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branches/autonomous_recharging/code/projects/libbayboard/i2c.c
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/**
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 * Copyright (c) 2007 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**
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 * @file i2c.c
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 * @brief Implemenation of I2C communications protocol
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 * 
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 * In the case where you have master sends and then a master request to the same
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 * address, you will not give up control of the line because the send and
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 * request addresses are seen as different addresses. In between it will send a
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 * restart but will not give up the line.
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 *
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 * @author CMU Robotics Club, Kevin Woo, Sursh Nidhiry
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 * @bug Not tested.
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 */
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#include <avr/interrupt.h>
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#include <util/twi.h>
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#include "i2c.h"
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#include "ring_buffer.h"
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/**
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 * @defgroup i2c I2C 
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 *
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 * @brief Provides Inter-Interconnected-Communications (I2C)
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 * 
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 * Initiates I2C functions on an ATMega128 which has a fully hardware Two Wire 
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 * Interface (TWI) module. Any Atmel chip with this hardware should be able to
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 * use the software.
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 *
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 * This code will operate in a multi-master enviornment and can be either a
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 * slave or a master at any time (as long as they are not one or the other at
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 * the moment. You can queue up multiple transmission modes in the buffer up to 
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 * the buffer size. The buffer is implemented as a ring buffer.
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 *
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 * It is implemented using callback functions. Whenever you want to send a packet
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 * you can call the built in send function (as a master) and it will send an array
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 * of bytes. Master recieve and slave send/receive are all handled by the call back
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 * functions. It is up to the end user to create functions that will handle the
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 * receiving of packets. Their functions will be called with every byte recieved
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 * so you must either buffer the inputs or handle each one separately.
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 *
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 * On errors we will simply flush the entire buffer.
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 * 
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 * For information on how I2C operates, read the wikipedia article
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 * http://en.wikipedia.org/wiki/I2c
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 * for a good explanation of how it works.
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 * @{
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 */
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/** 
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 * @brief Set bit rate 12 = 100kbit/s (max speed setting is 10 for an
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 *  8 MHz clock). It is a divider, so the lower the number the faster the speed.
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 */
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#define I2C_BIT_RATE_DIVIDER 0x0C
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static int start_flag;
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static fun_mrecv_t master_recv_function;
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static fun_srecv_t slave_recv_function;
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static fun_send_t slave_send_function;
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RING_BUFFER_NEW(i2c_buffer, 128, char, i2c_write_buff, i2c_addr_buff);
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/**
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 * @brief Initializes the i2c module.
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 *
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 * Initializes the I2C module to start listening on the i2c lines. If the callback functions
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 * are not set to null they will be called when that transmission mode is called. The address
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 * is your address that you will listen to when you are not the master.
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 *
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 * @param addr 			Your address on the I2C bus.
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 * @param master_recv 	The address of the function to call when you receive a byte when you are a
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 *                    	master.
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 * @param slave_recv 	The address of the function to call when you are a slave you receive data
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 *								from the master
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 * @param slave_send		The address of the function to call when you are a slave and the master
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 *								requests data from you.
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 *
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 * @return 0 for success, nonzero for failure
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 **/
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int i2c_init(char addr, fun_mrecv_t master_recv, fun_srecv_t slave_recv, fun_send_t slave_send) {
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    master_recv_function = master_recv;
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    slave_recv_function = slave_recv;
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    slave_send_function = slave_send;
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    RING_BUFFER_CLEAR(i2c_write_buff);
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    RING_BUFFER_CLEAR(i2c_addr_buff);
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    /* enables twi interrupt, automatic ack sending, and all twi hardware */
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    TWCR =  (_BV(TWEA) | _BV(TWEN) | _BV(TWIE));
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    /* sets the bit rate of data transmission */
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    TWBR = I2C_BIT_RATE_DIVIDER;
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    /* sets the address (it is stored in the 7 most significant bits) and allows
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     * global messages to be accepted */
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    TWAR = (addr << 1) | 1;
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	sei();
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    return 0;
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}
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/**
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 * @brief Sends a byte array over I2C as a master
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 *
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 * Will perform a send over I2C to the destination from data for the ammount of
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 * bytes that bytes is.
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 *
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 * @param dest		Destination address of the data on the I2C bus.
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 * @param data 	The pointer to the byte array of data
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 * @param bytes	The amount of bytes long that the byte array is. This is how
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 *						many bytes from the array that the function will send.
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 *
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 * @return zero for success, nonzero for failure
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 **/
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int i2c_send(char dest, char *data, size_t bytes) {
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    int i;
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    /* adding data to be sent to ring buffers is not atomic,
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     * so disable interrupts */
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    cli();
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    for(i = 0; i < bytes; i++) {
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        if(RING_BUFFER_FULL(i2c_write_buff)) {
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            sei();
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            return -1;
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        }
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        RING_BUFFER_ADD(i2c_write_buff, data[i]);
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        RING_BUFFER_ADD(i2c_addr_buff, dest << 1);
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    }
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    /* re-enable the interrupts */
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    sei();
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    /* send the start bit, only if this device is not currently master */
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    if(!start_flag) {
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        start_flag = 1;
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        TWCR |= _BV(TWSTA);
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        TWCR |= _BV(TWINT);
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    }
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    return 0;
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}
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/**
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 * @brief Send a master request to the destination
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 *
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 * Sends a request of data from the target address and calls
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 * the callback function to handle data as it comes in. This function will
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 * not work if the slave has not informationt to send or has nothing implemented
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 * to send it.
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 *
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 * @param dest		The destination that we want to receive information from.
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 *
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 * @return 0 for success, nonzero for failure
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 **/ 
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int i2c_request(char dest) {
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    if(RING_BUFFER_FULL(i2c_write_buff))
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        return -1;
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    RING_BUFFER_ADD(i2c_write_buff, 0);
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    RING_BUFFER_ADD(i2c_addr_buff, (dest << 1) | 1);
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    if(!start_flag) {
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        start_flag = 1;
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        TWCR |= _BV(TWSTA);
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        TWCR |= _BV(TWINT);
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    }
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    return 0;
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}
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/** @} **/
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/**
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 * @brief Interrupt to handle I2C interrupts from the I2C hardware.
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 * 
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 * Uses the status codes from the I2C register to handle the events
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 * needed to advance in I2C stages. For instance, you will get a bit for
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 * receiving a start ack, then a address ack, then a data ack, etc.
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 * The events are handled in each switch case. The status codes are defined
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 * by avr-gcc in /util/twi.h but are the same codes as the Atmel documentation.
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 *
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 * Bytes are sent by popping off the ring buffer. It also will keep track
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 * of what modes the send is in.
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 *
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 * Errors are handled here as well.
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 **/ 
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ISR(TWI_vect) {
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	static char data_to_send;
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	static char addr_to_send = -1;
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	char addr, statusCode;
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	//Get status code (only upper 5 bits)
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	statusCode = (TWSR & 0xF8);
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    switch (statusCode) {
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        //Start sent successfully
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        case TW_START:
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        case TW_REP_START:
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            /* Send address and write
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             * ring_buffer will not be empty */
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            RING_BUFFER_REMOVE(i2c_addr_buff, addr_to_send);
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            RING_BUFFER_REMOVE(i2c_write_buff, data_to_send);
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            /* first send the address */
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            TWDR = addr_to_send; 
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            //Turn off start bits
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            TWCR &= ~_BV(TWSTA);
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            break;
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        //Master Transmit - Address sent succesfully
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        case TW_MT_SLA_ACK:
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        //Send byte
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            TWDR = data_to_send;
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            //PORTG &= ~_BV(PG2);
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            break;
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        //Master Transmit - Data sent succesfully
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        case TW_MT_DATA_ACK:    
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            //If there is still data to send
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            if(!RING_BUFFER_EMPTY(i2c_write_buff)) {
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                RING_BUFFER_PEEK(i2c_addr_buff, addr);
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                //Still data for this address
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                if (addr == addr_to_send) {
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                    RING_BUFFER_REMOVE(i2c_addr_buff, addr);
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                    RING_BUFFER_REMOVE(i2c_write_buff, TWDR);
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                    break;
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                //No more data for this address, data for another address -> resend start
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                } else {
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                    TWCR |= _BV(TWSTA);
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                    break;
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                }
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            }
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            /* there are no bytes to send */
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            TWCR |= _BV(TWSTO);
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            start_flag = 0;
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            break; 
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        //Master Transmit - Slave sends a nack, transmit is done
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        case TW_MT_DATA_NACK:
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            //PORTG |= _BV(PG2);
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            TWCR |= _BV(TWSTO);
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            start_flag = 0;
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            break;
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        //Master Receive - Address sent succesfully
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        case TW_MR_SLA_ACK:
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            //PORTG |= _BV(PG2);
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            break;
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        //Master Receive - Data received succesfully
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        case TW_MR_DATA_ACK:
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            if(master_recv_function) {
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                if(!master_recv_function(TWDR)) {
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                    TWCR &= ~_BV(TWEA);
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                }
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            }
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            break;
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        //Master Receive - Slave sends a nack, transmission is done    
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        case TW_MR_DATA_NACK:
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            TWCR |= _BV(TWEA);
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            //If there is still data to send
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            if(!RING_BUFFER_EMPTY(i2c_write_buff)) {
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                TWCR |= _BV(TWSTA);
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                break;
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            }
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            /* there are no bytes to send */
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            TWCR |= _BV(TWSTO);
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            start_flag = 0;  
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            break;
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        //Slave Transmit - Address received
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        case TW_ST_SLA_ACK:
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            break;
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        //Slave Transmit - Nack received, no data requsted
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        case TW_ST_DATA_NACK:
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            break;
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        //Slave Transmit - Data requested, ack received
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        case TW_ST_DATA_ACK:
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            if (slave_send_function) {
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                TWDR = slave_send_function();
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            }
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            break;
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        //Slave Receive - Address received  
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        case TW_SR_SLA_ACK:
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            break;
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        //Slave Receive - Data received, ack returned
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        case TW_SR_DATA_ACK:
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            if(slave_recv_function) {
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                slave_recv_function(TWDR);
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            }
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            break;
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        //Stop sent  
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        case TW_SR_STOP:
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            break;
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        //Problem on the bus, reset everything
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        default:
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            TWCR |= _BV(TWSTO);
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            start_flag = 0;
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            RING_BUFFER_CLEAR(i2c_write_buff);
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            RING_BUFFER_CLEAR(i2c_addr_buff);  	
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    }
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  /* Toggle TWINT so that it resets and executes the commands */
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  TWCR |= _BV(TWINT);
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}
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branches/autonomous_recharging/code/projects/libbayboard/i2c.h
1
/**
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 * Copyright (c) 2007 Colony Project
3
 * 
4
 * Permission is hereby granted, free of charge, to any person
5
 * obtaining a copy of this software and associated documentation
6
 * files (the "Software"), to deal in the Software without
7
 * restriction, including without limitation the rights to use,
8
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * copies of the Software, and to permit persons to whom the
10
 * Software is furnished to do so, subject to the following
11
 * conditions:
12
 * 
13
 * The above copyright notice and this permission notice shall be
14
 * included in all copies or substantial portions of the Software.
15
 * 
16
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
18
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
21
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
22
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
23
 * OTHER DEALINGS IN THE SOFTWARE.
24
 **/
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/** @file i2c.h
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 *  @brief Header file for I2C
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 *
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 *  Contains functions for I2C.
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 *
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 *  @author Kevin Woo and Suresh Nidhiry, Colony Project, CMU Robotics Club
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 **/
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#ifndef _I2C_H_
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#define _I2C_H_
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#include <stddef.h>
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/** @brief Address of slave receive handler function **/
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typedef void (*fun_srecv_t)(char);
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/** @brief Address of master receive handler function**/
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typedef int (*fun_mrecv_t)(char);
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/** @brief Address of slave send handler function**/
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typedef char (*fun_send_t)(void);
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int i2c_init(char addr, fun_mrecv_t master_recv, fun_srecv_t slave_recv, fun_send_t slave_send);
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int i2c_send(char dest, char* data, size_t bytes);
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int i2c_request(char dest);
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void i2c_packet_rec (char i2c_byte);
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void i2c_packet_sniff(char data);
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#endif
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