); - else { - twi_inRepStart = true; // we're gonna send the START - // don't enable the interrupt. We'll generate the start, but we - // avoid handling the interrupt until we're in the next transaction, - // at the point where we would normally issue the start. - TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; - twi_state = TWI_READY; - } - } - break; - case TW_MT_SLA_NACK: // address sent, nack received - twi_error = TW_MT_SLA_NACK; - twi_stop(); - break; - case TW_MT_DATA_NACK: // data sent, nack received - twi_error = TW_MT_DATA_NACK; - twi_stop(); - break; - case TW_MT_ARB_LOST: // lost bus arbitration - twi_error = TW_MT_ARB_LOST; - twi_releaseBus(); - break; - - // Master Receiver - case TW_MR_DATA_ACK: // data received, ack sent - // put byte into buffer - twi_masterBuffer[twi_masterBufferIndex++] = TWDR; - case TW_MR_SLA_ACK: // address sent, ack received - // ack if more bytes are expected, otherwise nack - if(twi_masterBufferIndex < twi_masterBufferLength){ - twi_reply(1); - }else{ - twi_reply(0); - } - break; - case TW_MR_DATA_NACK: // data received, nack sent - // put final byte into buffer - twi_masterBuffer[twi_masterBufferIndex++] = TWDR; - if (twi_sendStop) - twi_stop(); - else { - twi_inRepStart = true; // we're gonna send the START - // don't enable the interrupt. We'll generate the start, but we - // avoid handling the interrupt until we're in the next transaction, - // at the point where we would normally issue the start. - TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; - twi_state = TWI_READY; - } - break; - case TW_MR_SLA_NACK: // address sent, nack received - twi_stop(); - break; - // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case - - // Slave Receiver - case TW_SR_SLA_ACK: // addressed, returned ack - case TW_SR_GCALL_ACK: // addressed generally, returned ack - case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack - case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack - // enter slave receiver mode - twi_state = TWI_SRX; - // indicate that rx buffer can be overwritten and ack - twi_rxBufferIndex = 0; - twi_reply(1); - break; - case TW_SR_DATA_ACK: // data received, returned ack - case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack - // if there is still room in the rx buffer - if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ - // put byte in buffer and ack - twi_rxBuffer[twi_rxBufferIndex++] = TWDR; - twi_reply(1); - }else{ - // otherwise nack - twi_reply(0); - } - break; - case TW_SR_STOP: // stop or repeated start condition received - // ack future responses and leave slave receiver state - twi_releaseBus(); - // put a null char after data if there's room - if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ - twi_rxBuffer[twi_rxBufferIndex] = '\0'; - } - // callback to user defined callback - twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex); - // since we submit rx buffer to "wire" library, we can reset it - twi_rxBufferIndex = 0; - break; - case TW_SR_DATA_NACK: // data received, returned nack - case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack - // nack back at master - twi_reply(0); - break; - - // Slave Transmitter - case TW_ST_SLA_ACK: // addressed, returned ack - case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack - // enter slave transmitter mode - twi_state = TWI_STX; - // ready the tx buffer index for iteration - twi_txBufferIndex = 0; - // set tx buffer length to be zero, to verify if user changes it - twi_txBufferLength = 0; - // request for txBuffer to be filled and length to be set - // note: user must call twi_transmit(bytes, length) to do this - twi_onSlaveTransmit(); - // if they didn't change buffer & length, initialize it - if(0 == twi_txBufferLength){ - twi_txBufferLength = 1; - twi_txBuffer[0] = 0x00; - } - // transmit first byte from buffer, fall - case TW_ST_DATA_ACK: // byte sent, ack returned - // copy data to output register - TWDR = twi_txBuffer[twi_txBufferIndex++]; - // if there is more to send, ack, otherwise nack - if(twi_txBufferIndex < twi_txBufferLength){ - twi_reply(1); - }else{ - twi_reply(0); - } - break; - case TW_ST_DATA_NACK: // received nack, we are done - case TW_ST_LAST_DATA: // received ack, but we are done already! - // ack future responses - twi_reply(1); - // leave slave receiver state - twi_state = TWI_READY; - break; - - // All - case TW_NO_INFO: // no state information - break; - case TW_BUS_ERROR: // bus error, illegal stop/start - twi_error = TW_BUS_ERROR; - twi_stop(); - break; - } -} -