void TWITransmitData(void *const TXdata, uint8_t dataLen, uint8_t repStart, uint8_t blocking)
{
// Wait until ready
while (!isTWIReady()) {_delay_us(1);}
// Reset the I2C stuff
TWCR = (1 << TWINT)|(1 << TWSTO);
TWIInit();
// Set repeated start mode
TWIInfo.repStart = repStart;
// Copy transmit info to global variables
TWITransmitBuffer = (uint8_t *)TXdata;
TXBuffLen = dataLen;
TXBuffIndex = 0;
// If a repeated start has been sent, then devices are already listening for an address
// and another start does not need to be sent.
if (TWIInfo.mode == RepeatedStartSent)
{
TWIInfo.mode = Initializing;
TWDR = TWITransmitBuffer[TXBuffIndex++]; // Load data to transmit buffer
TWISendTransmit(); // Send the data
}
else // Otherwise, just send the normal start signal to begin transmission.
{
TWIInfo.mode = Initializing;
TWISendStart();
}
if(blocking){
// Wait until ready
while (!isTWIReady()){_delay_us(1);}
}
}
uint8_t isTWIReady()
{
if ( (TWIInfo.mode == Ready) | (TWIInfo.mode == RepeatedStartSent) )
{
// xprintf("i2c ready\n");
return 1;
}
else
{
if(TWIInfo.mode == Initializing){
switch(TWIInfo.errorCode){
case TWI_SUCCESS:
break;
case TWI_NO_RELEVANT_INFO:
break;
case TWI_LOST_ARBIT:
case TWI_MT_DATA_NACK:
// Some kind of I2C error, reset and re-init
xprintf("I2C init error: %d\n", TWIInfo.errorCode);
TWCR = (1 << TWINT)|(1 << TWSTO);
TWIInit();
break;
default:
xprintf("Other i2c init error: %d\n", TWIInfo.errorCode);
}
}
return 0;
}
}
void matrix_scan_kb(void)
{
#ifdef WATCHDOG_ENABLE
wdt_reset();
#endif
#ifdef ISSI_ENABLE
// switch/underglow lighting update
static uint32_t issi_device = 0;
static uint32_t twi_last_ready = 0;
if(twi_last_ready > 1000){
// Its been way too long since the last ISSI update, reset the I2C bus and start again
xprintf("TWI failed to recover, TWI re-init\n");
twi_last_ready = 0;
TWIInit();
force_issi_refresh();
}
if(isTWIReady()){
twi_last_ready = 0;
// If the i2c bus is available, kick off the issi update, alternate between devices
update_issi(issi_device, issi_device);
if(issi_device){
issi_device = 0;
}else{
issi_device = 3;
}
}else{
twi_last_ready++;
}
#endif
matrix_scan_user();
}
void matrix_scan_kb(void)
{
#ifdef WATCHDOG_ENABLE
wdt_reset();
#endif
#ifdef ISSI_ENABLE
// switch/underglow lighting update
static uint32_t issi_device = 0;
static uint32_t twi_last_ready = 0;
if(twi_last_ready > 1000){
// Its been way too long since the last ISSI update, reset the I2C bus and start again
dprintf("TWI failed to recover, TWI re-init\n");
twi_last_ready = 0;
TWIInit();
force_issi_refresh();
}
if(isTWIReady()){
twi_last_ready = 0;
// If the i2c bus is available, kick off the issi update, alternate between devices
update_issi(issi_device, issi_device);
if(issi_device){
issi_device = 0;
}else{
issi_device = 3;
}
}else{
twi_last_ready++;
}
#endif
// Update layer indicator LED
//
// Not sure how else to reliably do this... TMK has the 'hook_layer_change'
// but can't find QMK equiv
static uint32_t layer_indicator = -1;
if(layer_indicator != layer_state){
for(uint32_t i=0;; i++){
// the layer_info list should end with layer 0xFFFFFFFF
// it will break this out of the loop and define the unknown layer color
if((layer_info[i].layer == (layer_state & layer_info[i].mask)) || (layer_info[i].layer == 0xFFFFFFFF)){
OCR1A = layer_info[i].color.red;
OCR1B = layer_info[i].color.green;
OCR1C = layer_info[i].color.blue;
layer_indicator = layer_state;
break;
}
}
}
matrix_scan_user();
}
int main(void)
{
// \/ \/ \/ \/ Setup \/ \/ \/ \/
// -------- Initialize TWI --------
TWIInit();
// -------- Pin Registers --------
// Set all of PORTC to Input
DDRC = 0x00;
// Set PORTB and D to outputs
DDRB = 0xFF;
DDRD = 0xFF;
// -------- Interrupts --------
sei();
// Pin change interrupts
PCICR = (1 << PCIE1); // Enable interrupts for PCIE2 [14:8]
PCMSK1 = (1 << PCINT8) | (1 << PCINT9) | (1 << PCINT10) | (1 << PCINT11); // Enable interrupts for PC0 PC1 PC2 and PC3 (PCINT8, 9, 10, 11)
// Pin change interrupts
//PCICR = (1 << PCIE2); // Enable interrupts for PCIE2 [23:16]
//PCMSK2 = (1 << PCINT18) | (1 << PCINT19); // Enable interrupts for PD2 and PD3
// -------- PID Loop Timer --------
// Set Timer 1 clock prescaler to 1/64
TCCR1B = (0 << CS12) | (1 << CS11) | (1 << CS10);
// -------- PWM timer Setup --------
TCCR0A = (0 << COM0A0) | (1 << COM0A1) | (0 << COM0B0) | (1 << COM0B1) | // Non inverting mode
(1 << WGM00) | (1 << WGM01); // Fast PWM mode
OCR0A = 128;
OCR0B = 0;
TCCR0B = (0 << CS02) | (0 << CS01) | (1 << CS00); // Start timer with 1/64 pre scaler
// -------- Read PID Parameters into RAM --------
// PID parameters
eeprom_read_block(&velocityPID, &PID_v, sizeof(MotorPID::PID));
/*velocityPID.Kp = 140;
velocityPID.Ki = 2;
velocityPID.Kd = 0;
velocityPID.K0 = 20000;*/
// Create motor objects
m_motorA = new MotorPID(&OCR0A, &PORTB, 0x01, 0x02, velocityPID);
m_motorB = new MotorPID(&OCR0B, &PORTB, 0x04, 0x08, velocityPID);
while (1)
{
// -------- 50ms PID Loop --------
if (TCNT1 >= 12500) // > 50ms PID loop
{
if (++watchdog > WATCHDOG)
{
m_motorA->motor.Velocity = 0;
m_motorB->motor.Velocity = 0;
}
// Take a snapshot of each motor status
m_motorA->snapshot(TCNT1);
m_motorB->snapshot(TCNT1);
// Reset the PID timer once snapshots are taken
TCNT1 = 0;
// Spin PID for each motor
m_motorA->spin();
m_motorB->spin();
}
// -------- TWI check --------
if (TWCR & (1 << TWINT)) // If TWINT is set then we need to handle some TWI comms
{
constructOutStr();
handleTWI();
}
}
}
void TWIInit()
{
// Initialize with hard coded slave address of 4
TWIInit(0x08);
}
void initializeI2C(){
TWIInit();
}
int main(void) {
init();
//******
//TEST 1
//******
#if _TEST == 1
bool toggle = false;
uint8_t packet_pos = 0;
char c;
DDRD |= (1 << PD6);
init();
while(true) {
c = uart0_getchar();
if (c == 'y') {
toggle = false;
uart0_putchar('y');
}
if (c == 'n') {
toggle = true;
uart0_putchar('n');
}
if (toggle)
PORTD |= (1 << PD6);
else
PORTD &= ~(1 << PD6);
}
//******
//TEST 2
//******
#elif _TEST == 2
char c;
DDRD |= (1 << PD6) // set outputs in PORTD
| (1 << PD5)
| (1 << PD4);
TCCR1A = 0x00; // clear all current timer 1 settings
TCCR1B = 0x00;
TCCR1B |= (1 << WGM12); // turn on CTC mode:
// Clear Timer on Compare Match
TIMSK1 = (1 << TOIE1); // enable global and timer overflow interrupt
TCCR1B |= (1 << CS10);
while(true) {
c = uart0_getchar();
if (c != EOF) {
if (c == 'f')
servoTurn(0);
if (c == 'g')
servoTurn(90);
if (c == 'h')
servoTurn(180);
}
}
//******
v //TEST 3
//******
#elif _TEST == 3
Packet host_packet;
PacketInit(&host_packet);
int len = 0;
char c;
DDRD |= (1 << PD6);
while(1) {
c = uart0_getchar();
if (c != EOF)
len = PacketProcessChar(&host_packet, c);
if (len > 0)
uart0_printstr("got a packet!\r\n");
}
//******
//TEST 4
//******
#elif _TEST == 4
uint8_t messageBuf[4];
uint8_t TWI_slaveAddress = 0x10;
DDRD |= (1 << PD5) | (1 << PD6);
TWIInit();
sei();
while(1) {
PORTD ^= (1 << PD5) | (1 << PD6);
TWIStart();
//TWIStop();
_delay_ms(500);
}
#elif _TEST == 5
Packet host_packet;
PacketInit(&host_packet);
int len = 0;
char c;
DDRD |= (1 << PD5);
uint8_t message_buf[] = {0xFE, 0xFE, 0x01, 0x04, 0x02, 0x2B, 0x01, 0xCC};
int i;
while(1) {
c = uart0_getchar();
if (c != EOF) {
len = PacketProcessChar(&host_packet, c);
}
if (len > 0) {
PORTD ^= (1 << PD5);
len = 0;
}
//for (i = 0; i < 8; i++)
// uart0_putchar(message_buf[i]);
//uart0_putchar(0xFD);
//uart0_putchar(0xFF);
//c = uart0_getchar();
//if (c != EOF) {
// len = PacketProcessChar(&host_packet, c);
//PORTD ^= (1 << PD5);
//}
//if (len > 0)
//PORTD ^= (1 << PD5);
//_delay_ms(1000);
}
/*
DDRD |= (1 << PD5);
char c;
while(1) {
c = uart0_getchar();
if (c != EOF) {
uart0_putchar(c);
PORTD ^= (1 << PD5);
//_delay_ms(500);
}
}*/
#endif // _TEST
return 0;
}
