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#include <stdio.h>
#include <avr/io.h>
#include <util/twi.h>
#include <util/delay.h>
#include <stdbool.h>
#include <string.h>
#include "debug.h"
#include "i2c.h"
/** I2C notes
* TWDR: data address shift register
* contians address or data bytes to be transmitted/recieved
* ACK bit not accesible
* TWAR: matches recieved addresses
* TWCR: control register, sets settings
* TWINT: tw interrupt flag
* also is dependent on GIE in SREG
* TWSR: TWI status register (only matters if TWI interurupt flag asserted)
* Steps simplified:
* SEND START
* Send START with TWCR
* Set TWINT in TWCR to 1; as this clears the flag
* TWSR will then say start has begun
* Load SLA+W into TWDR (what is this? TODO)
* Write something to TWCR to initiate send? (make sure twint is set after)
* poll TWSR interrupt bit to see if we recieve a message (or figure out interrupts)
*
* Note: You may be wondering why I'm not handling i2c errors.
* I have limited time, and I don't think it's nessesary unless I start running into them.
*
* Some I may work on handling later.
*
*/
void error() { debug_crash(); }
void i2c_init() {
TWBR = 12;
TWSR &= 0b11111100;
}
void i2c_start(uint8_t addr, bool rw) {
TWCR = (_BV(TWSTA) | _BV(TWEN) | _BV(TWINT)); //send start signal
loop_until_bit_is_set(TWCR, TWINT);
if(((TWSR & 0xf8) != (TW_START)) && ((TWSR & 0xf8) != (TW_REP_START))) {
#ifdef DEBUG_BUILD
printf("Couldn't set start condition? TWSR: 0x%x\r\n", TWSR & 0xf8);
#endif
error();
}
TWDR = (addr << 1) | rw;
TWCR = _BV(TWINT) | _BV(TWEN);
loop_until_bit_is_set(TWCR, TWINT);
if(((TWSR & 0xf8) != (TW_MT_SLA_ACK)) && (TWSR & 0xf8) != (TW_MR_SLA_ACK)) {
#if DEBUG_BUILD
printf("unhandled NACK in address transmission\
TWCR: 0x%x\
TWSR: 0x%x\r\n", TWCR, (TWSR & ~(0b11)));
#endif
error();
}
}
void i2c_stop() { TWCR = (_BV(TWSTO) | _BV(TWEN) | _BV(TWINT)); }
void i2c_send(uint8_t byte) {
TWDR = byte; //fist packet is address
TWCR = _BV(TWINT) | _BV(TWEN); //send over the byte
loop_until_bit_is_set(TWCR, TWINT);
if((TWSR & 0xf8) != TW_MT_DATA_ACK) {
#ifdef DEBUG_BUILD
printf("unhandled NACK in data transmission\
TWCR: 0x%x\
TWSR: 0x%x\r\n", TWCR, (TWSR & ~(0b11)));
#endif
error();
}
}
uint8_t i2c_recv() {
uint8_t value;
TWCR = _BV(TWINT) | _BV(TWEN);
loop_until_bit_is_set(TWCR, TWINT);
value = TWDR;
//the eeprom supposedly doesn't return an ack here,
//as it should (according to its datasheet), but it still works?
if(((TWSR & 0xf8) != TW_MR_DATA_ACK) && ((TWSR & 0xf8) != TW_MR_DATA_NACK)) {
#ifdef DEBUG_BUILD
printf("Error recieving byte from i2c device: 0x%x\r\n", TWSR & 0xf8);
#endif
error();
}
return value;
}
//does NOT control start/stop, simply reads TWDR
uint8_t i2c_read_reg_addr16(uint8_t device, uint16_t addr) {
uint8_t value;
i2c_start(device, I2C_WRITE);
i2c_send((uint8_t)addr & 0xff);
i2c_send((uint8_t)addr >> 8);
i2c_start(device, I2C_READ);
value = i2c_recv();
i2c_stop();
return(value);
}
void i2c_write_reg(uint8_t device_addr, uint8_t device_reg, uint8_t value) {
i2c_start(device_addr, I2C_WRITE);
i2c_send(device_reg);
i2c_send(value);
i2c_stop();
}
void i2c_write_reg_multi(uint8_t device_addr, uint8_t device_reg, size_t len, uint8_t *values) {
i2c_start(device_addr, I2C_WRITE);
i2c_send(device_reg);
for(size_t on_byte = 0; on_byte < len; on_byte++) i2c_send(values[on_byte]);
i2c_stop();
}
void i2c_write_reg_addr16(uint8_t device_addr, uint16_t device_reg, uint8_t data) {
i2c_start(device_addr, I2C_WRITE);
i2c_send((uint8_t)device_reg & 0xff);
i2c_send((uint8_t)device_reg >> 8);
i2c_send(data);
i2c_stop();
}
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