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authorNicolas Schodet2007-10-07 22:16:03 +0200
committerNicolas Schodet2007-10-07 22:16:03 +0200
commit583f00e0b8efe2832f63efb478a51d3ad35e92ed (patch)
treee2cd42af768a4d248883d7fcebcb2124aad6fbe5 /digital/avr/modules/twi
parente38de75f64149d148e66572e330b7ce808782b1f (diff)
Included SI2E avr modules.
Well, this need more works...
Diffstat (limited to 'digital/avr/modules/twi')
-rw-r--r--digital/avr/modules/twi/Makefile5
-rw-r--r--digital/avr/modules/twi/Makefile.module1
-rw-r--r--digital/avr/modules/twi/README23
-rw-r--r--digital/avr/modules/twi/avrconfig.h31
-rw-r--r--digital/avr/modules/twi/test/Makefile.master25
-rw-r--r--digital/avr/modules/twi/test/Makefile.slave24
-rw-r--r--digital/avr/modules/twi/test/avrconfig_master.h92
-rw-r--r--digital/avr/modules/twi/test/avrconfig_slave.h92
-rw-r--r--digital/avr/modules/twi/test/test_twi_master.c94
-rw-r--r--digital/avr/modules/twi/test/test_twi_sl.c51
-rw-r--r--digital/avr/modules/twi/twi.avr.c363
-rw-r--r--digital/avr/modules/twi/twi.c33
-rw-r--r--digital/avr/modules/twi/twi.h55
13 files changed, 889 insertions, 0 deletions
diff --git a/digital/avr/modules/twi/Makefile b/digital/avr/modules/twi/Makefile
new file mode 100644
index 00000000..731c2ce3
--- /dev/null
+++ b/digital/avr/modules/twi/Makefile
@@ -0,0 +1,5 @@
+BASE = ../../..
+DOC = twi.html
+EXTRACTDOC = twi.h avrconfig.h
+
+include $(BASE)/make/Makefile.gen
diff --git a/digital/avr/modules/twi/Makefile.module b/digital/avr/modules/twi/Makefile.module
new file mode 100644
index 00000000..422cc96e
--- /dev/null
+++ b/digital/avr/modules/twi/Makefile.module
@@ -0,0 +1 @@
+twi_SOURCES = twi.c
diff --git a/digital/avr/modules/twi/README b/digital/avr/modules/twi/README
new file mode 100644
index 00000000..8fd9677a
--- /dev/null
+++ b/digital/avr/modules/twi/README
@@ -0,0 +1,23 @@
+avr.twi - TWI AVR module.
+
+Twi module for AVR.
+
+Copyright (C) 2005 Demonchy Clément
+
+Robot APB Team/Efrei 2006.
+ Web: http://assos.efrei.fr/robot/
+ Email: robot AT efrei DOT fr
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
diff --git a/digital/avr/modules/twi/avrconfig.h b/digital/avr/modules/twi/avrconfig.h
new file mode 100644
index 00000000..638a773d
--- /dev/null
+++ b/digital/avr/modules/twi/avrconfig.h
@@ -0,0 +1,31 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* avr.twi - TWI AVR module. {{{
+ *
+ * Copyright (C) 2005 Demonchy Clément
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#define TWI_SL_RCPT_SIZE 1
+#define TWI_SL_SEND_SIZE 1
+
+#endif /* avrconfig_h */
diff --git a/digital/avr/modules/twi/test/Makefile.master b/digital/avr/modules/twi/test/Makefile.master
new file mode 100644
index 00000000..fa4f22ed
--- /dev/null
+++ b/digital/avr/modules/twi/test/Makefile.master
@@ -0,0 +1,25 @@
+BASE = ../../..
+AVR_PROGS = test_twi_master
+test_twi_master_SOURCES = test_twi_master.c
+DOC =
+EXTRACTDOC =
+MODULES = twi uart proto
+
+
+CONFIGFILE = avrconfig_master.h
+TEST_CONFIGFILES = avrconfig_master.h
+
+
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega8535
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -O2
+
+DEFS =
+LIBS =
+
+# Test compilations.
+TEST_MCU = atmega8535 atmega128
+
+include $(BASE)/make/Makefile.gen
diff --git a/digital/avr/modules/twi/test/Makefile.slave b/digital/avr/modules/twi/test/Makefile.slave
new file mode 100644
index 00000000..306ee1cf
--- /dev/null
+++ b/digital/avr/modules/twi/test/Makefile.slave
@@ -0,0 +1,24 @@
+BASE = ../../..
+AVR_PROGS = test_twi_sl
+test_twi_sl_SOURCES = test_twi_sl.c
+DOC =
+EXTRACTDOC =
+MODULES = twi uart
+
+
+CONFIGFILE = avrconfig_slave.h
+TEST_CONFIGFILES = avrconfig_slave.h
+
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega128
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -O2
+
+DEFS =
+LIBS =
+
+# Test compilations.
+TEST_MCU = atmega8535 atmega128
+
+include $(BASE)/make/Makefile.gen
diff --git a/digital/avr/modules/twi/test/avrconfig_master.h b/digital/avr/modules/twi/test/avrconfig_master.h
new file mode 100644
index 00000000..6496886d
--- /dev/null
+++ b/digital/avr/modules/twi/test/avrconfig_master.h
@@ -0,0 +1,92 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* avr.twi - TWI AVR module. {{{
+ *
+ * Copyright (C) 2005 Demonchy Clément
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#define TWI_SL_RCPT_SIZE 1
+#define TWI_SL_SEND_SIZE 1
+
+#define TWI_MASTER_ENABLE 1
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 8
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 1
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 0
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 9600
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE POLLING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE POLLING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 32
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL WAIT
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER STDIO
+/** Same thing for secondary port. */
+#define AC_UART1_PORT -1
+#define AC_UART1_BAUDRATE 115200
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY EVEN
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART1_SEND_BUFFER_FULL WAIT
+#define AC_UART1_HOST_DRIVER STDIO
+
+
+#endif /* avrconfig_h */
diff --git a/digital/avr/modules/twi/test/avrconfig_slave.h b/digital/avr/modules/twi/test/avrconfig_slave.h
new file mode 100644
index 00000000..6fdfd9ad
--- /dev/null
+++ b/digital/avr/modules/twi/test/avrconfig_slave.h
@@ -0,0 +1,92 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* avr.twi - TWI AVR module. {{{
+ *
+ * Copyright (C) 2005 Demonchy Clément
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#define TWI_SL_RCPT_SIZE 1
+#define TWI_SL_SEND_SIZE 1
+
+#define TWI_SLAVE_ENABLE 1
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 8
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 1
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 1
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 9600
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE POLLING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE POLLING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 32
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL WAIT
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER STDIO
+/** Same thing for secondary port. */
+#define AC_UART1_PORT -1
+#define AC_UART1_BAUDRATE 115200
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY EVEN
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART1_SEND_BUFFER_FULL WAIT
+#define AC_UART1_HOST_DRIVER STDIO
+
+
+#endif /* avrconfig_h */
diff --git a/digital/avr/modules/twi/test/test_twi_master.c b/digital/avr/modules/twi/test/test_twi_master.c
new file mode 100644
index 00000000..348ac950
--- /dev/null
+++ b/digital/avr/modules/twi/test/test_twi_master.c
@@ -0,0 +1,94 @@
+/* test_twi_master.c */
+/* avr.twi.master - TWI master module. {{{
+ *
+ * Copyright (C) 2005 Clément Demonchy
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#include "common.h"
+
+#include "modules/uart/uart.h"
+#include "modules/proto/proto.h"
+#include "modules/twi/twi.h"
+#include "modules/utils/utils.h"
+#include "io.h"
+
+void proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+ uint8_t data[1] = {0x00};
+ int8_t c;
+ switch (cmd)
+ {
+ case 's':
+ if (size == 2)
+ {
+ proto_send ('s', 0, 0);
+ twi_ms_send (args[0], &args[1], 1);
+ while (!twi_ms_is_finished ())
+ ;
+ proto_send ('f', 0, 0);
+ }
+ else
+ proto_send ('e', 0, 0);
+ break;
+ case 'r':
+ if (size == 2)
+ {
+ uart0_putc ('r');
+ c = twi_ms_read (args[0], data, 1);
+ if (c != 0)
+ proto_send ('e', 1 , 0);
+ else
+ {
+ while (!twi_ms_is_finished ())
+ ;
+ proto_send ('f', 1, data);
+ }
+ }
+ else
+ proto_send ('e', 1, 0);
+ break;
+ case 'z':
+ utils_reset ();
+ break;
+ default:
+ proto_send ('e', 1, 0);
+ }
+}
+
+int
+main (void)
+{
+ uint8_t c;
+ sei ();
+ uart0_init ();
+ twi_init (0x04);
+ uart0_putc ('m');
+ uart0_putc ('s');
+ uart0_putc ('s');
+ uart0_putc ('\r');
+ while (42)
+ {
+ c = uart0_getc ();
+ proto_accept (c);
+ }
+ return 0;
+}
diff --git a/digital/avr/modules/twi/test/test_twi_sl.c b/digital/avr/modules/twi/test/test_twi_sl.c
new file mode 100644
index 00000000..8672a6f7
--- /dev/null
+++ b/digital/avr/modules/twi/test/test_twi_sl.c
@@ -0,0 +1,51 @@
+/* test_twi_slave.c */
+/* avr.twi.slave - TWI slave module. {{{
+ *
+ * Copyright (C) 2005 Clément Demonchy
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+
+#include "common.h"
+#include "modules/twi/twi.h"
+#include "modules/uart/uart.h"
+#include "io.h"
+
+int
+main (void)
+{
+ uint8_t data[TWI_SL_RCPT_SIZE];
+ sei ();
+ uart0_init ();
+ uart0_putc ('s');
+ uart0_putc ('s');
+ uart0_putc ('s');
+ twi_init (0x02);
+ data[0] = 0;
+ while (42)
+ {
+ if (twi_sl_poll (data, TWI_SL_RCPT_SIZE))
+ {
+ twi_sl_update (data, TWI_SL_RCPT_SIZE);
+ }
+ }
+ return 0;
+}
diff --git a/digital/avr/modules/twi/twi.avr.c b/digital/avr/modules/twi/twi.avr.c
new file mode 100644
index 00000000..3b2a8e66
--- /dev/null
+++ b/digital/avr/modules/twi/twi.avr.c
@@ -0,0 +1,363 @@
+/* twi.avr.c */
+/* avr.twi - TWI AVR module. {{{
+ *
+ * Copyright (C) 2005 Demonchy Clément
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#include "twi.h"
+
+#include <io.h>
+#include <compat/twi.h>
+// #include "modules/uart/uart.h"
+
+// TODO mettre l'etat partout
+// quand on fait les demandes, et les liberations qui vont bien dans
+// l'interruption
+
+enum
+{
+ TWI_SUCCESS,
+ TWI_BUSY,
+ TWI_FREE,
+ TWI_FAILURE
+};
+
+#ifdef TWI_SLAVE_ENABLE
+/* données reçues du master */
+static volatile uint8_t rcpt_buf_sl[TWI_SL_RCPT_SIZE];
+static volatile uint8_t data_ready_sl;
+/* données à envoyer au master */
+/* 2 buffers 1 pour envoyer vers l'user et l'autre vers l'i2c */
+static volatile uint8_t send_buf_sl1[TWI_SL_SEND_SIZE];
+static volatile uint8_t send_buf_sl2[TWI_SL_SEND_SIZE];
+static volatile uint8_t *send_sys_sl, *send_user_sl;
+static volatile uint8_t update_sl; /* lock pour savoir si on peut switcher les buffers sans risque */
+static volatile uint8_t send_switch_sl;
+#endif /* TWI_SLAVE_ENABLE */
+#ifdef TWI_MASTER_ENABLE
+static volatile int8_t state_ms;
+static volatile int8_t nb_retry_ms = 5; // XXX utile ?
+static volatile uint8_t dest_addr_ms;
+static volatile uint8_t len_buf_ms;
+static volatile uint8_t *send_buf_ms;
+#endif /* TWI_MASTER_ENABLE */
+
+void
+twi_init (uint8_t addr)
+{
+#ifdef TWI_SLAVE_ENABLE
+ data_ready_sl = 0;
+ send_switch_sl = 0;
+ update_sl = 0;
+ send_sys_sl = send_buf_sl1;
+ send_user_sl = send_buf_sl2;
+ TWAR = addr;
+ TWSR = 0x00;
+ TWCR = _BV(TWEA);
+#endif /* TWI_SLAVE_ENABLE */
+#ifdef TWI_MASTER_ENABLE
+ #if defined(TWPS0)
+ TWSR = 0;
+ #endif
+ TWBR = (AC_FREQ / 100000UL - 16) / 2;
+ state_ms = TWI_FREE;
+#endif /* TWI_MASTER_ENABLE */
+ /* Active la twi et les interruptions de la twi */
+ TWCR |= _BV (TWEN) | _BV (TWIE);
+}
+
+#ifdef TWI_SLAVE_ENABLE
+uint8_t
+twi_sl_poll (uint8_t *buffer, uint8_t size)
+{
+ // XXX state
+ if (data_ready_sl)
+ {
+ data_ready_sl = 0;
+ while (size --)
+ buffer[size] = rcpt_buf_sl[size];
+ /* de nouveau dispo pour traiter de nouvelles requetes */
+ TWCR |= _BV (TWEA);
+ return 1;
+ }
+ else
+ return 0;
+}
+#endif /* TWI_SLAVE_ENABLE */
+
+#ifdef TWI_SLAVE_ENABLE
+void
+twi_sl_update (uint8_t *buffer, uint8_t size)
+{
+ // XXX state
+ update_sl = 1;
+ send_switch_sl = 1; /* demander un swap des buffers */
+ while (size --)
+ send_user_sl[size] = buffer[size];
+ update_sl = 0;
+}
+#endif /* TWI_SLAVE_ENABLE */
+
+#ifdef TWI_MASTER_ENABLE
+int8_t
+twi_ms_is_finished ()
+{
+ if (state_ms == TWI_SUCCESS || state_ms == TWI_FAILURE)
+ {
+ state_ms = TWI_FREE;
+ return 1;
+ }
+ else
+ return 0;
+}
+#endif /* TWI_MASTER_ENABLE */
+
+#ifdef TWI_MASTER_ENABLE
+int8_t
+twi_ms_send (uint8_t addr, uint8_t *data, uint8_t len)
+{
+ //uart0_putc ('a');
+ if (state_ms != TWI_BUSY)
+ {
+ //uart0_putc ('b');
+ state_ms = TWI_BUSY;
+ nb_retry_ms = 0;
+ dest_addr_ms = addr & 0xfe;
+ len_buf_ms = len;
+ send_buf_ms = data;
+ /* envoie du start */
+ TWCR |= _BV(TWSTA) | _BV(TWINT);
+ return 0;
+ }
+ else
+ {
+ //uart0_putc ('c');
+ return -1;
+ }
+}
+#endif /* TWI_MASTER_ENABLE */
+
+#ifdef TWI_MASTER_ENABLE
+int8_t
+twi_ms_read (uint8_t addr, uint8_t *data, uint8_t len)
+{
+
+ //uart0_putc ('z');
+ if (state_ms != TWI_BUSY)
+ {
+ //uart0_putc ('y');
+ state_ms = TWI_BUSY;
+ nb_retry_ms = 0;
+ dest_addr_ms = addr | 0x01;
+ len_buf_ms = len;
+ send_buf_ms = data;
+ TWCR |= _BV(TWSTA) | _BV (TWINT);
+ return 0;
+ }
+ else
+ {
+ //uart0_putc ('x');
+ return -1;
+ }
+}
+#endif /* TWI_MASTER_ENABLE */
+
+SIGNAL (SIG_2WIRE_SERIAL)
+{
+#ifdef TWI_SLAVE_ENABLE
+ static uint8_t send_idx_sl = 0;
+ static uint8_t rcpt_idx_sl = 0;
+#endif /* TWI_SLAVE_ENABLE */
+#ifdef TWI_MASTER_ENABLE
+ static uint8_t idx_ms;
+#define NB_RETRY 5
+#endif /* TWI_MASTER_ENABLE */
+ switch (TW_STATUS)
+ {
+#ifdef TWI_SLAVE_ENABLE
+ /***** slave transmitter mode *****/
+ /* START + SLA|W + ACK
+ * on a recu un start pour une ecriture et on a acquité
+ * choisi le buffer d'envoie
+ * envoie le premier byte
+ */
+ case TW_ST_SLA_ACK:
+ case TW_ST_ARB_LOST_SLA_ACK:
+ if (send_switch_sl && !update_sl)
+ {
+ volatile uint8_t *tmp = send_sys_sl;
+ send_sys_sl = send_user_sl;
+ send_user_sl = tmp;
+ send_switch_sl = 0;
+ }
+ send_idx_sl = 0;
+ /* NO BREAK */
+ /* Recu un ack apres l'envoie d'un bit */
+ case TW_ST_DATA_ACK:
+ //uart0_putc ('p');
+ TWDR = send_sys_sl[send_idx_sl++];
+ if (send_idx_sl == TWI_SL_SEND_SIZE)
+ TWCR &= ~_BV(TWEA);
+ TWCR |= _BV(TWINT);
+ break;
+ case TW_ST_DATA_NACK:
+ case TW_ST_LAST_DATA:
+ //uart0_putc ('q');
+ TWCR |= _BV (TWEA);
+ TWCR |= _BV(TWINT);
+ break;
+ /***** slave receiver mode *****/
+ /* START + SLA|W + ACK */
+ case TW_SR_SLA_ACK:
+ case TW_SR_ARB_LOST_SLA_ACK:
+ case TW_SR_GCALL_ACK:
+ case TW_SR_ARB_LOST_GCALL_ACK:
+ //uart0_putc ('u');
+ data_ready_sl = 0;
+ rcpt_idx_sl = 0;
+ if (TWI_SL_RCPT_SIZE == 1)
+ TWCR &= ~_BV(TWEA);
+ TWCR |= _BV(TWINT);
+ break;
+ /* DATA + ACK */
+ case TW_SR_DATA_ACK:
+ case TW_SR_GCALL_DATA_ACK:
+ //uart0_putc ('s');
+ rcpt_buf_sl[rcpt_idx_sl++] = TWDR;
+ if (TWI_SL_RCPT_SIZE - rcpt_idx_sl == 1)
+ TWCR &= ~_BV(TWEA);
+ TWCR |= _BV(TWINT);
+ break;
+ /* DATA + NACK */
+ case TW_SR_DATA_NACK:
+ case TW_SR_GCALL_DATA_NACK:
+ //uart0_putc ('o');
+ rcpt_buf_sl[rcpt_idx_sl++] = TWDR;
+ /* NO BREAK */
+ /* STOP */
+ case TW_SR_STOP:
+ //uart0_putc ('q');
+ data_ready_sl = 1;
+ TWCR |= _BV(TWINT);
+ break;
+#endif /* TWI_SLAVE_ENABLE */
+#ifdef TWI_MASTER_ENABLE
+ /* Master */
+ case TW_START:
+ case TW_REP_START:
+ //uart0_putc ('d');
+ /* start transmis, on envoie l'adresse */
+ TWCR &= ~ (_BV (TWSTA) | _BV (TWSTO) | _BV (TWINT));
+ TWDR = dest_addr_ms;
+ idx_ms = 0;
+ TWCR |= _BV (TWINT);
+ break;
+ case TW_MT_ARB_LOST: /* valable pour le receiver aussi */
+ /* todo */
+ break;
+ /* Master Transmitter */
+ case TW_MT_DATA_ACK:
+ case TW_MT_SLA_ACK:
+ //uart0_putc ('e');
+ /* start transmis, on envoie l'adresse */
+ /* slave ok
+ * On envoi des données si il en reste
+ */
+ if (idx_ms < len_buf_ms)
+ {
+ TWDR = send_buf_ms[idx_ms ++];
+ }
+ else
+ {
+ TWCR |= _BV (TWSTO);
+ state_ms = TWI_SUCCESS;
+ }
+ TWCR |= _BV (TWINT);
+ break;
+ case TW_MT_SLA_NACK:
+ //uart0_putc ('f');
+ /* start transmis, on envoie l'adresse */
+ /* le slave ne repond plus
+ * on essaye NB_RETRY avant d'arreter
+ */
+ if (nb_retry_ms < NB_RETRY)
+ {
+ TWCR |= _BV (TWSTA);
+ nb_retry_ms ++;
+ }
+ else
+ {
+ TWCR |= _BV (TWSTO);
+ state_ms = TWI_FAILURE;
+ }
+ TWCR |= _BV (TWINT);
+ break;
+ case TW_MT_DATA_NACK:
+ //uart0_putc ('g');
+ /* start transmis, on envoie l'adresse */
+ /* le slave ne veut plus de donnée */
+ TWCR |= _BV (TWSTO);
+ state_ms = TWI_SUCCESS;
+ TWCR |= _BV (TWINT);
+ break;
+ /* Master Receiver */
+ case TW_MR_SLA_ACK:
+ //uart0_putc ('h');
+ /* start transmis, on envoie l'adresse */
+ if (len_buf_ms > 1) /* on recoit plusieurs octet */
+ {
+ TWCR |= _BV (TWEA);
+ }
+ TWCR |= _BV (TWINT);
+ break;
+ case TW_MR_SLA_NACK:
+ /* start transmis, on envoie l'adresse */
+ if (nb_retry_ms < NB_RETRY)
+ {
+ //uart0_putc ('i');
+ TWCR |= _BV (TWEA);
+ }
+ else
+ {
+ //uart0_putc ('j');
+ TWCR |= _BV (TWSTO);
+ state_ms = TWI_FAILURE;
+ }
+ TWCR |= _BV (TWINT);
+ break;
+ case TW_MR_DATA_ACK:
+ //uart0_putc ('k');
+ send_buf_ms[idx_ms ++] = TWDR;
+ if (idx_ms == (len_buf_ms - 1))
+ TWCR &= ~ _BV (TWEA);
+ TWCR |= _BV (TWINT);
+ break;
+ case TW_MR_DATA_NACK: /* dernier byte */
+ //uart0_putc ('l');
+ state_ms = TWI_SUCCESS;
+ send_buf_ms[idx_ms ++] = TWDR;
+ TWCR |= _BV (TWSTO);
+ TWCR |= _BV (TWINT);
+ break;
+#endif/* TWI_MASTER_ENABLE */
+ }
+}
diff --git a/digital/avr/modules/twi/twi.c b/digital/avr/modules/twi/twi.c
new file mode 100644
index 00000000..e60bfa90
--- /dev/null
+++ b/digital/avr/modules/twi/twi.c
@@ -0,0 +1,33 @@
+/* twi.c */
+/* avr.twi - TWI AVR module. {{{
+ *
+ * Copyright (C) 2005 Demonchy Clément
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "twi.h"
+
+#if defined (HOST)
+# error "TO BE IMPLEMENTED"
+#elif defined (SIMU)
+# error "TO BE IMPLEMENTED"
+#else
+# include "twi.avr.c"
+#endif
diff --git a/digital/avr/modules/twi/twi.h b/digital/avr/modules/twi/twi.h
new file mode 100644
index 00000000..f036417e
--- /dev/null
+++ b/digital/avr/modules/twi/twi.h
@@ -0,0 +1,55 @@
+#ifndef twi_h
+#define twi_h
+/* twi.h */
+/* avr.twi - TWI AVR module. {{{
+ *
+ * Copyright (C) 2005 Demonchy Clément
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#include <inttypes.h>
+
+/** Initialise twi. */
+void
+twi_init (uint8_t addr);
+
+#ifdef TWI_SLAVE_ENABLE
+/** Récupère dans buffer les données recues en tant qu'esclave */
+uint8_t
+twi_sl_poll (uint8_t *buffer, uint8_t size);
+/** Met à jour le buffer de donnée à envoyer */
+void
+twi_sl_update (uint8_t *buffer, uint8_t size);
+#endif /* TWI_SLAVE_ENABLE */
+
+#ifdef TWI_MASTER_ENABLE
+/** Is the current transaction finished ? */
+int8_t
+twi_ms_is_finished (void);
+/** Send len bytes of data to address */
+int8_t
+twi_ms_send (uint8_t address, uint8_t *data, uint8_t len);
+/** Read len bytes at addresse en put them in data */
+int8_t
+twi_ms_read (uint8_t address, uint8_t *data, uint8_t len);
+#endif /* TWI_MASTER_ENABLE */
+
+#endif /* twi_h */