avr: test i2c fixes for status = TW_NO_INFO

author Erik Andresen <erik@vontaene.de>

Tue, 1 Jan 2019 11:03:00 +0000 (12:03 +0100)

committer Erik Andresen <erik@vontaene.de>

Tue, 1 Jan 2019 11:03:00 +0000 (12:03 +0100)
author Erik Andresen <erik@vontaene.de>
Tue, 1 Jan 2019 11:03:00 +0000 (12:03 +0100)
committer Erik Andresen <erik@vontaene.de>
Tue, 1 Jan 2019 11:03:00 +0000 (12:03 +0100)
diff --git a/avr/motor_ctrl/Makefile b/avr/motor_ctrl/Makefile

index 2f123296473aec19f63edd3b3a6a82189807d399..585034ce04c7eb4a0fe1dd8258e3c3036647cb67 100644 (file)
--- a/avr/motor_ctrl/Makefile
+++ b/avr/motor_ctrl/Makefile
@@ -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
  
  
  
diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c

index b0d9cbfe00aba102cc72ce4f82173b5eefa30eac..f7c9f0ae73822057176994f8082b4660970988bc 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/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"
  
  /*
@@ -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;
                         }
                 }
diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex

index a9b8eea51dfd55f5f40d23cb0b2efaabf529aeca..d51cbbf4c9749fcaf6161b8d682d684dd920a791 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -1,724 +1,727 @@
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+:102D20000F910895DC0101C06D9341505040E0F7D0\r
+:102D30000895262FE199FECF9FBB8EBB2DBB0FB60A\r
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+:102D500000800080008000800101000068012000E8\r
  :00000001FF\r
diff --git a/avr/nano/main.c b/avr/nano/main.c

index 9f0724bec8a601ada62860454a804783b43e76a3..cf3070cb92c34ff23ccdca1437b24bfb0b891ddc 100644 (file)
--- a/avr/nano/main.c
+++ b/avr/nano/main.c
@@ -216,6 +216,8 @@ ISR(TWI_vect)
                 case TW_SR_STOP:
                         TWI_ACK;
                         break;
+               case TW_NO_INFO:
+                       break;
                 default:
                         TWI_RESET;
         }
diff --git a/avr/nano/main.hex b/avr/nano/main.hex

index 206cdf59ae72a236aeacd9b1ff808d13c2a0372d..b0aefa840fd38cc26e7cdc72ac84a5e73902735c 100644 (file)
--- a/avr/nano/main.hex
+++ b/avr/nano/main.hex
@@ -1,336 +1,337 @@
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  :00000001FF\r
author	Erik Andresen <erik@vontaene.de>
	Tue, 1 Jan 2019 11:03:00 +0000 (12:03 +0100)
committer	Erik Andresen <erik@vontaene.de>
	Tue, 1 Jan 2019 11:03:00 +0000 (12:03 +0100)
avr/motor_ctrl/Makefile		patch \| blob \| history
avr/motor_ctrl/main.c		patch \| blob \| history
avr/motor_ctrl/main.hex		patch \| blob \| history
avr/nano/main.c		patch \| blob \| history
avr/nano/main.hex		patch \| blob \| history