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authorschodet2005-07-22 21:30:39 +0000
committerschodet2005-07-22 21:30:39 +0000
commit0f9db44ec7e0d92caeeeab4347f8aed8c5a978fe (patch)
tree46a7eb972f5eef44372931456a5b319f369b0b71 /n
parent4cd683f2accac9eedcf51641bea121d217ee8af2 (diff)
Ajout de TWI, migration vers le nouveau système de makefiles.
Diffstat (limited to 'n')
-rw-r--r--n/avr/modules/twi/master/Makefile.module1
-rw-r--r--n/avr/modules/twi/master/README27
-rw-r--r--n/avr/modules/twi/master/test/Makefile21
-rw-r--r--n/avr/modules/twi/master/test/avrconfig.h85
-rw-r--r--n/avr/modules/twi/master/test/test_twi_master.c89
-rw-r--r--n/avr/modules/twi/master/twi_master.c214
-rw-r--r--n/avr/modules/twi/master/twi_master.h33
-rw-r--r--n/avr/modules/twi/slave/Makefile.module1
-rw-r--r--n/avr/modules/twi/slave/README27
-rw-r--r--n/avr/modules/twi/slave/avrconfig.h34
-rw-r--r--n/avr/modules/twi/slave/test/Makefile21
-rw-r--r--n/avr/modules/twi/slave/test/avrconfig.h81
-rw-r--r--n/avr/modules/twi/slave/test/test_twi_slave.c52
-rw-r--r--n/avr/modules/twi/slave/twi_slave.c151
-rw-r--r--n/avr/modules/twi/slave/twi_slave.h37
15 files changed, 874 insertions, 0 deletions
diff --git a/n/avr/modules/twi/master/Makefile.module b/n/avr/modules/twi/master/Makefile.module
new file mode 100644
index 0000000..30c39d8
--- /dev/null
+++ b/n/avr/modules/twi/master/Makefile.module
@@ -0,0 +1 @@
+twi_master_SOURCES = twi_master.c
diff --git a/n/avr/modules/twi/master/README b/n/avr/modules/twi/master/README
new file mode 100644
index 0000000..0ff606f
--- /dev/null
+++ b/n/avr/modules/twi/master/README
@@ -0,0 +1,27 @@
+avr.twi.master - TWI master module.
+
+TWI master only module for AVR. See modules README for more details about AVR
+modules.
+
+TWI is Atmel name for I2C.
+
+
+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.
diff --git a/n/avr/modules/twi/master/test/Makefile b/n/avr/modules/twi/master/test/Makefile
new file mode 100644
index 0000000..80e6caa
--- /dev/null
+++ b/n/avr/modules/twi/master/test/Makefile
@@ -0,0 +1,21 @@
+BASE = ../../../..
+AVR_PROGS = test_twi_master
+test_twi_master_SOURCES = test_twi_master.c
+DOC =
+EXTRACTDOC =
+MODULES = uart proto twi/master
+CONFIGFILE = avrconfig.h
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega8
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -O2
+
+DEFS =
+LIBS =
+
+# Test compilations.
+TEST_MCU = atmega8535 atmega128
+TEST_CONFIGFILES = avrconfig.h
+
+include $(BASE)/make/Makefile.gen
diff --git a/n/avr/modules/twi/master/test/avrconfig.h b/n/avr/modules/twi/master/test/avrconfig.h
new file mode 100644
index 0000000..2115fab
--- /dev/null
+++ b/n/avr/modules/twi/master/test/avrconfig.h
@@ -0,0 +1,85 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* avr.twi.master - TWI master module. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * 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.
+ *
+ * }}} */
+
+/* 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 115200
+/** 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 PTS
+/** 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
+
+/* 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
+
+#endif /* avrconfig_h */
diff --git a/n/avr/modules/twi/master/test/test_twi_master.c b/n/avr/modules/twi/master/test/test_twi_master.c
new file mode 100644
index 0000000..25793d7
--- /dev/null
+++ b/n/avr/modules/twi/master/test/test_twi_master.c
@@ -0,0 +1,89 @@
+/* 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/master/twi_master.h"
+#include "io.h"
+
+void proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+ uint8_t data[1] = {0x00};
+ int8_t c;
+ sei ();
+ switch (cmd)
+ {
+ case 's':
+ if (size == 2)
+ {
+ proto_send ('s', 0, 0);
+ twi_master_send (args[0], &args[1], 1);
+ while (!twi_master_is_finished ())
+ ;
+ proto_send ('f', 0, 0);
+ }
+ else
+ proto_send ('e', 0, 0);
+ break;
+ case 'r':
+ if (size == 2)
+ {
+ uart0_putc ('r');
+ c = twi_master_read (args[0], data, 1);
+ if (c != 0)
+ proto_send ('e', 1 , 0);
+ else
+ {
+ while (!twi_master_is_finished ())
+ ;
+ proto_send ('f', 1, data);
+ }
+ }
+ else
+ proto_send ('e', 1, 0);
+ break;
+ default:
+ proto_send ('e', 1, 0);
+ }
+}
+
+int
+main (void)
+{
+ uint8_t c;
+ uart0_init ();
+ twi_master_init ();
+ uart0_putc ('m');
+ uart0_putc ('s');
+ uart0_putc ('s');
+ uart0_putc ('\n');
+ while (42)
+ {
+ c = uart0_getc ();
+ proto_accept (c);
+ }
+ return 0;
+}
diff --git a/n/avr/modules/twi/master/twi_master.c b/n/avr/modules/twi/master/twi_master.c
new file mode 100644
index 0000000..41a3f6d
--- /dev/null
+++ b/n/avr/modules/twi/master/twi_master.c
@@ -0,0 +1,214 @@
+/* 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 "twi_master.h"
+
+#include "io.h"
+
+#include <compat/twi.h>
+
+enum
+{
+ TWI_SUCCESS,
+ TWI_BUSY,
+ TWI_FREE,
+ TWI_FAILURE
+};
+
+#if 0
+#define TWI_DEBUG(x) uart0_putc (x)
+#else
+#define TWI_DEBUG(x)
+#endif
+
+#define NB_RETRY 5
+
+static uint8_t *buffer;
+static uint8_t twi_dest_addr;
+static uint8_t twi_len;
+static uint8_t twi_idx;
+static uint8_t twi_nb_retry;
+volatile uint8_t twi_state = TWI_FREE;
+
+void
+twi_master_init (void)
+{
+ /* initialize TWI clock: 100 kHz clock, TWPS = 0 => prescaler = 1 */
+#if defined(TWPS0)
+ TWSR = 0;
+#endif
+ TWBR = (AC_FREQ / 100000UL - 16) / 2;
+ TWCR = _BV (TWEN) | _BV (TWIE);
+}
+
+int8_t
+twi_master_is_finished ()
+{
+ if (twi_state == TWI_SUCCESS || twi_state == TWI_FAILURE)
+ {
+ twi_state = TWI_FREE;
+ return 1;
+ }
+ else
+ return 0;
+}
+
+int8_t
+twi_master_send (uint8_t addr, uint8_t *data, uint8_t len)
+{
+ if (twi_state == TWI_FREE)
+ {
+ TWI_DEBUG ('a');
+ twi_state = TWI_BUSY;
+ twi_nb_retry = 0;
+ twi_dest_addr = addr & 0xfe;
+ twi_len = len;
+ buffer = data;
+ /* envoie du start */
+ TWCR |= _BV(TWSTA);
+ TWCR |= _BV(TWINT);
+ return 0;
+ }
+ else
+ {
+ TWI_DEBUG ('x');
+ return -1;
+ }
+}
+
+int8_t
+twi_master_read (uint8_t addr, uint8_t *data, uint8_t len)
+{
+ if (twi_state == TWI_FREE)
+ {
+ TWI_DEBUG ('a');
+ twi_state = TWI_BUSY;
+ twi_nb_retry = 0;
+ twi_dest_addr = addr | 0x01;
+ twi_len = len;
+ buffer = data;
+ TWCR |= _BV(TWSTA) | _BV (TWINT);
+ return 0;
+ }
+ else
+ return -1;
+}
+
+SIGNAL (SIG_2WIRE_SERIAL)
+{
+ TWI_DEBUG ('y');
+ switch (TW_STATUS)
+ {
+ /* Master */
+ case TW_START:
+ case TW_REP_START:
+ /* start transmis, on envoie l'adresse */
+ TWI_DEBUG ('d');
+ TWCR &= ~ (_BV (TWSTA) | _BV (TWSTO) | _BV (TWINT));
+ TWDR = twi_dest_addr;
+ twi_idx = 0;
+ break;
+ case TW_MT_ARB_LOST: /* valable pour le receiver aussi */
+ /* todo */
+ TWI_DEBUG ('e');
+ break;
+ /* Master Transmitter */
+ case TW_MT_DATA_ACK:
+ case TW_MT_SLA_ACK:
+ /* slave ok
+ * On envoi des données si il en reste
+ */
+ if (twi_idx < twi_len)
+ {
+ TWI_DEBUG ('f');
+ TWDR = buffer[twi_idx ++];
+ }
+ else
+ {
+ TWCR |= _BV (TWSTO);
+ TWI_DEBUG ('g');
+ twi_state = TWI_SUCCESS;
+ }
+ break;
+ case TW_MT_SLA_NACK:
+ /* le slave ne repond plus
+ * on essaye NB_RETRY avant d'arreter
+ */
+ if (twi_nb_retry < NB_RETRY)
+ {
+ TWI_DEBUG ('h');
+ TWCR |= _BV (TWSTA);
+ twi_nb_retry ++;
+ }
+ else
+ {
+ TWI_DEBUG ('i');
+ TWCR |= _BV (TWSTO);
+ twi_state = TWI_FAILURE;
+ }
+ break;
+ case TW_MT_DATA_NACK:
+ /* le slave ne veut plus de donnée */
+ TWI_DEBUG ('j');
+ TWCR |= _BV (TWSTO);
+ twi_state = TWI_SUCCESS;
+ break;
+ /* Master Receiver */
+ case TW_MR_SLA_ACK:
+ TWI_DEBUG ('p');
+ if (twi_len > 1) /* on recoit plusieurs octet */
+ {
+ TWI_DEBUG ('k');
+ TWCR |= _BV (TWEA);
+ }
+ break;
+ case TW_MR_SLA_NACK:
+ if (twi_nb_retry < NB_RETRY)
+ {
+ TWI_DEBUG ('l');
+ TWCR |= _BV (TWEA);
+ }
+ else
+ {
+ TWI_DEBUG ('m');
+ TWCR |= _BV (TWSTO);
+ twi_state = TWI_FAILURE;
+ }
+ break;
+ case TW_MR_DATA_ACK:
+ buffer[twi_idx ++] = TWDR;
+ TWI_DEBUG ('n');
+ if (twi_idx == (twi_len - 1))
+ TWCR &= ~ _BV (TWEA);
+ break;
+ case TW_MR_DATA_NACK: /* dernier byte */
+ twi_state = TWI_SUCCESS;
+ TWI_DEBUG ('o');
+ buffer[twi_idx ++] = TWDR;
+ TWCR |= _BV (TWSTO);
+ break;
+ }
+ TWCR |= _BV (TWINT);
+}
diff --git a/n/avr/modules/twi/master/twi_master.h b/n/avr/modules/twi/master/twi_master.h
new file mode 100644
index 0000000..59bab61
--- /dev/null
+++ b/n/avr/modules/twi/master/twi_master.h
@@ -0,0 +1,33 @@
+#ifndef twi_master_h
+#define twi_master_h
+/* twi_master.h */
+/* avr.twi.master - TWI master module. {{{
+ *
+ * Copyright (C) 2005 Clément Demonchy
+ *
+ * Robot APB Team/Efrei 2005.
+ * 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.
+ *
+ * }}} */
+
+void twi_master_init (void);
+int8_t twi_master_is_finished ();
+int8_t twi_master_send (uint8_t addr, uint8_t data[], uint8_t len);
+int8_t twi_master_read (uint8_t addr, uint8_t data[], uint8_t len);
+
+#endif /* twi_master_h */
diff --git a/n/avr/modules/twi/slave/Makefile.module b/n/avr/modules/twi/slave/Makefile.module
new file mode 100644
index 0000000..6c9a289
--- /dev/null
+++ b/n/avr/modules/twi/slave/Makefile.module
@@ -0,0 +1 @@
+twi_slave_SOURCES = twi_slave.c
diff --git a/n/avr/modules/twi/slave/README b/n/avr/modules/twi/slave/README
new file mode 100644
index 0000000..3f1c51b
--- /dev/null
+++ b/n/avr/modules/twi/slave/README
@@ -0,0 +1,27 @@
+avr.twi.slave - TWI slave module.
+
+TWI slave only module for AVR. See modules README for more details about AVR
+modules.
+
+TWI is Atmel name for I2C.
+
+
+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.
diff --git a/n/avr/modules/twi/slave/avrconfig.h b/n/avr/modules/twi/slave/avrconfig.h
new file mode 100644
index 0000000..ed23f47
--- /dev/null
+++ b/n/avr/modules/twi/slave/avrconfig.h
@@ -0,0 +1,34 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* avr.twi.slave - TWI slave module. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * 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.
+ *
+ * }}} */
+
+/* twi.slave - TWI slave module. */
+/** Reception buffer size. */
+#define AC_TWI_SLAVE_RCPT_BUF_SIZE 1
+/** Emission buffer size. */
+#define AC_TWI_SLAVE_SEND_BUF_SIZE 1
+
+#endif /* avrconfig_h */
diff --git a/n/avr/modules/twi/slave/test/Makefile b/n/avr/modules/twi/slave/test/Makefile
new file mode 100644
index 0000000..219ae62
--- /dev/null
+++ b/n/avr/modules/twi/slave/test/Makefile
@@ -0,0 +1,21 @@
+BASE = ../../../..
+AVR_PROGS = test_twi_slave
+test_twi_slave_SOURCES = test_twi_slave.c
+DOC =
+EXTRACTDOC =
+MODULES = uart twi/slave
+CONFIGFILE = avrconfig.h
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega8
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -O2
+
+DEFS =
+LIBS =
+
+# Test compilations.
+TEST_MCU = atmega8535 atmega128
+TEST_CONFIGFILES = avrconfig.h
+
+include $(BASE)/make/Makefile.gen
diff --git a/n/avr/modules/twi/slave/test/avrconfig.h b/n/avr/modules/twi/slave/test/avrconfig.h
new file mode 100644
index 0000000..b18877a
--- /dev/null
+++ b/n/avr/modules/twi/slave/test/avrconfig.h
@@ -0,0 +1,81 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* avr.twi.slave - TWI slave module. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * 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.
+ *
+ * }}} */
+
+/* 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 115200
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE RING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE RING
+/** 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 PTS
+/** 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
+
+/* twi.slave - TWI slave module. */
+/** Reception buffer size. */
+#define AC_TWI_SLAVE_RCPT_BUF_SIZE 1
+/** Emission buffer size. */
+#define AC_TWI_SLAVE_SEND_BUF_SIZE 1
+
+#endif /* avrconfig_h */
diff --git a/n/avr/modules/twi/slave/test/test_twi_slave.c b/n/avr/modules/twi/slave/test/test_twi_slave.c
new file mode 100644
index 0000000..4cdfd4b
--- /dev/null
+++ b/n/avr/modules/twi/slave/test/test_twi_slave.c
@@ -0,0 +1,52 @@
+/* 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/uart/uart.h"
+#include "modules/twi/slave/twi_slave.h"
+#include "io.h"
+
+int
+main (void)
+{
+ uint8_t data[AC_TWI_SLAVE_RCPT_BUF_SIZE];
+ uart0_init ();
+ sei ();
+ twi_init (0x02);
+ uart0_putc ('s');
+ uart0_putc ('s');
+ uart0_putc ('s');
+ uart0_putc ('\n');
+ data[0] = 0;
+ while (42)
+ {
+ if (twi_poll (data, AC_TWI_SLAVE_RCPT_BUF_SIZE))
+ {
+ uart0_putc ('r');
+ twi_update (data, AC_TWI_SLAVE_SEND_BUF_SIZE);
+ }
+ }
+ return 0;
+}
diff --git a/n/avr/modules/twi/slave/twi_slave.c b/n/avr/modules/twi/slave/twi_slave.c
new file mode 100644
index 0000000..58e777e
--- /dev/null
+++ b/n/avr/modules/twi/slave/twi_slave.c
@@ -0,0 +1,151 @@
+/* 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 "twi_slave.h"
+
+#include "io.h"
+
+#include <compat/twi.h>
+
+static volatile uint8_t twi_rcpt_tail;
+static volatile uint8_t send_idx;
+static volatile uint8_t data_ready;
+static volatile uint8_t buf_rcpt[AC_TWI_SLAVE_RCPT_BUF_SIZE];
+static volatile uint8_t buf_send1[AC_TWI_SLAVE_SEND_BUF_SIZE];
+static volatile uint8_t buf_send2[AC_TWI_SLAVE_SEND_BUF_SIZE];
+static volatile uint8_t *buf_send_sys, *buf_send_user;
+static volatile int8_t send_switch;
+static volatile int8_t update;
+
+#if 0
+#define TWI_DEBUG(x) uart0_putc (x)
+#else
+#define TWI_DEBUG(x)
+#endif
+
+void
+twi_init (uint8_t addr)
+{
+ send_switch = 0;
+ update = 0;
+ buf_send_sys = buf_send1;
+ buf_send_user = buf_send2;
+ TWAR = addr;
+ TWSR = 0x00;
+ TWCR = _BV(TWEA) | _BV(TWEN) | _BV(TWIE);
+}
+
+
+SIGNAL (SIG_2WIRE_SERIAL)
+{
+ TWI_DEBUG (';');
+ switch (TW_STATUS)
+ {
+ /* slave transmitter mode */
+ /* START + SLA|W + ACK */
+ case TW_ST_SLA_ACK:
+ case TW_ST_ARB_LOST_SLA_ACK:
+ TWI_DEBUG ('a');
+ if (send_switch && !update)
+ {
+ volatile uint8_t *tmp = buf_send_sys;
+ buf_send_sys = buf_send_user;
+ buf_send_user = tmp;
+ send_switch = 0;
+ }
+ send_idx = 0;
+ /* no break */
+ case TW_ST_DATA_ACK:
+ TWI_DEBUG ('b');
+ TWDR = buf_send_sys[send_idx++];
+ if (AC_TWI_SLAVE_SEND_BUF_SIZE == send_idx)
+ TWCR &= ~_BV(TWEA);
+ break;
+ case TW_ST_DATA_NACK:
+ case TW_ST_LAST_DATA:
+ TWI_DEBUG ('c');
+ TWCR |= _BV (TWEA);
+ 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:
+ TWI_DEBUG ('z');
+ data_ready = 0;
+ twi_rcpt_tail = 0;
+ if (AC_TWI_SLAVE_RCPT_BUF_SIZE == 1)
+ TWCR &= ~_BV(TWEA);
+ break;
+ /* DATA + ACK */
+ case TW_SR_DATA_ACK:
+ case TW_SR_GCALL_DATA_ACK:
+ TWI_DEBUG ('y');
+ buf_rcpt[twi_rcpt_tail++] = TWDR;
+ if (AC_TWI_SLAVE_RCPT_BUF_SIZE - twi_rcpt_tail == 1)
+ TWCR &= ~_BV(TWEA);
+ break;
+ /* DATA + NACK */
+ case TW_SR_DATA_NACK:
+ case TW_SR_GCALL_DATA_NACK:
+ TWI_DEBUG ('x');
+ buf_rcpt[twi_rcpt_tail++] = TWDR;
+ /* no break */
+ /* STOP */
+ case TW_SR_STOP:
+ TWI_DEBUG ('w');
+ data_ready = 1;
+ break;
+ }
+ TWCR |= _BV(TWINT);
+}
+
+/** Recopie les données recues dans buf. */
+uint8_t
+twi_poll (uint8_t buf[], uint8_t size)
+{
+ if (data_ready)
+ {
+ data_ready = 0;
+ while (size --)
+ buf[size] = buf_rcpt[size];
+ TWCR |= _BV (TWEA);
+ return 1;
+ }
+ else
+ return 0;
+}
+
+void
+twi_update (uint8_t buf[], uint8_t size)
+{
+ update = 1;
+ send_switch = 1;
+ while (size --)
+ buf_send_user[size] = buf[size];
+ update = 0;
+}
+
diff --git a/n/avr/modules/twi/slave/twi_slave.h b/n/avr/modules/twi/slave/twi_slave.h
new file mode 100644
index 0000000..c7851e0
--- /dev/null
+++ b/n/avr/modules/twi/slave/twi_slave.h
@@ -0,0 +1,37 @@
+#ifndef twi_slave_h
+#define twi_slave_h
+/* twi_slave.h */
+/* 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.
+ *
+ * }}} */
+
+void
+twi_init (uint8_t addr);
+
+uint8_t
+twi_poll (uint8_t buf[], uint8_t size);
+
+void
+twi_update (uint8_t buf[], uint8_t size);
+
+#endif /* twi_slave_h */