add rush 00

2025-03-15 16:39:29 +01:00
parent 1d5e8d4ee7
commit 70db631c93
15 changed files with 598 additions and 1 deletions
--- a/README.md
+++ b/README.md
@@ -89,4 +89,5 @@ avrdude done.  Thank you.

 ## screen

+- (optional) `export XTERM=xterm`
 - `screen /dev/ttyUSB0 115200`
--- a/1
+++ b/1
--- a/rush_00/Makefile
+++ b/rush_00/Makefile
@@ -0,0 +1,83 @@
+# frequency of the CPU (in Hz)
+F_CPU = 16000000UL
+TARGET = main
+CC = avr-gcc
+INCLUDES = -I.
+
+AVRGCC_MCU_TYPE = atmega328p
+AVRDUDE_MCU_TYPE = m328p
+BAUD_RATE = 115200
+PROGRAMMER_ID = arduino
+
+# original firmware dump
+DUMP_ORI = ../../ressources/dump_atmega328p_ori.hex
+
+# Find all C source files in the current directory
+SRC = $(wildcard *.c)
+# Generate object file names from source file names
+OBJ = $(SRC:.c=.o)
+
+# Compiler flags
+CFLAGS = -mmcu=$(AVRGCC_MCU_TYPE) -D F_CPU=$(F_CPU) $(INCLUDES) -Os
+
+# Detect OS
+OS := $(shell uname -s)
+
+# Set Serial Port based on OS
+ifeq ($(OS), Darwin)  # macOS
+    SERIAL_PORT_1 := /dev/tty.usbserial-310 # $(shell ls /dev/tty.usb* 2>/dev/null | head -n 1) # should be : /dev/tty.usbserial-310
+    SERIAL_PORT_2 := /dev/tty.usbserial-110
+else ifeq ($(OS), Linux)  # Ubuntu/Linux
+    SERIAL_PORT_1 = /dev/ttyUSB0 # $(shell ls /dev/ttyUSB* 2>/dev/null | head -n 1) # should be : /dev/ttyUSB0
+    SERIAL_PORT_2 = /dev/ttyUSB1
+endif
+
+##
+## RULES
+##
+
+all: hex flash
+
+hex: $(TARGET).hex
+
+# Compile each .c file to corresponding .o file
+%.o: %.c
+	$(CC) $(CFLAGS) -c $< -o $@
+
+# Link all object files to create the binary
+# avr-gcc : compiler for AVR microcontrollers, https://gcc.gnu.org/wiki/avr-gcc#Using_avr-gcc, https://gcc.gnu.org/onlinedocs/gcc/AVR-Options.html
+#	-mmcu : the target microcontrolle (ATmega328P)
+#	-D : defines a preprocessor macro (#define F_CPU <value>)
+#	-o : output filename
+$(TARGET).bin: $(OBJ)
+	$(CC) -mmcu=$(AVRGCC_MCU_TYPE) $(OBJ) -o $(TARGET).bin
+
+# Convert binary to hex for flashing
+# avr-objcopy : man avr-jobcopy, https://linux.die.net/man/1/avr-objcopy
+#	-O : specifies output format, Intel HEX
+#		some formats (list not found in any doc) :
+#		-O ihex : Used for flashing AVR chips
+#		-O binary : Raw binary file
+#		-O elf32-avr : Used for debugging
+$(TARGET).hex: $(TARGET).bin
+	avr-objcopy -O ihex $(TARGET).bin $(TARGET).hex
+
+# Flash the hex file to the microcontroller
+# avr-dude : AVR Downloader/UploaDEr, upload firmware, https://avrdudes.github.io/avrdude, v6.3 https://download-mirror.savannah.gnu.org/releases/avrdude/avrdude-doc-6.3.pdf
+#	-p : specifies the microcontroller -> m328p
+#	-c : programmer-id
+#	-b : baud rate for serial communication
+#	-P : the serial port, found with `ls /dev/tty*` -> /dev/ttyUSB0
+#	-U : Uploads (w = write) the HEX firmware file to the flash memory
+#	(-v : verbose info dump)
+flash:
+	avrdude -p $(AVRDUDE_MCU_TYPE) -c $(PROGRAMMER_ID) -b $(BAUD_RATE) -P $(SERIAL_PORT_1) -U flash:w:$(TARGET).hex
+	avrdude -p $(AVRDUDE_MCU_TYPE) -c $(PROGRAMMER_ID) -b $(BAUD_RATE) -P $(SERIAL_PORT_2) -U flash:w:$(TARGET).hex
+
+restore:
+	avrdude -p $(AVRDUDE_MCU_TYPE) -c $(PROGRAMMER_ID) -b $(BAUD_RATE) -P $(SERIAL_PORT) -U flash:w:$(DUMP_ORI)
+
+clean:
+	rm -f main.hex main.bin $(OBJ)
+
+.PHONY : all clean hex flash restore
--- a/rush_00/README.md
+++ b/rush_00/README.md
@@ -0,0 +1,37 @@
+# Parallel Development Plan (chat gpt :p)
+
+| Task                                        | Developer    | Dependencies                                    |
+| ------------------------------------------- | ------------ | ----------------------------------------------- |
+| Configure I2C (Master/Slave)                | **Person A** | None                                            |
+| Configure GPIOs (Buttons & LEDs)            | **Person B** | None                                            |
+| Implement button interrupt handling         | **Person B** | Needs GPIO setup                                |
+| Implement LED countdown sequence            | **Person B** | Needs GPIO setup                                |
+| Implement I2C send & receive functions      | **Person A** | Needs I2C setup                                 |
+| Implement game state transitions            | **Person A** | Needs I2C communication & button press handling |
+| Implement reaction detection & winner logic | **Person A** | Needs game state management & button interrupts |
+| Implement LED signals for winner/loser      | **Person B** | Needs reaction detection                        |
+| Implement game reset logic                  | **Person A** | Needs winner detection                          |
+| Sync both MCUs on game start                | **Person A** | Needs I2C and button handling                   |
+
+## How Each Person Works in Parallel
+
+### **Person A: I2C & Game Logic**
+
+- Starts with I2C initialization and communication functions.
+- Implements game state management (waiting, countdown, reaction, result).
+- Manages synchronization between the two MCUs.
+- Detects the winner and resets the game.
+
+### **Person B: Buttons & LEDs**
+
+- Sets up buttons and interrupts.
+- Implements debounce mechanism to avoid false triggers.
+- Handles the countdown sequence using LEDs.
+- Displays winner/loser using LEDs.
+
+## Collaboration Strategy
+
+1. **Step 1:** Work independently on separate modules.
+2. **Step 2:** Integrate button presses with game state transitions.
+3. **Step 3:** Test button presses and countdown independently.
+4. **Step 4:** Merge both parts and test full game logic with I2C communication.
--- a/rush_00/bitmanip.h
+++ b/rush_00/bitmanip.h
@@ -0,0 +1,53 @@
+#ifndef BITMANIP_H
+#define BITMANIP_H
+
+#include "utils.h"
+
+// Bit operations on registers
+#define SET(register, bit)		(register |= (1 << (bit)))
+#define CLEAR(register, bit)	(register &= ~(1 << (bit)))
+#define TEST(register, bit)		(register & (1 << (bit)))
+#define TOGGLE(register, bit)	(register ^= (1 << (bit)))
+
+// Get arguments from tuple-like definitions
+#define ARG_1(v1, v2)			v1
+#define ARG_2(v1, v2)			v2
+#define GET_PORT(args)			ARG_1 args
+#define GET_BIT(args)			ARG_2 args
+// // version with "LED1 B, D1" without parenthesis
+// #define ARG_1(v1, ...)			v1
+// #define ARG_2(v1, v2, ...)		v2
+// #define GET_PORT(...)			ARG_1(__VA_ARGS__)
+// #define GET_BIT(...)			ARG_2(__VA_ARGS__)
+
+// Actions on elements
+// #define SET_ELEM(...)			SET(CONCAT(PORT, GET_PORT(__VA_ARGS__)), GET_BIT(__VA_ARGS__)) // version for "LED1 B, D1" without parenthesis
+#define SET_ELEM(elem)			SET(CONCAT(PORT, GET_PORT(elem)), GET_BIT(elem))
+#define CLEAR_ELEM(elem)		CLEAR(CONCAT(PORT, GET_PORT(elem)), GET_BIT(elem))
+#define TEST_ELEM(elem)			TEST(CONCAT(PORT, GET_PORT(elem)), GET_BIT(elem))
+#define TOGGLE_ELEM(elem)		TOGGLE(CONCAT(PORT, GET_PORT(elem)), GET_BIT(elem))
+
+#define MODE_OUTPUT(elem)		SET(CONCAT(DDR, GET_PORT(elem)), GET_BIT(elem))
+#define MODE_INPUT(elem)		CLEAR(CONCAT(DDR, GET_PORT(elem)), GET_BIT(elem))
+#define TOGGLE_PIN(elem)		SET(CONCAT(PIN, GET_PORT(elem)), GET_BIT(elem))
+#define TEST_PIN(elem)			(TEST(CONCAT(PIN, GET_PORT(elem)), GET_BIT(elem)))
+#define IS_PIN_SET(elem)		(TEST_PIN(elem) == 0)
+#define IS_PIN_CLEAR(elem)		(TEST_PIN(elem) == 1)
+
+// Bit definitions
+#define D1 0
+#define D2 1
+#define D3 2
+#define D4 4
+#define SW1 2
+#define SW2 4
+
+// Elements (port, bit)
+#define LED1	(B, D1)
+#define LED2	(B, D2)
+#define LED3	(B, D3)
+#define LED4	(B, D4)
+#define BUTTON1	(D, SW1)
+#define BUTTON2	(D, SW2)
+
+#endif // BITMANIP_H
--- a/rush_00/game.c
+++ b/rush_00/game.c
@@ -0,0 +1,18 @@
+#include "rush_header.h"
+
+void timer() {
+	flash_led(D3);
+	_delay_ms(500);
+	flash_led(D3);
+	_delay_ms(500);
+	flash_led(D3);
+	_delay_ms(500);
+	flash_led(D3);
+	_delay_ms(500);
+	turn_on_led(D3);
+}
+
+void launch_game() {
+	// timer();
+	write_one_byte_data(0x01);
+}
--- a/rush_00/interrupt.h
+++ b/rush_00/interrupt.h
@@ -0,0 +1,8 @@
+#ifndef INTERRUPT_H
+#define INTERRUPT_H
+
+// 7.3.1 : SREG – AVR Status Register
+#define ENABLE_GLOBAL_INTERRUPT		(1<<7)
+#define DISABLE_GLOBAL_INTERRUPT	(0<<7)
+
+#endif // INTERRUPT_H
--- a/rush_00/interrupts.c
+++ b/rush_00/interrupts.c
@@ -0,0 +1,66 @@
+#include "rush_header.h"
+
+volatile Role role = WAITING;
+
+void setup_button_interrupt() {										// interruption SW1 (PD2)
+    EICRA |= (1 << ISC01);      									// trigger on falling edge for INT0
+    EIMSK |= (1 << INT0);       									// Activate INT0
+
+    SREG |= (1 << SREG_I);  
+}
+
+ISR(INT0_vect) {													// interruption SW1 (PD2)
+	if (!TEST_PIN(BUTTON1)) {
+    	_delay_ms(30);
+		flash_led(D4);
+		if (role == MASTER) {
+			// write_one_byte_data(0x01);
+			read_one_byte_data();
+		} else if (role == SLAVE) {
+			// PORTD &= ~(1 << PD2); // Pull PD2 low (active LOW signal)
+    		// _delay_ms(10);        // Give master time to catch the signal
+    		// PORTD |= (1 << PD2);  // Reset line HIGH
+		}
+	}
+}
+
+ISR(TWI_vect) {														// interruption slave receive data, Table 12-1 : 25, 2-wire Serial Interface
+    uint8_t status = TWSR & MASK_WITHOUT_LAST_3;
+
+    switch (status) {
+
+        // Slave Receiver cases
+        case TW_SR_SLA_ACK:											// SLA+W received, ACK sent
+            // flash_led(D4);
+            turn_on_led_2_light();
+            break;
+        case TW_SR_DATA_ACK:										// data received, ACK sent
+            if (role == WAITING) {
+                role = SLAVE;
+            }
+            received_data = TWDR;                                   // store received data
+            break;
+        case TW_SR_STOP:											// STOP or REPEATED START
+            break;
+        case TW_SR_DATA_NACK:										// data received but slave answered NACK (no ACK an means end of communication or error)
+            break;
+
+        // Slave Transmitter cases
+        case TW_ST_SLA_ACK:											// SLA+R received, ACK sent - First byte to be transmitted
+            flash_led(D4);
+            TWDR = 0x10;											// send first data byte
+            break;
+        case TW_ST_DATA_ACK:										// data sent, ACK received - Additional bytes can be sent
+            TWDR = 0x10;											// send next data byte
+            break;
+        case TW_ST_DATA_NACK:										// data sent, NACK received - No more data requested
+            break;													// master doesn't want more data
+        case TW_ST_LAST_DATA:										// last data byte sent, ACK received
+			break;													// All data sent
+
+        default:
+            break;
+    }
+
+    TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA) | (1 << TWIE);	// Clear interrupt flag and enable next transfer
+}
--- a/rush_00/main.c
+++ b/rush_00/main.c
@@ -0,0 +1,52 @@
+#include "rush_header.h"
+
+#define BLINK_PRESCALE_VALUE				1024		            			        // can be 1, 8, 64, 256, 1024
+#define BLINK_DUTY_CYCLE					10
+
+void flash_led(int bit) {
+	SET(DDRB, bit);
+    SET(PORTB, bit);
+    _delay_ms(100);
+    CLEAR(PORTB, bit);
+}
+void turn_on_led(int bit) {
+	SET(DDRB, bit);
+    SET(PORTB, bit);
+}
+void turn_on_led_2_light() {
+    uint8_t duty = 10;
+    // Set PB1 (OC1A) as output
+    DDRB |= (1 << PB1);
+
+    // Configure Timer1 for Fast PWM, 8-bit mode
+    TCCR1A = (1 << COM1A1) | (1 << WGM10); // Clear OC1A on compare match, Fast PWM
+    TCCR1B = (1 << WGM12) | (1 << CS11);   // Prescaler 8
+
+    // Set duty cycle (0-255, where 255 = fully ON, 0 = fully OFF)
+    OCR1A = duty;
+}
+void turn_off_led(int bit) {
+	SET(DDRB, bit);
+    CLEAR(PORTB, bit);
+}
+void blink_led_2(int period) {
+	MODE_OUTPUT(LED2);
+    SET(TCCR1A, WGM11);							                						// Table 16-4 : set timer in Fast PWM (Pulse With Modulation) mode with TOP = ICR1 (Mode 14)
+	SET(TCCR1B, WGM12);
+    SET(TCCR1B, WGM13);
+	SET(TCCR1A, COM1A1);						                						// Table 16-2 : non-inverting mode, the LED will be ON for DUTY_CYCLE% of the time (CLEAR OC1A on compare match, SET OC1A at BOTTOM)
+    ICR1 = TIME_MS(period, BLINK_PRESCALE_VALUE);		              			  		// Table 16-4 : set the period (compare TOP value)
+    OCR1A = TIME_MS(PERCENT(BLINK_DUTY_CYCLE, period), BLINK_PRESCALE_VALUE);			// 16.9.3 : set the duty cycle to DUTY_CYCLE% of the time on channel A -> OC1A (alternate function of PORTB1, aka LED2) is cleared when TCNT1 (the counter value) equals OCR1A
+    TCCR1B |= (PRESCALE_SET(BLINK_PRESCALE_VALUE));	                					// start the timer with the prescaler
+}
+
+int main() {
+	MODE_INPUT(BUTTON1);	// set as input
+	SET_ELEM(BUTTON1);		// pull-up resistor on
+
+	twi_init_slave();
+	get_role();
+	setup_button_interrupt();
+	// launch_game();
+    while (1);
+}
--- a/rush_00/roles.c
+++ b/rush_00/roles.c
@@ -0,0 +1,22 @@
+#include "rush_header.h"
+
+void get_role() {
+	int end = FALSE;
+	while(!end) {
+		_delay_ms(50);
+		if (role == SLAVE) {
+			end = TRUE;
+			// MODE_OUTPUT(BUTTON1);
+			continue;
+		}
+		if (!IS_PIN_SET(BUTTON1)) {
+			continue;
+ 		}
+		end = TRUE;
+		turn_on_led(D1);
+		role = MASTER;
+		twi_stop_slave();
+		twi_init_master();
+		write_one_byte_data(0x01);
+	}
+}
--- a/rush_00/rush_header.h
+++ b/rush_00/rush_header.h
@@ -0,0 +1,72 @@
+#ifndef RUSH_HEADER_H
+#define RUSH_HEADER_H
+
+#include <avr/io.h>
+#include <util/delay.h>
+#include <util/twi.h>
+#include <avr/interrupt.h>
+
+#include "utils.h"
+#include "bitmanip.h"
+#include "timer.h"
+#include "usart.h"
+#include "interrupt.h"
+
+// TWI
+// table 22-7 : prescale sets
+#define TWI_PRESCALE_VALUE				1							// can be 1, 4, 16, 64
+#define TWI_PRESCALE_SET(value)  \
+										((value) == 1  ? (0<<TWPS1 | 0<<TWPS0) : \
+										 (value) == 4  ? (0<<TWPS1 | 1<<TWPS0) : \
+										 (value) == 16 ? (1<<TWPS1 | 0<<TWPS0) : \
+										 (value) == 64 ? (1<<TWPS1 | 1<<TWPS0) : 0x00)
+// 100kHz I2C
+#define TWI_FREQ						100000UL
+// Slave address
+#define SLAVE_ADDRESS					42							// 22.3.3 : address 0000000 and 1111xxx are reservedm 42 is 0101010
+// 22.7.1 : TWCR, Master Transmitter Mode
+#define SEND_START_CONDITION			((1<<TWINT) | (1<<TWEN)) | (1<<TWSTA)
+#define SEND_CONTINUE_TRANSMISSION		((1<<TWINT) | (1<<TWEN))
+#define SEND_STOP_CONDITION				((1<<TWINT) | (1<<TWEN)) | (1<<TWSTO)
+#define SEND_ACKNOWLEDGE				((1<<TWINT) | (1<<TWEN)  | (1<<TWEA))
+#define SEND_NACKNOWLEDGE				((1<<TWINT) | (1<<TWEN))
+
+#define MASK_WITHOUT_LAST_3				0xF8						// 11111000
+
+// FUNCTION PROTOTYPES
+// main.c
+void flash_led();
+void blink_led_2();
+void turn_on_led(int bit);
+void turn_on_led_1_light();
+void turn_on_led_2_light();
+void turn_off_led(int bit);
+// twi.c
+void twi_init_slave(void);
+void twi_stop_slave(void);
+void twi_init_master();
+void twi_start();
+void twi_send_addr(uint8_t addr_w);
+void write_one_byte_data(uint8_t data);
+uint8_t read_one_byte_data();
+void twi_write(uint8_t data);
+uint8_t twi_read(uint8_t ack);
+void twi_stop();
+// interupts.c
+void setup_button_interrupt();
+void setup_button_role();
+// roles.c
+void get_role();
+// game.c
+void launch_game();
+
+// GLOBAL VARIABLES
+typedef enum {
+	WAITING,
+    MASTER,
+    SLAVE
+} Role;
+extern volatile Role role;
+extern volatile uint8_t received_data;
+
+#endif // RUSH_HEADER_H
--- a/rush_00/timer.h
+++ b/rush_00/timer.h
@@ -0,0 +1,27 @@
+#ifndef TIMER_H
+#define TIMER_H
+
+// table 16-5 : prescale sets
+#define PRESCALE_SET(value)  \
+									((value) == 1   ? (0<<CS12 | 0<<CS11 | 1<<CS10) : \
+									 (value) == 8   ? (0<<CS12 | 1<<CS11 | 0<<CS10) : \
+									 (value) == 64  ? (0<<CS12 | 1<<CS11 | 1<<CS10) : \
+									 (value) == 256 ? (1<<CS12 | 0<<CS11 | 0<<CS10) : \
+									 (value) == 1024? (1<<CS12 | 0<<CS11 | 1<<CS10) : \
+													  (0<<CS12 | 0<<CS11 | 0<<CS10))
+#define TIME_MS(ms, prescale_value)	(((F_CPU / prescale_value) * ms) / 1000)
+
+// Table 16-4 : Waveform Generation Mode Bit Description
+#define CTC_TOP_OCR1A_IN_TCCR1B			(0<<WGM13 | 1<<WGM12)
+#define CTC_TOP_OCR1A_IN_TCCR1A									(0<<WGM11 | 0<<WGM10)
+#define CTC_TOP_ICR1_IN_TCCR1B			(1<<WGM13 | 1<<WGM12)
+#define CTC_TOP_ICR1_IN_TCCR1A									(0<<WGM11 | 0<<WGM10)
+#define FAST_PWM_TOP_OCR1A_IN_TCCR1B	(1<<WGM13 | 1<<WGM12)
+#define FAST_PWM_TOP_OCR1A_IN_TCCR1A							(1<<WGM11 | 1<<WGM10)
+#define FAST_PWM_TOP_ICR1_IN_TCCR1B		(1<<WGM13 | 1<<WGM12)
+#define FAST_PWM_TOP_ICR1_IN_TCCR1A								(1<<WGM11 | 0<<WGM10)
+// 16.11.8 : Timer/Counter1 Interrupt Mask Register
+#define INTERRUPT_ENABLE_CHANNEL_A		(1 << OCIE1A)
+#define INTERRUPT_DISABLE_CHANNEL_A		(0 << OCIE1A)
+
+#endif // TIMER_H
--- a/rush_00/twi.c
+++ b/rush_00/twi.c
@@ -0,0 +1,105 @@
+#include "rush_header.h"
+
+volatile uint8_t received_data = 0;
+
+void twi_init_slave(void) {
+    TWAR = (SLAVE_ADDRESS << 1);
+    TWCR = (1 << TWEN) | (1 << TWEA) | (1 << TWIE);					// Enable TWI, enable ACK, and enable TWI interrupt
+    SREG |= (1 << SREG_I);
+}
+void twi_stop_slave(void) {
+    // TWCR = 0x00;													// Disable TWI interrupts and TWI module
+    // TWAR = 0x00;													// Optionally, clear the TWI address register
+}
+
+void twi_init_master() {
+    TWSR = TWI_PRESCALE_SET(TWI_PRESCALE_VALUE);					// 22.9.3 : (Status Register) set prescaler
+    TWBR = ((F_CPU / TWI_FREQ) - 16) / (2 * TWI_PRESCALE_VALUE);	// 22.9.1 : (Bit Rate Register) set SCL frequency (formula from datasheet, 22.5.2)
+}
+
+void twi_start() {
+    TWCR = SEND_START_CONDITION;									// 22.9.2 : (Control Register) send Start condition (22.7.1) ! writting 1 to TWINT clears it (set it to 0)
+    while (!(TEST(TWCR, TWINT)));									// p225 example code : Wait for TWINT Flag set. This indicates that the START condition has been transmitted
+
+	uint8_t status = TWSR & MASK_WITHOUT_LAST_3;					// p225 example code : Check value of TWI Status Register. Mask prescaler bits. If status different from START go to ERROR
+    if (status != TW_START && status != TW_REP_START) {
+        TWCR = SEND_STOP_CONDITION;
+        return;
+    }
+}
+
+void twi_send_addr(uint8_t addr_r_w) {
+    TWDR = addr_r_w;												// 22.9.4 : (Data Register) load data into TWDR register
+    TWCR = SEND_CONTINUE_TRANSMISSION;								// p225 example code : Load SLA_W into TWDR Register. Clear TWINT bit in TWCR to start transmission of address
+    while (!(TEST(TWCR, TWINT)));									// p225 example code : Wait for TWINT Flag set. This indicates that the SLA+W has been transmitted, and ACK/NACK has been received
+
+	uint8_t status = TWSR & MASK_WITHOUT_LAST_3;					// Check value of TWI Status Register. Mask prescaler bits. If status different from MT_SLA_ACK go to ERROR
+    if (status != TW_MT_SLA_ACK) {
+        TWCR = SEND_STOP_CONDITION;
+        return;
+    }
+}
+
+void twi_write(uint8_t data) {
+    TWDR = data;													// 22.9.4 : (Data Register) load data into TWDR register
+    TWCR = SEND_CONTINUE_TRANSMISSION;								// p225 example code : Load DATA into TWDR Register. Clear TWINT bit in TWCR to start transmission of data
+    while (!(TEST(TWCR, TWINT)));									// p225 example code : Wait for TWINT Flag set. This indicates that the DATA has been transmitted, and ACK/NACK has been received
+
+	uint8_t status = TWSR & MASK_WITHOUT_LAST_3;					// p225 example code : Check value of TWI Status Register. Mask prescaler bits. If status different from MT_DATA_ACK go to ERROR
+    if (status != TW_MT_DATA_ACK) {
+        TWCR = SEND_STOP_CONDITION;
+        return;
+    }
+}
+
+uint8_t twi_read(uint8_t ack) {
+    flash_led(D1); // Before setting TWCR
+    if (ack) {
+        TWCR = SEND_ACKNOWLEDGE;                                    // Send ACK to request more data
+    } else {
+        TWCR = SEND_NACKNOWLEDGE;                                   // Send NACK to indicate last byte read
+    }
+
+    // while (!(TEST(TWCR, TWINT)));                                   // Wait for data reception
+    // Add a timeout to prevent infinite waiting
+    uint16_t timeout = 1000;
+    while (!(TEST(TWCR, TWINT)) && timeout > 0) {
+        timeout--;
+        _delay_us(10);
+    }
+
+    flash_led(D2); // After TWINT set or timeout
+
+    if (timeout == 0) {
+        // Timeout occurred, slave didn't respond
+        flash_led(D3); // Indicate timeout
+        TWCR = SEND_STOP_CONDITION;
+        return 0xFF; // Error code for timeout
+    }
+
+	uint8_t status = TWSR & MASK_WITHOUT_LAST_3;
+    if (status != TW_MR_DATA_ACK && status != TW_MR_DATA_NACK) {
+        TWCR = SEND_STOP_CONDITION;
+        return 0;
+    }
+        flash_led(D4); // Indicate status error
+    return TWDR;
+}
+
+void twi_stop() {
+    TWCR = SEND_STOP_CONDITION;
+}
+
+void write_one_byte_data(uint8_t data) {
+    twi_start();
+    twi_send_addr((SLAVE_ADDRESS << 1) | TW_WRITE);				// Send Slave address with Write bit
+    twi_write(data);											// write data byte
+    twi_stop();
+}
+uint8_t read_one_byte_data() {
+    twi_start();
+    twi_send_addr((SLAVE_ADDRESS << 1) | TW_READ);				// Send Slave address with Write bit
+    uint8_t data = twi_read(FALSE);								// Read data with NACK (only one byte expected)
+    twi_stop();
+    return data;
+}
--- a/rush_00/usart.h
+++ b/rush_00/usart.h
@@ -0,0 +1,31 @@
+#ifndef USART_H
+#define USART_H
+
+#define BAUD_PRESCALER(usart_baudrate)	(DIV_ROUND_CLOSEST(F_CPU, (16 * usart_baudrate)) - 1)
+// Table 20-8 : Mode Selection (USART Mode SELect)
+#define ASYNCHRONOUS					(0<<UMSEL01 | 0<<UMSEL00)
+#define SYNCHRONOUS						(0<<UMSEL01 | 1<<UMSEL00)
+// Table 20-9 : Parity Bit Selection (USART Parity Mode)
+#define PARITY_DISABLED					(0<<UPM01 | 0<<UPM00)
+#define PARITY_EVEN						(1<<UPM01 | 0<<UPM00)
+#define PARITY_ODD						(1<<UPM01 | 1<<UPM00)
+// Table 20-10 : Stop Bit Selection (USART Stop Bit Select)
+#define STOP_ONE_BIT					(0<<USBS0)
+#define STOP_TWO_BIT					(1<<USBS0)
+// Table 20-11 : Data Bit Selection (USART Character SiZe)
+#define DATA_FIVE_BIT					(0<<UCSZ02 | 0<<UCSZ01 | 0<<UCSZ00)
+#define DATA_SIX_BIT					(0<<UCSZ02 | 0<<UCSZ01 | 1<<UCSZ00)
+#define DATA_SEVEN_BIT					(0<<UCSZ02 | 1<<UCSZ01 | 0<<UCSZ00)
+#define DATA_EIGHT_BIT					(0<<UCSZ02 | 1<<UCSZ01 | 1<<UCSZ00)
+#define DATA_NINE_BIT					(1<<UCSZ02 | 1<<UCSZ01 | 1<<UCSZ00)
+// 20.11.3 : USART Control and Status Register B (UCSRnB)
+#define RECEIVER_DISABLED				(0<<RXEN0)
+#define RECEIVER_ENABLED				(1<<RXEN0)
+#define TRANSMITTER_DISABLED			(0<<TXEN0)
+#define TRANSMITTER_ENABLED				(1<<TXEN0)
+#define INTERRUPT_RECEIVER_DISABLED		(0<<RXCIE0)
+#define INTERRUPT_RECEIVER_ENABLED		(1<<RXCIE0)
+#define INTERRUPT_TRANSMITTER_DISABLED	(0<<TXCIE0)
+#define INTERRUPT_TRANSMITTER_ENABLED	(1<<TXCIE0)
+
+#endif // USART_H
--- a/rush_00/utils.h
+++ b/rush_00/utils.h
@@ -0,0 +1,23 @@
+#ifndef UTILS_H
+#define UTILS_H
+
+// stringify
+#define STRINGIFY_HELPER(x)			#x
+#define STRINGIFY(x)				STRINGIFY_HELPER(x)
+
+// concatenate
+#define CONCAT_HELPER(x, y)			x ## y
+#define CONCAT(x, y)				CONCAT_HELPER(x, y)
+
+// mathematics
+#define PERCENT(percent, total)		(((float)percent / 100) * total)
+#define DIV_ROUND_CLOSEST(n, d)		((((n) < 0) == ((d) < 0)) ? (((n) + (d)/2)/(d)) : (((n) - (d)/2)/(d)))
+
+// text
+#define SWITCH_CASE(ch) (((ch) >= 'A' && (ch) <= 'Z') || ((ch) >= 'a' && (ch) <= 'z') ? ((ch) ^ (1 << 5)) : (ch))
+
+// boolean
+#define TRUE						1
+#define FALSE						0
+
+#endif // UTILS_H