avr: test i2c fixes for status = TW_NO_INFO

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

diff --git a/avr/nano/main.c b/avr/nano/main.c
index 16a316cd655688767528f4d2763634f24ed1fcfe..cf3070cb92c34ff23ccdca1437b24bfb0b891ddc 100644 (file)
--- a/avr/nano/main.c
+++ b/avr/nano/main.c
@@ -8,6 +8,7 @@
 #include <util/twi.h>
 #include <avr/eeprom.h>
 #include <avr/wdt.h>
+#include <avr/pgmspace.h>
 #include "uart.h"
 
 /*
@@ -25,6 +26,8 @@
  * 0x0A Voltage LSB
  * 0x0B Distance forward2 MSB
  * 0x0C Distance forward2 LSB
+ * 0x0D Current MSB
+ * 0x0E Current LSB
  *
  * 0x15 Distance forward1 MSB (read only)
  * 0x16 Distance forward1 LSB (read only)
@@ -37,6 +40,33 @@
  */
 
 
+/**
+ * Nano Pinout
+ * A0 PC0/ADC0
+ * A1 PC1/ADC1
+ * A2 PC2/ADC2
+ * A3 PC3/ADC3
+ * A4 PC4/ADC4
+ * A5 PC5/ADC5
+ * A6 ADC6
+ * A7 ADC7
+ * D0 PD0/RX
+ * D1 PD1/TX
+ * D2 PD2/IND0
+ * D3 PD3/IND1
+ * D4 PD4/T0
+ * D5 PD5/T1
+ * D6 PD6/AIN0
+ * D7 PD7/AIN1
+ * D8 PB0/ICP
+ * D9 PB1/OC1
+ * D10 PB2/SS
+ * D11 PB3/MOSI
+ * D12 PB4/MISO
+ * D13 PB5/SCK
+ */
+
+
 #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);
@@ -52,6 +82,7 @@ static volatile uint8_t start_dist_fwd1=0;
 static volatile uint8_t start_dist_fwd2=0;
 static volatile uint8_t start_dist_bwd=0;
 static volatile uint16_t voltage=0;
+static volatile uint16_t current=0;
 static volatile uint8_t pind_pre=0;
 
 ISR(TWI_vect)
@@ -81,7 +112,7 @@ ISR(TWI_vect)
                                default:
                                        TWI_NAK;
                        }
-                       ireg++;
+                       if (ireg < 0xff) ireg++;
                        break;
                case TW_ST_SLA_ACK: // start read
                case TW_ST_DATA_ACK: // read
@@ -140,6 +171,15 @@ ISR(TWI_vect)
                                        TWDR = tmp16;
                                        TWI_ACK;
                                        break;
+                               case 0x0D: // Current MSB
+                                       tmp16 = current;
+                                       TWDR = tmp16>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x0E: // Current LSB
+                                       TWDR = tmp16;
+                                       TWI_ACK;
+                                       break;
                                case 0x15: // Distance forward1 MSB
                                        tmp16 = dist_forward1;
                                        TWDR = tmp16>>8;
@@ -176,6 +216,8 @@ ISR(TWI_vect)
                case TW_SR_STOP:
                        TWI_ACK;
                        break;
+               case TW_NO_INFO:
+                       break;
                default:
                        TWI_RESET;
        }
@@ -231,6 +273,16 @@ static unsigned short get_voltage(void) {
 }
 
 
+/*
+ * zero offset: 0.5V
+ * sensitivity: 133mV/A
+ */
+static unsigned short get_current(void) {
+       double volt = ReadChannel(3)*5.0171; // mV
+       return (volt-517.78)/0.12656; // mA
+}
+
+
 ISR(INT0_vect) {
        static uint16_t t_start=0;
        uint16_t t_now = TCNT1;
@@ -305,7 +357,7 @@ int main(void) {
        EICRA = (1 << ISC10) | (1 << ISC00);
        PCICR = (1 << PCIE2);
 
-       printf("\r\nStart\r\n");
+       printf_P(PSTR("\r\nStart\r\n"));
 
        set_sleep_mode(SLEEP_MODE_IDLE);
        sei();
@@ -320,6 +372,9 @@ int main(void) {
                        case 0x09: // voltage
                                voltage = get_voltage();
                                break;
+                       case 0x0d: // current
+                               current = get_current();
+                               break;
                        case 0xff: // Magic reg that starts the bootloader
                                if (bootloader == 0xa5) {
                                        cli();