From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Sun, 2 May 2021 03:17:54 +0000 (-0700)
Subject: Increase delay
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=c2480c9072260918731cf01fcd4f5032190bd5d7;p=bbctrl-firmware

Increase delay
---

diff --git a/src/pwr/main.c b/src/pwr/main.c
index e310680..69a84f7 100644
--- a/src/pwr/main.c
+++ b/src/pwr/main.c
@@ -108,7 +108,8 @@ static void flags(uint16_t flags, bool enable) {
 
 
 static void i2c_ack()  {TWSCRB = (1 << TWCMD1) | (1 << TWCMD0);}
-static void i2c_nack() {TWSCRB = (1 << TWAA) | (1 << TWCMD1) | (1 << TWCMD0);}
+static void i2c_nack() {TWSCRB = (1 << TWCMD1) | (1 << TWCMD0) | (1 << TWAA);}
+static void i2c_stop() {TWSCRB = (1 << TWCMD1) | (0 << TWCMD0);}
 
 
 ISR(TWI_SLAVE_vect) {
@@ -117,7 +118,7 @@ ISR(TWI_SLAVE_vect) {
 
   // Stretch clock longer to work around RPi bug
   // See https://github.com/raspberrypi/linux/issues/254
-  _delay_us(10); // Must use software delay while in interrupt
+  _delay_us(100); // Must use software delay while in interrupt
 
   uint8_t status = TWSSRA;
 
@@ -144,7 +145,7 @@ ISR(TWI_SLAVE_vect) {
 
       } else i2c_nack();
 
-    } else TWSCRB = (1 << TWCMD1) | (0 << TWCMD0);  // Stop
+    } else i2c_stop();
   }
 }