motor_ctrl: i2c fixes

[ros_wild_thumper.git] / avr / motor_ctrl / main.c

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 7781fb4af01654b33ea2a53df04a1bbaf63b7967..3642d4a8b222e59530eaafb28cb8a287f3dcd4da 100644 (file)
--- 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 <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"
 
 /*
 #include "uart.h"
 
 /*


@@ -111,9 +114,9 @@
 #define PWM_BREAK INT16_MIN
 #define STALL_LIMIT 140000
 
 #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_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);
 #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;
 
        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;
                        TWI_ACK;
                        ireg = 0;
                        break;

-               case 0x80: // write
+               case TW_SR_DATA_ACK: // write

                        switch(ireg) {
                                case 0x00: // register select
                                        ireg = TWDR;
                        switch(ireg) {
                                case 0x00: // register select
                                        ireg = TWDR;


@@ -381,8 +384,8 @@ ISR(TWI_vect)
                        }
                        ireg++;
                        break;
                        }
                        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;
                        switch(ireg) {
                                case 0x02: // Motor 1 PWM
                                        TWDR = OCR1A;


@@ -616,6 +619,9 @@ ISR(TWI_vect)
                        }
                        ireg++;
                        break;
                        }
                        ireg++;
                        break;

+               case TW_SR_STOP:
+                       TWI_ACK;
+                       break;

                default:
                        TWI_RESET;
        }
                default:
                        TWI_RESET;
        }


@@ -1041,7 +1047,7 @@ int main(void) {
 
        // I2C
        TWAR = 0x50;
 
        // I2C
        TWAR = 0x50;

-       TWI_RESET;
+       TWI_ACK;

 
        // Motor 1 & 2
        // Also used for PWM frequency TIMER1_FREQ (F_CPU/256)
 
        // 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();
                        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;
                }
                                }
                                break;
                }