avr: test i2c fixes for status = TW_NO_INFO
authorErik Andresen <erik@vontaene.de>
Tue, 1 Jan 2019 11:03:00 +0000 (12:03 +0100)
committerErik Andresen <erik@vontaene.de>
Tue, 1 Jan 2019 11:03:00 +0000 (12:03 +0100)
avr/motor_ctrl/Makefile
avr/motor_ctrl/main.c
avr/motor_ctrl/main.hex
avr/nano/main.c
avr/nano/main.hex

index 2f12329..585034c 100644 (file)
@@ -321,7 +321,8 @@ gccversion:
 
 # Program the device.
 program: $(TARGET).hex $(TARGET).eep
-       $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+       #$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+       ../../scripts/pyshared/bootloader.py -b -j 0x50 $(TARGET).hex
 
 
 
index b0d9cbf..f7c9f0a 100644 (file)
@@ -8,6 +8,7 @@
 #include <util/twi.h>
 #include <avr/eeprom.h>
 #include <avr/wdt.h>
+#include <avr/pgmspace.h>
 #include "uart.h"
 
 /*
@@ -184,7 +185,8 @@ static volatile uint8_t count_test=0;
 static volatile uint8_t front_handicap=0;
 static volatile uint8_t aft_handicap=0;
 static volatile uint8_t error_state=0;
-static volatile uint8_t last_man_update_count=I2C_TIMEOUT_DISABLE;
+static volatile uint8_t last_man_update_count=0;
+static volatile uint8_t last_i2c_status = 0;
 
 ISR(TWI_vect)
 {
@@ -193,6 +195,7 @@ ISR(TWI_vect)
        static ufloat_t tmp_speed;
        static ufloat_t tmp_angle;
 
+       last_i2c_status = TW_STATUS;
        switch(TW_STATUS)
        {
                case TW_SR_SLA_ACK: // start write
@@ -625,6 +628,8 @@ ISR(TWI_vect)
                case TW_SR_STOP:
                        TWI_ACK;
                        break;
+               case TW_NO_INFO:
+                       break;
                default:
                        TWI_RESET;
        }
@@ -1083,7 +1088,7 @@ int main(void) {
        TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << CS00);
        OCR0 = 0;
 
-       printf("\r\nStart\r\n");
+       printf_P(PSTR("\r\nStart\r\n"));
 
        set_sleep_mode(SLEEP_MODE_IDLE);
        // Enable Timer 1 Overflow Interrupt
@@ -1149,11 +1154,14 @@ int main(void) {
                        count_test++;
                        if (last_man_update_count != I2C_TIMEOUT_DISABLE) last_man_update_count++;
 
-                       if (last_man_update_count > 100) {
+                       if (last_man_update_count >= 100) {
                                // ~1s without a new i2c command
                                cmd_vel.speed = 0;
                                cmd_vel.angle = 0;
                                cmd_vel.bUpdate = 1;
+                               if (last_man_update_count == 100) {
+                                       printf_P(PSTR("I2C State: 0x%x\r\n"), last_i2c_status);
+                               }
                                last_man_update_count = I2C_TIMEOUT_DISABLE;
                        }
                }
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+:102C80008A819B8193838283452B29F4F09367018A\r
+:102C9000E093660142C01396FC93EE931297ED0108\r
+:102CA000499159919E01240F351FE217F30771F4E2\r
+:102CB00080819181840F951F029611969C938E932B\r
+:102CC0008281938113969C938E931297E0E0F0E0BB\r
+:102CD000D80112968D919C911397009719F0F801E5\r
+:102CE0008C01F6CF8D919C9198012E5F3F4F820F02\r
+:102CF000931F20916401309165012817390769F409\r
+:102D0000309729F4109267011092660102C0138275\r
+:102D100012821093650100936401DF91CF911F919E\r
+:102D20000F910895DC0101C06D9341505040E0F7D0\r
+:102D30000895262FE199FECF9FBB8EBB2DBB0FB60A\r
+:102D4000F894E29AE19A0FBE01960895F894FFCFA5\r
+:102D500000800080008000800101000068012000E8\r
 :00000001FF\r
index 9f0724b..cf3070c 100644 (file)
@@ -216,6 +216,8 @@ ISR(TWI_vect)
                case TW_SR_STOP:
                        TWI_ACK;
                        break;
+               case TW_NO_INFO:
+                       break;
                default:
                        TWI_RESET;
        }
index 206cdf5..b0aefa8 100644 (file)
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-:100010000C947C000C94F5010C947C000C947C00F6\r
+:100000000C945F000C9466010C94B0010C947C007D\r
+:100010000C947C000C94FA010C947C000C947C00F1\r
 :100020000C947C000C947C000C947C000C947C0060\r
 :100030000C947C000C947C000C947C000C947C0050\r
-:100040000C947C000C947C000C9456020C947C0064\r
+:100040000C947C000C947C000C945B020C947C005F\r
 :100050000C947C000C947C000C947C000C947C0030\r
-:100060000C947E000C947C00E1000A01E6000A0179\r
-:10007000FB000A0100010A01F1000A0105010A0161\r
-:10008000F6000A0110011001100110011001100109\r
-:10009000FB000A0100010A0105010A010D0A53745F\r
+:100060000C947E000C947C00E6000F01EB000F0165\r
+:1000700000010F0105010F01F6000F010A010F0138\r
+:10008000FB000F01150115011501150115011501E1\r
+:1000900000010F0105010F010A010F010D0A537440\r
 :1000A0006172740D0A0045464765666700202B2D76\r
 :1000B0002E30313233343536373839680000112468\r
 :1000C0001FBECFEFD8E0DEBFCDBF21E0A6E0B1E09C\r
 :1000D00001C01D92A739B207E1F711E0A0E0B1E03D\r
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+:1000E000E6EEF4E102C005900D92A630B107D9F713\r
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 :100100000FB60F9211248F939F93AF93BF93EF93EA\r
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