From: Erik Andresen Date: Thu, 2 Apr 2020 05:20:40 +0000 (+0200) Subject: avr motor_ctrl: watchdog configuration X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=5d5f12eaf31287bcbaf01ff211b1366bd48c0658;hp=5265263d46b9396252d852a763e68913ad3a913e avr motor_ctrl: watchdog configuration --- diff --git a/avr/motor_ctrl/last_i2c_status.py b/avr/motor_ctrl/last_i2c_status.py new file mode 100755 index 0000000..a96c8ce --- /dev/null +++ b/avr/motor_ctrl/last_i2c_status.py @@ -0,0 +1,9 @@ +#!/usr/bin/env python +# -*- coding: iso-8859-15 -*- + +from smbus import SMBus + + +i2c = SMBus(2) +s = i2c.read_byte_data(0x50>>1, 0xa3) +print "0x%x" % s diff --git a/avr/motor_ctrl/last_i2c_status.rb b/avr/motor_ctrl/last_i2c_status.rb new file mode 100755 index 0000000..ee34c0f --- /dev/null +++ b/avr/motor_ctrl/last_i2c_status.rb @@ -0,0 +1,10 @@ +#!/usr/bin/ruby -I ~/ruby_test/.bundle/ruby/2.3.0/gems/i2c-0.4.2/lib + +require 'rubygems' +require 'bundler/setup' +require "i2c" + +i2c = I2C.create("/dev/i2c-2") + +a = i2c.read(0x50>>1, 1, 0xa3) +puts "0x%x" % a.unpack("C") diff --git a/avr/motor_ctrl/last_i2c_status.txt b/avr/motor_ctrl/last_i2c_status.txt new file mode 100644 index 0000000..71c0e00 --- /dev/null +++ b/avr/motor_ctrl/last_i2c_status.txt @@ -0,0 +1,4 @@ +0xc0 +0xa0 +0xc0 +0xa0 diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index f7c9f0a..a4c984d 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -96,6 +96,8 @@ * 0xA0 Reset reason * 0xA1 Error status * 0xA2 count test + * 0xA3 last i2c status before boot + * 0xA4 Watchdog enable * free * 0xff Bootloader */ @@ -187,6 +189,8 @@ static volatile uint8_t aft_handicap=0; static volatile uint8_t error_state=0; static volatile uint8_t last_man_update_count=0; static volatile uint8_t last_i2c_status = 0; +static uint8_t last_i2c_status_boot = 0; +static volatile uint8_t watchdog_enable = 0; ISR(TWI_vect) { @@ -383,6 +387,10 @@ ISR(TWI_vect) cmd_vel.bUpdate = 1; TWI_ACK; break; + case 0xA4: // Watchdog enable + watchdog_enable = TWDR; + TWI_ACK; + break; case 0xff: // bootloader bootloader = TWDR; default: @@ -619,6 +627,12 @@ ISR(TWI_vect) case 0xA2: // count test TWDR = count_test; TWI_ACK; + case 0xA3: // last i2c status before boot + TWDR = last_i2c_status_boot; + TWI_ACK; + case 0xA4: // Watchdog enable + TWDR = watchdog_enable; + TWI_ACK; default: TWDR = 0; TWI_NAK; @@ -633,6 +647,10 @@ ISR(TWI_vect) default: TWI_RESET; } + + if (watchdog_enable == 2) { + wdt_reset(); + } } @@ -1090,6 +1108,8 @@ int main(void) { printf_P(PSTR("\r\nStart\r\n")); + last_i2c_status_boot = eeprom_read_byte((uint8_t*)1); + set_sleep_mode(SLEEP_MODE_IDLE); // Enable Timer 1 Overflow Interrupt TIMSK = (1 << TOIE1); @@ -1097,6 +1117,15 @@ int main(void) { while(1) { switch(ireg) { + case 0xA4: // Watchdog enable + if (watchdog_enable == 1) { + wdt_enable(WDTO_2S); + watchdog_enable = 2; + } else if (watchdog_enable == 0) { + wdt_disable(); + watchdog_enable = 3; + } + break; case 0xff: // Magic reg that starts the bootloader if (bootloader == 0xa5) { cli(); @@ -1161,6 +1190,8 @@ int main(void) { cmd_vel.bUpdate = 1; if (last_man_update_count == 100) { printf_P(PSTR("I2C State: 0x%x\r\n"), last_i2c_status); + eeprom_write_byte((uint8_t*)1, last_i2c_status); + eeprom_busy_wait(); } last_man_update_count = I2C_TIMEOUT_DISABLE; } diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index d51cbbf..c7a3c36 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -1,727 +1,737 @@ -:100000000C94F4000C9411010C9411010C94110146 -:100010000C9411010C9411010C9411010C94110118 -:100020000C9411010C9478040C9411010C9411019E -:100030000C9411010C9463050C9411010C941101A2 -:100040000C9411010C9411010C9411010C941301E6 -:100050000C94110113031D0316031D0319031D0343 -:100060001B031D035A045A045A045A045A045A041E -:100070001F03370324033703290337032E033703F2 -:100080005A045A045A045A045A045A045A045A0480 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