# 1 "twi.cpp"
# 1 "<built-in>"
# 1 "<command-line>"
# 1 "twi.cpp"
# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 1 3
# 94 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 3
# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/sfr_defs.h" 1 3
# 126 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/sfr_defs.h" 3
# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/inttypes.h" 1 3
# 37 "c:/winavr-20080610/lib/gcc/../../avr/include/inttypes.h" 3
# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/stdint.h" 1 3
# 121 "c:/winavr-20080610/lib/gcc/../../avr/include/stdint.h" 3
typedef int int8_t __attribute__((__mode__(__QI__)));
typedef unsigned int uint8_t __attribute__((__mode__(__QI__)));
typedef int int16_t __attribute__ ((__mode__ (__HI__)));
typedef unsigned int uint16_t __attribute__ ((__mode__ (__HI__)));
typedef int int32_t __attribute__ ((__mode__ (__SI__)));
typedef unsigned int uint32_t __attribute__ ((__mode__ (__SI__)));

typedef int int64_t __attribute__((__mode__(__DI__)));
typedef unsigned int uint64_t __attribute__((__mode__(__DI__)));
# 142 "c:/winavr-20080610/lib/gcc/../../avr/include/stdint.h" 3
typedef int16_t intptr_t;




typedef uint16_t uintptr_t;
# 159 "c:/winavr-20080610/lib/gcc/../../avr/include/stdint.h" 3
typedef int8_t int_least8_t;




typedef uint8_t uint_least8_t;




typedef int16_t int_least16_t;




typedef uint16_t uint_least16_t;




typedef int32_t int_least32_t;




typedef uint32_t uint_least32_t;







typedef int64_t int_least64_t;






typedef uint64_t uint_least64_t;
# 213 "c:/winavr-20080610/lib/gcc/../../avr/include/stdint.h" 3
typedef int8_t int_fast8_t;




typedef uint8_t uint_fast8_t;




typedef int16_t int_fast16_t;




typedef uint16_t uint_fast16_t;




typedef int32_t int_fast32_t;




typedef uint32_t uint_fast32_t;







typedef int64_t int_fast64_t;






typedef uint64_t uint_fast64_t;
# 273 "c:/winavr-20080610/lib/gcc/../../avr/include/stdint.h" 3
typedef int64_t intmax_t;




typedef uint64_t uintmax_t;
# 38 "c:/winavr-20080610/lib/gcc/../../avr/include/inttypes.h" 2 3
# 77 "c:/winavr-20080610/lib/gcc/../../avr/include/inttypes.h" 3
typedef int32_t int_farptr_t;



typedef uint32_t uint_farptr_t;
# 127 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/sfr_defs.h" 2 3
# 95 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 2 3
# 127 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 3
# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/iom128.h" 1 3
# 128 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 2 3
# 317 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 3
# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/portpins.h" 1 3
# 318 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 2 3

# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/common.h" 1 3
# 320 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 2 3

# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/version.h" 1 3
# 322 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 2 3


# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/fuse.h" 1 3
# 214 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/fuse.h" 3
typedef struct
{
    unsigned char low;
    unsigned char high;
    unsigned char extended;
} __fuse_t;
# 325 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 2 3


# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/lock.h" 1 3
# 328 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/io.h" 2 3
# 2 "twi.cpp" 2
# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/avr/interrupt.h" 1 3
# 3 "twi.cpp" 2
# 1 "twi.h" 1



# 1 "c:/winavr-20080610/lib/gcc/../../avr/include/util/twi.h" 1 3
# 5 "twi.h" 2







void Twi_Receive(void* data_ptr, void* packet_length);

namespace TWI{



    enum Modes {SLAVE, MSTR_START_SENT, MSTR_ERR, MSTR_ADDR_SENT, MSTR_DATA_SENT, MSTR_STOP_SENT, SLAVE_ACK, SLAVE_DATA};

    enum CRC_Check {UNCHECKED,ERROR,GOOD};

    struct TWI_Packet{
        uint8_t address_r_w;
        uint8_t packet_length;
        uint8_t packet[10];
        uint8_t crc;
        CRC_Check check;
    };

    void Init(void* unused1, void* unused2);

    void Send(uint8_t address, uint8_t* pckt, uint8_t pckt_length);

    extern volatile Modes current_mode;
    extern volatile uint8_t cur_data_ptr;

    extern volatile TWI_Packet packet;
    extern volatile uint8_t tmp_crc;

    extern uint8_t slave_addr;
    void inline SetSlaveAddress(uint8_t addr){slave_addr = addr;}
};
# 4 "twi.cpp" 2
# 1 "task.h" 1
# 11 "task.h"
namespace TaskManager{
    enum TASK_TYPE{
        SINGLE_RUN,
        MULTI_RUN,
    };

    enum PRIORITY{
        HIGH = 0,
        MEDIUM = 50,
        LOW = 150,
    };

    struct Task{
        void (*function)(void*,void*);
        void* arg0;
        void* arg1;
        TASK_TYPE type;
        uint16_t interval;
        uint32_t next_run;
        uint8_t priority;
        bool active;
        uint8_t pri_level;
    };

    extern volatile uint8_t cur_tasks;

    extern volatile uint8_t cpu_usage;

    extern volatile Task tasks[12];

    extern volatile uint8_t cur_priority[3];

    extern void AddTask(void (*function)(void*,void*), void* arg0, void* arg1,TASK_TYPE type,uint16_t interval,PRIORITY pri);
    extern uint8_t ExecuteNextTask(void);
    extern void DeleteTask(void (*function)(void*,void*));
    extern void Init(void);
};
# 5 "twi.cpp" 2

namespace TWI{
    volatile uint8_t cur_data_ptr = 0;
    volatile Modes current_mode;

    volatile TWI_Packet packet;
    volatile uint8_t tmp_crc;

    uint8_t slave_addr;

    void Init(void* unused1, void* unused2){

        (*(volatile uint8_t *)(0x72)) = (slave_addr<<1) | 0x01;
        (*(volatile uint8_t *)(0x73)) = 0xff;
        (*(volatile uint8_t *)(0x74)) = (1<<6) | (1<<2) | (1<<0) | (1<<7);
        TWI::current_mode = SLAVE;
        cur_data_ptr = 0;
        tmp_crc = 0xff;
        packet.check = UNCHECKED;
    }

    void Send(uint8_t address, uint8_t* pckt, uint8_t pckt_length){
        if(current_mode!=SLAVE && current_mode!=MSTR_ERR)
            return;

        packet.crc = 0xff;

        for(int8_t i = 0; i < pckt_length; i++){
            packet.packet[i] = pckt[i];
            packet.crc ^= pckt[i];
        }

        cur_data_ptr = 0;
        packet.packet_length = pckt_length;

        packet.address_r_w = (address << 1) & 0xfe;

        (*(volatile uint8_t *)(0x70)) = 32;
        (*(volatile uint8_t *)(0x71)) &= ~((1<<1) | (1<<0));

        (*(volatile uint8_t *)(0x73)) = 0xff;

        (*(volatile uint8_t *)(0x74)) = (1<<7)|(1<<5)|(1<<2)|(1<<0);
        TWI::current_mode = MSTR_START_SENT;
    }
};


extern "C" void __vector_33 (void) __attribute__ ((signal,used, externally_visible)) ; void __vector_33 (void){
    if(TWI::current_mode==TWI::SLAVE || TWI::current_mode==TWI::SLAVE_ACK || TWI::current_mode==TWI::SLAVE_DATA){
        switch(((*(volatile uint8_t *)(0x71)) & ((1 << (7))|(1 << (6))|(1 << (5))|(1 << (4))| (1 << (3))))){
        case 0x90:
        case 0x80:
            if(TWI::current_mode==TWI::SLAVE_ACK){
                TWI::packet.packet_length = (*(volatile uint8_t *)(0x73));
                TWI::tmp_crc = 0xff;
                TWI::current_mode = TWI::SLAVE_DATA;
            }
            else if(TWI::current_mode==TWI::SLAVE_DATA){
                if(TWI::cur_data_ptr<TWI::packet.packet_length){
                    TWI::packet.packet[TWI::cur_data_ptr] = (*(volatile uint8_t *)(0x73));
                    TWI::tmp_crc ^= TWI::packet.packet[TWI::cur_data_ptr++];
                }
                else{
                    TWI::packet.crc = (*(volatile uint8_t *)(0x73));
                    if(TWI::tmp_crc!=TWI::packet.crc)
                        TWI::packet.check = TWI::ERROR;
                    else
                        TWI::packet.check = TWI::GOOD;

                    TaskManager::AddTask(Twi_Receive,(void*)&TWI::packet,0,TaskManager::SINGLE_RUN,0,TaskManager::HIGH);
                    TWI::cur_data_ptr = 0;
                    TWI::current_mode = TWI::SLAVE;

                }
            }
            (*(volatile uint8_t *)(0x74)) = (1<<7) | (1<<2) | (1<<0) | (1<<6);
            break;
        case 0x70:
        case 0x60:

            TWI::packet.check = TWI::UNCHECKED;
            TWI::cur_data_ptr = 0;

            (*(volatile uint8_t *)(0x74)) = (1<<7) | (1<<2) | (1<<0) | (1<<6);
            TWI::current_mode = TWI::SLAVE_ACK;
            break;
        case 0xA0:
            (*(volatile uint8_t *)(0x74)) = (1<<7)|(1<<2)|(1<<0)|(1<<6);

            break;
        case 0x98:
        case 0x88:
        default:
            (*(volatile uint8_t *)(0x74)) = (1<<7) | (1<<2) | (1<<0) | (1<<6);
        }
    }
    else{
        switch(((*(volatile uint8_t *)(0x71)) & ((1 << (7))|(1 << (6))|(1 << (5))|(1 << (4))| (1 << (3))))){
            case 0x08:


                (*(volatile uint8_t *)(0x73)) = TWI::packet.address_r_w;
                (*(volatile uint8_t *)(0x74)) = (1<<7) | (1<<2) | (1<<0);
                TWI::current_mode = TWI::MSTR_ADDR_SENT;
                break;
            case 0x18:
                TWI::cur_data_ptr = 0;
                (*(volatile uint8_t *)(0x73)) = TWI::packet.packet_length;
                (*(volatile uint8_t *)(0x74)) = (1<<7) | (1<<2) | (1<<0);
                TWI::current_mode = TWI::MSTR_DATA_SENT;
                break;
            case 0x28:
                if(TWI::cur_data_ptr==TWI::packet.packet_length){

                    (*(volatile uint8_t *)(0x73)) = TWI::packet.crc;
                    TWI::cur_data_ptr++;
                    (*(volatile uint8_t *)(0x74)) = (1<<7) | (1<<2) | (1<<0);
                    TWI::current_mode = TWI::MSTR_DATA_SENT;
                }
                else if(TWI::cur_data_ptr==(TWI::packet.packet_length+1)){
                    (*(volatile uint8_t *)(0x74)) = (1<<7) | (1<<2) | (1<<4) | (1<<0);
                    TWI::current_mode = TWI::MSTR_STOP_SENT;

                    TaskManager::AddTask(TWI::Init,0,0,TaskManager::SINGLE_RUN,0,TaskManager::HIGH);
                }
                else{
                    (*(volatile uint8_t *)(0x73)) = TWI::packet.packet[TWI::cur_data_ptr++];
                    (*(volatile uint8_t *)(0x74)) = (1<<7) | (1<<2) | (1<<0);
                    TWI::current_mode = TWI::MSTR_DATA_SENT;
                }
                break;
            default:
                TWI::current_mode = TWI::MSTR_ERR;
                (*(volatile uint8_t *)(0x74)) = (1<<7) | (1<<2) | (1<<0);
                break;
        }
    }
}