From 9a5753f23fb7d55a7a72c8cf9846cc72349c65de Mon Sep 17 00:00:00 2001
From: Lars-Dominik Braun <lars@6xq.net>
Date: Thu, 13 Feb 2014 16:45:48 +0100
Subject: Split up main.c

---
 main.c | 327 ++---------------------------------------------------------------
 1 file changed, 6 insertions(+), 321 deletions(-)

(limited to 'main.c')

diff --git a/main.c b/main.c
index 62e10d3..6bda270 100644
--- a/main.c
+++ b/main.c
@@ -5,135 +5,13 @@
 #include <avr/interrupt.h>
 #include <avr/sleep.h>
 #include <util/delay.h>
-#include <util/twi.h>
 #include <stdio.h>
 #include <stdbool.h>
 
-/* i2c device addresses */
-#define L3GD20 0b11010100
-#define L3GD20_WHOAMI 0xf
-#define L3GD20_CTRLREG1 0x20
-#define LIS302DL 0b00111000
-#define LIS302DL_WHOAMI 0xf
-#define LIS302DL_CTRLREG1 0x20
+#include "i2c.h"
+#include "uart.h"
 
-typedef enum {
-	TWM_INVALID = 0,
-	TWM_WRITE,
-	TWM_READ_MULTI,
-} twMode;
-
-typedef enum {
-	TWST_WAIT = 0,
-	TWST_OK = 1,
-	TWST_ERR = 2,
-} twStatus;
-
-typedef struct {
-	twMode mode;
-	uint8_t address;
-	uint8_t subaddress;
-	uint8_t data;
-	uint8_t step;
-	/* read data store */
-	uint8_t *retData;
-	/* number of bytes to be read */
-	uint8_t count;
-	/* current byte */
-	uint8_t i;
-	twStatus status;
-} twReq;
-
-volatile twReq twr;
-
-void twStartRaw () {
-	/* disable stop, enable interrupt, reset twint, enable start, enable i2c */
-	TWCR = (TWCR & ~(1 << TWSTO)) | (1 << TWIE) | (1 << TWINT) | (1 << TWSTA) | (1 << TWEN);
-}
-
-void twStopRaw () {
-	/* disable start, enable interrupt, reset twint, enable stop, enable i2c */
-	TWCR = (TWCR & ~(1 << TWSTA)) | (1 << TWIE) | (1 << TWINT) | (1 << TWSTO) | (1 << TWEN);
-}
-
-void twFlushRaw () {
-	/* disable start/stop, enable interrupt, reset twint, enable i2c */
-	TWCR = (TWCR & ~((1 << TWSTA) | (1 << TWSTO) | (1 << TWEA))) | (1 << TWIE) | (1 << TWINT) | (1 << TWEN);
-}
-
-/* flush and send master ack */
-void twFlushContRaw () {
-	/* disable start/stop, enable interrupt, reset twint, enable i2c, send master ack */
-	TWCR = (TWCR & ~((1 << TWSTA) | (1 << TWSTO))) | (1 << TWIE) | (1 << TWINT) | (1 << TWEN) | (1 << TWEA);
-}
-
-void twWaitRaw () {
-	while (!(TWCR & (1 << TWINT)));
-}
-
-bool twWriteRaw (uint8_t data) {
-	TWDR = data;
-	if (TWCR & (1 << TWWC)) {
-		printf("write collision\n");
-		return false;
-	} else {
-		return true;
-	}
-}
-
-void twInit () {
-	/* set scl to 3.6 kHz (at 1Mhz CPU speed)*/
-	TWBR = 2;
-	TWSR |= 0x3; /* set prescaler to 64 */
-
-	twr.mode = TWM_INVALID;
-	twr.status = TWST_ERR;
-}
-
-/*	high-level write
- */
-static bool twWrite (uint8_t address, uint8_t subaddress, uint8_t data) {
-	/* do not start if request is pending */
-	if (twr.status == TWST_WAIT) {
-		return false;
-	}
-
-	twr.mode = TWM_WRITE;
-	twr.address = address;
-	twr.subaddress = subaddress;
-	twr.data = data;
-	twr.step = 0;
-	twr.status = TWST_WAIT;
-	/* wait for stop finish */
-	while (TW_STATUS != 0xf8);
-	twStartRaw ();
-
-	return true;
-}
-
-static bool twReadMulti (uint8_t address, uint8_t subaddress,
-		uint8_t *retData, uint8_t count) {
-	/* do not start if request is pending */
-	if (twr.status == TWST_WAIT) {
-		return false;
-	}
-
-	twr.mode = TWM_READ_MULTI;
-	twr.address = address;
-	twr.subaddress = subaddress;
-	twr.retData = retData;
-	twr.count = count;
-	twr.i = 0;
-	twr.step = 0;
-	twr.status = TWST_WAIT;
-	/* wait for stop finish */
-	while (TW_STATUS != 0xf8);
-	twStartRaw ();
-
-	return true;
-}
-
-void ledInit () {
+static void ledInit () {
 	/* set led1,led2 to output */
 	DDRB |= (1 << PB6) | (1 << PB7);
 	/* set led3,led4,led5,led6 to output */
@@ -141,208 +19,18 @@ void ledInit () {
 }
 
 /* show data with leds */
-void ledShow (unsigned char val) {
+static void ledShow (const unsigned char val) {
 	PORTB = (PORTB & ~((1 << PB6) | (1 << PB7))) | ((val & 0x3) << PB6);
 	PORTD = (PORTD & ~((1 << PD2) | (1 << PD3) | (1 << PD4) | (1 << PD5))) | (((val >> 2) & 0xf) << PD2);
 }
 
-void uartInit () {
-	/* Set baud rate (9600, double speed, at 1mhz) */
-	UBRR0H = 0;
-	UBRR0L = 12;
-	/* enable double speed mode */
-	UCSR0A = (1 << U2X0);
-	/* Enable receiver and transmitter */
-	UCSR0B = (1<<RXEN0)|(1<<TXEN0);
-	/* Set frame format: 8 data, 1 stop bit, even parity */
-	UCSR0C = (1<<UPM01) | (0 << UPM00) | (0<<USBS0)|(3<<UCSZ00);
-}
-
-/* blocking uart send
- */
-void uartSend (unsigned char data) {
-	/* Wait for empty transmit buffer */
-	while (!( UCSR0A & (1<<UDRE0)));
-	/* Put data into buffer, sends the data */
-	UDR0 = data;
-}
-
-int uartPutc (char c, FILE *stream) {
-	if (c == '\n') {
-		uartSend ('\r');	
-	}
-	uartSend (c);
-	return 0;
-}
-
-static FILE mystdout = FDEV_SETUP_STREAM (uartPutc, NULL, _FDEV_SETUP_WRITE);
-
-unsigned char uartReceive () {
-	/* Wait for data to be received */
-	while ( !(UCSR0A & (1<<RXC0)) );
-	/* Get and return received data from buffer */
-	return UDR0;
-}
-
-void cpuInit () {
+static void cpuInit () {
 	/* enter change prescaler mode */
 	CLKPR = CLKPCE << 1;
 	/* write new prescaler = 8 (i.e. 1Mhz clock frequency) */
 	CLKPR = 0b00000011;
 }
 
-/*	handle interrupt, write request
- */
-static void twIntWrite () {
-	switch (twr.step) {
-		case 0:
-			if (TW_STATUS == TW_START) {
-				twWriteRaw (twr.address | TW_WRITE);
-				twFlushRaw ();
-			} else {
-				twr.status = TWST_ERR;
-			}
-			break;
-
-		case 1:
-			if (TW_STATUS == TW_MT_SLA_ACK) {
-				twWriteRaw (twr.subaddress);
-				twFlushRaw ();
-			} else {
-				twr.status = TWST_ERR;
-			}
-			break;
-
-		case 2:
-			if (TW_STATUS == TW_MT_DATA_ACK) {
-				twWriteRaw (twr.data);
-				twFlushRaw ();
-			} else {
-				twr.status = TWST_ERR;
-			}
-			break;
-
-		case 3:
-			if (TW_STATUS == TW_MT_DATA_ACK) {
-				twStopRaw ();
-				twr.status = TWST_OK;
-			} else {
-				twr.status = TWST_ERR;
-			}
-			break;
-
-		default:
-			printf ("nope\n");
-			break;
-	}
-	++twr.step;
-}
-
-static void twIntReadMulti () {
-	switch (twr.step) {
-		case 0:
-			if (TW_STATUS == TW_START) {
-				/* write device address */
-				twWriteRaw (twr.address | TW_WRITE);
-				twFlushRaw ();
-				++twr.step;
-			} else {
-				twr.status = TWST_ERR;
-			}
-			break;
-
-		case 1:
-			if (TW_STATUS == TW_MT_SLA_ACK) {
-				/* write subaddress, enable auto-increment */
-				twWriteRaw ((1 << 7) | twr.subaddress);
-				twFlushRaw ();
-				++twr.step;
-			} else {
-				twr.status = TWST_ERR;
-			}
-			break;
-
-		case 2:
-			if (TW_STATUS == TW_MT_DATA_ACK) {
-				/* send repeated start */
-				twStartRaw ();
-				++twr.step;
-			} else {
-				twr.status = TWST_ERR;
-			}
-			break;
-
-		case 3:
-			if (TW_STATUS == TW_REP_START) {
-				/* now start the actual read request */
-				twWriteRaw (twr.address | TW_READ);
-				twFlushRaw ();
-				++twr.step;
-			} else {
-				twr.status = TWST_ERR;
-			}
-			break;
-
-		case 4:
-			if (TW_STATUS == TW_MR_SLA_ACK) {
-				/* send master ack if next data block is received */
-				twFlushContRaw ();
-				++twr.step;
-			} else {
-				twr.status = TWST_ERR;
-			}
-
-		case 5:
-			if (TW_STATUS == TW_MR_DATA_ACK) {
-				twr.retData[twr.i] = TWDR;
-				++twr.i;
-				if (twr.i < twr.count-1) {
-					/* read another byte, not the last one */
-					twFlushContRaw ();
-					/* step stays the same */
-				} else {
-					/* read last byte, send master nack */
-					twFlushRaw ();
-					++twr.step;
-				}
-			} else {
-				twr.status = TWST_ERR;
-			}
-			break;
-
-		case 6:
-			if (TW_STATUS == TW_MR_DATA_NACK) {
-				/* receive final byte, send stop */
-				twr.retData[twr.i] = TWDR;
-				twStopRaw ();
-				twr.status = TWST_OK;
-			} else {
-				twr.status = TWST_ERR;
-			}
-			break;
-
-		default:
-			printf ("twIntReadMulti: nope\n");
-			break;
-	}
-}
-
-ISR(TWI_vect) {
-	switch (twr.mode) {
-		case TWM_WRITE:
-			twIntWrite ();
-			break;
-
-		case TWM_READ_MULTI:
-			twIntReadMulti ();
-			break;
-
-		default:
-			printf ("nope\n");
-			break;
-	}
-}
-
 volatile unsigned char count;
 
 ISR(TIMER0_OVF_vect) {
@@ -355,16 +43,13 @@ ISR(TIMER0_OVF_vect) {
 	while (cond) { sleep_cpu (); } \
 	sleep_disable ();
 
-int main(void) {
+int main () {
 	cpuInit ();
 	ledInit ();
 	twInit ();
 	uartInit ();
 	set_sleep_mode (SLEEP_MODE_IDLE);
 	
-	/* redirect stdout */
-	stdout = &mystdout;
-	
 	printf ("initialization done\n");
 
 	/* global interrupt enable */
-- 
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