From: Erik Andresen <erik@vontaene.de>
Date: Sat, 16 Sep 2017 19:38:00 +0000 (+0200)
Subject: avr/nano: i2c fixes
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=7d4c9ee68cdd0e924df9d5517c5849047a76e875;p=ros_wild_thumper.git

avr/nano: i2c fixes
---

diff --git a/avr/nano/main.c b/avr/nano/main.c
index aba8aa1..16a316c 100644
--- a/avr/nano/main.c
+++ b/avr/nano/main.c
@@ -5,6 +5,9 @@
 #include <avr/interrupt.h>
 #include <avr/sleep.h>
 #include <util/delay.h>
+#include <util/twi.h>
+#include <avr/eeprom.h>
+#include <avr/wdt.h>
 #include "uart.h"
 
 /*
@@ -34,9 +37,9 @@
  */
 
 
-#define TWI_ACK		TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
-#define TWI_RESET	TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
-#define TWI_NAK		TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
+#define TWI_ACK   TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWEN) | (1<<TWIE)
+#define TWI_NAK   TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
+#define TWI_RESET TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWSTO) | (1<<TWEN) | (1<<TWIE);
 
 static volatile uint8_t ireg=0;
 static volatile uint8_t bootloader=0;
@@ -55,13 +58,13 @@ ISR(TWI_vect)
 {
 	static int16_t tmp16=0;
 
-	switch (TWSR & 0xF8)
+	switch(TW_STATUS)
 	{  
-		case 0x60: // start write
+		case TW_SR_SLA_ACK: // start write
 			TWI_ACK;
 			ireg = 0;
 			break;
-		case 0x80: // write
+		case TW_SR_DATA_ACK: // write
 			switch(ireg) {
 				case 0x00: // register select
 					ireg = TWDR;
@@ -80,8 +83,8 @@ ISR(TWI_vect)
 			}
 			ireg++;
 			break;
-		case 0xA8: // start read
-		case 0xB8: // read
+		case TW_ST_SLA_ACK: // start read
+		case TW_ST_DATA_ACK: // read
 			switch(ireg) {
 				case 0x01: // Distance left MSB
 					tmp16 = dist_left;
@@ -170,6 +173,9 @@ ISR(TWI_vect)
 			}
 			ireg++;
 			break;
+		case TW_SR_STOP:
+			TWI_ACK;
+			break;
 		default:
 			TWI_RESET;
 	}
@@ -289,7 +295,7 @@ int main(void) {
 
 	// I2C
 	TWAR = 0x52;
-	TWI_RESET;
+	TWI_ACK;
 
 	// Timer 1: Normal mode, Top: 0xffff, Prescaler: F_CPU/256=62500Hz
 	TCCR1A = 0x0;
@@ -317,10 +323,11 @@ int main(void) {
 			case 0xff: // Magic reg that starts the bootloader
 				if (bootloader == 0xa5) {
 					cli();
-					{
-						void (*start)(void) = (void*)0x1800;
-						start();
-					}
+					// write mark to first area in eeprom
+					eeprom_write_byte((uint8_t*)0, 123);
+					eeprom_busy_wait();
+					// Use watchdog to restart
+					wdt_enable(WDTO_15MS);
 				}
 				break;
 		}
diff --git a/avr/nano/main.hex b/avr/nano/main.hex
index be5260d..7f1bb78 100644
--- a/avr/nano/main.hex
+++ b/avr/nano/main.hex
@@ -4,34 +4,34 @@
 :100030000C9477000C9477000C9477000C94770064
 :100040000C9477000C9477000C9443020C94770086
 :100050000C9477000C9477000C9477000C94770044
-:100060000C9479000C947700D000F400D500F400D3
-:10007000E500F400EA00F400E000F400EF00F40012
-:10008000FA00FA00FA00FA00FA00FA00FA00FA00A0
-:10009000E500F400EA00F400EF00F400454647658F
+:100060000C9479000C947700D300F700D800F700C7
+:10007000E800F700ED00F700E300F700F200F700FA
+:10008000FD00FD00FD00FD00FD00FD00FD00FD0088
+:10009000E800F700ED00F700F200F700454647657D
 :1000A000666700202B2D2E30313233343536373809
 :1000B0003968000011241FBECFEFD8E0DEBFCDBFEE
-:1000C00011E0A0E0B1E0EEE6F3E102C005900D9290
+:1000C00011E0A0E0B1E0ECE9F3E102C005900D928F
 :1000D000A031B107D9F721E0A0E1B1E001C01D9244
-:1000E000AF39B207E1F70E944D030C94B5090C94A7
+:1000E000AF39B207E1F70E944D030C94CC090C9490
 :1000F00000001F920F920FB60F9211248F939F93BF
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+:1001C0009093BB0018C08091190190911A01F4CF4F
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+:1001E0001F01EACF8091200190912101E5CF8091FC
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 :10022000AF919F918F910F900FBE0F901F901895D7
 :1002300093E890937A0080937C0080917C008064A6
 :1002400080937C0080917A00806480937A00809112
@@ -39,23 +39,23 @@
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@@ -64,9 +64,9 @@
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 :10040000840070918500898184FF05C0709311017B
 :100410006093100121C08091100190911101681B1F
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