From 19f40b633775cce20408dfd7c234ff1cf58ad5f6 Mon Sep 17 00:00:00 2001 From: paynterf Date: Thu, 16 Aug 2018 15:08:06 -0400 Subject: [PATCH 1/4] //08/09/18 gfp: added for lockup monitoring void clearRecoveryCount(); uint16_t getRecoveryCount(); --- libraries/Wire/src/Wire.h | 120 ++++++++++++++++++++------------------ 1 file changed, 62 insertions(+), 58 deletions(-) diff --git a/libraries/Wire/src/Wire.h b/libraries/Wire/src/Wire.h index 702f37d64..147cd717a 100644 --- a/libraries/Wire/src/Wire.h +++ b/libraries/Wire/src/Wire.h @@ -1,22 +1,22 @@ /* - TwoWire.h - TWI/I2C library for Arduino & Wiring - Copyright (c) 2006 Nicholas Zambetti. All right reserved. +TwoWire.h - TWI/I2C library for Arduino & Wiring +Copyright (c) 2006 Nicholas Zambetti. All right reserved. - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. - This library 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 - Lesser General Public License for more details. +This library 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 +Lesser General Public License for more details. - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts +Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts */ #ifndef TwoWire_h @@ -32,51 +32,55 @@ class TwoWire : public Stream { - private: - static uint8_t rxBuffer[]; - static uint8_t rxBufferIndex; - static uint8_t rxBufferLength; - - static uint8_t txAddress; - static uint8_t txBuffer[]; - static uint8_t txBufferIndex; - static uint8_t txBufferLength; - - static uint8_t transmitting; - static void (*user_onRequest)(void); - static void (*user_onReceive)(int); - static void onRequestService(void); - static void onReceiveService(uint8_t*, int); - public: - TwoWire(); - void begin(); - void begin(uint8_t); - void begin(int); - void end(); - void setClock(uint32_t); - void beginTransmission(uint8_t); - void beginTransmission(int); - uint8_t endTransmission(void); - uint8_t endTransmission(uint8_t); - uint8_t requestFrom(uint8_t, uint8_t); - uint8_t requestFrom(uint8_t, uint8_t, uint8_t); +private: + static uint8_t rxBuffer[]; + static uint8_t rxBufferIndex; + static uint8_t rxBufferLength; + + static uint8_t txAddress; + static uint8_t txBuffer[]; + static uint8_t txBufferIndex; + static uint8_t txBufferLength; + + static uint8_t transmitting; + static void(*user_onRequest)(void); + static void(*user_onReceive)(int); + static void onRequestService(void); + static void onReceiveService(uint8_t*, int); +public: + TwoWire(); + void begin(); + void begin(uint8_t); + void begin(int); + void end(); + void setClock(uint32_t); + void beginTransmission(uint8_t); + void beginTransmission(int); + uint8_t endTransmission(void); + uint8_t endTransmission(uint8_t); + uint8_t requestFrom(uint8_t, uint8_t); + uint8_t requestFrom(uint8_t, uint8_t, uint8_t); uint8_t requestFrom(uint8_t, uint8_t, uint32_t, uint8_t, uint8_t); - uint8_t requestFrom(int, int); - uint8_t requestFrom(int, int, int); - virtual size_t write(uint8_t); - virtual size_t write(const uint8_t *, size_t); - virtual int available(void); - virtual int read(void); - virtual int peek(void); - virtual void flush(void); - void onReceive( void (*)(int) ); - void onRequest( void (*)(void) ); - - inline size_t write(unsigned long n) { return write((uint8_t)n); } - inline size_t write(long n) { return write((uint8_t)n); } - inline size_t write(unsigned int n) { return write((uint8_t)n); } - inline size_t write(int n) { return write((uint8_t)n); } - using Print::write; + uint8_t requestFrom(int, int); + uint8_t requestFrom(int, int, int); + virtual size_t write(uint8_t); + virtual size_t write(const uint8_t *, size_t); + virtual int available(void); + virtual int read(void); + virtual int peek(void); + virtual void flush(void); + void onReceive(void(*)(int)); + void onRequest(void(*)(void)); + + //08/09/18 gfp: added for lockup monitoring + void clearRecoveryCount(); + uint16_t getRecoveryCount(); + + inline size_t write(unsigned long n) { return write((uint8_t)n); } + inline size_t write(long n) { return write((uint8_t)n); } + inline size_t write(unsigned int n) { return write((uint8_t)n); } + inline size_t write(int n) { return write((uint8_t)n); } + using Print::write; }; extern TwoWire Wire; From 15c24038f7691de66a4452bafc2e4266a9082df5 Mon Sep 17 00:00:00 2001 From: paynterf Date: Thu, 16 Aug 2018 15:08:40 -0400 Subject: [PATCH 2/4] //08/09/18 gfp: added for lockup monitoring void clearRecoveryCount(); uint16_t getRecoveryCount(); --- libraries/Wire/src/Wire.cpp | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/libraries/Wire/src/Wire.cpp b/libraries/Wire/src/Wire.cpp index 58916ce93..c7dc55380 100644 --- a/libraries/Wire/src/Wire.cpp +++ b/libraries/Wire/src/Wire.cpp @@ -18,6 +18,7 @@ Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts Modified 2017 by Chuck Todd (ctodd@cableone.net) to correct Unconfigured Slave Mode reboot + Modified 2018 by Frank Paynter (paynterf@gmail.com) to prevent while() loop deadlocks */ extern "C" { @@ -52,6 +53,16 @@ TwoWire::TwoWire() // Public Methods ////////////////////////////////////////////////////////////// +//08/09/18 gfp: added for lockup monitoring +void TwoWire::clearRecoveryCount() +{ + twi_clearRecoveryCount(); +} +uint16_t TwoWire::getRecoveryCount() +{ + return twi_getRecoveryCount(); +} + void TwoWire::begin(void) { rxBufferIndex = 0; From 2c7e932ef7151b06c4d1d3041e8073075475294f Mon Sep 17 00:00:00 2001 From: paynterf Date: Thu, 16 Aug 2018 15:18:14 -0400 Subject: [PATCH 3/4] All 5 while() loops were modified using Nirea's twi_tout() function to prevent lockup when the I2C bus fails to respond as expected. In addition, a lockup_recovery_count variable was added, along with lockup_counter 'get' and 'clear' functions --- libraries/Wire/src/utility/twi.c | 976 ++++++++++++++++--------------- 1 file changed, 514 insertions(+), 462 deletions(-) diff --git a/libraries/Wire/src/utility/twi.c b/libraries/Wire/src/utility/twi.c index 171af7303..34d4473d1 100644 --- a/libraries/Wire/src/utility/twi.c +++ b/libraries/Wire/src/utility/twi.c @@ -1,24 +1,30 @@ /* - twi.c - TWI/I2C library for Wiring & Arduino - Copyright (c) 2006 Nicholas Zambetti. All right reserved. +twi.c - TWI/I2C library for Wiring & Arduino +Copyright (c) 2006 Nicholas Zambetti. All right reserved. - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. - This library 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 - Lesser General Public License for more details. +This library 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 +Lesser General Public License for more details. - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts + +Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts */ +//08/09/18 this file has been merged with unaie's version of twi.c, modified to recover from infinite hang conditions +//see http://forum.arduino.cc/index.php/topic,19624.0.html for details +//this file should be renamed 'twi.c' and placed so that it gets used instead of the normal one. + + #include #include #include @@ -38,13 +44,15 @@ #include "pins_arduino.h" #include "twi.h" +static volatile uint8_t trcase;//Nir + static volatile uint8_t twi_state; static volatile uint8_t twi_slarw; static volatile uint8_t twi_sendStop; // should the transaction end with a stop static volatile uint8_t twi_inRepStart; // in the middle of a repeated start -static void (*twi_onSlaveTransmit)(void); -static void (*twi_onSlaveReceive)(uint8_t*, int); +static void(*twi_onSlaveTransmit)(void); +static void(*twi_onSlaveReceive)(uint8_t*, int); static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH]; static volatile uint8_t twi_masterBufferIndex; @@ -59,503 +67,547 @@ static volatile uint8_t twi_rxBufferIndex; static volatile uint8_t twi_error; -/* - * Function twi_init - * Desc readys twi pins and sets twi bitrate - * Input none - * Output none - */ +//08/09/18 gfp - added to monitor lockup recoveries +static uint16_t lockup_recovery_count = 0; + +/* +* Function twi_init +* Desc readys twi pins and sets twi bitrate +* Input none +* Output none +*/ void twi_init(void) { - // initialize state - twi_state = TWI_READY; - twi_sendStop = true; // default value - twi_inRepStart = false; - - // activate internal pullups for twi. - digitalWrite(SDA, 1); - digitalWrite(SCL, 1); - - // initialize twi prescaler and bit rate - cbi(TWSR, TWPS0); - cbi(TWSR, TWPS1); - TWBR = ((F_CPU / TWI_FREQ) - 16) / 2; - - /* twi bit rate formula from atmega128 manual pg 204 - SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) - note: TWBR should be 10 or higher for master mode - It is 72 for a 16mhz Wiring board with 100kHz TWI */ - - // enable twi module, acks, and twi interrupt - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); + // disable twi module (to allow for reinitialize) + TWCR = 0; //08/09/18 - required to get TWI to re-init + + // initialize state + twi_state = TWI_READY; + twi_sendStop = true; // default value + twi_inRepStart = false; + + // activate internal pullups for twi. + digitalWrite(SDA, 1); + digitalWrite(SCL, 1); + + // initialize twi prescaler and bit rate + cbi(TWSR, TWPS0); + cbi(TWSR, TWPS1); + TWBR = ((F_CPU / TWI_FREQ) - 16) / 2; + + /* twi bit rate formula from atmega128 manual pg 204 + SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) + note: TWBR should be 10 or higher for master mode + It is 72 for a 16mhz Wiring board with 100kHz TWI */ + + // enable twi module, acks, and twi interrupt + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); } -/* - * Function twi_disable - * Desc disables twi pins - * Input none - * Output none - */ +/* +* Function twi_disable +* Desc disables twi pins +* Input none +* Output none +*/ void twi_disable(void) { - // disable twi module, acks, and twi interrupt - TWCR &= ~(_BV(TWEN) | _BV(TWIE) | _BV(TWEA)); + // disable twi module, acks, and twi interrupt + TWCR &= ~(_BV(TWEN) | _BV(TWIE) | _BV(TWEA)); - // deactivate internal pullups for twi. - digitalWrite(SDA, 0); - digitalWrite(SCL, 0); + // deactivate internal pullups for twi. + digitalWrite(SDA, 0); + digitalWrite(SCL, 0); } -/* - * Function twi_slaveInit - * Desc sets slave address and enables interrupt - * Input none - * Output none - */ +/* +* Function twi_slaveInit +* Desc sets slave address and enables interrupt +* Input none +* Output none +*/ void twi_setAddress(uint8_t address) { - // set twi slave address (skip over TWGCE bit) - TWAR = address << 1; + // set twi slave address (skip over TWGCE bit) + TWAR = address << 1; } -/* - * Function twi_setClock - * Desc sets twi bit rate - * Input Clock Frequency - * Output none - */ +/* +* Function twi_setClock +* Desc sets twi bit rate +* Input Clock Frequency +* Output none +*/ void twi_setFrequency(uint32_t frequency) { - TWBR = ((F_CPU / frequency) - 16) / 2; - - /* twi bit rate formula from atmega128 manual pg 204 - SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) - note: TWBR should be 10 or higher for master mode - It is 72 for a 16mhz Wiring board with 100kHz TWI */ + TWBR = ((F_CPU / frequency) - 16) / 2; + + /* twi bit rate formula from atmega128 manual pg 204 + SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) + note: TWBR should be 10 or higher for master mode + It is 72 for a 16mhz Wiring board with 100kHz TWI */ } -/* - * Function twi_readFrom - * Desc attempts to become twi bus master and read a - * series of bytes from a device on the bus - * Input address: 7bit i2c device address - * data: pointer to byte array - * length: number of bytes to read into array - * sendStop: Boolean indicating whether to send a stop at the end - * Output number of bytes read - */ +/* +* Function twi_readFrom +* Desc attempts to become twi bus master and read a +* series of bytes from a device on the bus +* Input address: 7bit i2c device address +* data: pointer to byte array +* length: number of bytes to read into array +* sendStop: Boolean indicating whether to send a stop at the end +* Output number of bytes read +*/ uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sendStop) { - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 0; - } - - // wait until twi is ready, become master receiver - while(TWI_READY != twi_state){ - continue; - } - twi_state = TWI_MRX; - twi_sendStop = sendStop; - // reset error state (0xFF.. no error occured) - twi_error = 0xFF; - - // initialize buffer iteration vars - twi_masterBufferIndex = 0; - twi_masterBufferLength = length-1; // This is not intuitive, read on... - // On receive, the previously configured ACK/NACK setting is transmitted in - // response to the received byte before the interrupt is signalled. - // Therefor we must actually set NACK when the _next_ to last byte is - // received, causing that NACK to be sent in response to receiving the last - // expected byte of data. - - // build sla+w, slave device address + w bit - twi_slarw = TW_READ; - twi_slarw |= address << 1; - - if (true == twi_inRepStart) { - // if we're in the repeated start state, then we've already sent the start, - // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. - // We need to remove ourselves from the repeated start state before we enable interrupts, - // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning - // up. Also, don't enable the START interrupt. There may be one pending from the - // repeated start that we sent ourselves, and that would really confuse things. - twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR - do { - TWDR = twi_slarw; - } while(TWCR & _BV(TWWC)); - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START - } - else - // send start condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); - - // wait for read operation to complete - while(TWI_MRX == twi_state){ - continue; - } - - if (twi_masterBufferIndex < length) - length = twi_masterBufferIndex; - - // copy twi buffer to data - for(i = 0; i < length; ++i){ - data[i] = twi_masterBuffer[i]; - } - - return length; + uint8_t i; + + // ensure data will fit into buffer + if (TWI_BUFFER_LENGTH < length) { + return 0; + } + + // wait until twi is ready, become master receiver + twi_tout(1);//Ini TimeOut + while (TWI_READY != twi_state) { + if (twi_tout(0)) break; + continue; + } + twi_state = TWI_MRX; + twi_sendStop = sendStop; + // reset error state (0xFF.. no error occured) + twi_error = 0xFF; + + // initialize buffer iteration vars + twi_masterBufferIndex = 0; + twi_masterBufferLength = length - 1; // This is not intuitive, read on... + // On receive, the previously configured ACK/NACK setting is transmitted in + // response to the received byte before the interrupt is signalled. + // Therefor we must actually set NACK when the _next_ to last byte is + // received, causing that NACK to be sent in response to receiving the last + // expected byte of data. + + // build sla+w, slave device address + w bit + twi_slarw = TW_READ; + twi_slarw |= address << 1; + + if (true == twi_inRepStart) { + // if we're in the repeated start state, then we've already sent the start, + // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. + // We need to remove ourselves from the repeated start state before we enable interrupts, + // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning + // up. Also, don't enable the START interrupt. There may be one pending from the + // repeated start that we sent ourselves, and that would really confuse things. + twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR + do { + TWDR = twi_slarw; + } while (TWCR & _BV(TWWC)); + TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START + } + else + // send start condition + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); + + // wait for read operation to complete + twi_tout(1); + while (TWI_MRX == twi_state) { + if (twi_tout(0)) break; + continue; + } + if (twi_masterBufferIndex < length) + length = twi_masterBufferIndex; + + // copy twi buffer to data + for (i = 0; i < length; ++i) { + data[i] = twi_masterBuffer[i]; + } + + return length; } -/* - * Function twi_writeTo - * Desc attempts to become twi bus master and write a - * series of bytes to a device on the bus - * Input address: 7bit i2c device address - * data: pointer to byte array - * length: number of bytes in array - * wait: boolean indicating to wait for write or not - * sendStop: boolean indicating whether or not to send a stop at the end - * Output 0 .. success - * 1 .. length to long for buffer - * 2 .. address send, NACK received - * 3 .. data send, NACK received - * 4 .. other twi error (lost bus arbitration, bus error, ..) - */ +/* +* Function twi_writeTo +* Desc attempts to become twi bus master and write a +* series of bytes to a device on the bus +* Input address: 7bit i2c device address +* data: pointer to byte array +* length: number of bytes in array +* wait: boolean indicating to wait for write or not +* sendStop: boolean indicating whether or not to send a stop at the end +* Output 0 .. success +* 1 .. length to long for buffer +* 2 .. address send, NACK received +* 3 .. data send, NACK received +* 4 .. other twi error (lost bus arbitration, bus error, ..) +*/ uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait, uint8_t sendStop) { - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 1; - } - - // wait until twi is ready, become master transmitter - while(TWI_READY != twi_state){ - continue; - } - twi_state = TWI_MTX; - twi_sendStop = sendStop; - // reset error state (0xFF.. no error occured) - twi_error = 0xFF; - - // initialize buffer iteration vars - twi_masterBufferIndex = 0; - twi_masterBufferLength = length; - - // copy data to twi buffer - for(i = 0; i < length; ++i){ - twi_masterBuffer[i] = data[i]; - } - - // build sla+w, slave device address + w bit - twi_slarw = TW_WRITE; - twi_slarw |= address << 1; - - // if we're in a repeated start, then we've already sent the START - // in the ISR. Don't do it again. - // - if (true == twi_inRepStart) { - // if we're in the repeated start state, then we've already sent the start, - // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. - // We need to remove ourselves from the repeated start state before we enable interrupts, - // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning - // up. Also, don't enable the START interrupt. There may be one pending from the - // repeated start that we sent outselves, and that would really confuse things. - twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR - do { - TWDR = twi_slarw; - } while(TWCR & _BV(TWWC)); - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START - } - else - // send start condition - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA); // enable INTs - - // wait for write operation to complete - while(wait && (TWI_MTX == twi_state)){ - continue; - } - - if (twi_error == 0xFF) - return 0; // success - else if (twi_error == TW_MT_SLA_NACK) - return 2; // error: address send, nack received - else if (twi_error == TW_MT_DATA_NACK) - return 3; // error: data send, nack received - else - return 4; // other twi error + uint8_t i; + + // ensure data will fit into buffer + if (TWI_BUFFER_LENGTH < length) { + return 1; + } + + // wait until twi is ready, become master transmitter + twi_tout(1); + while (TWI_READY != twi_state) { + if (twi_tout(0)) return 5; + continue; + } + twi_state = TWI_MTX; + twi_sendStop = sendStop; + // reset error state (0xFF.. no error occured) + twi_error = 0xFF; + + // initialize buffer iteration vars + twi_masterBufferIndex = 0; + twi_masterBufferLength = length; + + // copy data to twi buffer + for (i = 0; i < length; ++i) { + twi_masterBuffer[i] = data[i]; + } + + // build sla+w, slave device address + w bit + twi_slarw = TW_WRITE; + twi_slarw |= address << 1; + + // if we're in a repeated start, then we've already sent the START + // in the ISR. Don't do it again. + // + if (true == twi_inRepStart) { + // if we're in the repeated start state, then we've already sent the start, + // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. + // We need to remove ourselves from the repeated start state before we enable interrupts, + // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning + // up. Also, don't enable the START interrupt. There may be one pending from the + // repeated start that we sent outselves, and that would really confuse things. + twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR + do { + TWDR = twi_slarw; + } while (TWCR & _BV(TWWC)); + TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START + } + else + // send start condition + TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA); // enable INTs + + // wait for write operation to complete + twi_tout(1); + while (wait && (TWI_MTX == twi_state)) { + if (twi_tout(0)) return 5; + continue; + } + + if (twi_error == 0xFF) + return 0; // success + else if (twi_error == TW_MT_SLA_NACK) + return 2; // error: address send, nack received + else if (twi_error == TW_MT_DATA_NACK) + return 3; // error: data send, nack received + else + return 4; // other twi error } -/* - * Function twi_transmit - * Desc fills slave tx buffer with data - * must be called in slave tx event callback - * Input data: pointer to byte array - * length: number of bytes in array - * Output 1 length too long for buffer - * 2 not slave transmitter - * 0 ok - */ +/* +* Function twi_transmit +* Desc fills slave tx buffer with data +* must be called in slave tx event callback +* Input data: pointer to byte array +* length: number of bytes in array +* Output 1 length too long for buffer +* 2 not slave transmitter +* 0 ok +*/ uint8_t twi_transmit(const uint8_t* data, uint8_t length) { - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < (twi_txBufferLength+length)){ - return 1; - } - - // ensure we are currently a slave transmitter - if(TWI_STX != twi_state){ - return 2; - } - - // set length and copy data into tx buffer - for(i = 0; i < length; ++i){ - twi_txBuffer[twi_txBufferLength+i] = data[i]; - } - twi_txBufferLength += length; - - return 0; + uint8_t i; + + // ensure data will fit into buffer + if (TWI_BUFFER_LENGTH < (twi_txBufferLength + length)) { + return 1; + } + + // ensure we are currently a slave transmitter + if (TWI_STX != twi_state) { + return 2; + } + + // set length and copy data into tx buffer + for (i = 0; i < length; ++i) { + twi_txBuffer[twi_txBufferLength + i] = data[i]; + } + twi_txBufferLength += length; + + return 0; } -/* - * Function twi_attachSlaveRxEvent - * Desc sets function called before a slave read operation - * Input function: callback function to use - * Output none - */ -void twi_attachSlaveRxEvent( void (*function)(uint8_t*, int) ) +/* +* Function twi_attachSlaveRxEvent +* Desc sets function called before a slave read operation +* Input function: callback function to use +* Output none +*/ +void twi_attachSlaveRxEvent(void(*function)(uint8_t*, int)) { - twi_onSlaveReceive = function; + twi_onSlaveReceive = function; } -/* - * Function twi_attachSlaveTxEvent - * Desc sets function called before a slave write operation - * Input function: callback function to use - * Output none - */ -void twi_attachSlaveTxEvent( void (*function)(void) ) +/* +* Function twi_attachSlaveTxEvent +* Desc sets function called before a slave write operation +* Input function: callback function to use +* Output none +*/ +void twi_attachSlaveTxEvent(void(*function)(void)) { - twi_onSlaveTransmit = function; + twi_onSlaveTransmit = function; } -/* - * Function twi_reply - * Desc sends byte or readys receive line - * Input ack: byte indicating to ack or to nack - * Output none - */ +/* +* Function twi_reply +* Desc sends byte or readys receive line +* Input ack: byte indicating to ack or to nack +* Output none +*/ void twi_reply(uint8_t ack) { - // transmit master read ready signal, with or without ack - if(ack){ - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA); - }else{ - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT); - } + // transmit master read ready signal, with or without ack + if (ack) { + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA); + } + else { + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT); + } } -/* - * Function twi_stop - * Desc relinquishes bus master status - * Input none - * Output none - */ +/* +* Function twi_stop +* Desc relinquishes bus master status +* Input none +* Output none +*/ void twi_stop(void) { - // send stop condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO); + // send stop condition + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO); + + // wait for stop condition to be exectued on bus + // TWINT is not set after a stop condition! + twi_tout(1); + while (TWCR & _BV(TWSTO)) { + if (twi_tout(0)) return; + continue; + } + // update twi state + twi_state = TWI_READY; +} - // wait for stop condition to be exectued on bus - // TWINT is not set after a stop condition! - while(TWCR & _BV(TWSTO)){ - continue; - } +/* +* Function twi_releaseBus +* Desc releases bus control +* Input none +* Output none +*/ +void twi_releaseBus(void) +{ + // release bus + TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT); - // update twi state - twi_state = TWI_READY; + // update twi state + twi_state = TWI_READY; } -/* - * Function twi_releaseBus - * Desc releases bus control - * Input none - * Output none - */ -void twi_releaseBus(void) + +//Nirea. Time Out +static volatile uint32_t twi_toutc; +uint8_t twi_tout(uint8_t ini) { - // release bus - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT); + if (ini) twi_toutc = 0; else twi_toutc++; + if (twi_toutc >= 100000UL) { + twi_toutc = 0; + twi_init(); + lockup_recovery_count++; + return 1; + } + return 0; +} - // update twi state - twi_state = TWI_READY; +void twi_clearRecoveryCount() //08/09/18 gfp for monitoring purposes +{ + lockup_recovery_count = 0; +} + +uint16_t twi_getRecoveryCount() //08/09/18 gfp for monitoring purposes +{ + return lockup_recovery_count; } ISR(TWI_vect) { - switch(TW_STATUS){ - // All Master - case TW_START: // sent start condition - case TW_REP_START: // sent repeated start condition - // copy device address and r/w bit to output register and ack - TWDR = twi_slarw; - twi_reply(1); - break; - - // Master Transmitter - case TW_MT_SLA_ACK: // slave receiver acked address - case TW_MT_DATA_ACK: // slave receiver acked data - // if there is data to send, send it, otherwise stop - if(twi_masterBufferIndex < twi_masterBufferLength){ - // copy data to output register and ack - TWDR = twi_masterBuffer[twi_masterBufferIndex++]; - twi_reply(1); - }else{ - if (twi_sendStop) - twi_stop(); - else { - twi_inRepStart = true; // we're gonna send the START - // don't enable the interrupt. We'll generate the start, but we - // avoid handling the interrupt until we're in the next transaction, - // at the point where we would normally issue the start. - TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; - twi_state = TWI_READY; + switch (TW_STATUS) { + // All Master + case TW_START: // sent start condition + case TW_REP_START: // sent repeated start condition + // copy device address and r/w bit to output register and ack + TWDR = twi_slarw; + twi_reply(1); + break; + + // Master Transmitter + case TW_MT_SLA_ACK: // slave receiver acked address + case TW_MT_DATA_ACK: // slave receiver acked data + // if there is data to send, send it, otherwise stop + if (twi_masterBufferIndex < twi_masterBufferLength) { + // copy data to output register and ack + TWDR = twi_masterBuffer[twi_masterBufferIndex++]; + twi_reply(1); + } + else { + if (twi_sendStop) + twi_stop(); + else { + twi_inRepStart = true; // we're gonna send the START + // don't enable the interrupt. We'll generate the start, but we + // avoid handling the interrupt until we're in the next transaction, + // at the point where we would normally issue the start. + TWCR = _BV(TWINT) | _BV(TWSTA) | _BV(TWEN); + twi_state = TWI_READY; + } + } + break; + case TW_MT_SLA_NACK: // address sent, nack received + twi_error = TW_MT_SLA_NACK; + twi_stop(); + break; + case TW_MT_DATA_NACK: // data sent, nack received + twi_error = TW_MT_DATA_NACK; + twi_stop(); + break; + case TW_MT_ARB_LOST: // lost bus arbitration + twi_error = TW_MT_ARB_LOST; + twi_releaseBus(); + break; + + // Master Receiver + case TW_MR_DATA_ACK: // data received, ack sent + // put byte into buffer + twi_masterBuffer[twi_masterBufferIndex++] = TWDR; + case TW_MR_SLA_ACK: // address sent, ack received + // ack if more bytes are expected, otherwise nack + if (twi_masterBufferIndex < twi_masterBufferLength) { + twi_reply(1); + } + else { + twi_reply(0); + } + break; + case TW_MR_DATA_NACK: // data received, nack sent + // put final byte into buffer + twi_masterBuffer[twi_masterBufferIndex++] = TWDR; + if (twi_sendStop) + twi_stop(); + else { + twi_inRepStart = true; // we're gonna send the START + // don't enable the interrupt. We'll generate the start, but we + // avoid handling the interrupt until we're in the next transaction, + // at the point where we would normally issue the start. + TWCR = _BV(TWINT) | _BV(TWSTA) | _BV(TWEN); + twi_state = TWI_READY; + } + break; + case TW_MR_SLA_NACK: // address sent, nack received + twi_stop(); + break; + // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case + + // Slave Receiver + case TW_SR_SLA_ACK: // addressed, returned ack + case TW_SR_GCALL_ACK: // addressed generally, returned ack + case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack + case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack + // enter slave receiver mode + twi_state = TWI_SRX; + // indicate that rx buffer can be overwritten and ack + twi_rxBufferIndex = 0; + twi_reply(1); + break; + case TW_SR_DATA_ACK: // data received, returned ack + case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack + // if there is still room in the rx buffer + if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) { + // put byte in buffer and ack + twi_rxBuffer[twi_rxBufferIndex++] = TWDR; + twi_reply(1); + } + else { + // otherwise nack + twi_reply(0); + } + break; + case TW_SR_STOP: // stop or repeated start condition received + // ack future responses and leave slave receiver state + twi_releaseBus(); + // put a null char after data if there's room + if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) { + twi_rxBuffer[twi_rxBufferIndex] = '\0'; + } + // callback to user defined callback + twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex); + // since we submit rx buffer to "wire" library, we can reset it + twi_rxBufferIndex = 0; + break; + case TW_SR_DATA_NACK: // data received, returned nack + case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack + // nack back at master + twi_reply(0); + break; + + // Slave Transmitter + case TW_ST_SLA_ACK: // addressed, returned ack + case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack + // enter slave transmitter mode + twi_state = TWI_STX; + // ready the tx buffer index for iteration + twi_txBufferIndex = 0; + // set tx buffer length to be zero, to verify if user changes it + twi_txBufferLength = 0; + // request for txBuffer to be filled and length to be set + // note: user must call twi_transmit(bytes, length) to do this + twi_onSlaveTransmit(); + // if they didn't change buffer & length, initialize it + if (0 == twi_txBufferLength) { + twi_txBufferLength = 1; + twi_txBuffer[0] = 0x00; + } + // transmit first byte from buffer, fall + case TW_ST_DATA_ACK: // byte sent, ack returned + // copy data to output register + TWDR = twi_txBuffer[twi_txBufferIndex++]; + // if there is more to send, ack, otherwise nack + if (twi_txBufferIndex < twi_txBufferLength) { + twi_reply(1); + } + else { + twi_reply(0); + } + break; + case TW_ST_DATA_NACK: // received nack, we are done + case TW_ST_LAST_DATA: // received ack, but we are done already! + // ack future responses + twi_reply(1); + // leave slave receiver state + twi_state = TWI_READY; + break; + + // All + case TW_NO_INFO: // no state information + break; + case TW_BUS_ERROR: // bus error, illegal stop/start + twi_error = TW_BUS_ERROR; + twi_stop(); + break; } - } - break; - case TW_MT_SLA_NACK: // address sent, nack received - twi_error = TW_MT_SLA_NACK; - twi_stop(); - break; - case TW_MT_DATA_NACK: // data sent, nack received - twi_error = TW_MT_DATA_NACK; - twi_stop(); - break; - case TW_MT_ARB_LOST: // lost bus arbitration - twi_error = TW_MT_ARB_LOST; - twi_releaseBus(); - break; - - // Master Receiver - case TW_MR_DATA_ACK: // data received, ack sent - // put byte into buffer - twi_masterBuffer[twi_masterBufferIndex++] = TWDR; - case TW_MR_SLA_ACK: // address sent, ack received - // ack if more bytes are expected, otherwise nack - if(twi_masterBufferIndex < twi_masterBufferLength){ - twi_reply(1); - }else{ - twi_reply(0); - } - break; - case TW_MR_DATA_NACK: // data received, nack sent - // put final byte into buffer - twi_masterBuffer[twi_masterBufferIndex++] = TWDR; - if (twi_sendStop) - twi_stop(); - else { - twi_inRepStart = true; // we're gonna send the START - // don't enable the interrupt. We'll generate the start, but we - // avoid handling the interrupt until we're in the next transaction, - // at the point where we would normally issue the start. - TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; - twi_state = TWI_READY; - } - break; - case TW_MR_SLA_NACK: // address sent, nack received - twi_stop(); - break; - // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case - - // Slave Receiver - case TW_SR_SLA_ACK: // addressed, returned ack - case TW_SR_GCALL_ACK: // addressed generally, returned ack - case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack - case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack - // enter slave receiver mode - twi_state = TWI_SRX; - // indicate that rx buffer can be overwritten and ack - twi_rxBufferIndex = 0; - twi_reply(1); - break; - case TW_SR_DATA_ACK: // data received, returned ack - case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack - // if there is still room in the rx buffer - if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ - // put byte in buffer and ack - twi_rxBuffer[twi_rxBufferIndex++] = TWDR; - twi_reply(1); - }else{ - // otherwise nack - twi_reply(0); - } - break; - case TW_SR_STOP: // stop or repeated start condition received - // ack future responses and leave slave receiver state - twi_releaseBus(); - // put a null char after data if there's room - if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ - twi_rxBuffer[twi_rxBufferIndex] = '\0'; - } - // callback to user defined callback - twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex); - // since we submit rx buffer to "wire" library, we can reset it - twi_rxBufferIndex = 0; - break; - case TW_SR_DATA_NACK: // data received, returned nack - case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack - // nack back at master - twi_reply(0); - break; - - // Slave Transmitter - case TW_ST_SLA_ACK: // addressed, returned ack - case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack - // enter slave transmitter mode - twi_state = TWI_STX; - // ready the tx buffer index for iteration - twi_txBufferIndex = 0; - // set tx buffer length to be zero, to verify if user changes it - twi_txBufferLength = 0; - // request for txBuffer to be filled and length to be set - // note: user must call twi_transmit(bytes, length) to do this - twi_onSlaveTransmit(); - // if they didn't change buffer & length, initialize it - if(0 == twi_txBufferLength){ - twi_txBufferLength = 1; - twi_txBuffer[0] = 0x00; - } - // transmit first byte from buffer, fall - case TW_ST_DATA_ACK: // byte sent, ack returned - // copy data to output register - TWDR = twi_txBuffer[twi_txBufferIndex++]; - // if there is more to send, ack, otherwise nack - if(twi_txBufferIndex < twi_txBufferLength){ - twi_reply(1); - }else{ - twi_reply(0); - } - break; - case TW_ST_DATA_NACK: // received nack, we are done - case TW_ST_LAST_DATA: // received ack, but we are done already! - // ack future responses - twi_reply(1); - // leave slave receiver state - twi_state = TWI_READY; - break; - - // All - case TW_NO_INFO: // no state information - break; - case TW_BUS_ERROR: // bus error, illegal stop/start - twi_error = TW_BUS_ERROR; - twi_stop(); - break; - } } From 838c45e49639ab21eb84eb2335d7bae41ed2df53 Mon Sep 17 00:00:00 2001 From: paynterf Date: Thu, 16 Aug 2018 15:19:20 -0400 Subject: [PATCH 4/4] Declarations added for new functions --- libraries/Wire/src/utility/twi.h | 99 +++++++++++++++++--------------- 1 file changed, 53 insertions(+), 46 deletions(-) diff --git a/libraries/Wire/src/utility/twi.h b/libraries/Wire/src/utility/twi.h index d27325ea7..538d821c0 100644 --- a/libraries/Wire/src/utility/twi.h +++ b/libraries/Wire/src/utility/twi.h @@ -1,55 +1,62 @@ /* - twi.h - TWI/I2C library for Wiring & Arduino - Copyright (c) 2006 Nicholas Zambetti. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library 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 - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +twi.h - TWI/I2C library for Wiring & Arduino +Copyright (c) 2006 Nicholas Zambetti. All right reserved. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library 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 +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ + +//08/09/18 this has been merged with unaie's version of twi.h, modified to recover from infinite hang conditions +//see http://forum.arduino.cc/index.php/topic,19624.0.html for details +//this file should be renamed 'twi.h' and placed so that it gets used instead of the normal one. + #ifndef twi_h #define twi_h - #include - - //#define ATMEGA8 - - #ifndef TWI_FREQ - #define TWI_FREQ 100000L - #endif - - #ifndef TWI_BUFFER_LENGTH - #define TWI_BUFFER_LENGTH 32 - #endif - - #define TWI_READY 0 - #define TWI_MRX 1 - #define TWI_MTX 2 - #define TWI_SRX 3 - #define TWI_STX 4 - - void twi_init(void); - void twi_disable(void); - void twi_setAddress(uint8_t); - void twi_setFrequency(uint32_t); - uint8_t twi_readFrom(uint8_t, uint8_t*, uint8_t, uint8_t); - uint8_t twi_writeTo(uint8_t, uint8_t*, uint8_t, uint8_t, uint8_t); - uint8_t twi_transmit(const uint8_t*, uint8_t); - void twi_attachSlaveRxEvent( void (*)(uint8_t*, int) ); - void twi_attachSlaveTxEvent( void (*)(void) ); - void twi_reply(uint8_t); - void twi_stop(void); - void twi_releaseBus(void); +#include + +//#define ATMEGA8 + +#ifndef TWI_FREQ +#define TWI_FREQ 100000L +#endif + +#ifndef TWI_BUFFER_LENGTH +#define TWI_BUFFER_LENGTH 32 +#endif +#define TWI_READY 0 +#define TWI_MRX 1 +#define TWI_MTX 2 +#define TWI_SRX 3 +#define TWI_STX 4 + +void twi_init(void); +void twi_disable(void); +void twi_setAddress(uint8_t); +void twi_setFrequency(uint32_t); +uint8_t twi_readFrom(uint8_t, uint8_t*, uint8_t, uint8_t); +uint8_t twi_writeTo(uint8_t, uint8_t*, uint8_t, uint8_t, uint8_t); +uint8_t twi_transmit(const uint8_t*, uint8_t); +void twi_attachSlaveRxEvent(void(*)(uint8_t*, int)); +void twi_attachSlaveTxEvent(void(*)(void)); +void twi_reply(uint8_t); +void twi_stop(void); +void twi_releaseBus(void); +uint8_t twi_tout(uint8_t); //unaie's timeout function +uint16_t twi_getRecoveryCount(); //08/09/18 gfp for monitoring purposes +void twi_clearRecoveryCount(); //08/09/18 gfp for monitoring purposes #endif