From d1683df60f044ecabcda11f24c835122a8cf20e4 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Tue, 5 Sep 2017 16:32:22 +0200
Subject: [PATCH] motor_ctrl: i2c fixes
---
avr/motor_ctrl/main.c | 31 +-
avr/motor_ctrl/main.hex | 1348 ++++++++++++++++++++-------------------
2 files changed, 701 insertions(+), 678 deletions(-)
diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 7781fb4..3642d4a 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -5,6 +5,9 @@
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/sleep.h>
+#include <util/twi.h>
+#include <avr/eeprom.h>
+#include <avr/wdt.h>
#include "uart.h"
/*
@@ -111,9 +114,9 @@
#define PWM_BREAK INT16_MIN
#define STALL_LIMIT 140000
-#define TWI_ACK TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
-#define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
+#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);
#define ENABLE_PWM_MOTOR1 TCCR1A |= (1 << COM1A1)
#define ENABLE_PWM_MOTOR2 TCCR1A |= (1 << COM1B1)
#define ENABLE_PWM_MOTOR3 TCCR2 |= (1 << COM21);
@@ -188,13 +191,13 @@ ISR(TWI_vect)
static ufloat_t tmp_speed;
static ufloat_t tmp_angle;
- 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;
@@ -381,8 +384,8 @@ 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 0x02: // Motor 1 PWM
TWDR = OCR1A;
@@ -616,6 +619,9 @@ ISR(TWI_vect)
}
ireg++;
break;
+ case TW_SR_STOP:
+ TWI_ACK;
+ break;
default:
TWI_RESET;
}
@@ -1041,7 +1047,7 @@ int main(void) {
// I2C
TWAR = 0x50;
- TWI_RESET;
+ TWI_ACK;
// Motor 1 & 2
// Also used for PWM frequency TIMER1_FREQ (F_CPU/256)
@@ -1082,10 +1088,11 @@ 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/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index 1707ad2..e21a45e 100644
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -1,518 +1,518 @@
:100000000C94E6000C9403010C9403010C9403017E
:100010000C9403010C9403010C9403010C94030150
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-:100030000C9403010C942B050C9403010C94030104
+:100020000C9403010C9455040C9403010C940301EB
+:100030000C9403010C9440050C9403010C940301EF
:100040000C9403010C9403010C9403010C9405011E
-:100050000C940301EA02F402ED02F402F002F4024D
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+:100050000C940301F002FA02F302FA02F602FA0229
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--
2.39.5