From 0f9db44ec7e0d92caeeeab4347f8aed8c5a978fe Mon Sep 17 00:00:00 2001 From: schodet Date: Fri, 22 Jul 2005 21:30:39 +0000 Subject: Ajout de TWI, migration vers le nouveau système de makefiles. --- n/avr/modules/twi/master/Makefile.module | 1 + n/avr/modules/twi/master/README | 27 +++ n/avr/modules/twi/master/test/Makefile | 21 +++ n/avr/modules/twi/master/test/avrconfig.h | 85 ++++++++++ n/avr/modules/twi/master/test/test_twi_master.c | 89 ++++++++++ n/avr/modules/twi/master/twi_master.c | 214 ++++++++++++++++++++++++ n/avr/modules/twi/master/twi_master.h | 33 ++++ n/avr/modules/twi/slave/Makefile.module | 1 + n/avr/modules/twi/slave/README | 27 +++ n/avr/modules/twi/slave/avrconfig.h | 34 ++++ n/avr/modules/twi/slave/test/Makefile | 21 +++ n/avr/modules/twi/slave/test/avrconfig.h | 81 +++++++++ n/avr/modules/twi/slave/test/test_twi_slave.c | 52 ++++++ n/avr/modules/twi/slave/twi_slave.c | 151 +++++++++++++++++ n/avr/modules/twi/slave/twi_slave.h | 37 ++++ 15 files changed, 874 insertions(+) create mode 100644 n/avr/modules/twi/master/Makefile.module create mode 100644 n/avr/modules/twi/master/README create mode 100644 n/avr/modules/twi/master/test/Makefile create mode 100644 n/avr/modules/twi/master/test/avrconfig.h create mode 100644 n/avr/modules/twi/master/test/test_twi_master.c create mode 100644 n/avr/modules/twi/master/twi_master.c create mode 100644 n/avr/modules/twi/master/twi_master.h create mode 100644 n/avr/modules/twi/slave/Makefile.module create mode 100644 n/avr/modules/twi/slave/README create mode 100644 n/avr/modules/twi/slave/avrconfig.h create mode 100644 n/avr/modules/twi/slave/test/Makefile create mode 100644 n/avr/modules/twi/slave/test/avrconfig.h create mode 100644 n/avr/modules/twi/slave/test/test_twi_slave.c create mode 100644 n/avr/modules/twi/slave/twi_slave.c create mode 100644 n/avr/modules/twi/slave/twi_slave.h (limited to 'n/avr/modules') 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 + +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 + +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 */ -- cgit v1.2.3