i2c.c

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/*! \file i2c.c \brief I2C interface using AVR Two-Wire Interface (TWI) hardware. */
//*****************************************************************************
//
// File Name    : 'i2c.c'
// Title        : I2C interface using AVR Two-Wire Interface (TWI) hardware
// Author       : Pascal Stang - Copyright (C) 2002-2003
// Created      : 2002.06.25
// Revised      : 2003.03.02
// Version      : 0.9
// Target MCU   : Atmel AVR series
// Editor Tabs  : 4
//
// This code is distributed under the GNU Public License
//      which can be found at http://www.gnu.org/licenses/gpl.txt
//
//*****************************************************************************

#include <avr/io.h>
#include <avr/interrupt.h>

#include "i2c.h"

#include "rprintf.h"    // include printf function library
#include "uart2.h"

// Standard I2C bit rates are:
// 100KHz for slow speed
// 400KHz for high speed

//#define I2C_DEBUG

// I2C state and address variables
static volatile eI2cStateType I2cState;
static u08 I2cDeviceAddrRW;
// send/transmit buffer (outgoing data)
static u08 I2cSendData[I2C_SEND_DATA_BUFFER_SIZE];
static u08 I2cSendDataIndex;
static u08 I2cSendDataLength;
// receive buffer (incoming data)
static u08 I2cReceiveData[I2C_RECEIVE_DATA_BUFFER_SIZE];
static u08 I2cReceiveDataIndex;
static u08 I2cReceiveDataLength;

// function pointer to i2c receive routine
//! I2cSlaveReceive is called when this processor
// is addressed as a slave for writing
static void (*i2cSlaveReceive)(u08 receiveDataLength, u08* recieveData);
//! I2cSlaveTransmit is called when this processor
// is addressed as a slave for reading
static u08 (*i2cSlaveTransmit)(u08 transmitDataLengthMax, u08* transmitData);

// functions
void i2cInit(void)
{
    // set pull-up resistors on I2C bus pins
    // TODO: should #ifdef these
    sbi(PORTC, 0);  // i2c SCL on ATmega163,323,16,32,etc
    sbi(PORTC, 1);  // i2c SDA on ATmega163,323,16,32,etc
    sbi(PORTD, 0);  // i2c SCL on ATmega128,64
    sbi(PORTD, 1);  // i2c SDA on ATmega128,64

    // clear SlaveReceive and SlaveTransmit handler to null
    i2cSlaveReceive = 0;
    i2cSlaveTransmit = 0;
    // set i2c bit rate to 100KHz
    i2cSetBitrate(100);
    // enable TWI (two-wire interface)
    sbi(TWCR, TWEN);
    // set state
    I2cState = I2C_IDLE;
    // enable TWI interrupt and slave address ACK
    sbi(TWCR, TWIE);
    sbi(TWCR, TWEA);
    //outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA));
    // enable interrupts
    sei();
}

void i2cSetBitrate(u16 bitrateKHz)
{
    u08 bitrate_div;
    // set i2c bitrate
    // SCL freq = F_CPU/(16+2*TWBR))
    #ifdef TWPS0
        // for processors with additional bitrate division (mega128)
        // SCL freq = F_CPU/(16+2*TWBR*4^TWPS)
        // set TWPS to zero
        cbi(TWSR, TWPS0);
        cbi(TWSR, TWPS1);
    #endif
    // calculate bitrate division   
    bitrate_div = ((F_CPU/1000l)/bitrateKHz);
    if(bitrate_div >= 16)
        bitrate_div = (bitrate_div-16)/2;
    outb(TWBR, bitrate_div);
}

void i2cSetLocalDeviceAddr(u08 deviceAddr, u08 genCallEn)
{
    // set local device address (used in slave mode only)
    outb(TWAR, ((deviceAddr&0xFE) | (genCallEn?1:0)) );
}

void i2cSetSlaveReceiveHandler(void (*i2cSlaveRx_func)(u08 receiveDataLength, u08* recieveData))
{
    i2cSlaveReceive = i2cSlaveRx_func;
}

void i2cSetSlaveTransmitHandler(u08 (*i2cSlaveTx_func)(u08 transmitDataLengthMax, u08* transmitData))
{
    i2cSlaveTransmit = i2cSlaveTx_func;
}

inline void i2cSendStart(void)
{
    // send start condition
    outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWSTA));
}

inline void i2cSendStop(void)
{
    // transmit stop condition
    // leave with TWEA on for slave receiving
    outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA)|BV(TWSTO));
}

inline void i2cWaitForComplete(void)
{
    // wait for i2c interface to complete operation
    while( !(inb(TWCR) & BV(TWINT)) );
}

inline void i2cSendByte(u08 data)
{
    // save data to the TWDR
    outb(TWDR, data);
    // begin send
    outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT));
}

inline void i2cReceiveByte(u08 ackFlag)
{
    // begin receive over i2c
    if( ackFlag )
    {
        // ackFlag = TRUE: ACK the recevied data
        outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA));
    }
    else
    {
        // ackFlag = FALSE: NACK the recevied data
        outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT));
    }
}

inline u08 i2cGetReceivedByte(void)
{
    // retieve received data byte from i2c TWDR
    return( inb(TWDR) );
}

inline u08 i2cGetStatus(void)
{
    // retieve current i2c status from i2c TWSR
    return( inb(TWSR) );
}

void i2cMasterSend(u08 deviceAddr, u08 length, u08* data)
{
    u08 i;
    // wait for interface to be ready
    while(I2cState);
    // set state
    I2cState = I2C_MASTER_TX;
    // save data
    I2cDeviceAddrRW = (deviceAddr & 0xFE);  // RW cleared: write operation
    for(i=0; i<length; i++)
        I2cSendData[i] = *data++;
    I2cSendDataIndex = 0;
    I2cSendDataLength = length;
    // send start condition
    i2cSendStart();
}

void i2cMasterReceive(u08 deviceAddr, u08 length, u08* data)
{
    u08 i;
    // wait for interface to be ready
    while(I2cState);
    // set state
    I2cState = I2C_MASTER_RX;
    // save data
    I2cDeviceAddrRW = (deviceAddr|0x01);    // RW set: read operation
    I2cReceiveDataIndex = 0;
    I2cReceiveDataLength = length;
    // send start condition
    i2cSendStart();
    // wait for data
    while(I2cState);
    // return data
    for(i=0; i<length; i++)
        *data++ = I2cReceiveData[i];
}

u08 i2cMasterSendNI(u08 deviceAddr, u08 length, u08* data)
{
    u08 retval = I2C_OK;

    // disable TWI interrupt
    cbi(TWCR, TWIE);

    // send start condition
    i2cSendStart();
    i2cWaitForComplete();

    // send device address with write
    i2cSendByte( deviceAddr & 0xFE );
    i2cWaitForComplete();

    // check if device is present and live
    if( inb(TWSR) == TW_MT_SLA_ACK)
    {
        // send data
        while(length)
        {
            i2cSendByte( *data++ );
            i2cWaitForComplete();
            length--;
        }
    }
    else
    {
        // device did not ACK it's address,
        // data will not be transferred
        // return error
        retval = I2C_ERROR_NODEV;
    }

    // transmit stop condition
    // leave with TWEA on for slave receiving
    i2cSendStop();
    while( !(inb(TWCR) & BV(TWSTO)) );

    // enable TWI interrupt
    sbi(TWCR, TWIE);

    return retval;
}

u08 i2cMasterReceiveNI(u08 deviceAddr, u08 length, u08 *data)
{
    u08 retval = I2C_OK;

    // disable TWI interrupt
    cbi(TWCR, TWIE);

    // send start condition
    i2cSendStart();
    i2cWaitForComplete();

    // send device address with read
    i2cSendByte( deviceAddr | 0x01 );
    i2cWaitForComplete();

    // check if device is present and live
    if( inb(TWSR) == TW_MR_SLA_ACK)
    {
        // accept receive data and ack it
        while(length > 1)
        {
            i2cReceiveByte(TRUE);
            i2cWaitForComplete();
            *data++ = i2cGetReceivedByte();
            // decrement length
            length--;
        }

        // accept receive data and nack it (last-byte signal)
        i2cReceiveByte(FALSE);
        i2cWaitForComplete();
        *data++ = i2cGetReceivedByte();
    }
    else
    {
        // device did not ACK it's address,
        // data will not be transferred
        // return error
        retval = I2C_ERROR_NODEV;
    }

    // transmit stop condition
    // leave with TWEA on for slave receiving
    i2cSendStop();

    // enable TWI interrupt
    sbi(TWCR, TWIE);

    return retval;
}
/*
void i2cMasterTransferNI(u08 deviceAddr, u08 sendlength, u08* senddata, u08 receivelength, u08* receivedata)
{
    // disable TWI interrupt
    cbi(TWCR, TWIE);

    // send start condition
    i2cSendStart();
    i2cWaitForComplete();

    // if there's data to be sent, do it
    if(sendlength)
    {
        // send device address with write
        i2cSendByte( deviceAddr & 0xFE );
        i2cWaitForComplete();
        
        // send data
        while(sendlength)
        {
            i2cSendByte( *senddata++ );
            i2cWaitForComplete();
            sendlength--;
        }
    }

    // if there's data to be received, do it
    if(receivelength)
    {
        // send repeated start condition
        i2cSendStart();
        i2cWaitForComplete();

        // send device address with read
        i2cSendByte( deviceAddr | 0x01 );
        i2cWaitForComplete();

        // accept receive data and ack it
        while(receivelength > 1)
        {
            i2cReceiveByte(TRUE);
            i2cWaitForComplete();
            *receivedata++ = i2cGetReceivedByte();
            // decrement length
            receivelength--;
        }

        // accept receive data and nack it (last-byte signal)
        i2cReceiveByte(TRUE);
        i2cWaitForComplete();
        *receivedata++ = i2cGetReceivedByte();
    }
    
    // transmit stop condition
    // leave with TWEA on for slave receiving
    i2cSendStop();
    while( !(inb(TWCR) & BV(TWSTO)) );

    // enable TWI interrupt
    sbi(TWCR, TWIE);
}
*/

//! I2C (TWI) interrupt service routine
SIGNAL(SIG_2WIRE_SERIAL)
{
    // read status bits
    u08 status = inb(TWSR) & TWSR_STATUS_MASK;

    switch(status)
    {
    // Master General
    case TW_START:                      // 0x08: Sent start condition
    case TW_REP_START:                  // 0x10: Sent repeated start condition
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: M->START\r\n");
        rprintfInit(uart1SendByte);
        #endif
        // send device address
        i2cSendByte(I2cDeviceAddrRW);
        break;
    
    // Master Transmitter & Receiver status codes
    case TW_MT_SLA_ACK:                 // 0x18: Slave address acknowledged
    case TW_MT_DATA_ACK:                // 0x28: Data acknowledged
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: MT->SLA_ACK or DATA_ACK\r\n");
        rprintfInit(uart1SendByte);
        #endif
        if(I2cSendDataIndex < I2cSendDataLength)
        {
            // send data
            i2cSendByte( I2cSendData[I2cSendDataIndex++] );
        }
        else
        {
            // transmit stop condition, enable SLA ACK
            i2cSendStop();
            // set state
            I2cState = I2C_IDLE;
        }
        break;
    case TW_MR_DATA_NACK:               // 0x58: Data received, NACK reply issued
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: MR->DATA_NACK\r\n");
        rprintfInit(uart1SendByte);
        #endif
        // store final received data byte
        I2cReceiveData[I2cReceiveDataIndex++] = inb(TWDR);
        // continue to transmit STOP condition
    case TW_MR_SLA_NACK:                // 0x48: Slave address not acknowledged
    case TW_MT_SLA_NACK:                // 0x20: Slave address not acknowledged
    case TW_MT_DATA_NACK:               // 0x30: Data not acknowledged
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: MTR->SLA_NACK or MT->DATA_NACK\r\n");
        rprintfInit(uart1SendByte);
        #endif
        // transmit stop condition, enable SLA ACK
        i2cSendStop();
        // set state
        I2cState = I2C_IDLE;
        break;
    case TW_MT_ARB_LOST:                // 0x38: Bus arbitration lost
    //case TW_MR_ARB_LOST:              // 0x38: Bus arbitration lost
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: MT->ARB_LOST\r\n");
        rprintfInit(uart1SendByte);
        #endif
        // release bus
        outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT));
        // set state
        I2cState = I2C_IDLE;
        // release bus and transmit start when bus is free
        //outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWSTA));
        break;
    case TW_MR_DATA_ACK:                // 0x50: Data acknowledged
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: MR->DATA_ACK\r\n");
        rprintfInit(uart1SendByte);
        #endif
        // store received data byte
        I2cReceiveData[I2cReceiveDataIndex++] = inb(TWDR);
        // fall-through to see if more bytes will be received
    case TW_MR_SLA_ACK:                 // 0x40: Slave address acknowledged
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: MR->SLA_ACK\r\n");
        rprintfInit(uart1SendByte);
        #endif
        if(I2cReceiveDataIndex < (I2cReceiveDataLength-1))
            // data byte will be received, reply with ACK (more bytes in transfer)
            i2cReceiveByte(TRUE);
        else
            // data byte will be received, reply with NACK (final byte in transfer)
            i2cReceiveByte(FALSE);
        break;

    // Slave Receiver status codes
    case TW_SR_SLA_ACK:                 // 0x60: own SLA+W has been received, ACK has been returned
    case TW_SR_ARB_LOST_SLA_ACK:        // 0x68: own SLA+W has been received, ACK has been returned
    case TW_SR_GCALL_ACK:               // 0x70:     GCA+W has been received, ACK has been returned
    case TW_SR_ARB_LOST_GCALL_ACK:      // 0x78:     GCA+W has been received, ACK has been returned
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: SR->SLA_ACK\r\n");
        rprintfInit(uart1SendByte);
        #endif
        // we are being addressed as slave for writing (data will be received from master)
        // set state
        I2cState = I2C_SLAVE_RX;
        // prepare buffer
        I2cReceiveDataIndex = 0;
        // receive data byte and return ACK
        outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA));
        break;
    case TW_SR_DATA_ACK:                // 0x80: data byte has been received, ACK has been returned
    case TW_SR_GCALL_DATA_ACK:          // 0x90: data byte has been received, ACK has been returned
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: SR->DATA_ACK\r\n");
        rprintfInit(uart1SendByte);
        #endif
        // get previously received data byte
        I2cReceiveData[I2cReceiveDataIndex++] = inb(TWDR);
        // check receive buffer status
        if(I2cReceiveDataIndex < I2C_RECEIVE_DATA_BUFFER_SIZE)
        {
            // receive data byte and return ACK
            i2cReceiveByte(TRUE);
            //outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA));
        }
        else
        {
            // receive data byte and return NACK
            i2cReceiveByte(FALSE);
            //outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT));
        }
        break;
    case TW_SR_DATA_NACK:               // 0x88: data byte has been received, NACK has been returned
    case TW_SR_GCALL_DATA_NACK:         // 0x98: data byte has been received, NACK has been returned
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: SR->DATA_NACK\r\n");
        rprintfInit(uart1SendByte);
        #endif
        // receive data byte and return NACK
        i2cReceiveByte(FALSE);
        //outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT));
        break;
    case TW_SR_STOP:                    // 0xA0: STOP or REPEATED START has been received while addressed as slave
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: SR->SR_STOP\r\n");
        rprintfInit(uart1SendByte);
        #endif
        // switch to SR mode with SLA ACK
        outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA));
        // i2c receive is complete, call i2cSlaveReceive
        if(i2cSlaveReceive) i2cSlaveReceive(I2cReceiveDataIndex, I2cReceiveData);
        // set state
        I2cState = I2C_IDLE;
        break;

    // Slave Transmitter
    case TW_ST_SLA_ACK:                 // 0xA8: own SLA+R has been received, ACK has been returned
    case TW_ST_ARB_LOST_SLA_ACK:        // 0xB0:     GCA+R has been received, ACK has been returned
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: ST->SLA_ACK\r\n");
        rprintfInit(uart1SendByte);
        #endif
        // we are being addressed as slave for reading (data must be transmitted back to master)
        // set state
        I2cState = I2C_SLAVE_TX;
        // request data from application
        if(i2cSlaveTransmit) I2cSendDataLength = i2cSlaveTransmit(I2C_SEND_DATA_BUFFER_SIZE, I2cSendData);
        // reset data index
        I2cSendDataIndex = 0;
        // fall-through to transmit first data byte
    case TW_ST_DATA_ACK:                // 0xB8: data byte has been transmitted, ACK has been received
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: ST->DATA_ACK\r\n");
        rprintfInit(uart1SendByte);
        #endif
        // transmit data byte
        outb(TWDR, I2cSendData[I2cSendDataIndex++]);
        if(I2cSendDataIndex < I2cSendDataLength)
            // expect ACK to data byte
            outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA));
        else
            // expect NACK to data byte
            outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT));
        break;
    case TW_ST_DATA_NACK:               // 0xC0: data byte has been transmitted, NACK has been received
    case TW_ST_LAST_DATA:               // 0xC8:
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: ST->DATA_NACK or LAST_DATA\r\n");
        rprintfInit(uart1SendByte);
        #endif
        // all done
        // switch to open slave
        outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWEA));
        // set state
        I2cState = I2C_IDLE;
        break;

    // Misc
    case TW_NO_INFO:                    // 0xF8: No relevant state information
        // do nothing
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: NO_INFO\r\n");
        rprintfInit(uart1SendByte);
        #endif
        break;
    case TW_BUS_ERROR:                  // 0x00: Bus error due to illegal start or stop condition
        #ifdef I2C_DEBUG
        rprintfInit(uart1AddToTxBuffer);
        rprintf("I2C: BUS_ERROR\r\n");
        rprintfInit(uart1SendByte);
        #endif
        // reset internal hardware and release bus
        outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK)|BV(TWINT)|BV(TWSTO)|BV(TWEA));
        // set state
        I2cState = I2C_IDLE;
        break;
    }
}

eI2cStateType i2cGetState(void)
{
    return I2cState;
}

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