--- /dev/null
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2003, 2004, 2005 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \brief Driver for the AVR ATMega TWI (implementation)
+ *
+ * \version $Id$
+ *
+ * \author Stefano Fedrigo <aleph@develer.com>
+ * \author Bernardo Innocenti <bernie@develer.com>
+ */
+
+#include "twi.h"
+
+#include <cfg/debug.h>
+#include <cpu/detect.h>
+#include <cpu/irq.h>
+#include <cfg/macros.h> // BV()
+#include <hw_cpu.h> /* CLOCK_FREQ */
+#include <appconfig.h>
+
+#include <compat/twi.h>
+
+
+/* Wait for TWINT flag set: bus is ready */
+#define WAIT_TWI_READY do {} while (!(TWCR & BV(TWINT)))
+
+#define READ_BIT BV(0)
+
+
+/**
+ * Send START condition on the bus.
+ *
+ * \return true on success, false otherwise.
+ */
+static bool twi_start(void)
+{
+ TWCR = BV(TWINT) | BV(TWSTA) | BV(TWEN);
+ WAIT_TWI_READY;
+
+ if (TW_STATUS == TW_START || TW_STATUS == TW_REP_START)
+ return true;
+
+ kprintf("!TW_(REP)START: %x\n", TWSR);
+ return false;
+}
+
+
+/**
+ * Send START condition and select slave for write.
+ * \c id is the device id comprehensive of address left shifted by 1.
+ * The LSB of \c id is ignored and reset to 0 for write operation.
+ *
+ * \return true on success, false otherwise.
+ */
+bool twi_start_w(uint8_t id)
+{
+ /*
+ * Loop on the select write sequence: when the eeprom is busy
+ * writing previously sent data it will reply to the SLA_W
+ * control byte with a NACK. In this case, we must
+ * keep trying until the eeprom responds with an ACK.
+ */
+ while (twi_start())
+ {
+ TWDR = id & ~READ_BIT;
+ TWCR = BV(TWINT) | BV(TWEN);
+ WAIT_TWI_READY;
+
+ if (TW_STATUS == TW_MT_SLA_ACK)
+ return true;
+ else if (TW_STATUS != TW_MT_SLA_NACK)
+ {
+ kprintf("!TW_MT_SLA_(N)ACK: %x\n", TWSR);
+ break;
+ }
+ }
+
+ return false;
+}
+
+
+/**
+ * Send START condition and select slave for read.
+ * \c id is the device id comprehensive of address left shifted by 1.
+ * The LSB of \c id is ignored and set to 1 for read operation.
+ *
+ * \return true on success, false otherwise.
+ */
+bool twi_start_r(uint8_t id)
+{
+ if (twi_start())
+ {
+ TWDR = id | READ_BIT;
+ TWCR = BV(TWINT) | BV(TWEN);
+ WAIT_TWI_READY;
+
+ if (TW_STATUS == TW_MR_SLA_ACK)
+ return true;
+
+ kprintf("!TW_MR_SLA_ACK: %x\n", TWSR);
+ }
+
+ return false;
+}
+
+
+/**
+ * Send STOP condition.
+ */
+void twi_stop(void)
+{
+ TWCR = BV(TWINT) | BV(TWEN) | BV(TWSTO);
+}
+
+
+/**
+ * Put a single byte in master transmitter mode
+ * to the selected slave device through the TWI bus.
+ *
+ * \return true on success, false on error.
+ */
+bool twi_put(const uint8_t data)
+{
+ TWDR = data;
+ TWCR = BV(TWINT) | BV(TWEN);
+ WAIT_TWI_READY;
+ if (TW_STATUS != TW_MT_DATA_ACK)
+ {
+ kprintf("!TW_MT_DATA_ACK: %x\n", TWSR);
+ return false;
+ }
+ return true;
+}
+
+
+/**
+ * Send a sequence of bytes in master transmitter mode
+ * to the selected slave device through the TWI bus.
+ *
+ * \return true on success, false on error.
+ */
+bool twi_send(const void *_buf, size_t count)
+{
+ const uint8_t *buf = (const uint8_t *)_buf;
+
+ while (count--)
+ {
+ if (!twi_put(*buf++))
+ return false;
+ }
+ return true;
+}
+
+
+/**
+ * Receive a sequence of one or more bytes from the
+ * selected slave device in master receive mode through
+ * the TWI bus.
+ *
+ * Received data is placed in \c buf.
+ *
+ * \return true on success, false on error
+ */
+bool twi_recv(void *_buf, size_t count)
+{
+ uint8_t *buf = (uint8_t *)_buf;
+
+ /*
+ * When reading the last byte the TWEA bit is not
+ * set, and the eeprom should answer with NACK
+ */
+ while (count--)
+ {
+ TWCR = BV(TWINT) | BV(TWEN) | (count ? BV(TWEA) : 0);
+ WAIT_TWI_READY;
+
+ if (count)
+ {
+ if (TW_STATUS != TW_MR_DATA_ACK)
+ {
+ kprintf("!TW_MR_DATA_ACK: %x\n", TWSR);
+ return false;
+ }
+ }
+ else
+ {
+ if (TW_STATUS != TW_MR_DATA_NACK)
+ {
+ kprintf("!TW_MR_DATA_NACK: %x\n", TWSR);
+ return false;
+ }
+ }
+ *buf++ = TWDR;
+ }
+
+ return true;
+}
+
+
+/**
+ * Initialize TWI module.
+ */
+void twi_init(void)
+{
+ ATOMIC(
+ /*
+ * This is pretty useless according to AVR's datasheet,
+ * but it helps us driving the TWI data lines on boards
+ * where the bus pull-up resistors are missing. This is
+ * probably due to some unwanted interaction between the
+ * port pin and the TWI lines.
+ */
+#if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA1281
+ PORTD |= BV(PD0) | BV(PD1);
+ DDRD |= BV(PD0) | BV(PD1);
+#elif CPU_AVR_ATMEGA8
+ PORTC |= BV(PC4) | BV(PC5);
+ DDRC |= BV(PC4) | BV(PC5);
+#else
+ #error Unsupported architecture
+#endif
+
+ /*
+ * Set speed:
+ * F = CLOCK_FREQ / (16 + 2*TWBR * 4^TWPS)
+ */
+ #ifndef CONFIG_TWI_FREQ
+ #warning Using default value of 300000L for CONFIG_TWI_FREQ
+ #define CONFIG_TWI_FREQ 300000L /* ~300 kHz */
+ #endif
+ #define TWI_PRESC 1 /* 4 ^ TWPS */
+
+ TWBR = (CLOCK_FREQ / (2 * CONFIG_TWI_FREQ * TWI_PRESC)) - (8 / TWI_PRESC);
+ TWSR = 0;
+ TWCR = BV(TWEN);
+ );
+}
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