From: Erik Andresen Date: Tue, 1 Jan 2019 11:03:00 +0000 (+0100) Subject: avr: test i2c fixes for status = TW_NO_INFO X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=e46de78ee34c663f5ac1ceb0656acd0cf9370288;hp=cf3341a02d703c3e8cbc4f3baffa45184316bc02 avr: test i2c fixes for status = TW_NO_INFO --- diff --git a/avr/motor_ctrl/Makefile b/avr/motor_ctrl/Makefile index 2f12329..585034c 100644 --- 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 b0d9cbf..f7c9f0a 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -8,6 +8,7 @@ #include #include #include +#include #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 a9b8eea..d51cbbf 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -1,724 +1,727 @@ -:100000000C94E6000C9403010C9403010C9403017E -:100010000C9403010C9403010C9403010C94030150 -:100020000C9403010C9463040C9403010C940301DD -:100030000C9403010C944E050C9403010C940301E1 -:100040000C9403010C9403010C9403010C9405011E -:100050000C940301FE0208030103080304030803D0 -:1000600006030803450445044504450445044504C6 -:100070000A0322030F03220314032203190322039A -:100080004504450445044504450445044504450428 -:1000900025032A032F03340339033E034303480394 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