new i2c protocol
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f35be86a71
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169
i2c-slave.c
169
i2c-slave.c
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@ -27,13 +27,39 @@
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extern struct blmc_ blmc;
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extern struct ee_param params;
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/* SLA+R */
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#define CMD_WAIT 0x00
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#define CMD_GET_INFO 0x10
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#define CMD_SET_PWM 0x21
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#define CMD_GET_STATUS 0x22
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#define CMD_SET_PARAM 0x23
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#define CMD_GET_PARAM 0x24
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#define CMD_BOOT_LOADER 0x2F
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#define CMD_READ_VERSION 0x01
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#define CMD_READ_MEMORY 0x02
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/* internal mappings */
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#define CMD_READ_CHIPINFO (0x10 | CMD_READ_MEMORY)
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#define CMD_READ_FLASH (0x20 | CMD_READ_MEMORY)
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#define CMD_READ_EEPROM (0x30 | CMD_READ_MEMORY)
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#define CMD_READ_PARAMETERS (0x40 | CMD_READ_MEMORY) /* only in APP */
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/* SLA+W */
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#define CMD_SWITCH_APPLICATION CMD_READ_VERSION
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#define CMD_WRITE_MEMORY CMD_READ_MEMORY
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/* internal mappings */
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#define CMD_BOOT_BOOTLOADER (0x10 | CMD_SWITCH_APPLICATION) /* only in APP */
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#define CMD_BOOT_APPLICATION (0x20 | CMD_SWITCH_APPLICATION)
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#define CMD_WRITE_CHIPINFO (0x10 | CMD_WRITE_MEMORY) /* invalid */
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#define CMD_WRITE_FLASH (0x20 | CMD_WRITE_MEMORY)
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#define CMD_WRITE_EEPROM (0x30 | CMD_WRITE_MEMORY)
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#define CMD_WRITE_PARAMETERS (0x40 | CMD_WRITE_MEMORY) /* only in APP */
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/* CMD_SWITCH_APPLICATION parameter */
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#define BOOTTYPE_BOOTLOADER 0x00 /* only in APP */
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#define BOOTTYPE_APPLICATION 0x80
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/* CMD_{READ|WRITE}_* parameter */
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#define MEMTYPE_CHIPINFO 0x00
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#define MEMTYPE_FLASH 0x01
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#define MEMTYPE_EEPROM 0x02
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#define MEMTYPE_PARAMETERS 0x03 /* only in APP */
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const static uint8_t info[16] = "blctrl m88-v1.2";
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@ -41,6 +67,8 @@ ISR(TWI_vect)
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{
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static uint8_t cmd;
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static uint8_t bcnt;
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uint8_t data;
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uint8_t ack = (1<<TWEA);
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switch (TWSR & 0xF8) {
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/* SLA + W received, ACK returned -> receive Data and ACK */
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@ -51,43 +79,78 @@ ISR(TWI_vect)
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/* prev. SLA + W, data received, ACK returned -> receive Data and ACK */
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case 0x80:
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if (bcnt == 0) {
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cmd = TWDR;
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switch (cmd) {
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case CMD_BOOT_LOADER:
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wdt_enable(WDTO_15MS);
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case CMD_GET_INFO:
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case CMD_SET_PWM:
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case CMD_GET_STATUS:
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case CMD_SET_PARAM:
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case CMD_GET_PARAM:
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data = TWDR;
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switch (bcnt) {
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case 0:
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switch (data) {
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case CMD_SWITCH_APPLICATION:
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case CMD_WRITE_MEMORY:
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cmd = data;
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bcnt++;
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break;
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default:
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blmc.flags |= FLAG_I2C_ACTIVE;
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setpwm(data);
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cmd = CMD_WAIT;
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bcnt = 0;
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break;
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}
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break;
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} else if (cmd == CMD_SET_PWM) {
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blmc.flags |= FLAG_I2C_ACTIVE;
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setpwm(TWDR);
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bcnt = 0;
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case 1:
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switch (cmd) {
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case CMD_SWITCH_APPLICATION:
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if (data == BOOTTYPE_BOOTLOADER) {
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wdt_enable(WDTO_15MS);
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} else if (cmd == CMD_SET_PARAM) {
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((uint8_t *)¶ms)[bcnt++ -1] = TWDR;
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if (bcnt > sizeof(params)) {
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write_parameters();
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bcnt = 0;
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} else {
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ack = (0<<TWEA);
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}
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break;
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case CMD_WRITE_MEMORY:
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bcnt++;
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if (data == MEMTYPE_PARAMETERS) {
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cmd = CMD_WRITE_PARAMETERS;
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} else {
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ack = (0<<TWEA);
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}
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break;
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default:
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ack = (0<<TWEA);
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break;
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}
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break;
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} else {
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bcnt = 0;
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case 2: /* ignore address bytes */
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case 3:
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bcnt++;
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break;
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default:
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switch (cmd) {
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case CMD_WRITE_PARAMETERS:
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((uint8_t *)¶ms)[bcnt++ -4] = data;
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if (bcnt == sizeof(params)) {
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write_parameters();
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ack = (0<<TWEA);
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}
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break;
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default:
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ack = (0<<TWEA);
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break;
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}
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break;
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}
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TWCR |= (1<<TWINT) | (1<<TWEA);
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if (ack == 0x00)
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bcnt = 0;
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TWCR |= (1<<TWINT) | ack;
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break;
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/* SLA+R received, ACK returned -> send data */
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@ -96,55 +159,27 @@ ISR(TWI_vect)
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/* prev. SLA+R, data sent, ACK returned -> send data */
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case 0xB8:
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switch (cmd) {
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case CMD_GET_INFO:
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TWDR = info[bcnt++];
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case CMD_WAIT:
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data = 0x00; /* TODO: transmit Current and MaxPWM */
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break;
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case CMD_READ_VERSION:
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data = info[bcnt++];
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bcnt %= sizeof(info);
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break;
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case CMD_GET_STATUS:
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switch (bcnt++) {
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case 0: TWDR = blmc.pwm - blmc.pwm_limit;
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break;
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case 1: TWDR = blmc.pwm;
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break;
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case 2: TWDR = (blmc.rpm & 0xFF);
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break;
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case 3: TWDR = (blmc.rpm >> 8);
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break;
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case 4: TWDR = (blmc.current & 0xFF);
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break;
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case 5: TWDR = (blmc.current >> 8);
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break;
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case 6: TWDR = (blmc.voltage & 0xFF);
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break;
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case 7: TWDR = (blmc.voltage >> 8);
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bcnt = 0;
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break;
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default:
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bcnt = 0;
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break;
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}
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break;
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case CMD_GET_PARAM:
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TWDR = ((uint8_t *)¶ms)[bcnt++];
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case CMD_READ_PARAMETERS:
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data = ((uint8_t *)¶ms)[bcnt++];
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if (bcnt > sizeof(params))
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bcnt = 0;
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break;
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default:
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TWDR = 0xFF;
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data = 0xFF;
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break;
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}
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TWDR = data;
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TWCR |= (1<<TWINT) | (1<<TWEA);
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break;
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