/*
* Process a command-complete interrupt. These are only generated by
* the transmission of frames. This routine is deceptively simple, since
* most of the real work is done by iestart().
*/
static int
ietint(struct ie_softc *sc)
{
int status;
int i;
sc->arpcom.ac_if.if_timer = 0;
sc->arpcom.ac_if.if_flags &= ~IFF_OACTIVE;
for (i = 0; i < sc->xmit_count; i++) {
status = sc->xmit_cmds[i]->ie_xmit_status;
if (status & IE_XS_LATECOLL) {
printf("ie%d: late collision\n", sc->unit);
sc->arpcom.ac_if.if_collisions++;
sc->arpcom.ac_if.if_oerrors++;
} else if (status & IE_XS_NOCARRIER) {
printf("ie%d: no carrier\n", sc->unit);
sc->arpcom.ac_if.if_oerrors++;
} else if (status & IE_XS_LOSTCTS) {
printf("ie%d: lost CTS\n", sc->unit);
sc->arpcom.ac_if.if_oerrors++;
} else if (status & IE_XS_UNDERRUN) {
printf("ie%d: DMA underrun\n", sc->unit);
sc->arpcom.ac_if.if_oerrors++;
} else if (status & IE_XS_EXCMAX) {
printf("ie%d: too many collisions\n", sc->unit);
sc->arpcom.ac_if.if_collisions += 16;
sc->arpcom.ac_if.if_oerrors++;
} else {
sc->arpcom.ac_if.if_opackets++;
sc->arpcom.ac_if.if_collisions += status & IE_XS_MAXCOLL;
}
}
sc->xmit_count = 0;
/*
* If multicast addresses were added or deleted while we were
* transmitting, ie_mc_reset() set the want_mcsetup flag indicating
* that we should do it.
*/
if (sc->want_mcsetup) {
mc_setup(sc);
sc->want_mcsetup = 0;
}
/* Wish I knew why this seems to be necessary... */
sc->xmit_cmds[0]->ie_xmit_status |= IE_STAT_COMPL;
iestart(&sc->arpcom.ac_if);
return (0); /* shouldn't be necessary */
}
int main( void )
{
uint32_t val = 0;
char textbuf [ (2*16) + 1 ]; // lcd
/* setup
*/
// LCD
lcd_init();
// Timer: enable a timer so we can measure passage of time
//
// Given: 20MHz clock
// --> if we want resolution of ms (1/1000th second) .. actually, we want us (1/10th of a ms) so we can measure partial ms
// --> and we have 1/20000000 clock resolution
// -----> 2000 ticks will get us there (20,000 will get us ms)
//
// Goal: Use CTC interupt mode (CTC -> Clear on Timer Compare)
// So a compare matches, it clears to zero and triggers interupt
TCCR1B |= (1 << WGM12); // Configure timer 1 for CTC mode
OCR1A = 2000; // number to compare against
TIMSK1 |= (1 << OCIE1A); // Enable CTC interrupt
TCCR1B |= (1 << CS10); // Set up timer , with no prescaler (works at full MHz of clock)
// Receiver setup - set up pin change interupt
#if 1
EICRA &= ~ ( (1 << ISC01) | (1 << ISC01) ); // clear ISC01+ISC00
EICRA |= ( (1 << ISC00) ); // 00 set and 01 unset means any edge will make event
PCMSK0 |= ( (1 << PCINT0) | (1 << PCINT1) ); // Pins to monitor: PA0 and PA1
PCICR |= (1 << PCIE0); // PA is monitored
#endif
// Serial - setup (for motor controller)
mc_setup();
// TWI - set up
unsigned char twibuf [ TWI_BUFFER_SIZE ];
unsigned char TWI_slaveAddress;
TWI_slaveAddress = 0x10; // our TWI address
TWI_Slave_Initialise( (unsigned char)((TWI_slaveAddress<<TWI_ADR_BITS) | (TRUE<<TWI_GEN_BIT) )); // Initialise TWI module as slave; include addr+general
unsigned char twi_heartbeat_counter = 0;
// setup done - kick up interupts
sei();
// lets burn the first couple of seconds, so the receiver can get some signal
// before we start blasting stuff into the motor controllers
{
unsigned int start_sec = g_time_s;
while ( g_time_s - start_sec < 3 ) {
nop();
}
}
// Start the TWI transceiver to enable reseption of the first command from the TWI Master.
TWI_Start_Transceiver();
#if 1 // timer test .. show per-second counter update on lcd
if ( 1 ) {
unsigned int last_sec = g_time_s;
unsigned int last_us = _g_time_us_tick;
unsigned char sent_l = 0, sent_r = 0;
char message [ 17 ];
while(1) {
unsigned int ch1 = g_ch1_duration;
unsigned int ch2 = g_ch2_duration;
// 100ms has past?
if ( _g_time_us_tick - last_us > 1000 ) {
if ( g_control_twi ) {
// we're on TWI control, but if nothing comes in.. revert back to RC
if ( g_time_s - g_control_last_s > 2 ) {
g_control_twi = 0;
}
} else {
mc_set_by_receiver ( ch1, ch2, &sent_l, &sent_r, message );
}
last_us = _g_time_us_tick;
} // .1sec tick
// one second has past? update lcd
if ( g_time_s != last_sec ) {
//sprintf ( textbuf, "recv %2d %2d ", g_ch1_duration, g_ch2_duration );
sprintf ( textbuf, "m %2d %2d th %2d %2d #", sent_l, sent_r, ch1, ch2 );
lcd_xy ( 0, 0 );
lcd_puts( textbuf ); // display number right adjusted
//sprintf ( textbuf, "t%2d #", g_time_s );
sprintf ( textbuf, "t%2d # %s", g_time_s, message );
lcd_xy ( 0, 1 );
lcd_puts( textbuf ); // display number right adjusted
last_sec = g_time_s;
} // 1 sec tick
// TWI/I2C stuff, talk to r-pi
//
// Check if the TWI Transceiver has completed an operation.
if ( ! TWI_Transceiver_Busy() ) {
// Check if the last operation was successful
if ( TWI_statusReg.lastTransOK ) {
// Check if the last operation was a reception
if ( TWI_statusReg.RxDataInBuf ) {
TWI_Get_Data_From_Transceiver ( twibuf, 3 );
// Check if the last operation was a reception as General Call
if ( TWI_statusReg.genAddressCall ) {
// don't care
} else { // Ends up here if the last operation was a reception as Slave Address Match
// Example of how to interpret a command and respond.
#if 0
// TWI_CMD_MASTER_WRITE stores the data to PORTB
if (twibuf[0] == TWI_CMD_MASTER_WRITE) {
PORTB = twibuf[1];
}
#endif
// TWI_CMD_MASTER_READ prepares the data from PINB in the transceiver buffer for the TWI master to fetch.
if ( twibuf[0] == tc_heartbeat ) {
twibuf [ 0 ] = 1;
twibuf [ 1 ] = twi_heartbeat_counter++;
TWI_Start_Transceiver_With_Data ( twibuf, TWI_BUFFER_SIZE );
} else if ( twibuf[0] == tc_gethello ) {
sprintf ( twibuf + 1, "hello" );
twibuf [ 0 ] = strlen ( twibuf + 1 ); // len
TWI_Start_Transceiver_With_Data ( twibuf, TWI_BUFFER_SIZE );
} else if ( twibuf[0] == tc_setmotors ) {
g_control_last_s = g_time_s;
mc_speed ( mcm_left, twibuf [ 1 ] );
mc_speed ( mcm_right, twibuf [ 2 ] );
} else if ( twibuf[0] == tc_takeover ) {
g_control_last_s = g_time_s;
g_control_twi = 1;
} else if ( twibuf[0] == tc_release ) {
g_control_twi = 0;
} else {
twibuf [ 0 ] = 1;
twibuf [ 1 ] = 0xde;
twibuf [ 2 ] = 0xad;
twibuf [ 3 ] = 0xbe;
twibuf [ 4 ] = 0xef;
TWI_Start_Transceiver_With_Data ( twibuf, TWI_BUFFER_SIZE );
}
}
} else { // Ends up here if the last operation was a transmission
// don't care
}
// Check if the TWI Transceiver has already been started.
// If not then restart it to prepare it for new receptions.
if ( ! TWI_Transceiver_Busy() ) {
TWI_Start_Transceiver();
}
} else { // Ends up here if the last operation completed unsuccessfully
TWI_Act_On_Failure_In_Last_Transmission ( TWI_Get_State_Info() );
} // success/fail
} // TWI busy?
// spin
_delay_ms ( 20 );
} // while forever
} // if 1
#endif
/* churn forever
*/
while(1);
return ( 0 );
}
