firmware.ino File Reference

Generic firmware framework for I2C targets with modular functionality, built around the I2Cwrapper library. More...

Detailed Description

Generic firmware framework for I2C targets with modular functionality, built around the I2Cwrapper library.

Author

Copyright (c) 2022 juh

License

This program 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, version 2.

Todo:

make I2C address configurable by hardware (with module?)

return messages (results) should ideally come with an id, too, so that controller can be sure it's the correct result. Currently only CRC8, i.e. correct transmission is checked.

volatile variables / ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {}

Reduce memory use to make it fit into an 8k Attiny4k ATtiny

Macros
#define	MF_STAGE_includes   1
#define	MF_STAGE_declarations   2
#define	MF_STAGE_setup   3
#define	MF_STAGE_loop   4
#define	MF_STAGE_processMessage   5
#define	MF_STAGE_reset   6
#define	MF_STAGE_receiveEvent   7
#define	MF_STAGE_requestEvent   8
#define	MF_STAGE_I2CstateChange   9
#define	MF_STAGE   MF_STAGE_includes
#define	log(...)
#define	MF_STAGE   MF_STAGE_I2CstateChange
#define	MF_STAGE   MF_STAGE_declarations
#define	MF_STAGE   MF_STAGE_setup
#define	MF_STAGE   MF_STAGE_loop
#define	MF_STAGE   MF_STAGE_processMessage
#define	MF_STAGE   MF_STAGE_reset
#define	MF_STAGE   MF_STAGE_receiveEvent
#define	MF_STAGE   MF_STAGE_requestEvent

Enumerations
enum	I2Cstates {   initializing , readyForCommand , processingCommand , readyForResponse ,   responding , tainted }

Functions
void	changeI2CstateTo (I2Cstates newState)
void	receiveEvent (int howMany)
void	requestEvent ()
	Handle I2C request event. Will send results or information requested by the last command, as defined by the contents of the outputBuffer. More...
void	triggerInterrupt (uint8_t source, uint8_t reason)
	Interrupt controller if an interrupt pin has been set and, optionally, define a source and reason having caused the interrupt that the controller can learn about by calling the I2Cwrapper::clearInterrupt() function. More...
void	clearInterrupt ()
void	initializeFirmware ()
void	startI2C ()
void	setup ()
	Setup system. More...
void	loop ()
	Main loop. By default, it doesn't do a lot apart from debugging: It just checks if an ISR signaled that a new message has arrived and calls processMessage() accordingly. More...
void	processMessage (uint8_t len)
	Process the message stored in bufferIn with lenght len which was received via I2C. Messages consist of at least three bytes: [0] CRC8 checksum [1] Command. Most commands correspond to a module's function, some are specific for I2Cwrapper core functions. Unknown commands are ignored. [2] Number of the unit (stepper, servo, ...) that is to receive the command. Not all modules use units and ignore this value accordingly. [3..maxBuffer] Optional parameter bytes. Each command that comes with too many or too few parameter bytes is ignored. More...
void	writeOutputBuffer ()

Variables
uint8_t	i2c_address = I2CwrapperDefaultAddress
uint32_t	cycles = 0
SimpleBuffer *	bufferIn
SimpleBuffer *	bufferOut
volatile uint8_t	newMessage = 0
volatile I2Cstates	I2Cstate = initializing
int8_t	interruptPin
bool	interruptActiveHigh
uint8_t	interruptSource
uint8_t	interruptReason

Macro Definition Documentation

log

#define log

(

...

)

MF_STAGE [1/9]

#define MF_STAGE   MF_STAGE_includes

MF_STAGE [2/9]

#define MF_STAGE   MF_STAGE_I2CstateChange

MF_STAGE [3/9]

#define MF_STAGE   MF_STAGE_declarations

MF_STAGE [4/9]

#define MF_STAGE   MF_STAGE_setup

MF_STAGE [5/9]

#define MF_STAGE   MF_STAGE_loop

MF_STAGE [6/9]

#define MF_STAGE   MF_STAGE_processMessage

MF_STAGE [7/9]

#define MF_STAGE   MF_STAGE_reset

MF_STAGE [8/9]

#define MF_STAGE   MF_STAGE_receiveEvent

MF_STAGE [9/9]

#define MF_STAGE   MF_STAGE_requestEvent

MF_STAGE_declarations

#define MF_STAGE_declarations   2

MF_STAGE_I2CstateChange

#define MF_STAGE_I2CstateChange   9

MF_STAGE_includes

#define MF_STAGE_includes   1

MF_STAGE_loop

#define MF_STAGE_loop   4

MF_STAGE_processMessage

#define MF_STAGE_processMessage   5

MF_STAGE_receiveEvent

#define MF_STAGE_receiveEvent   7

MF_STAGE_requestEvent

#define MF_STAGE_requestEvent   8

MF_STAGE_reset

#define MF_STAGE_reset   6

MF_STAGE_setup

#define MF_STAGE_setup   3

Enumeration Type Documentation

I2Cstates

enum I2Cstates

Enumerator
initializing
readyForCommand
processingCommand
readyForResponse
responding
tainted

Function Documentation

changeI2CstateTo()

void changeI2CstateTo

(

I2Cstates

newState

)

clearInterrupt()

void clearInterrupt

(

)

initializeFirmware()

void initializeFirmware

(

)

loop()

void loop

(

void

)

Main loop. By default, it doesn't do a lot apart from debugging: It just checks if an ISR signaled that a new message has arrived and calls processMessage() accordingly.

processMessage()

void processMessage

(

uint8_t

len

)

Process the message stored in bufferIn with lenght len which was received via I2C. Messages consist of at least three bytes: [0] CRC8 checksum [1] Command. Most commands correspond to a module's function, some are specific for I2Cwrapper core functions. Unknown commands are ignored. [2] Number of the unit (stepper, servo, ...) that is to receive the command. Not all modules use units and ignore this value accordingly. [3..maxBuffer] Optional parameter bytes. Each command that comes with too many or too few parameter bytes is ignored.

receiveEvent()

void receiveEvent

(

int

howMany

)

@ brief Handle I2C receive event. Just read the message and inform main loop.

requestEvent()

void requestEvent

(

)

Handle I2C request event. Will send results or information requested by the last command, as defined by the contents of the outputBuffer.

setup()

void setup

(

void

)

Setup system.

startI2C()

void startI2C

(

)

triggerInterrupt()

void triggerInterrupt	(	uint8_t	source,
		uint8_t	reason
	)

Interrupt controller if an interrupt pin has been set and, optionally, define a source and reason having caused the interrupt that the controller can learn about by calling the I2Cwrapper::clearInterrupt() function.

Parameters

source	4-bit value that can be used to signal the controller where in the target device the interrupt occured, e.g. which end stop switch was triggered or which touch button was touched. 0xF is reserved to signal "unknown source"
reason	4-bit value that can be used to differentiate between different interrupt causing events, e.g. end stop hit vs. target reached. 0xF is reserved to signal "unknown reason"

writeOutputBuffer()

void writeOutputBuffer

(

)

Variable Documentation

bufferIn

SimpleBuffer* bufferIn

bufferOut

SimpleBuffer* bufferOut

cycles

uint32_t cycles = 0

i2c_address

uint8_t i2c_address = I2CwrapperDefaultAddress

I2Cstate

volatile I2Cstates I2Cstate = initializing

interruptActiveHigh

bool interruptActiveHigh

interruptPin

int8_t interruptPin

interruptReason

uint8_t interruptReason

interruptSource

uint8_t interruptSource

newMessage

volatile uint8_t newMessage = 0