terminology update

author: Philip Lampkin <plampkin@chem.wisc.edu> 2021-04-24 12:07:04 -0500
committer: Philip Lampkin <plampkin@chem.wisc.edu> 2021-04-24 12:07:04 -0500
commit: 40ab1463c3da0c844eedba5c5f52d5ef8af322c4 (patch)
tree: d7984802dbe72f0d203d7b86372ca355ac0c833d /digital-driver-board/firmware
parent: d6df6a65cf04da7ed29e8f09c0bf14c8b2cfb2e6 (diff)
28 files changed, 4005 insertions, 0 deletions
diff --git a/digital-driver-board/firmware/TinyWire-master.zip b/digital-driver-board/firmware/TinyWire-master.zip
new file mode 100644
index 0000000..081f1a5
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWire-master.zip
diff --git a/digital-driver-board/firmware/TinyWire-master/README.md b/digital-driver-board/firmware/TinyWire-master/README.md
new file mode 100644
index 0000000..46a5ef2
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWire-master/README.md
@@ -0,0 +1,25 @@
+# Arduino TinyWire Slave Library
+
+Originals from <http://www.arduino.cc/playground/Code/USIi2c>
+
+Modified to support ATtiny44/84
+
+## NOTE about reliable communication
+
+Since (most of) the ATTinys lack TWI module for implementing all the nitty-gritty of I2C in hardware
+they will have to do some clock-stretching (at least if run at 8MHz, you may get away with more on higher clock speeds)
+as specified in the I2C protocol. However some (especially "bit-banged") master implementations do not
+support clock-streching (looking at you Bus pirate 3.x and [RPI][rpibug]), you will not get reliable communication
+unless your master supports the full I2C protocol spec. There is a [library][pigpio] which can bit-bang I2C correctly on RPI, use that instead of the [buggy hardware][rpibug] (thanks to @brendanarnold for [that tip][pigtip]).
+
+You can use my [Arduino based I2C master][i2crepl] to test your TinyWire code, this uses Bus Pirate semantics
+with Arduinos TWI hardware that is known to implement I2C properly.
+
+[i2crepl]: https://github.com/rambo/I2C/blob/master/examples/i2crepl/i2crepl.ino
+[rpibug]: http://www.advamation.com/knowhow/raspberrypi/rpi-i2c-bug.html
+[pigpio]: http://abyz.co.uk/rpi/pigpio/python.html#bb_i2c_zip
+[pigtip]: https://github.com/rambo/TinyWire/issues/14#issuecomment-125325081
+
+## delayMicroseconds
+
+See this issue: <https://github.com/rambo/TinyWire/issues/8> (remember to declare the function void if you copy-paste it verbatim)
diff --git a/digital-driver-board/firmware/TinyWire-master/TinyWireS/TinyWireS.cpp b/digital-driver-board/firmware/TinyWire-master/TinyWireS/TinyWireS.cpp
new file mode 100644
index 0000000..783e8e7
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWire-master/TinyWireS/TinyWireS.cpp
@@ -0,0 +1,91 @@
+/*
+  TinyWireS.cpp - a wrapper class for Don Blake's usiTwiSlave routines.
+  Provides TWI/I2C Slave functionality on ATtiny processers in Arduino environment.
+  1/23/2011 BroHogan -  brohoganx10 at gmail dot com
+
+  **** See TinyWireS.h for Credits and Usage information ****
+
+  This library 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; either version 2.1 of the License, or any later version.
+  This program 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 General Public License for more details.
+*/
+
+extern "C" {
+  #include <inttypes.h>
+  #include "usiTwiSlave.h"
+  #include <avr/interrupt.h>
+  }
+
+#include "TinyWireS.h"
+#include "Arduino.h"
+
+// Constructors ////////////////////////////////////////////////////////////////
+
+USI_TWI_S::USI_TWI_S(){
+}
+
+
+// Public Methods //////////////////////////////////////////////////////////////
+
+void USI_TWI_S::begin(uint8_t slaveAddr){ // initialize I2C lib
+  usiTwiSlaveInit(slaveAddr); 
+}
+
+void USI_TWI_S::send(uint8_t data){  // send it back to master
+  usiTwiTransmitByte(data);
+}
+
+uint8_t USI_TWI_S::available(){ // the bytes available that haven't been read yet
+  return usiTwiAmountDataInReceiveBuffer(); 
+  //return usiTwiDataInReceiveBuffer(); // This is wrong as far as the Wire API is concerned since it returns boolean and not amount
+}
+ 
+uint8_t USI_TWI_S::receive(){ // returns the bytes received one at a time
+  return usiTwiReceiveByte(); 
+}
+
+// sets function called on slave write
+void USI_TWI_S::onReceive( void (*function)(uint8_t) )
+{
+  usi_onReceiverPtr = function;
+}
+
+// sets function called on slave read
+void USI_TWI_S::onRequest( void (*function)(void) )
+{
+  usi_onRequestPtr = function;
+}
+
+// This routine is no longer used now that the usiTwiSlave is completely
+// interrupt driven. The function is maintained here so that programs
+// written for the pre-interrupt driven version will still compile and function.
+void TinyWireS_stop_check()
+{
+  // empty functions
+}
+
+// Implement a delay loop that checks for the stop bit (basically direct copy of the stock arduino implementation from wiring.c)
+// I don't think this function is necessary now that the 
+// usiTwiSlave is completely interrupt driven. I'm not sure, and the function is 
+// behaviorally harmless because TinyWireS_stop_check() is empty, so I'm leaving it alone.
+void tws_delay(unsigned long ms)
+{
+    uint16_t start = (uint16_t)micros();
+    while (ms > 0)
+    {
+        TinyWireS_stop_check();
+        if (((uint16_t)micros() - start) >= 1000)
+        {
+            ms--;
+            start += 1000;
+        }
+    }
+}
+
+// Preinstantiate Objects //////////////////////////////////////////////////////
+
+USI_TWI_S TinyWireS = USI_TWI_S();
+
diff --git a/digital-driver-board/firmware/TinyWire-master/TinyWireS/TinyWireS.h b/digital-driver-board/firmware/TinyWire-master/TinyWireS/TinyWireS.h
new file mode 100644
index 0000000..ccef042
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWire-master/TinyWireS/TinyWireS.h
@@ -0,0 +1,64 @@
+/*
+  TinyWireS.h - a wrapper class for Don Blake's usiTwiSlave routines.
+  Provides TWI/I2C Slave functionality on ATtiny processers in Arduino environment.
+  1/23/2011 BroHogan -  brohoganx10 at gmail dot com
+
+  Major credit and thanks to Don Blake for his usiTwiSlave code which makes this possible
+  http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&t=51467&start=all&postdays=0&postorder=asc
+  (Changed #define USI_START_COND_INT  USISIF (was USICIF) in usiTwiSlave.h)
+
+  NOTE! - It's very important to use pullups on the SDA & SCL lines! More so than with the Wire lib.
+  Current Rx & Tx buffers set at 32 bytes - see usiTwiSlave.h
+ 
+ USAGE is modeled after the standard Wire library . . .
+  Put in setup():
+	TinyWireS.begin(I2C_SLAVE_ADDR);                 // initialize I2C lib & setup slave's address (7 bit - same as Wire)
+
+  To Receive:
+    someByte = TinyWireS.available(){                // returns the number of bytes in the received buffer
+    someByte = TinyWireS.receive(){                  // returns the next byte in the received buffer
+
+  To Send:
+	TinyWireS.send(uint8_t data){                    // sends a requested byte to master
+	
+  TODO:	(by others!)
+	- onReceive and onRequest handlers are not implimented.
+	- merge this class with TinyWireM for master & slave support in one library
+	
+  This library 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; either version 2.1 of the License, or any later version.
+  This program 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 General Public License for more details.
+*/
+
+#ifndef TinyWireS_h
+#define TinyWireS_h
+
+#include <inttypes.h>
+
+
+class USI_TWI_S
+{
+  private:
+	//static uint8_t USI_BytesAvail;
+	
+  public:
+ 	USI_TWI_S();
+    void begin(uint8_t I2C_SLAVE_ADDR);
+    void send(uint8_t data);
+    uint8_t available();
+    uint8_t receive();
+    void onReceive( void (*)(uint8_t) );
+    void onRequest( void (*)(void) );
+};
+
+void TinyWireS_stop_check();
+// Implement a delay loop that checks for the stop bit (basically direct copy of the stock arduino implementation from wiring.c)
+void tws_delay(unsigned long);
+
+extern USI_TWI_S TinyWireS;
+
+#endif
+
diff --git a/digital-driver-board/firmware/TinyWire-master/TinyWireS/avr_usi_i2c_master.pdf b/digital-driver-board/firmware/TinyWire-master/TinyWireS/avr_usi_i2c_master.pdf
new file mode 100644
index 0000000..dc8f460
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWire-master/TinyWireS/avr_usi_i2c_master.pdf
diff --git a/digital-driver-board/firmware/TinyWire-master/TinyWireS/avr_usi_i2c_slave.pdf b/digital-driver-board/firmware/TinyWire-master/TinyWireS/avr_usi_i2c_slave.pdf
new file mode 100644
index 0000000..e4704c7
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWire-master/TinyWireS/avr_usi_i2c_slave.pdf
diff --git a/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/TinyWireS_Stress_Master/TinyWireS_Stress_Master.ino b/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/TinyWireS_Stress_Master/TinyWireS_Stress_Master.ino
new file mode 100644
index 0000000..d50adb7
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/TinyWireS_Stress_Master/TinyWireS_Stress_Master.ino
@@ -0,0 +1,184 @@
+// ---------------------------------
+// Stress test program/example for TinyWireS I2C library.
+// Run this master program on the Arduino Uno R3.
+// Run the other slave program on the Attiny.
+// ---------------------------------
+// Written by Scott Hartog, 2/6/2016
+// This is the I2C master program which runs on on a regular Arduino
+// (not a AtTiny). This program uses the regular Wire library from the Arduino IDE.
+//
+// It performs these steps in a loop:
+//    1. picks a random number of bytes between 1 and 12
+//    2. sends that many bytes of random data to the AtTiny slave within
+//       a single Wire.beginTransmission() / Wire.write() / Wire.endTransmission() set
+//    3. reads that same number of bytes back with a single Wire.requestFrom() call
+//    4. compares the received data to the originally transmitted data
+//    5. displays the number of requests, number of requests with mismatches,
+//       and enough of the data so that the operator can tell it's working.
+//
+#include <Wire.h>
+
+// BREADBOARD SETUP:
+// Arduino Uno R3 (D18/SDA) = I2C SDA 
+//     connect to SDA on slave with external pull-up (~4.7K)
+// Arduino Uno R3 (D19/SCL) = I2C SCL 
+//     connect to SCL on slave with external pull-up (~4.7K)
+// Arduino Uno R3 (D2)
+//     connect to !RST on slave
+//     Can alternatively connect !RST on slave to the Ardiuno "!RESET" pin
+
+#define I2C_SLAVE_ADDR  0x26            // i2c slave address (38, 0x26)
+
+#if defined(ESP8266)
+  // pins that work for Monkey Board ESP8266 12-E
+  // SCL=5, SDA=4
+  #define SLAVE_RESET_PIN 2
+  #define ALL_OK_LED_PIN 16
+  #define OK_LED_PIN 14
+  #define ERROR_LED_PIN 13
+#else
+  // pins that work for Micro Pro, Uno, Mega 2560
+  // reference documentation for SCL and SDA pin locations
+  // Uno SDA=D18, SCL=D19
+  #define SLAVE_RESET_PIN 6
+  #define ALL_OK_LED_PIN 9
+  #define OK_LED_PIN 7
+  #define ERROR_LED_PIN 8
+#endif
+
+uint16_t count = 0;       // total number of passes so far
+uint16_t error_count = 0; // total errors encountered so far
+
+char c_buf[64]; // for creating messages
+
+void setup()
+{
+  // set pin modes 
+  pinMode(SLAVE_RESET_PIN,OUTPUT);  // active low reset to slave device
+  pinMode(OK_LED_PIN,OUTPUT);       // indicates last transaction matched
+  pinMode(ALL_OK_LED_PIN,OUTPUT);   // indicates all transactions so far have matched
+  pinMode(ERROR_LED_PIN,OUTPUT);    // indicates last transaction mismatched
+
+  // init the serial port
+  Serial.begin(9600);
+
+  // print some useful pinnout info for the Arduino
+  //Serial.println(String("SCL:")+String(SCL)+String(", SDA:")+String(SDA));
+  //Serial.println(String("MOSI:")+String(MOSI)+String(", SCK:")+String(SCK));
+
+  // init the Wire object (for I2C)
+  Wire.begin(); 
+
+  // init the i2c clock
+  // default is 100kHz if not changed
+  // Wire.setClock(400000L);  // 400kHz
+  
+  // reset the slave
+  digitalWrite(SLAVE_RESET_PIN, LOW);
+  delay(10);
+  digitalWrite(SLAVE_RESET_PIN, HIGH);
+
+  // set the all okay pin high
+  digitalWrite(ALL_OK_LED_PIN, HIGH);
+  
+  // wait for slave to finish any init sequence
+  delay(2000);
+}
+
+void loop()
+{
+  uint8_t i;
+  uint8_t req_rtn;       // num bytes returned by requestFrom() call
+  uint8_t rand_byte_count;
+  uint8_t out_rand[16];  // data written from master
+  uint8_t in_rand[16];   // data read back from slave
+
+  bool mismatch;
+
+  // count total number of request
+  count++;
+
+  // compute random number of bytes for this pass
+  rand_byte_count = random(16) + 1;
+
+  // force the first three requests to be small so that the tx buffer doesn't overflow
+  // instantly and the user can see at least one successful transaction and some
+  // mismtaches before the usiTwiSlave.c library hangs on the line "while ( !txCount );".
+  if (count <= 3) rand_byte_count = 2;
+
+  // generate, save, and send N random byte values
+  Wire.beginTransmission(I2C_SLAVE_ADDR);
+  for (i = 0; i < rand_byte_count; i++)
+    Wire.write(out_rand[i] = random(256));
+  Wire.endTransmission();
+  
+  // delay 20 milliseconds to accomodate slave onReceive() callback
+  // function. The actual time that slave takes is application dependent, but
+  // just storing the master's transmitted data does not take
+  // anywhere near 20ms.
+  delay(20);
+  
+  // read N bytes from slave
+  req_rtn = Wire.requestFrom(I2C_SLAVE_ADDR, (int)rand_byte_count);      // Request N bytes from slave
+  for (i = 0; i < req_rtn; i++)
+    in_rand[i] = Wire.read();
+
+  // compare in/out data values
+  mismatch = false;
+  for (i = 0; i < rand_byte_count; i++)
+    mismatch = mismatch || (out_rand[i] != in_rand[i]);
+
+  // increment the error counter if the number of byte variables don't match or
+  // if the data itself doesn't match
+  if (mismatch || (rand_byte_count != req_rtn)) 
+  {
+    error_count++;
+    digitalWrite(ERROR_LED_PIN, HIGH);
+    digitalWrite(OK_LED_PIN, LOW);
+    // If there's ever an error, reset the ALL_OK_LED
+    // and it is not set again until the master resets.
+    digitalWrite(ALL_OK_LED_PIN, LOW);
+  }
+  else
+  {
+    digitalWrite(ERROR_LED_PIN, LOW);
+    digitalWrite(OK_LED_PIN, HIGH);
+  }
+
+  // The rest of the program just displays the results to the serial port
+  
+  // display total requests so far and error count so far
+  snprintf(c_buf, sizeof(c_buf), "req: %3d,err: %3d", count, error_count);
+  Serial.println(c_buf);
+
+  // display the random byte count, the number of bytes read back, and "MATCH"/"MISMATCH"
+  snprintf(c_buf, sizeof(c_buf), "size: %2d/%2d,%s", rand_byte_count, req_rtn, rand_byte_count != req_rtn?"MISMATCH  <<--- !!!":"MATCH");
+  Serial.println(c_buf);
+  
+  // display whether the data compare matched or mismatched
+  snprintf(c_buf, sizeof(c_buf), "data: %s", mismatch?"MISMATCH  <<--- !!!":"MATCH");
+  Serial.println(c_buf);
+
+  // send up to three tx/rx bytes so that random data can be
+  // visually verified
+  if (rand_byte_count >= 1)
+  {
+    snprintf(c_buf, sizeof(c_buf), "rand[0]: %02x/%02x", out_rand[0], in_rand[0]);
+    Serial.println(c_buf);
+  }
+
+  if (rand_byte_count >= 2)
+  {
+    snprintf(c_buf, sizeof(c_buf), "rand[1]: %02x/%02x", out_rand[1], in_rand[1]);
+    Serial.println(c_buf);
+  }
+
+  if (rand_byte_count >= 3)
+  {
+    snprintf(c_buf, sizeof(c_buf), "rand[2]: %02x/%02x", out_rand[2], in_rand[2]);
+    Serial.println(c_buf);
+  }
+
+  // delay 1 second so user can watch results
+  delay(1000);
+}
diff --git a/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/TinyWireS_Stress_Slave/TinyWireS_Stress_Slave.ino b/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/TinyWireS_Stress_Slave/TinyWireS_Stress_Slave.ino
new file mode 100644
index 0000000..c7fbe41
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/TinyWireS_Stress_Slave/TinyWireS_Stress_Slave.ino
@@ -0,0 +1,143 @@
+// ---------------------------------
+// Stress test program/example for TinyWireS I2C library.
+// Run this slave program on the Attiny.
+// Run the other master program on the Arduino Uno R3.
+// ---------------------------------
+// // Written by Scott Hartog, 2/6/2016, to stress test the TinyWireS library.
+// https://github.com/rambo/TinyWire
+//
+// This project uses the Tiny85 as an I2C slave.
+//
+// The slave program using TinyWireS, running on a Attiny85, receives
+// N bytes of random data in a single receiveEvent() callback and
+// stores that data in a global buffer. It then responds the first requestEvent()
+// callback with that same data. The requestEvent() callback overwrites the data
+// buffer with zeros after responding so it will only respond correctly to the
+// first requestEvent() callback after each receiveEvent() callback. Subsequent
+// requestEvent() will respond with 0xff for all data bytes.
+//
+//
+// SETUP:
+// AtTiny Pin 5 (PB0/SDA) = I2C SDA 
+//     connect to SDA on master with external pull-up (~4.7K)
+// AtTiny Pin 7 (PB0/SCL) = I2C SCL 
+//     connect to SCL on master with external pull-up (~4.7K)
+// AtTiny Pin 1 (PB5/!RST)
+//     connect to reset on master (or just pull-up)
+//
+// Please see credits and usage for usiTwiSlave and TinyWireS in the .h files of 
+// those libraries.
+
+#include <avr/sleep.h>
+#include <avr/wdt.h>
+#include "TinyWireS.h"                  // wrapper class for I2C slave routines
+
+#define I2C_SLAVE_ADDR  0x26            // i2c slave address (38, 0x26)
+
+// turns on code that makes the Tiny85 sleep between transactions
+// This is optional. The Tiny85 current drops from
+// about 2mA to about 20uA when the CPU is put into
+// PowerDown sleep mode.
+#define USE_CPU_SLEEP
+
+// global buffer to store data sent from the master.
+uint8_t master_data[16];
+// global variable to number of bytes sent from the master.
+uint8_t master_bytes;
+
+// Gets called when the ATtiny receives an i2c write slave request
+// This routine runs from the usiTwiSlave interrupt service routine (ISR)
+// so interrupts are disabled while it runs.
+void receiveEvent(uint8_t num_bytes)
+{
+  uint8_t i;
+
+  // save the number of bytes sent from the master
+  master_bytes = num_bytes;
+
+  // store the data from the master into the data buffer
+  for (i = 0; i < master_bytes; i++)
+    master_data[i] = TinyWireS.receive();
+    
+}
+
+// Gets called when the ATtiny receives an i2c read slave request
+// This routine runs from the usiTwiSlave interrupt service routine (ISR)
+// so interrupts are disabled while it runs.
+void requestEvent()
+{
+  uint8_t i;
+  
+  // send the data buffer back to the master
+  for (i = 0; i < master_bytes; i++)
+    TinyWireS.send(master_data[i]);
+
+  // corrupt the byte values in the data buffer
+  // so that any subsequent call won't match
+  for (i = 0; i < master_bytes; i++)
+    master_data[i] += 0x5a;
+
+  // corrupt length of the request, but don't make it zero
+  
+  // if the usiTwiSlave.c is working fine, then this number is completely irrelevant
+  // because the requestEvent() callback will not be called again until
+  // after the next receiveEvent() callback, so the master_data and
+  // master_bytes variables will be overwritten by that call.
+
+  // If the usiTwiSlave.c has the issue of calling the requestFrom() callback
+  // for each byte sent, the buffer will accumulate by this amount *for each byte
+  // in the original request*. (This problem is fixed in the recent version.)
+  // 
+  // Making it zero will obscure the 1-byte send issue in the usiTwiSlave.c
+  // that is being tested.
+  // Making it small will allow a few requests to succeed before the tx buffer
+  // overflows and the usiTwiSlave.c hangs on the "while ( tmphead == txTail );"
+  // line
+  master_bytes = 2; 
+}
+
+void setup()
+{
+  //pinMode(1,OUTPUT);   // This pin can be used for rudimentary debug
+  
+  // initialize the TinyWireS and usiTwiSlave libraries
+  TinyWireS.begin(I2C_SLAVE_ADDR);      // init I2C Slave mode
+
+  // register the onReceive() callback function
+  TinyWireS.onReceive(receiveEvent);
+  
+  // register the onRequest() callback function
+  TinyWireS.onRequest(requestEvent);
+
+ // disable the watchdog timer so that it doesn't
+  // cause power-up, code is from datasheet
+  // Clear WDRF in MCUSR – MCU Status Register
+  // MCUSR provides information on which reset source caused an MCU Reset.
+  MCUSR = 0x00;
+  // WDTCR - Watchdog Timer Control Register
+  // Write logical one to WDCE and WDE (must be done before disabling)
+  WDTCR |= ( _BV(WDCE) | _BV(WDE) );
+  // Turn off WDT
+  WDTCR = 0x00;
+
+#ifdef USE_CPU_SLEEP
+  // enable power down sleep mode
+  set_sleep_mode(SLEEP_MODE_PWR_DOWN);  // sleep mode
+  sleep_enable();
+#endif
+
+  sei();                                // enable interrupts
+
+}
+
+void loop()
+{
+
+#ifdef USE_CPU_SLEEP
+  // optionally put the CPU to sleep. It will be woken by a USI interrupt
+  // when it sees a "start condition" on the I2C bus. Everything interesting
+  // happens in the usiTwiSlave ISR.
+  sleep_cpu();
+#endif
+
+}
diff --git a/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/attiny85_i2c_analog/attiny85_i2c_analog.ino b/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/attiny85_i2c_analog/attiny85_i2c_analog.ino
new file mode 100644
index 0000000..7190c93
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/attiny85_i2c_analog/attiny85_i2c_analog.ino
@@ -0,0 +1,210 @@
+/**
+ * Example sketch for writing to and reading from a slave in transactional manner
+ *
+ * NOTE: You must not use delay() or I2C communications will fail, use tws_delay() instead (or preferably some smarter timing system)
+ *
+ * On write the first byte received is considered the register addres to modify/read
+ * On each byte sent or read the register address is incremented (and it will loop back to 0)
+ *
+ * You can try this with the Arduino I2C REPL sketch at https://github.com/rambo/I2C/blob/master/examples/i2crepl/i2crepl.ino 
+ * If you have bus-pirate remember that the older revisions do not like the slave streching the clock, this leads to all sorts of weird behaviour
+ * Examples use bus-pirate semantics (like the REPL)
+ *
+ * The basic idea is:
+ *  1. Choose your ADC channel (0-X), use "byte ch = 1;" for example.
+ *  2. Combine the channel and conversion start flag to single calue: byte start_on_ch = (ch | _BV(7)); // This is 0x81
+ *  3. Write start_on_ch to the first register on the attiny [ 8 0  81 ]
+ *  4. Come back later and check the first register [ 8 0 [ r ], if the value is same as ch then the conversion is complete, you can now read the value
+ *  5. read the value [ 8 2 [ r r ] (first one is low, second high byte)
+ *
+ * You need to have at least 8MHz clock on the ATTiny for this to work (and in fact I have so far tested it only on ATTiny85 @8MHz using internal oscillator)
+ * Remember to "Burn bootloader" to make sure your chip is in correct mode 
+ */
+
+
+/**
+ * Pin notes by Suovula, see also http://hlt.media.mit.edu/?p=1229
+ *
+ * DIP and SOIC have same pinout, however the SOIC chips are much cheaper, especially if you buy more than 5 at a time
+ * For nice breakout boards see https://github.com/rambo/attiny_boards
+ *
+ * Basically the arduino pin numbers map directly to the PORTB bit numbers.
+ *
+// I2C
+arduino pin 0 = not(OC1A) = PORTB <- _BV(0) = SOIC pin 5 (I2C SDA, PWM)
+arduino pin 2 =           = PORTB <- _BV(2) = SOIC pin 7 (I2C SCL, Analog 1)
+// Timer1 -> PWM
+arduino pin 1 =     OC1A  = PORTB <- _BV(1) = SOIC pin 6 (PWM)
+arduino pin 3 = not(OC1B) = PORTB <- _BV(3) = SOIC pin 2 (Analog 3)
+arduino pin 4 =     OC1B  = PORTB <- _BV(4) = SOIC pin 3 (Analog 2)
+ */
+#define I2C_SLAVE_ADDRESS 0x4 // the 7-bit address (remember to change this when adapting this example)
+// Get this from https://github.com/rambo/TinyWire
+#include <TinyWireS.h>
+// The default buffer size, though we cannot actually affect it by defining it in the sketch
+#ifndef TWI_RX_BUFFER_SIZE
+#define TWI_RX_BUFFER_SIZE ( 16 )
+#endif
+// For the ADC_xxx helpers
+#include <core_adc.h>
+
+// The "registers" we expose to I2C
+volatile uint8_t i2c_regs[] =
+{
+    0x0, // Status register, writing (1<<7 & channel) will start a conversion on that channel, the flag will be set low when conversion is done.
+    0x1, // Averaging count, make this many conversions in row and average the result (well, actually it's a rolling average since we do not want to have the possibility of integer overflows)
+    0x0, // low byte 
+    0x0, // high byte
+};
+const byte reg_size = sizeof(i2c_regs);
+// Tracks the current register pointer position
+volatile byte reg_position;
+// Tracks wheter to start a conversion cycle
+volatile boolean start_conversion;
+// Counter to track where we are averaging
+byte avg_count;
+// Some temp value holders
+int avg_temp1;
+int avg_temp2;
+
+/**
+ * This is called for each read request we receive, never put more than one byte of data (with TinyWireS.send) to the 
+ * send-buffer when using this callback
+ */
+void requestEvent()
+{  
+    TinyWireS.send(i2c_regs[reg_position]);
+    // Increment the reg position on each read, and loop back to zero
+    reg_position++;
+    if (reg_position >= reg_size)
+    {
+        reg_position = 0;
+    }
+}
+
+/**
+ * The I2C data received -handler
+ *
+ * This needs to complete before the next incoming transaction (start, data, restart/stop) on the bus does
+ * so be quick, set flags for long running tasks to be called from the mainloop instead of running them directly,
+ */
+void receiveEvent(uint8_t howMany)
+{
+    if (howMany < 1)
+    {
+        // Sanity-check
+        return;
+    }
+    if (howMany > TWI_RX_BUFFER_SIZE)
+    {
+        // Also insane number
+        return;
+    }
+
+    reg_position = TinyWireS.receive();
+    howMany--;
+    if (!howMany)
+    {
+        // This write was only to set the buffer for next read
+        return;
+    }
+    while(howMany--)
+    {
+        i2c_regs[reg_position] = TinyWireS.receive();
+        if (   reg_position == 0 // If it was the first register
+            && bitRead(i2c_regs[0], 7) // And the highest bit is set
+            && !ADC_ConversionInProgress() // and we do not actually have a conversion running already
+            )
+        {
+            start_conversion = true;
+        }
+        reg_position++;
+        if (reg_position >= reg_size)
+        {
+            reg_position = 0;
+        }
+    }
+}
+
+
+void setup()
+{
+    // TODO: Tri-state this and wait for input voltage to stabilize 
+    pinMode(3, OUTPUT); // OC1B-, Arduino pin 3, ADC
+    digitalWrite(3, LOW); // Note that this makes the led turn on, it's wire this way to allow for the voltage sensing above.
+
+    pinMode(1, OUTPUT); // OC1A, also The only HW-PWM -pin supported by the tiny core analogWrite
+
+    /**
+     * Reminder: taking care of pull-ups is the masters job
+     */
+
+    TinyWireS.begin(I2C_SLAVE_ADDRESS);
+    TinyWireS.onReceive(receiveEvent);
+    TinyWireS.onRequest(requestEvent);
+
+    
+    // Whatever other setup routines ?
+    
+    digitalWrite(3, HIGH);
+}
+
+void loop()
+{
+    /**
+     * This is the only way we can detect stop condition (http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&p=984716&sid=82e9dc7299a8243b86cf7969dd41b5b5#984716)
+     * it needs to be called in a very tight loop in order not to miss any (REMINDER: Do *not* use delay() anywhere, use tws_delay() instead).
+     * It will call the function registered via TinyWireS.onReceive(); if there is data in the buffer on stop.
+     */
+    TinyWireS_stop_check();
+
+    // Thus stuff is basically copied from wiring_analog.c
+    if (start_conversion)
+    {
+        //Avoid doubled starts
+        start_conversion = false;
+        byte adcpin = (i2c_regs[0] & 0x7f); // Set the channel from the control reg, dropping the highest bit.
+#if defined( CORE_ANALOG_FIRST )
+        if ( adcpin >= CORE_ANALOG_FIRST ) adcpin -= CORE_ANALOG_FIRST; // allow for channel or pin numbers
+#endif
+        // NOTE: These handy helpers (ADC_xxx) are only present in the tiny-core, for other cores you need to check their wiring_analog.c source.
+        ADC_SetInputChannel( (adc_ic_t)adcpin ); // we need to typecast
+        ADC_StartConversion();
+        // Reset these variables
+        avg_count = 0;
+        avg_temp2 = 0;
+    }
+    
+    if (   bitRead(i2c_regs[0], 7) // We have conversion flag up
+        && !ADC_ConversionInProgress()) // But the conversion is complete
+    {
+        // So handle it
+        avg_temp1 = ADC_GetDataRegister();
+        // Rolling average
+        if (avg_count)
+        {
+            avg_temp2 = (avg_temp2+avg_temp1)/2;
+        }
+        else
+        {
+            avg_temp2 = avg_temp1;
+        }
+        avg_count++;
+        if (avg_count >= i2c_regs[1])
+        {
+            // All done, set the bytes to registers
+            cli();
+            i2c_regs[2] = lowByte(avg_temp2);
+            i2c_regs[3] = highByte(avg_temp2);
+            sei();
+            // And clear the conversion flag so the master knows we're ready
+            bitClear(i2c_regs[0], 7);
+        }
+        else
+        {
+            // Re-trigger conversion
+            ADC_StartConversion();
+        }
+    }
+
+}
diff --git a/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/attiny85_i2c_slave/attiny85_i2c_slave.ino b/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/attiny85_i2c_slave/attiny85_i2c_slave.ino
new file mode 100644
index 0000000..df2532f
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/attiny85_i2c_slave/attiny85_i2c_slave.ino
@@ -0,0 +1,152 @@
+/**
+ * Example sketch for writing to and reading from a slave in transactional manner
+ *
+ * NOTE: You must not use delay() or I2C communications will fail, use tws_delay() instead (or preferably some smarter timing system)
+ *
+ * On write the first byte received is considered the register addres to modify/read
+ * On each byte sent or read the register address is incremented (and it will loop back to 0)
+ *
+ * You can try this with the Arduino I2C REPL sketch at https://github.com/rambo/I2C/blob/master/examples/i2crepl/i2crepl.ino 
+ * If you have bus-pirate remember that the older revisions do not like the slave streching the clock, this leads to all sorts of weird behaviour
+ *
+ * To read third value (register number 2 since counting starts at 0) send "[ 8 2 [ 9 r ]", value read should be 0xBE
+ * If you then send "[ 9 r r r ]" you should get 0xEF 0xDE 0xAD as response (demonstrating the register counter looping back to zero)
+ *
+ * You need to have at least 8MHz clock on the ATTiny for this to work (and in fact I have so far tested it only on ATTiny85 @8MHz using internal oscillator)
+ * Remember to "Burn bootloader" to make sure your chip is in correct mode 
+ */
+
+
+/**
+ * Pin notes by Suovula, see also http://hlt.media.mit.edu/?p=1229
+ *
+ * DIP and SOIC have same pinout, however the SOIC chips are much cheaper, especially if you buy more than 5 at a time
+ * For nice breakout boards see https://github.com/rambo/attiny_boards
+ *
+ * Basically the arduino pin numbers map directly to the PORTB bit numbers.
+ *
+// I2C
+arduino pin 0 = not(OC1A) = PORTB <- _BV(0) = SOIC pin 5 (I2C SDA, PWM)
+arduino pin 2 =           = PORTB <- _BV(2) = SOIC pin 7 (I2C SCL, Analog 1)
+// Timer1 -> PWM
+arduino pin 1 =     OC1A  = PORTB <- _BV(1) = SOIC pin 6 (PWM)
+arduino pin 3 = not(OC1B) = PORTB <- _BV(3) = SOIC pin 2 (Analog 3)
+arduino pin 4 =     OC1B  = PORTB <- _BV(4) = SOIC pin 3 (Analog 2)
+ */
+#define I2C_SLAVE_ADDRESS 0x4 // the 7-bit address (remember to change this when adapting this example)
+// Get this from https://github.com/rambo/TinyWire
+#include <TinyWireS.h>
+// The default buffer size, Can't recall the scope of defines right now
+#ifndef TWI_RX_BUFFER_SIZE
+#define TWI_RX_BUFFER_SIZE ( 16 )
+#endif
+
+
+volatile uint8_t i2c_regs[] =
+{
+    0xDE, 
+    0xAD, 
+    0xBE, 
+    0xEF, 
+};
+// Tracks the current register pointer position
+volatile byte reg_position;
+const byte reg_size = sizeof(i2c_regs);
+
+/**
+ * This is called for each read request we receive, never put more than one byte of data (with TinyWireS.send) to the 
+ * send-buffer when using this callback
+ */
+void requestEvent()
+{  
+    TinyWireS.send(i2c_regs[reg_position]);
+    // Increment the reg position on each read, and loop back to zero
+    reg_position++;
+    if (reg_position >= reg_size)
+    {
+        reg_position = 0;
+    }
+}
+
+// TODO: Either update this to use something smarter for timing or remove it alltogether
+void blinkn(uint8_t blinks)
+{
+    digitalWrite(3, HIGH);
+    while(blinks--)
+    {
+        digitalWrite(3, LOW);
+        tws_delay(50);
+        digitalWrite(3, HIGH);
+        tws_delay(100);
+    }
+}
+
+/**
+ * The I2C data received -handler
+ *
+ * This needs to complete before the next incoming transaction (start, data, restart/stop) on the bus does
+ * so be quick, set flags for long running tasks to be called from the mainloop instead of running them directly,
+ */
+void receiveEvent(uint8_t howMany)
+{
+    if (howMany < 1)
+    {
+        // Sanity-check
+        return;
+    }
+    if (howMany > TWI_RX_BUFFER_SIZE)
+    {
+        // Also insane number
+        return;
+    }
+
+    reg_position = TinyWireS.receive();
+    howMany--;
+    if (!howMany)
+    {
+        // This write was only to set the buffer for next read
+        return;
+    }
+    while(howMany--)
+    {
+        i2c_regs[reg_position] = TinyWireS.receive();
+        reg_position++;
+        if (reg_position >= reg_size)
+        {
+            reg_position = 0;
+        }
+    }
+}
+
+
+void setup()
+{
+    // TODO: Tri-state this and wait for input voltage to stabilize 
+    pinMode(3, OUTPUT); // OC1B-, Arduino pin 3, ADC
+    digitalWrite(3, LOW); // Note that this makes the led turn on, it's wire this way to allow for the voltage sensing above.
+
+    pinMode(1, OUTPUT); // OC1A, also The only HW-PWM -pin supported by the tiny core analogWrite
+
+    /**
+     * Reminder: taking care of pull-ups is the masters job
+     */
+
+    TinyWireS.begin(I2C_SLAVE_ADDRESS);
+    TinyWireS.onReceive(receiveEvent);
+    TinyWireS.onRequest(requestEvent);
+
+    
+    // Whatever other setup routines ?
+    
+    digitalWrite(3, HIGH);
+}
+
+void loop()
+{
+    /**
+     * This is the only way we can detect stop condition (http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&p=984716&sid=82e9dc7299a8243b86cf7969dd41b5b5#984716)
+     * it needs to be called in a very tight loop in order not to miss any (REMINDER: Do *not* use delay() anywhere, use tws_delay() instead).
+     * It will call the function registered via TinyWireS.onReceive(); if there is data in the buffer on stop.
+     */
+    TinyWireS_stop_check();
+}
diff --git a/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/attiny85_i2c_slave_task/attiny85_i2c_slave_task.ino b/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/attiny85_i2c_slave_task/attiny85_i2c_slave_task.ino
new file mode 100644
index 0000000..4b3f269
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWire-master/TinyWireS/examples/attiny85_i2c_slave_task/attiny85_i2c_slave_task.ino
@@ -0,0 +1,246 @@
+/**
+ * Example sketch for writing to and reading from a slave in transactional manner, it will also blink a led attached to pin 3 (which is the SOIC pin 2)
+ * (provided you're using one of my ATTiny85 boards from https://github.com/rambo/attiny_boards with the led soldered) 
+ *
+ * NOTE: You must not use delay() or I2C communications will fail, use tws_delay() instead (or preferably some smarter timing system, like the Task library used in this example)
+ *
+ * On write the first byte received is considered the register addres to modify/read
+ * On each byte sent or read the register address is incremented (and it will loop back to 0)
+ *
+ * You can try this with the Arduino I2C REPL sketch at https://github.com/rambo/I2C/blob/master/examples/i2crepl/i2crepl.ino 
+ * If you have bus-pirate remember that the older revisions do not like the slave streching the clock, this leads to all sorts of weird behaviour
+ *
+ * By default this blinks the SOS morse pattern and then has long on/off time to indicate end of pattern, send [ 8 0 32 ] (using the REPL/bus-pirate 
+ * semantics) to make the delay per bit smaller (and thus blinking faster). The pattern lenght is calculated from the register size, it would be fairly
+ * trivial to make it yet another variable changeable via I2C.
+ *
+ * You need to have at least 8MHz clock on the ATTiny for this to work (and in fact I have so far tested it only on ATTiny85 @8MHz using internal oscillator)
+ * Remember to "Burn bootloader" to make sure your chip is in correct mode 
+ */
+
+
+/**
+ * Pin notes by Suovula, see also http://hlt.media.mit.edu/?p=1229
+ *
+ * DIP and SOIC have same pinout, however the SOIC chips are much cheaper, especially if you buy more than 5 at a time
+ * For nice breakout boards see https://github.com/rambo/attiny_boards
+ *
+ * Basically the arduino pin numbers map directly to the PORTB bit numbers.
+ *
+// I2C
+arduino pin 0 = not(OC1A) = PORTB <- _BV(0) = SOIC pin 5 (I2C SDA, PWM)
+arduino pin 2 =           = PORTB <- _BV(2) = SOIC pin 7 (I2C SCL, Analog 1)
+// Timer1 -> PWM
+arduino pin 1 =     OC1A  = PORTB <- _BV(1) = SOIC pin 6 (PWM)
+arduino pin 3 = not(OC1B) = PORTB <- _BV(3) = SOIC pin 2 (Analog 3)
+arduino pin 4 =     OC1B  = PORTB <- _BV(4) = SOIC pin 3 (Analog 2)
+ */
+#define I2C_SLAVE_ADDRESS 0x4 // the 7-bit address (remember to change this when adapting this example)
+// Get this from https://github.com/rambo/TinyWire
+#include <TinyWireS.h>
+// The default buffer size, Can't recall the scope of defines right now
+#ifndef TWI_RX_BUFFER_SIZE
+#define TWI_RX_BUFFER_SIZE ( 16 )
+#endif
+// Get this library from http://bleaklow.com/files/2010/Task.tar.gz 
+// and read http://bleaklow.com/2010/07/20/a_very_simple_arduino_task_manager.html for background and instructions
+#include <Task.h>
+#include <TaskScheduler.h>
+
+// The led is connected so that the tiny sinks current
+#define LED_ON LOW
+#define LED_OFF HIGH
+
+// The I2C registers
+volatile uint8_t i2c_regs[] =
+{
+    150, // Delay between each position (ms, remeber that this isa byte so 255 is max)
+    B10101000, // SOS pattern 
+    B01110111, 
+    B01110001,
+    B01010000, 
+    B00000000,
+    B11111111, // Long on and off to mark end of pattern
+    B00000000,
+};
+// Tracks the current register pointer position
+volatile byte reg_position;
+const byte reg_size = sizeof(i2c_regs);
+
+
+/**
+ * BEGIN: PatternBlinker task based on the Task library Blinker example
+ */
+// Timed task to blink a LED.
+const byte pattern_lenght = (sizeof(i2c_regs)-1) * 8; // bits (first is the speed, rest is the pattern)
+class PatternBlinker : public TimedTask
+{
+public:
+    // Create a new blinker for the specified pin and rate.
+    PatternBlinker(uint8_t _pin);
+    virtual void run(uint32_t now);
+private:
+    uint8_t pin;      // LED pin.
+    uint8_t pattern_position; // Used to calcuate the register and bit offset
+};
+
+PatternBlinker::PatternBlinker(uint8_t _pin)
+: TimedTask(millis()),
+  pin(_pin)
+{
+    pinMode(pin, OUTPUT);     // Set pin for output.
+}
+
+void PatternBlinker::run(uint32_t now)
+{
+    // Start by setting the next runtime
+    incRunTime(i2c_regs[0]);
+
+    // Written out for clear code, the complier might optimize it to something more efficient even without it being unrolled into one line
+    byte reg = i2c_regs[1+(pattern_position/8)]; // Get the register where the bit pattern position is stored
+    byte shift_amount = 7 - (pattern_position % 7); // To have "natural" left-to-right pattern flow.
+    bool state = (reg >> shift_amount) & 0x1;
+    if (state) {
+        digitalWrite(pin, LED_ON);
+    } else {
+        digitalWrite(pin, LED_OFF);
+    }
+    // Calculate the next pattern position
+    pattern_position = (pattern_position+1) % pattern_lenght;
+}
+/**
+ * END: PatternBlinker task copied from the Task library example
+ */
+/**
+ * BEGIN: I2C Stop flag checker
+ *
+ * This task needs to run almost all the time due to the USI I2C implementation limitations
+ *
+ * So I2CStopCheck_YIELD_TICKS below is used to specify how often the task is run, not it's every 4 ticks
+ */
+#define I2CStopCheck_YIELD_TICKS 4
+class I2CStopCheck : public Task
+{
+public:
+    I2CStopCheck();
+    virtual void run(uint32_t now);
+    virtual bool canRun(uint32_t now);
+private:
+    uint8_t yield_counter; // Incremented on each canRun call, used to yield to other tasks.
+};
+
+I2CStopCheck::I2CStopCheck()
+: Task()
+{
+}
+
+// We can't just return true since then no other task could ever run (since we have the priority)
+bool I2CStopCheck::canRun(uint32_t now)
+{
+    yield_counter++;
+    bool ret = false;
+    if (yield_counter == I2CStopCheck_YIELD_TICKS)
+    {
+        ret = true;
+        yield_counter = 0;
+    }
+    return ret;
+}
+
+void I2CStopCheck::run(uint32_t now)
+{
+    TinyWireS_stop_check();
+}
+/**
+ * END: I2C Stop flag checker
+ */
+
+// Create the tasks.
+PatternBlinker blinker(3);
+I2CStopCheck checker;
+
+// Tasks are in priority order, only one task is run per tick
+Task *tasks[] = { &checker, &blinker, };
+TaskScheduler sched(tasks, NUM_TASKS(tasks));
+
+
+/**
+ * This is called for each read request we receive, never put more than one byte of data (with TinyWireS.send) to the 
+ * send-buffer when using this callback
+ */
+void requestEvent()
+{  
+    TinyWireS.send(i2c_regs[reg_position]);
+    // Increment the reg position on each read, and loop back to zero
+    reg_position++;
+    if (reg_position >= reg_size)
+    {
+        reg_position = 0;
+    }
+}
+
+/**
+ * The I2C data received -handler
+ *
+ * This needs to complete before the next incoming transaction (start, data, restart/stop) on the bus does
+ * so be quick, set flags for long running tasks to be called from the mainloop instead of running them directly,
+ */
+void receiveEvent(uint8_t howMany)
+{
+    if (howMany < 1)
+    {
+        // Sanity-check
+        return;
+    }
+    if (howMany > TWI_RX_BUFFER_SIZE)
+    {
+        // Also insane number
+        return;
+    }
+
+    reg_position = TinyWireS.receive();
+    howMany--;
+    if (!howMany)
+    {
+        // This write was only to set the buffer for next read
+        return;
+    }
+    while(howMany--)
+    {
+        i2c_regs[reg_position] = TinyWireS.receive();
+        reg_position++;
+        if (reg_position >= reg_size)
+        {
+            reg_position = 0;
+        }
+    }
+}
+
+
+void setup()
+{
+    // TODO: Tri-state this and wait for input voltage to stabilize 
+    pinMode(3, OUTPUT); // OC1B-, Arduino pin 3, ADC
+    digitalWrite(3, LED_ON); // Note that this makes the led turn on, it's wire this way to allow for the voltage sensing above.
+
+    pinMode(1, OUTPUT); // OC1A, also The only HW-PWM -pin supported by the tiny core analogWrite
+
+    /**
+     * Reminder: taking care of pull-ups is the masters job
+     */
+
+    TinyWireS.begin(I2C_SLAVE_ADDRESS);
+    TinyWireS.onReceive(receiveEvent);
+    TinyWireS.onRequest(requestEvent);
+
+    
+    // Whatever other setup routines ?
+    
+    digitalWrite(3, LED_OFF);
+}
+
+void loop()
+{
+    // Run the scheduler - never returns.
+    sched.run();
+}
diff --git a/digital-driver-board/firmware/TinyWire-master/TinyWireS/keywords.txt b/digital-driver-board/firmware/TinyWire-master/TinyWireS/keywords.txt
new file mode 100644
index 0000000..ccc0b46
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWire-master/TinyWireS/keywords.txt
@@ -0,0 +1,27 @@
+#######################################
+# Syntax Coloring Map For TinyWireS
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+begin	KEYWORD2
+send	KEYWORD2
+available	KEYWORD2
+receive	KEYWORD2
+
+#######################################
+# Instances (KEYWORD2)
+#######################################
+
+TinyWireS	KEYWORD2
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+
diff --git a/digital-driver-board/firmware/TinyWire-master/TinyWireS/usiTwiSlave.c b/digital-driver-board/firmware/TinyWire-master/TinyWireS/usiTwiSlave.c
new file mode 100644
index 0000000..a263184
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWire-master/TinyWireS/usiTwiSlave.c
@@ -0,0 +1,748 @@
+/********************************************************************************
+
+USI TWI Slave driver.
+
+Created by Donald R. Blake. donblake at worldnet.att.net
+Adapted by Jochen Toppe, jochen.toppe at jtoee.com
+
+---------------------------------------------------------------------------------
+
+Created from Atmel source files for Application Note AVR312: Using the USI Module
+as an I2C slave.
+
+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; either version 2 of the License, or (at your option) any later
+version.
+
+This program 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 General Public License for more details.
+
+---------------------------------------------------------------------------------
+
+Change Activity:
+
+    Date       Description
+   ------      -------------
+  16 Mar 2007  Created.
+  27 Mar 2007  Added support for ATtiny261, 461 and 861.
+  26 Apr 2007  Fixed ACK of slave address on a read.
+  04 Jul 2007  Fixed USISIF in ATtiny45 def
+  12 Dev 2009  Added callback functions for data requests
+  06 Feb 2016  Minor change to allow mutli-byte requestFrom() from master.
+  10 Feb 2016  Simplied RX/TX buffer code and allowed use of full buffer.
+  13 Feb 2016  Made USI_RECEIVE_CALLBACK() callback fully interrupt-driven
+  12 Dec 2016  Added support for ATtiny167
+  23 Dec 2017  Fixed repeated restart (which broke when making receive callback
+                interrupt-driven)
+
+********************************************************************************/
+
+
+/********************************************************************************
+                                    includes
+********************************************************************************/
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+#include "usiTwiSlave.h"
+//#include "../common/util.h"
+
+
+/********************************************************************************
+                            device dependent defines
+********************************************************************************/
+
+#if defined( __AVR_ATtiny167__ )
+#  define DDR_USI             DDRB
+#  define PORT_USI            PORTB
+#  define PIN_USI             PINB
+#  define PORT_USI_SDA        PB0
+#  define PORT_USI_SCL        PB2
+#  define PIN_USI_SDA         PINB0
+#  define PIN_USI_SCL         PINB2
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_START_vect
+#  define USI_OVERFLOW_VECTOR USI_OVERFLOW_vect
+#endif
+
+#if defined( __AVR_ATtiny2313__ )
+#  define DDR_USI             DDRB
+#  define PORT_USI            PORTB
+#  define PIN_USI             PINB
+#  define PORT_USI_SDA        PB5
+#  define PORT_USI_SCL        PB7
+#  define PIN_USI_SDA         PINB5
+#  define PIN_USI_SCL         PINB7
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_START_vect
+#  define USI_OVERFLOW_VECTOR USI_OVERFLOW_vect
+#endif
+
+#if defined(__AVR_ATtiny84__) | \
+     defined(__AVR_ATtiny44__)
+#  define DDR_USI             DDRA
+#  define PORT_USI            PORTA
+#  define PIN_USI             PINA
+#  define PORT_USI_SDA        PORTA6
+#  define PORT_USI_SCL        PORTA4
+#  define PIN_USI_SDA         PINA6
+#  define PIN_USI_SCL         PINA4
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_START_vect
+#  define USI_OVERFLOW_VECTOR USI_OVF_vect
+#endif
+
+#if defined( __AVR_ATtiny25__ ) | \
+     defined( __AVR_ATtiny45__ ) | \
+     defined( __AVR_ATtiny85__ )
+#  define DDR_USI             DDRB
+#  define PORT_USI            PORTB
+#  define PIN_USI             PINB
+#  define PORT_USI_SDA        PB0
+#  define PORT_USI_SCL        PB2
+#  define PIN_USI_SDA         PINB0
+#  define PIN_USI_SCL         PINB2
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_START_vect
+#  define USI_OVERFLOW_VECTOR USI_OVF_vect
+#endif
+
+#if defined( __AVR_ATtiny26__ )
+#  define DDR_USI             DDRB
+#  define PORT_USI            PORTB
+#  define PIN_USI             PINB
+#  define PORT_USI_SDA        PB0
+#  define PORT_USI_SCL        PB2
+#  define PIN_USI_SDA         PINB0
+#  define PIN_USI_SCL         PINB2
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_STRT_vect
+#  define USI_OVERFLOW_VECTOR USI_OVF_vect
+#endif
+
+#if defined( __AVR_ATtiny261__ ) | \
+      defined( __AVR_ATtiny461__ ) | \
+      defined( __AVR_ATtiny861__ )
+#  define DDR_USI             DDRB
+#  define PORT_USI            PORTB
+#  define PIN_USI             PINB
+#  define PORT_USI_SDA        PB0
+#  define PORT_USI_SCL        PB2
+#  define PIN_USI_SDA         PINB0
+#  define PIN_USI_SCL         PINB2
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_START_vect
+#  define USI_OVERFLOW_VECTOR USI_OVF_vect
+#endif
+
+#if defined( __AVR_ATmega165__ ) | \
+     defined( __AVR_ATmega325__ ) | \
+     defined( __AVR_ATmega3250__ ) | \
+     defined( __AVR_ATmega645__ ) | \
+     defined( __AVR_ATmega6450__ ) | \
+     defined( __AVR_ATmega329__ ) | \
+     defined( __AVR_ATmega3290__ )
+#  define DDR_USI             DDRE
+#  define PORT_USI            PORTE
+#  define PIN_USI             PINE
+#  define PORT_USI_SDA        PE5
+#  define PORT_USI_SCL        PE4
+#  define PIN_USI_SDA         PINE5
+#  define PIN_USI_SCL         PINE4
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_START_vect
+#  define USI_OVERFLOW_VECTOR USI_OVERFLOW_vect
+#endif
+
+#if defined( __AVR_ATmega169__ )
+#  define DDR_USI             DDRE
+#  define PORT_USI            PORTE
+#  define PIN_USI             PINE
+#  define PORT_USI_SDA        PE5
+#  define PORT_USI_SCL        PE4
+#  define PIN_USI_SDA         PINE5
+#  define PIN_USI_SCL         PINE4
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_START_vect
+#  define USI_OVERFLOW_VECTOR USI_OVERFLOW_vect
+#endif
+
+// These macros make the stop condition detection code more readable.
+#define USI_PINS_SCL_SDA ( ( 1 << PIN_USI_SDA ) | ( 1 << PIN_USI_SCL ) )
+#define USI_PINS_SDA     ( 1 << PIN_USI_SDA )
+#define USI_PINS_SCL     ( 1 << PIN_USI_SCL )
+
+/********************************************************************************
+
+                        functions implemented as macros
+
+********************************************************************************/
+
+#define SET_USI_TO_SEND_ACK( ) \
+{ \
+  /* prepare ACK, ack is a zero */ \
+  USIDR = 0; \
+  /* set SDA as output */ \
+  DDR_USI |= ( 1 << PORT_USI_SDA ); \
+  /* clear all interrupt flags, except Start Cond */ \
+  USISR = \
+       ( 0 << USI_START_COND_INT ) | \
+       ( 1 << USIOIF ) | ( 1 << USIPF ) | \
+       ( 1 << USIDC )| \
+       /* set USI counter to shift 1 bit */ \
+       ( 0x0E << USICNT0 ); \
+}
+
+#define SET_USI_TO_READ_ACK( ) \
+{ \
+  /* set SDA as input */ \
+  DDR_USI &= ~( 1 << PORT_USI_SDA ); \
+  /* prepare ACK */ \
+  USIDR = 0; \
+  /* clear all interrupt flags, except Start Cond */ \
+  USISR = \
+       ( 0 << USI_START_COND_INT ) | \
+       ( 1 << USIOIF ) | \
+       ( 1 << USIPF ) | \
+       ( 1 << USIDC ) | \
+       /* set USI counter to shift 1 bit */ \
+       ( 0x0E << USICNT0 ); \
+}
+
+#define SET_USI_TO_TWI_START_CONDITION_MODE( ) \
+{ \
+  USICR = \
+       /* enable Start Condition Interrupt, disable Overflow Interrupt */ \
+       ( 1 << USISIE ) | ( 0 << USIOIE ) | \
+       /* set USI in Two-wire mode, no USI Counter overflow hold */ \
+       ( 1 << USIWM1 ) | ( 0 << USIWM0 ) | \
+       /* Shift Register Clock Source = External, positive edge */ \
+       /* 4-Bit Counter Source = external, both edges */ \
+       ( 1 << USICS1 ) | ( 0 << USICS0 ) | ( 0 << USICLK ) | \
+       /* no toggle clock-port pin */ \
+       ( 0 << USITC ); \
+  USISR = \
+        /* clear all interrupt flags, except Start Cond */ \
+        ( 0 << USI_START_COND_INT ) | ( 1 << USIOIF ) | ( 1 << USIPF ) | \
+        ( 1 << USIDC ) | ( 0x0 << USICNT0 ); \
+}
+
+#define SET_USI_TO_SEND_DATA( ) \
+{ \
+  /* set SDA as output */ \
+  DDR_USI |=  ( 1 << PORT_USI_SDA ); \
+  /* clear all interrupt flags, except Start Cond */ \
+  USISR    =  \
+       ( 0 << USI_START_COND_INT ) | ( 1 << USIOIF ) | ( 1 << USIPF ) | \
+       ( 1 << USIDC) | \
+       /* set USI to shift out 8 bits */ \
+       ( 0x0 << USICNT0 ); \
+}
+
+#define SET_USI_TO_READ_DATA( ) \
+{ \
+  /* set SDA as input */ \
+  DDR_USI &= ~( 1 << PORT_USI_SDA ); \
+  /* clear all interrupt flags, except Start Cond */ \
+  USISR    = \
+       ( 0 << USI_START_COND_INT ) | ( 1 << USIOIF ) | \
+       ( 1 << USIPF ) | ( 1 << USIDC ) | \
+       /* set USI to shift out 8 bits */ \
+       ( 0x0 << USICNT0 ); \
+}
+
+#define USI_RECEIVE_CALLBACK() \
+{ \
+    if (usi_onReceiverPtr) \
+    { \
+        if (usiTwiAmountDataInReceiveBuffer()) \
+        { \
+            usi_onReceiverPtr(usiTwiAmountDataInReceiveBuffer()); \
+        } \
+    } \
+}
+
+#define USI_REQUEST_CALLBACK() \
+{ \
+    if(usi_onRequestPtr) usi_onRequestPtr(); \
+}
+
+/********************************************************************************
+
+                                   typedef's
+
+********************************************************************************/
+
+typedef enum
+{
+  USI_SLAVE_CHECK_ADDRESS                = 0x00,
+  USI_SLAVE_SEND_DATA                    = 0x01,
+  USI_SLAVE_REQUEST_REPLY_FROM_SEND_DATA = 0x02,
+  USI_SLAVE_CHECK_REPLY_FROM_SEND_DATA   = 0x03,
+  USI_SLAVE_REQUEST_DATA                 = 0x04,
+  USI_SLAVE_GET_DATA_AND_SEND_ACK        = 0x05
+} overflowState_t;
+
+
+
+/********************************************************************************
+
+                                local variables
+
+********************************************************************************/
+
+static uint8_t                  slaveAddress;
+static uint8_t                  sleep_enable_bit;
+static uint8_t                  in_transaction;
+static volatile overflowState_t overflowState;
+
+
+static uint8_t          rxBuf[ TWI_RX_BUFFER_SIZE ];
+static volatile uint8_t rxHead;
+static volatile uint8_t rxTail;
+static volatile uint8_t rxCount;
+
+static uint8_t          txBuf[ TWI_TX_BUFFER_SIZE ];
+static volatile uint8_t txHead;
+static volatile uint8_t txTail;
+static volatile uint8_t txCount;
+
+
+
+/********************************************************************************
+
+                                local functions
+
+********************************************************************************/
+
+// flushes the TWI buffers
+
+static void flushTwiBuffers( void )
+{
+  rxTail = 0;
+  rxHead = 0;
+  rxCount = 0;
+  txTail = 0;
+  txHead = 0;
+  txCount = 0;
+} // end flushTwiBuffers
+
+
+
+/********************************************************************************
+
+                                public functions
+
+********************************************************************************/
+
+// initialise USI for TWI slave mode
+
+void usiTwiSlaveInit( uint8_t ownAddress )
+{
+  // initialize the TX and RX buffers to empty
+  flushTwiBuffers( );
+
+  slaveAddress = ownAddress;
+
+  // In Two Wire mode (USIWM1, USIWM0 = 1X), the slave USI will pull SCL
+  // low when a start condition is detected or a counter overflow (only
+  // for USIWM1, USIWM0 = 11).  This inserts a wait state.  SCL is released
+  // by the ISRs (USI_START_vect and USI_OVERFLOW_vect).
+
+  // Set SCL and SDA as output
+  DDR_USI |= ( 1 << PORT_USI_SCL ) | ( 1 << PORT_USI_SDA );
+
+  // set SCL high
+  PORT_USI |= ( 1 << PORT_USI_SCL );
+
+  // set SDA high
+  PORT_USI |= ( 1 << PORT_USI_SDA );
+
+  // Set SDA as input
+  DDR_USI &= ~( 1 << PORT_USI_SDA );
+
+  USICR =
+       // enable Start Condition Interrupt
+       ( 1 << USISIE ) |
+       // disable Overflow Interrupt
+       ( 0 << USIOIE ) |
+       // set USI in Two-wire mode, no USI Counter overflow hold
+       ( 1 << USIWM1 ) | ( 0 << USIWM0 ) |
+       // Shift Register Clock Source = external, positive edge
+       // 4-Bit Counter Source = external, both edges
+       ( 1 << USICS1 ) | ( 0 << USICS0 ) | ( 0 << USICLK ) |
+       // no toggle clock-port pin
+       ( 0 << USITC );
+
+  // clear all interrupt flags and reset overflow counter
+
+  USISR = ( 1 << USI_START_COND_INT ) | ( 1 << USIOIF ) | ( 1 << USIPF ) | ( 1 << USIDC );
+
+  // The 'in_transaction' variable remembers if the usiTwiSlave driver is in the middle of
+  // an i2c transaction. Initialize it to zero
+  in_transaction = 0;
+
+} // end usiTwiSlaveInit
+
+
+bool usiTwiDataInTransmitBuffer(void)
+{
+
+  // return 0 (false) if the receive buffer is empty
+  return txCount;
+
+} // end usiTwiDataInTransmitBuffer
+
+
+// put data in the transmission buffer, wait if buffer is full
+
+void usiTwiTransmitByte( uint8_t data )
+{
+
+  // wait for free space in buffer
+  while ( txCount == TWI_TX_BUFFER_SIZE) ;
+
+  // store data in buffer
+  txBuf[ txHead ] = data;
+  txHead = ( txHead + 1 ) & TWI_TX_BUFFER_MASK;
+  txCount++;
+
+} // end usiTwiTransmitByte
+
+
+// return a byte from the receive buffer, wait if buffer is empty
+
+uint8_t usiTwiReceiveByte( void )
+{
+  uint8_t rtn_byte;
+
+  // wait for Rx data
+  while ( !rxCount );
+
+  rtn_byte = rxBuf [ rxTail ];
+  // calculate buffer index
+  rxTail = ( rxTail + 1 ) & TWI_RX_BUFFER_MASK;
+  rxCount--;
+
+  // return data from the buffer.
+  return rtn_byte;
+
+} // end usiTwiReceiveByte
+
+
+uint8_t usiTwiAmountDataInReceiveBuffer(void)
+{
+    return rxCount;
+}
+
+
+/********************************************************************************
+
+                            USI Start Condition ISR
+
+********************************************************************************/
+
+ISR( USI_START_VECTOR )
+{
+  uint8_t usi_pins;
+  // http://www.atmel.com/webdoc/AVRLibcReferenceManual/group__avr__interrupts.html
+
+  // Notes about ISR. The compiler in the Arduino IDE handles some of the
+  // basic ISR plumbing (unless the "ISR_NAKED" attribute is applied).
+  //   * The AVR processor resets the SREG.I bit when jumping into an ISR
+  //   * The compiler automatically adds code to save SREG
+  //   * < user's ISR code goes here >
+  //   * The compiler automatically adds code to restore SREG
+  //   * The compiler automatically uses the RETI instruction to return from the ISR.
+  //     The RETI instruction enables interrupts after the return from ISR.
+  // The compiler behavior can be altered with attributes into the ISR declaration;
+  // however, the description above is the default.
+
+  // cli() call is not necessary. Processor disables interrupts when
+  // jumping to an ISR
+
+  // no need to save the SREG. The compiler does this automatically when using the
+  // ISR construct without modifying attributes.
+
+  if ( !in_transaction )
+  {
+    // remeber the sleep enable bit when entering the ISR
+    sleep_enable_bit = MCUCR & ( 1 << SE );
+
+    // clear the sleep enable bit to prevent the CPU from entering sleep mode while executing this ISR.
+    MCUCR &= ~( 1 << SE );
+  }
+
+  // set default starting conditions for new TWI package
+  overflowState = USI_SLAVE_CHECK_ADDRESS;
+
+  // set SDA as input
+  DDR_USI &= ~( 1 << PORT_USI_SDA );
+
+  // the start condition is that the master pulls SDA low.
+
+  // wait for SCL to go low to ensure the Start Condition has completed (the
+  // start detector will hold SCL low ) - if a Stop Condition arises then leave
+  // the interrupt to prevent waiting forever - don't use USISR to test for Stop
+  // Condition as in Application Note AVR312 because the Stop Condition Flag is
+  // going to be set from the last TWI sequence
+
+  // while SCL is high and SDA is low
+  while  ( ( usi_pins = PIN_USI & USI_PINS_SCL_SDA ) == USI_PINS_SCL );
+
+  // if SDA line was low at SCL edge, then start condition occurred
+  if ( !( usi_pins & USI_PINS_SDA ) )
+  {
+    // a Stop Condition did not occur
+    
+    // Execute callback if this is a repeated start
+    if (in_transaction)
+    {
+        USI_RECEIVE_CALLBACK();
+    }
+
+    USICR =
+         // keep Start Condition Interrupt enabled to detect RESTART
+         ( 1 << USISIE ) |
+         // enable Overflow Interrupt
+         ( 1 << USIOIE ) |
+         // set USI in Two-wire mode, hold SCL low on USI Counter overflow
+         ( 1 << USIWM1 ) | ( 1 << USIWM0 ) |
+         // Shift Register Clock Source = External, positive edge
+         // 4-Bit Counter Source = external, both edges
+         ( 1 << USICS1 ) | ( 0 << USICS0 ) | ( 0 << USICLK ) |
+         // no toggle clock-port pin
+         ( 0 << USITC );
+         
+    //remember that the USI is in a valid i2c transaction
+    in_transaction = 1;
+
+  }
+  else
+  {
+    // a Stop Condition did occur
+
+    USICR =
+         // enable Start Condition Interrupt
+         ( 1 << USISIE ) |
+         // disable Overflow Interrupt
+         ( 0 << USIOIE ) |
+         // set USI in Two-wire mode, no USI Counter overflow hold
+         ( 1 << USIWM1 ) | ( 0 << USIWM0 ) |
+         // Shift Register Clock Source = external, positive edge
+         // 4-Bit Counter Source = external, both edges
+         ( 1 << USICS1 ) | ( 0 << USICS0 ) | ( 0 << USICLK ) |
+         // no toggle clock-port pin
+         ( 0 << USITC );
+
+    //no longer in valid i2c transaction
+    in_transaction = 0;
+    // restore the sleep enable bit
+    MCUCR |= sleep_enable_bit;
+
+  } // end if
+
+  USISR =
+       // clear interrupt flags - resetting the Start Condition Flag will
+       // release SCL
+       ( 1 << USI_START_COND_INT ) | ( 1 << USIOIF ) |
+       ( 1 << USIPF ) |( 1 << USIDC ) |
+       // set USI to sample 8 bits (count 16 external SCL pin toggles)
+       ( 0x0 << USICNT0);
+
+  // no need to restore the SREG. The compiler does this automatically when using the
+  // ISR construct without modifying attributes.
+
+  // The compiler automatically uses an RETI instruction to return when using the
+  // ISR construct without modifying attributes.
+
+} // end ISR( USI_START_VECTOR )
+
+
+
+/********************************************************************************
+
+                                USI Overflow ISR
+
+Handles all the communication.
+
+Only disabled when waiting for a new Start Condition.
+
+********************************************************************************/
+
+ISR( USI_OVERFLOW_VECTOR )
+{
+  uint8_t finished;
+  uint8_t usi_pins;
+
+  // http://www.atmel.com/webdoc/AVRLibcReferenceManual/group__avr__interrupts.html
+
+  // Notes about ISR. The compiler in the Arduino IDE handles some of the
+  // basic ISR plumbing.
+  //   * The AVR processor resets the SREG.I bit when jumping into an ISR
+  //   * The compiler automatically adds code to save the SREG
+  //   * < user's ISR code goes here >
+  //   * The compiler automatically adds code to restore the SREG
+  //   * The compiler automatically uses the RETI instruction to return from the ISR.
+  //     The RETI insturction enables interrupts after the return from ISR.
+  // The compiler behavior can be altered with attributes into the ISR declaration;
+  // however, the description above is the default.
+
+  // cli() call is not necessary. Processor disables interrupts when
+  // jumping to an ISR
+
+  // no need to save the SREG. The compiler does this automatically when using the
+  // ISR construct without modifying attributes.
+
+  // The ISR is only ever entered because the ISR(USI_START_VECTOR) interrupt
+  // routine ran first. That routine saved the sleep mode and disabled sleep.
+
+  // Most of the time this routine exits, it has setup the USI to shift in/out bits
+  // and is expected to re-entered because of the USI overflow interrupt. Track whether or
+  // not the transaction is completely finished.
+  finished = 0;
+
+
+  switch ( overflowState )
+  {
+
+    // Address mode: check address and send ACK (and next USI_SLAVE_SEND_DATA) if OK,
+    // else reset USI
+    case USI_SLAVE_CHECK_ADDRESS:
+      if ( ( USIDR == 0 ) || ( ( USIDR >> 1 ) == slaveAddress) )
+      {
+        if ( USIDR & 0x01 )
+        {
+          overflowState = USI_SLAVE_SEND_DATA;
+        }
+        else
+        {
+          overflowState = USI_SLAVE_REQUEST_DATA;
+        } // end if
+
+        // ack the start frame
+        // sets up the USI to pull SDA low and clock one bit (two edges)
+        SET_USI_TO_SEND_ACK( );
+      }
+      else
+      {
+        SET_USI_TO_TWI_START_CONDITION_MODE( );
+        finished = 1;
+      }
+      break;
+
+    // master-read / slave-send: check reply and goto USI_SLAVE_SEND_DATA if OK,
+    // else reset USI
+    case USI_SLAVE_CHECK_REPLY_FROM_SEND_DATA:
+      // Execute request callback for each byte requested, as this is the intended
+      // behavior of this library
+      USI_REQUEST_CALLBACK();
+      if ( USIDR )
+      {
+        // if NACK, the master does not want more data
+        SET_USI_TO_TWI_START_CONDITION_MODE( );
+        finished = 1;
+        break;
+      }
+      // from here we just drop straight into USI_SLAVE_SEND_DATA if the
+      // master sent an ACK
+
+    // copy data from buffer to USIDR and set USI to shift byte
+    // next USI_SLAVE_REQUEST_REPLY_FROM_SEND_DATA
+    case USI_SLAVE_SEND_DATA:
+      // Get data from Buffer
+      if ( txCount )
+      {
+        USIDR = txBuf[ txTail ];
+        txTail = ( txTail + 1 ) & TWI_TX_BUFFER_MASK;
+        txCount--;
+
+        overflowState = USI_SLAVE_REQUEST_REPLY_FROM_SEND_DATA;
+        SET_USI_TO_SEND_DATA( );
+      }
+      else
+      {
+        // the buffer is empty
+        SET_USI_TO_READ_ACK( ); // This might be neccessary sometimes see http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&p=805227#805227
+        SET_USI_TO_TWI_START_CONDITION_MODE( );
+      } // end if
+      break;
+
+    // set USI to sample reply from master
+    // next USI_SLAVE_CHECK_REPLY_FROM_SEND_DATA
+    case USI_SLAVE_REQUEST_REPLY_FROM_SEND_DATA:
+      overflowState = USI_SLAVE_CHECK_REPLY_FROM_SEND_DATA;
+      SET_USI_TO_READ_ACK( );
+      break;
+
+    // master-send / slave-receive: set USI to sample data from master, next
+    // USI_SLAVE_GET_DATA_AND_SEND_ACK
+    case USI_SLAVE_REQUEST_DATA:
+      overflowState = USI_SLAVE_GET_DATA_AND_SEND_ACK;
+      SET_USI_TO_READ_DATA( );
+
+      // with the SET_USI_TO_READ_DATA() macro call above, the USI has
+      // been setup to catch the next byte if the master sends one.
+      // while that's going on, look for a stop condition here which
+      // is when the SDA line goes high after the SCL line;
+
+      // wait until SCL goes high
+      while  ( ! ( ( usi_pins = PIN_USI & USI_PINS_SCL_SDA ) & USI_PINS_SCL ) );
+
+      // if SDA line was high at SCL edge, then not a stop condition
+      if ( usi_pins & USI_PINS_SDA )
+        break;
+
+      // wait until SCL goes low or SDA goes high
+      while  ( ( usi_pins = PIN_USI & USI_PINS_SCL_SDA ) == USI_PINS_SCL );
+
+      // if both SCL and SDA are high, then stop condition occurred
+      if ( usi_pins == USI_PINS_SCL_SDA )
+      {
+        USI_RECEIVE_CALLBACK();
+        SET_USI_TO_TWI_START_CONDITION_MODE( );
+        finished = 1;
+      }
+
+      break;
+
+    // copy data from USIDR and send ACK
+    // next USI_SLAVE_REQUEST_DATA
+    case USI_SLAVE_GET_DATA_AND_SEND_ACK:
+      // put data into buffer
+      // check buffer size
+      if ( rxCount < TWI_RX_BUFFER_SIZE )
+      {
+        rxBuf[ rxHead ] = USIDR;
+        rxHead = ( rxHead + 1 ) & TWI_RX_BUFFER_MASK;
+        rxCount++;
+      } else {
+        // overrun
+        // drop data
+      }
+      // next USI_SLAVE_REQUEST_DATA
+      overflowState = USI_SLAVE_REQUEST_DATA;
+      SET_USI_TO_SEND_ACK( );
+      break;
+
+  } // end switch
+
+  if (finished)
+  {
+    //no longer in valid i2c transaction
+    in_transaction = 0;
+    // restore the sleep enable bit
+    // note that this allows sleep -- it does not cause sleep
+    MCUCR |= sleep_enable_bit;
+  }
+
+  // no need to restore the SREG. The compiler does this automatically when using the
+  // ISR construct without modifying attributes.
+
+  // The compiler automatically uses an RETI instruction to return when using the
+  // ISR construct without modifying attributes.
+
+} // end ISR( USI_OVERFLOW_VECTOR )
diff --git a/digital-driver-board/firmware/TinyWire-master/TinyWireS/usiTwiSlave.h b/digital-driver-board/firmware/TinyWire-master/TinyWireS/usiTwiSlave.h
new file mode 100644
index 0000000..88b9445
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWire-master/TinyWireS/usiTwiSlave.h
@@ -0,0 +1,96 @@
+/********************************************************************************
+
+Header file for the USI TWI Slave driver.
+
+Created by Donald R. Blake
+donblake at worldnet.att.net
+
+---------------------------------------------------------------------------------
+
+Created from Atmel source files for Application Note AVR312: Using the USI Module
+as an I2C slave.
+
+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; either version 2 of the License, or (at your option) any later
+version.
+
+This program 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 General Public License for more details.
+
+---------------------------------------------------------------------------------
+
+Change Activity:
+
+    Date       Description
+   ------      -------------
+  15 Mar 2007  Created.
+
+********************************************************************************/
+
+
+
+#ifndef _USI_TWI_SLAVE_H_
+#define _USI_TWI_SLAVE_H_
+
+
+
+/********************************************************************************
+
+                                    includes
+
+********************************************************************************/
+
+#include <stdbool.h>
+#include <avr/sleep.h>
+
+
+
+/********************************************************************************
+
+                                   prototypes
+
+********************************************************************************/
+
+void    usiTwiSlaveInit( uint8_t );
+void    usiTwiTransmitByte( uint8_t );
+uint8_t usiTwiReceiveByte( void );
+bool    usiTwiDataInTransmitBuffer(void);
+uint8_t usiTwiAmountDataInReceiveBuffer(void);
+// on_XXX handler pointers
+void    (*usi_onRequestPtr)(void);
+void    (*usi_onReceiverPtr)(uint8_t);
+
+
+/********************************************************************************
+
+                           driver buffer definitions
+
+********************************************************************************/
+
+// permitted RX buffer sizes: 1, 2, 4, 8, 16, 32, 64, 128 or 256
+
+#ifndef TWI_RX_BUFFER_SIZE
+#define TWI_RX_BUFFER_SIZE  ( 16 )
+#endif
+#define TWI_RX_BUFFER_MASK  ( TWI_RX_BUFFER_SIZE - 1 )
+
+#if ( TWI_RX_BUFFER_SIZE & TWI_RX_BUFFER_MASK )
+#  error TWI RX buffer size is not a power of 2
+#endif
+
+// permitted TX buffer sizes: 1, 2, 4, 8, 16, 32, 64, 128 or 256
+
+#ifndef TWI_TX_BUFFER_SIZE
+#define TWI_TX_BUFFER_SIZE ( 16 )
+#endif
+#define TWI_TX_BUFFER_MASK ( TWI_TX_BUFFER_SIZE - 1 )
+
+#if ( TWI_TX_BUFFER_SIZE & TWI_TX_BUFFER_MASK )
+#  error TWI TX buffer size is not a power of 2
+#endif
+
+
+
+#endif  // ifndef _USI_TWI_SLAVE_H_
diff --git a/digital-driver-board/firmware/TinyWireS.zip b/digital-driver-board/firmware/TinyWireS.zip
new file mode 100644
index 0000000..aa3958c
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWireS.zip
diff --git a/digital-driver-board/firmware/TinyWireS/TinyWireS.cpp b/digital-driver-board/firmware/TinyWireS/TinyWireS.cpp
new file mode 100644
index 0000000..783e8e7
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWireS/TinyWireS.cpp
@@ -0,0 +1,91 @@
+/*
+  TinyWireS.cpp - a wrapper class for Don Blake's usiTwiSlave routines.
+  Provides TWI/I2C Slave functionality on ATtiny processers in Arduino environment.
+  1/23/2011 BroHogan -  brohoganx10 at gmail dot com
+
+  **** See TinyWireS.h for Credits and Usage information ****
+
+  This library 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; either version 2.1 of the License, or any later version.
+  This program 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 General Public License for more details.
+*/
+
+extern "C" {
+  #include <inttypes.h>
+  #include "usiTwiSlave.h"
+  #include <avr/interrupt.h>
+  }
+
+#include "TinyWireS.h"
+#include "Arduino.h"
+
+// Constructors ////////////////////////////////////////////////////////////////
+
+USI_TWI_S::USI_TWI_S(){
+}
+
+
+// Public Methods //////////////////////////////////////////////////////////////
+
+void USI_TWI_S::begin(uint8_t slaveAddr){ // initialize I2C lib
+  usiTwiSlaveInit(slaveAddr); 
+}
+
+void USI_TWI_S::send(uint8_t data){  // send it back to master
+  usiTwiTransmitByte(data);
+}
+
+uint8_t USI_TWI_S::available(){ // the bytes available that haven't been read yet
+  return usiTwiAmountDataInReceiveBuffer(); 
+  //return usiTwiDataInReceiveBuffer(); // This is wrong as far as the Wire API is concerned since it returns boolean and not amount
+}
+ 
+uint8_t USI_TWI_S::receive(){ // returns the bytes received one at a time
+  return usiTwiReceiveByte(); 
+}
+
+// sets function called on slave write
+void USI_TWI_S::onReceive( void (*function)(uint8_t) )
+{
+  usi_onReceiverPtr = function;
+}
+
+// sets function called on slave read
+void USI_TWI_S::onRequest( void (*function)(void) )
+{
+  usi_onRequestPtr = function;
+}
+
+// This routine is no longer used now that the usiTwiSlave is completely
+// interrupt driven. The function is maintained here so that programs
+// written for the pre-interrupt driven version will still compile and function.
+void TinyWireS_stop_check()
+{
+  // empty functions
+}
+
+// Implement a delay loop that checks for the stop bit (basically direct copy of the stock arduino implementation from wiring.c)
+// I don't think this function is necessary now that the 
+// usiTwiSlave is completely interrupt driven. I'm not sure, and the function is 
+// behaviorally harmless because TinyWireS_stop_check() is empty, so I'm leaving it alone.
+void tws_delay(unsigned long ms)
+{
+    uint16_t start = (uint16_t)micros();
+    while (ms > 0)
+    {
+        TinyWireS_stop_check();
+        if (((uint16_t)micros() - start) >= 1000)
+        {
+            ms--;
+            start += 1000;
+        }
+    }
+}
+
+// Preinstantiate Objects //////////////////////////////////////////////////////
+
+USI_TWI_S TinyWireS = USI_TWI_S();
+
diff --git a/digital-driver-board/firmware/TinyWireS/TinyWireS.h b/digital-driver-board/firmware/TinyWireS/TinyWireS.h
new file mode 100644
index 0000000..ccef042
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWireS/TinyWireS.h
@@ -0,0 +1,64 @@
+/*
+  TinyWireS.h - a wrapper class for Don Blake's usiTwiSlave routines.
+  Provides TWI/I2C Slave functionality on ATtiny processers in Arduino environment.
+  1/23/2011 BroHogan -  brohoganx10 at gmail dot com
+
+  Major credit and thanks to Don Blake for his usiTwiSlave code which makes this possible
+  http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&t=51467&start=all&postdays=0&postorder=asc
+  (Changed #define USI_START_COND_INT  USISIF (was USICIF) in usiTwiSlave.h)
+
+  NOTE! - It's very important to use pullups on the SDA & SCL lines! More so than with the Wire lib.
+  Current Rx & Tx buffers set at 32 bytes - see usiTwiSlave.h
+ 
+ USAGE is modeled after the standard Wire library . . .
+  Put in setup():
+	TinyWireS.begin(I2C_SLAVE_ADDR);                 // initialize I2C lib & setup slave's address (7 bit - same as Wire)
+
+  To Receive:
+    someByte = TinyWireS.available(){                // returns the number of bytes in the received buffer
+    someByte = TinyWireS.receive(){                  // returns the next byte in the received buffer
+
+  To Send:
+	TinyWireS.send(uint8_t data){                    // sends a requested byte to master
+	
+  TODO:	(by others!)
+	- onReceive and onRequest handlers are not implimented.
+	- merge this class with TinyWireM for master & slave support in one library
+	
+  This library 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; either version 2.1 of the License, or any later version.
+  This program 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 General Public License for more details.
+*/
+
+#ifndef TinyWireS_h
+#define TinyWireS_h
+
+#include <inttypes.h>
+
+
+class USI_TWI_S
+{
+  private:
+	//static uint8_t USI_BytesAvail;
+	
+  public:
+ 	USI_TWI_S();
+    void begin(uint8_t I2C_SLAVE_ADDR);
+    void send(uint8_t data);
+    uint8_t available();
+    uint8_t receive();
+    void onReceive( void (*)(uint8_t) );
+    void onRequest( void (*)(void) );
+};
+
+void TinyWireS_stop_check();
+// Implement a delay loop that checks for the stop bit (basically direct copy of the stock arduino implementation from wiring.c)
+void tws_delay(unsigned long);
+
+extern USI_TWI_S TinyWireS;
+
+#endif
+
diff --git a/digital-driver-board/firmware/TinyWireS/avr_usi_i2c_master.pdf b/digital-driver-board/firmware/TinyWireS/avr_usi_i2c_master.pdf
new file mode 100644
index 0000000..dc8f460
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWireS/avr_usi_i2c_master.pdf
diff --git a/digital-driver-board/firmware/TinyWireS/avr_usi_i2c_slave.pdf b/digital-driver-board/firmware/TinyWireS/avr_usi_i2c_slave.pdf
new file mode 100644
index 0000000..e4704c7
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWireS/avr_usi_i2c_slave.pdf
diff --git a/digital-driver-board/firmware/TinyWireS/examples/TinyWireS_Stress_Master/TinyWireS_Stress_Master.ino b/digital-driver-board/firmware/TinyWireS/examples/TinyWireS_Stress_Master/TinyWireS_Stress_Master.ino
new file mode 100644
index 0000000..d50adb7
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWireS/examples/TinyWireS_Stress_Master/TinyWireS_Stress_Master.ino
@@ -0,0 +1,184 @@
+// ---------------------------------
+// Stress test program/example for TinyWireS I2C library.
+// Run this master program on the Arduino Uno R3.
+// Run the other slave program on the Attiny.
+// ---------------------------------
+// Written by Scott Hartog, 2/6/2016
+// This is the I2C master program which runs on on a regular Arduino
+// (not a AtTiny). This program uses the regular Wire library from the Arduino IDE.
+//
+// It performs these steps in a loop:
+//    1. picks a random number of bytes between 1 and 12
+//    2. sends that many bytes of random data to the AtTiny slave within
+//       a single Wire.beginTransmission() / Wire.write() / Wire.endTransmission() set
+//    3. reads that same number of bytes back with a single Wire.requestFrom() call
+//    4. compares the received data to the originally transmitted data
+//    5. displays the number of requests, number of requests with mismatches,
+//       and enough of the data so that the operator can tell it's working.
+//
+#include <Wire.h>
+
+// BREADBOARD SETUP:
+// Arduino Uno R3 (D18/SDA) = I2C SDA 
+//     connect to SDA on slave with external pull-up (~4.7K)
+// Arduino Uno R3 (D19/SCL) = I2C SCL 
+//     connect to SCL on slave with external pull-up (~4.7K)
+// Arduino Uno R3 (D2)
+//     connect to !RST on slave
+//     Can alternatively connect !RST on slave to the Ardiuno "!RESET" pin
+
+#define I2C_SLAVE_ADDR  0x26            // i2c slave address (38, 0x26)
+
+#if defined(ESP8266)
+  // pins that work for Monkey Board ESP8266 12-E
+  // SCL=5, SDA=4
+  #define SLAVE_RESET_PIN 2
+  #define ALL_OK_LED_PIN 16
+  #define OK_LED_PIN 14
+  #define ERROR_LED_PIN 13
+#else
+  // pins that work for Micro Pro, Uno, Mega 2560
+  // reference documentation for SCL and SDA pin locations
+  // Uno SDA=D18, SCL=D19
+  #define SLAVE_RESET_PIN 6
+  #define ALL_OK_LED_PIN 9
+  #define OK_LED_PIN 7
+  #define ERROR_LED_PIN 8
+#endif
+
+uint16_t count = 0;       // total number of passes so far
+uint16_t error_count = 0; // total errors encountered so far
+
+char c_buf[64]; // for creating messages
+
+void setup()
+{
+  // set pin modes 
+  pinMode(SLAVE_RESET_PIN,OUTPUT);  // active low reset to slave device
+  pinMode(OK_LED_PIN,OUTPUT);       // indicates last transaction matched
+  pinMode(ALL_OK_LED_PIN,OUTPUT);   // indicates all transactions so far have matched
+  pinMode(ERROR_LED_PIN,OUTPUT);    // indicates last transaction mismatched
+
+  // init the serial port
+  Serial.begin(9600);
+
+  // print some useful pinnout info for the Arduino
+  //Serial.println(String("SCL:")+String(SCL)+String(", SDA:")+String(SDA));
+  //Serial.println(String("MOSI:")+String(MOSI)+String(", SCK:")+String(SCK));
+
+  // init the Wire object (for I2C)
+  Wire.begin(); 
+
+  // init the i2c clock
+  // default is 100kHz if not changed
+  // Wire.setClock(400000L);  // 400kHz
+  
+  // reset the slave
+  digitalWrite(SLAVE_RESET_PIN, LOW);
+  delay(10);
+  digitalWrite(SLAVE_RESET_PIN, HIGH);
+
+  // set the all okay pin high
+  digitalWrite(ALL_OK_LED_PIN, HIGH);
+  
+  // wait for slave to finish any init sequence
+  delay(2000);
+}
+
+void loop()
+{
+  uint8_t i;
+  uint8_t req_rtn;       // num bytes returned by requestFrom() call
+  uint8_t rand_byte_count;
+  uint8_t out_rand[16];  // data written from master
+  uint8_t in_rand[16];   // data read back from slave
+
+  bool mismatch;
+
+  // count total number of request
+  count++;
+
+  // compute random number of bytes for this pass
+  rand_byte_count = random(16) + 1;
+
+  // force the first three requests to be small so that the tx buffer doesn't overflow
+  // instantly and the user can see at least one successful transaction and some
+  // mismtaches before the usiTwiSlave.c library hangs on the line "while ( !txCount );".
+  if (count <= 3) rand_byte_count = 2;
+
+  // generate, save, and send N random byte values
+  Wire.beginTransmission(I2C_SLAVE_ADDR);
+  for (i = 0; i < rand_byte_count; i++)
+    Wire.write(out_rand[i] = random(256));
+  Wire.endTransmission();
+  
+  // delay 20 milliseconds to accomodate slave onReceive() callback
+  // function. The actual time that slave takes is application dependent, but
+  // just storing the master's transmitted data does not take
+  // anywhere near 20ms.
+  delay(20);
+  
+  // read N bytes from slave
+  req_rtn = Wire.requestFrom(I2C_SLAVE_ADDR, (int)rand_byte_count);      // Request N bytes from slave
+  for (i = 0; i < req_rtn; i++)
+    in_rand[i] = Wire.read();
+
+  // compare in/out data values
+  mismatch = false;
+  for (i = 0; i < rand_byte_count; i++)
+    mismatch = mismatch || (out_rand[i] != in_rand[i]);
+
+  // increment the error counter if the number of byte variables don't match or
+  // if the data itself doesn't match
+  if (mismatch || (rand_byte_count != req_rtn)) 
+  {
+    error_count++;
+    digitalWrite(ERROR_LED_PIN, HIGH);
+    digitalWrite(OK_LED_PIN, LOW);
+    // If there's ever an error, reset the ALL_OK_LED
+    // and it is not set again until the master resets.
+    digitalWrite(ALL_OK_LED_PIN, LOW);
+  }
+  else
+  {
+    digitalWrite(ERROR_LED_PIN, LOW);
+    digitalWrite(OK_LED_PIN, HIGH);
+  }
+
+  // The rest of the program just displays the results to the serial port
+  
+  // display total requests so far and error count so far
+  snprintf(c_buf, sizeof(c_buf), "req: %3d,err: %3d", count, error_count);
+  Serial.println(c_buf);
+
+  // display the random byte count, the number of bytes read back, and "MATCH"/"MISMATCH"
+  snprintf(c_buf, sizeof(c_buf), "size: %2d/%2d,%s", rand_byte_count, req_rtn, rand_byte_count != req_rtn?"MISMATCH  <<--- !!!":"MATCH");
+  Serial.println(c_buf);
+  
+  // display whether the data compare matched or mismatched
+  snprintf(c_buf, sizeof(c_buf), "data: %s", mismatch?"MISMATCH  <<--- !!!":"MATCH");
+  Serial.println(c_buf);
+
+  // send up to three tx/rx bytes so that random data can be
+  // visually verified
+  if (rand_byte_count >= 1)
+  {
+    snprintf(c_buf, sizeof(c_buf), "rand[0]: %02x/%02x", out_rand[0], in_rand[0]);
+    Serial.println(c_buf);
+  }
+
+  if (rand_byte_count >= 2)
+  {
+    snprintf(c_buf, sizeof(c_buf), "rand[1]: %02x/%02x", out_rand[1], in_rand[1]);
+    Serial.println(c_buf);
+  }
+
+  if (rand_byte_count >= 3)
+  {
+    snprintf(c_buf, sizeof(c_buf), "rand[2]: %02x/%02x", out_rand[2], in_rand[2]);
+    Serial.println(c_buf);
+  }
+
+  // delay 1 second so user can watch results
+  delay(1000);
+}
diff --git a/digital-driver-board/firmware/TinyWireS/examples/TinyWireS_Stress_Slave/TinyWireS_Stress_Slave.ino b/digital-driver-board/firmware/TinyWireS/examples/TinyWireS_Stress_Slave/TinyWireS_Stress_Slave.ino
new file mode 100644
index 0000000..c7fbe41
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWireS/examples/TinyWireS_Stress_Slave/TinyWireS_Stress_Slave.ino
@@ -0,0 +1,143 @@
+// ---------------------------------
+// Stress test program/example for TinyWireS I2C library.
+// Run this slave program on the Attiny.
+// Run the other master program on the Arduino Uno R3.
+// ---------------------------------
+// // Written by Scott Hartog, 2/6/2016, to stress test the TinyWireS library.
+// https://github.com/rambo/TinyWire
+//
+// This project uses the Tiny85 as an I2C slave.
+//
+// The slave program using TinyWireS, running on a Attiny85, receives
+// N bytes of random data in a single receiveEvent() callback and
+// stores that data in a global buffer. It then responds the first requestEvent()
+// callback with that same data. The requestEvent() callback overwrites the data
+// buffer with zeros after responding so it will only respond correctly to the
+// first requestEvent() callback after each receiveEvent() callback. Subsequent
+// requestEvent() will respond with 0xff for all data bytes.
+//
+//
+// SETUP:
+// AtTiny Pin 5 (PB0/SDA) = I2C SDA 
+//     connect to SDA on master with external pull-up (~4.7K)
+// AtTiny Pin 7 (PB0/SCL) = I2C SCL 
+//     connect to SCL on master with external pull-up (~4.7K)
+// AtTiny Pin 1 (PB5/!RST)
+//     connect to reset on master (or just pull-up)
+//
+// Please see credits and usage for usiTwiSlave and TinyWireS in the .h files of 
+// those libraries.
+
+#include <avr/sleep.h>
+#include <avr/wdt.h>
+#include "TinyWireS.h"                  // wrapper class for I2C slave routines
+
+#define I2C_SLAVE_ADDR  0x26            // i2c slave address (38, 0x26)
+
+// turns on code that makes the Tiny85 sleep between transactions
+// This is optional. The Tiny85 current drops from
+// about 2mA to about 20uA when the CPU is put into
+// PowerDown sleep mode.
+#define USE_CPU_SLEEP
+
+// global buffer to store data sent from the master.
+uint8_t master_data[16];
+// global variable to number of bytes sent from the master.
+uint8_t master_bytes;
+
+// Gets called when the ATtiny receives an i2c write slave request
+// This routine runs from the usiTwiSlave interrupt service routine (ISR)
+// so interrupts are disabled while it runs.
+void receiveEvent(uint8_t num_bytes)
+{
+  uint8_t i;
+
+  // save the number of bytes sent from the master
+  master_bytes = num_bytes;
+
+  // store the data from the master into the data buffer
+  for (i = 0; i < master_bytes; i++)
+    master_data[i] = TinyWireS.receive();
+    
+}
+
+// Gets called when the ATtiny receives an i2c read slave request
+// This routine runs from the usiTwiSlave interrupt service routine (ISR)
+// so interrupts are disabled while it runs.
+void requestEvent()
+{
+  uint8_t i;
+  
+  // send the data buffer back to the master
+  for (i = 0; i < master_bytes; i++)
+    TinyWireS.send(master_data[i]);
+
+  // corrupt the byte values in the data buffer
+  // so that any subsequent call won't match
+  for (i = 0; i < master_bytes; i++)
+    master_data[i] += 0x5a;
+
+  // corrupt length of the request, but don't make it zero
+  
+  // if the usiTwiSlave.c is working fine, then this number is completely irrelevant
+  // because the requestEvent() callback will not be called again until
+  // after the next receiveEvent() callback, so the master_data and
+  // master_bytes variables will be overwritten by that call.
+
+  // If the usiTwiSlave.c has the issue of calling the requestFrom() callback
+  // for each byte sent, the buffer will accumulate by this amount *for each byte
+  // in the original request*. (This problem is fixed in the recent version.)
+  // 
+  // Making it zero will obscure the 1-byte send issue in the usiTwiSlave.c
+  // that is being tested.
+  // Making it small will allow a few requests to succeed before the tx buffer
+  // overflows and the usiTwiSlave.c hangs on the "while ( tmphead == txTail );"
+  // line
+  master_bytes = 2; 
+}
+
+void setup()
+{
+  //pinMode(1,OUTPUT);   // This pin can be used for rudimentary debug
+  
+  // initialize the TinyWireS and usiTwiSlave libraries
+  TinyWireS.begin(I2C_SLAVE_ADDR);      // init I2C Slave mode
+
+  // register the onReceive() callback function
+  TinyWireS.onReceive(receiveEvent);
+  
+  // register the onRequest() callback function
+  TinyWireS.onRequest(requestEvent);
+
+ // disable the watchdog timer so that it doesn't
+  // cause power-up, code is from datasheet
+  // Clear WDRF in MCUSR – MCU Status Register
+  // MCUSR provides information on which reset source caused an MCU Reset.
+  MCUSR = 0x00;
+  // WDTCR - Watchdog Timer Control Register
+  // Write logical one to WDCE and WDE (must be done before disabling)
+  WDTCR |= ( _BV(WDCE) | _BV(WDE) );
+  // Turn off WDT
+  WDTCR = 0x00;
+
+#ifdef USE_CPU_SLEEP
+  // enable power down sleep mode
+  set_sleep_mode(SLEEP_MODE_PWR_DOWN);  // sleep mode
+  sleep_enable();
+#endif
+
+  sei();                                // enable interrupts
+
+}
+
+void loop()
+{
+
+#ifdef USE_CPU_SLEEP
+  // optionally put the CPU to sleep. It will be woken by a USI interrupt
+  // when it sees a "start condition" on the I2C bus. Everything interesting
+  // happens in the usiTwiSlave ISR.
+  sleep_cpu();
+#endif
+
+}
diff --git a/digital-driver-board/firmware/TinyWireS/examples/attiny85_i2c_analog/attiny85_i2c_analog.ino b/digital-driver-board/firmware/TinyWireS/examples/attiny85_i2c_analog/attiny85_i2c_analog.ino
new file mode 100644
index 0000000..7190c93
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWireS/examples/attiny85_i2c_analog/attiny85_i2c_analog.ino
@@ -0,0 +1,210 @@
+/**
+ * Example sketch for writing to and reading from a slave in transactional manner
+ *
+ * NOTE: You must not use delay() or I2C communications will fail, use tws_delay() instead (or preferably some smarter timing system)
+ *
+ * On write the first byte received is considered the register addres to modify/read
+ * On each byte sent or read the register address is incremented (and it will loop back to 0)
+ *
+ * You can try this with the Arduino I2C REPL sketch at https://github.com/rambo/I2C/blob/master/examples/i2crepl/i2crepl.ino 
+ * If you have bus-pirate remember that the older revisions do not like the slave streching the clock, this leads to all sorts of weird behaviour
+ * Examples use bus-pirate semantics (like the REPL)
+ *
+ * The basic idea is:
+ *  1. Choose your ADC channel (0-X), use "byte ch = 1;" for example.
+ *  2. Combine the channel and conversion start flag to single calue: byte start_on_ch = (ch | _BV(7)); // This is 0x81
+ *  3. Write start_on_ch to the first register on the attiny [ 8 0  81 ]
+ *  4. Come back later and check the first register [ 8 0 [ r ], if the value is same as ch then the conversion is complete, you can now read the value
+ *  5. read the value [ 8 2 [ r r ] (first one is low, second high byte)
+ *
+ * You need to have at least 8MHz clock on the ATTiny for this to work (and in fact I have so far tested it only on ATTiny85 @8MHz using internal oscillator)
+ * Remember to "Burn bootloader" to make sure your chip is in correct mode 
+ */
+
+
+/**
+ * Pin notes by Suovula, see also http://hlt.media.mit.edu/?p=1229
+ *
+ * DIP and SOIC have same pinout, however the SOIC chips are much cheaper, especially if you buy more than 5 at a time
+ * For nice breakout boards see https://github.com/rambo/attiny_boards
+ *
+ * Basically the arduino pin numbers map directly to the PORTB bit numbers.
+ *
+// I2C
+arduino pin 0 = not(OC1A) = PORTB <- _BV(0) = SOIC pin 5 (I2C SDA, PWM)
+arduino pin 2 =           = PORTB <- _BV(2) = SOIC pin 7 (I2C SCL, Analog 1)
+// Timer1 -> PWM
+arduino pin 1 =     OC1A  = PORTB <- _BV(1) = SOIC pin 6 (PWM)
+arduino pin 3 = not(OC1B) = PORTB <- _BV(3) = SOIC pin 2 (Analog 3)
+arduino pin 4 =     OC1B  = PORTB <- _BV(4) = SOIC pin 3 (Analog 2)
+ */
+#define I2C_SLAVE_ADDRESS 0x4 // the 7-bit address (remember to change this when adapting this example)
+// Get this from https://github.com/rambo/TinyWire
+#include <TinyWireS.h>
+// The default buffer size, though we cannot actually affect it by defining it in the sketch
+#ifndef TWI_RX_BUFFER_SIZE
+#define TWI_RX_BUFFER_SIZE ( 16 )
+#endif
+// For the ADC_xxx helpers
+#include <core_adc.h>
+
+// The "registers" we expose to I2C
+volatile uint8_t i2c_regs[] =
+{
+    0x0, // Status register, writing (1<<7 & channel) will start a conversion on that channel, the flag will be set low when conversion is done.
+    0x1, // Averaging count, make this many conversions in row and average the result (well, actually it's a rolling average since we do not want to have the possibility of integer overflows)
+    0x0, // low byte 
+    0x0, // high byte
+};
+const byte reg_size = sizeof(i2c_regs);
+// Tracks the current register pointer position
+volatile byte reg_position;
+// Tracks wheter to start a conversion cycle
+volatile boolean start_conversion;
+// Counter to track where we are averaging
+byte avg_count;
+// Some temp value holders
+int avg_temp1;
+int avg_temp2;
+
+/**
+ * This is called for each read request we receive, never put more than one byte of data (with TinyWireS.send) to the 
+ * send-buffer when using this callback
+ */
+void requestEvent()
+{  
+    TinyWireS.send(i2c_regs[reg_position]);
+    // Increment the reg position on each read, and loop back to zero
+    reg_position++;
+    if (reg_position >= reg_size)
+    {
+        reg_position = 0;
+    }
+}
+
+/**
+ * The I2C data received -handler
+ *
+ * This needs to complete before the next incoming transaction (start, data, restart/stop) on the bus does
+ * so be quick, set flags for long running tasks to be called from the mainloop instead of running them directly,
+ */
+void receiveEvent(uint8_t howMany)
+{
+    if (howMany < 1)
+    {
+        // Sanity-check
+        return;
+    }
+    if (howMany > TWI_RX_BUFFER_SIZE)
+    {
+        // Also insane number
+        return;
+    }
+
+    reg_position = TinyWireS.receive();
+    howMany--;
+    if (!howMany)
+    {
+        // This write was only to set the buffer for next read
+        return;
+    }
+    while(howMany--)
+    {
+        i2c_regs[reg_position] = TinyWireS.receive();
+        if (   reg_position == 0 // If it was the first register
+            && bitRead(i2c_regs[0], 7) // And the highest bit is set
+            && !ADC_ConversionInProgress() // and we do not actually have a conversion running already
+            )
+        {
+            start_conversion = true;
+        }
+        reg_position++;
+        if (reg_position >= reg_size)
+        {
+            reg_position = 0;
+        }
+    }
+}
+
+
+void setup()
+{
+    // TODO: Tri-state this and wait for input voltage to stabilize 
+    pinMode(3, OUTPUT); // OC1B-, Arduino pin 3, ADC
+    digitalWrite(3, LOW); // Note that this makes the led turn on, it's wire this way to allow for the voltage sensing above.
+
+    pinMode(1, OUTPUT); // OC1A, also The only HW-PWM -pin supported by the tiny core analogWrite
+
+    /**
+     * Reminder: taking care of pull-ups is the masters job
+     */
+
+    TinyWireS.begin(I2C_SLAVE_ADDRESS);
+    TinyWireS.onReceive(receiveEvent);
+    TinyWireS.onRequest(requestEvent);
+
+    
+    // Whatever other setup routines ?
+    
+    digitalWrite(3, HIGH);
+}
+
+void loop()
+{
+    /**
+     * This is the only way we can detect stop condition (http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&p=984716&sid=82e9dc7299a8243b86cf7969dd41b5b5#984716)
+     * it needs to be called in a very tight loop in order not to miss any (REMINDER: Do *not* use delay() anywhere, use tws_delay() instead).
+     * It will call the function registered via TinyWireS.onReceive(); if there is data in the buffer on stop.
+     */
+    TinyWireS_stop_check();
+
+    // Thus stuff is basically copied from wiring_analog.c
+    if (start_conversion)
+    {
+        //Avoid doubled starts
+        start_conversion = false;
+        byte adcpin = (i2c_regs[0] & 0x7f); // Set the channel from the control reg, dropping the highest bit.
+#if defined( CORE_ANALOG_FIRST )
+        if ( adcpin >= CORE_ANALOG_FIRST ) adcpin -= CORE_ANALOG_FIRST; // allow for channel or pin numbers
+#endif
+        // NOTE: These handy helpers (ADC_xxx) are only present in the tiny-core, for other cores you need to check their wiring_analog.c source.
+        ADC_SetInputChannel( (adc_ic_t)adcpin ); // we need to typecast
+        ADC_StartConversion();
+        // Reset these variables
+        avg_count = 0;
+        avg_temp2 = 0;
+    }
+    
+    if (   bitRead(i2c_regs[0], 7) // We have conversion flag up
+        && !ADC_ConversionInProgress()) // But the conversion is complete
+    {
+        // So handle it
+        avg_temp1 = ADC_GetDataRegister();
+        // Rolling average
+        if (avg_count)
+        {
+            avg_temp2 = (avg_temp2+avg_temp1)/2;
+        }
+        else
+        {
+            avg_temp2 = avg_temp1;
+        }
+        avg_count++;
+        if (avg_count >= i2c_regs[1])
+        {
+            // All done, set the bytes to registers
+            cli();
+            i2c_regs[2] = lowByte(avg_temp2);
+            i2c_regs[3] = highByte(avg_temp2);
+            sei();
+            // And clear the conversion flag so the master knows we're ready
+            bitClear(i2c_regs[0], 7);
+        }
+        else
+        {
+            // Re-trigger conversion
+            ADC_StartConversion();
+        }
+    }
+
+}
diff --git a/digital-driver-board/firmware/TinyWireS/examples/attiny85_i2c_slave/attiny85_i2c_slave.ino b/digital-driver-board/firmware/TinyWireS/examples/attiny85_i2c_slave/attiny85_i2c_slave.ino
new file mode 100644
index 0000000..df2532f
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWireS/examples/attiny85_i2c_slave/attiny85_i2c_slave.ino
@@ -0,0 +1,152 @@
+/**
+ * Example sketch for writing to and reading from a slave in transactional manner
+ *
+ * NOTE: You must not use delay() or I2C communications will fail, use tws_delay() instead (or preferably some smarter timing system)
+ *
+ * On write the first byte received is considered the register addres to modify/read
+ * On each byte sent or read the register address is incremented (and it will loop back to 0)
+ *
+ * You can try this with the Arduino I2C REPL sketch at https://github.com/rambo/I2C/blob/master/examples/i2crepl/i2crepl.ino 
+ * If you have bus-pirate remember that the older revisions do not like the slave streching the clock, this leads to all sorts of weird behaviour
+ *
+ * To read third value (register number 2 since counting starts at 0) send "[ 8 2 [ 9 r ]", value read should be 0xBE
+ * If you then send "[ 9 r r r ]" you should get 0xEF 0xDE 0xAD as response (demonstrating the register counter looping back to zero)
+ *
+ * You need to have at least 8MHz clock on the ATTiny for this to work (and in fact I have so far tested it only on ATTiny85 @8MHz using internal oscillator)
+ * Remember to "Burn bootloader" to make sure your chip is in correct mode 
+ */
+
+
+/**
+ * Pin notes by Suovula, see also http://hlt.media.mit.edu/?p=1229
+ *
+ * DIP and SOIC have same pinout, however the SOIC chips are much cheaper, especially if you buy more than 5 at a time
+ * For nice breakout boards see https://github.com/rambo/attiny_boards
+ *
+ * Basically the arduino pin numbers map directly to the PORTB bit numbers.
+ *
+// I2C
+arduino pin 0 = not(OC1A) = PORTB <- _BV(0) = SOIC pin 5 (I2C SDA, PWM)
+arduino pin 2 =           = PORTB <- _BV(2) = SOIC pin 7 (I2C SCL, Analog 1)
+// Timer1 -> PWM
+arduino pin 1 =     OC1A  = PORTB <- _BV(1) = SOIC pin 6 (PWM)
+arduino pin 3 = not(OC1B) = PORTB <- _BV(3) = SOIC pin 2 (Analog 3)
+arduino pin 4 =     OC1B  = PORTB <- _BV(4) = SOIC pin 3 (Analog 2)
+ */
+#define I2C_SLAVE_ADDRESS 0x4 // the 7-bit address (remember to change this when adapting this example)
+// Get this from https://github.com/rambo/TinyWire
+#include <TinyWireS.h>
+// The default buffer size, Can't recall the scope of defines right now
+#ifndef TWI_RX_BUFFER_SIZE
+#define TWI_RX_BUFFER_SIZE ( 16 )
+#endif
+
+
+volatile uint8_t i2c_regs[] =
+{
+    0xDE, 
+    0xAD, 
+    0xBE, 
+    0xEF, 
+};
+// Tracks the current register pointer position
+volatile byte reg_position;
+const byte reg_size = sizeof(i2c_regs);
+
+/**
+ * This is called for each read request we receive, never put more than one byte of data (with TinyWireS.send) to the 
+ * send-buffer when using this callback
+ */
+void requestEvent()
+{  
+    TinyWireS.send(i2c_regs[reg_position]);
+    // Increment the reg position on each read, and loop back to zero
+    reg_position++;
+    if (reg_position >= reg_size)
+    {
+        reg_position = 0;
+    }
+}
+
+// TODO: Either update this to use something smarter for timing or remove it alltogether
+void blinkn(uint8_t blinks)
+{
+    digitalWrite(3, HIGH);
+    while(blinks--)
+    {
+        digitalWrite(3, LOW);
+        tws_delay(50);
+        digitalWrite(3, HIGH);
+        tws_delay(100);
+    }
+}
+
+/**
+ * The I2C data received -handler
+ *
+ * This needs to complete before the next incoming transaction (start, data, restart/stop) on the bus does
+ * so be quick, set flags for long running tasks to be called from the mainloop instead of running them directly,
+ */
+void receiveEvent(uint8_t howMany)
+{
+    if (howMany < 1)
+    {
+        // Sanity-check
+        return;
+    }
+    if (howMany > TWI_RX_BUFFER_SIZE)
+    {
+        // Also insane number
+        return;
+    }
+
+    reg_position = TinyWireS.receive();
+    howMany--;
+    if (!howMany)
+    {
+        // This write was only to set the buffer for next read
+        return;
+    }
+    while(howMany--)
+    {
+        i2c_regs[reg_position] = TinyWireS.receive();
+        reg_position++;
+        if (reg_position >= reg_size)
+        {
+            reg_position = 0;
+        }
+    }
+}
+
+
+void setup()
+{
+    // TODO: Tri-state this and wait for input voltage to stabilize 
+    pinMode(3, OUTPUT); // OC1B-, Arduino pin 3, ADC
+    digitalWrite(3, LOW); // Note that this makes the led turn on, it's wire this way to allow for the voltage sensing above.
+
+    pinMode(1, OUTPUT); // OC1A, also The only HW-PWM -pin supported by the tiny core analogWrite
+
+    /**
+     * Reminder: taking care of pull-ups is the masters job
+     */
+
+    TinyWireS.begin(I2C_SLAVE_ADDRESS);
+    TinyWireS.onReceive(receiveEvent);
+    TinyWireS.onRequest(requestEvent);
+
+    
+    // Whatever other setup routines ?
+    
+    digitalWrite(3, HIGH);
+}
+
+void loop()
+{
+    /**
+     * This is the only way we can detect stop condition (http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&p=984716&sid=82e9dc7299a8243b86cf7969dd41b5b5#984716)
+     * it needs to be called in a very tight loop in order not to miss any (REMINDER: Do *not* use delay() anywhere, use tws_delay() instead).
+     * It will call the function registered via TinyWireS.onReceive(); if there is data in the buffer on stop.
+     */
+    TinyWireS_stop_check();
+}
diff --git a/digital-driver-board/firmware/TinyWireS/examples/attiny85_i2c_slave_task/attiny85_i2c_slave_task.ino b/digital-driver-board/firmware/TinyWireS/examples/attiny85_i2c_slave_task/attiny85_i2c_slave_task.ino
new file mode 100644
index 0000000..4b3f269
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWireS/examples/attiny85_i2c_slave_task/attiny85_i2c_slave_task.ino
@@ -0,0 +1,246 @@
+/**
+ * Example sketch for writing to and reading from a slave in transactional manner, it will also blink a led attached to pin 3 (which is the SOIC pin 2)
+ * (provided you're using one of my ATTiny85 boards from https://github.com/rambo/attiny_boards with the led soldered) 
+ *
+ * NOTE: You must not use delay() or I2C communications will fail, use tws_delay() instead (or preferably some smarter timing system, like the Task library used in this example)
+ *
+ * On write the first byte received is considered the register addres to modify/read
+ * On each byte sent or read the register address is incremented (and it will loop back to 0)
+ *
+ * You can try this with the Arduino I2C REPL sketch at https://github.com/rambo/I2C/blob/master/examples/i2crepl/i2crepl.ino 
+ * If you have bus-pirate remember that the older revisions do not like the slave streching the clock, this leads to all sorts of weird behaviour
+ *
+ * By default this blinks the SOS morse pattern and then has long on/off time to indicate end of pattern, send [ 8 0 32 ] (using the REPL/bus-pirate 
+ * semantics) to make the delay per bit smaller (and thus blinking faster). The pattern lenght is calculated from the register size, it would be fairly
+ * trivial to make it yet another variable changeable via I2C.
+ *
+ * You need to have at least 8MHz clock on the ATTiny for this to work (and in fact I have so far tested it only on ATTiny85 @8MHz using internal oscillator)
+ * Remember to "Burn bootloader" to make sure your chip is in correct mode 
+ */
+
+
+/**
+ * Pin notes by Suovula, see also http://hlt.media.mit.edu/?p=1229
+ *
+ * DIP and SOIC have same pinout, however the SOIC chips are much cheaper, especially if you buy more than 5 at a time
+ * For nice breakout boards see https://github.com/rambo/attiny_boards
+ *
+ * Basically the arduino pin numbers map directly to the PORTB bit numbers.
+ *
+// I2C
+arduino pin 0 = not(OC1A) = PORTB <- _BV(0) = SOIC pin 5 (I2C SDA, PWM)
+arduino pin 2 =           = PORTB <- _BV(2) = SOIC pin 7 (I2C SCL, Analog 1)
+// Timer1 -> PWM
+arduino pin 1 =     OC1A  = PORTB <- _BV(1) = SOIC pin 6 (PWM)
+arduino pin 3 = not(OC1B) = PORTB <- _BV(3) = SOIC pin 2 (Analog 3)
+arduino pin 4 =     OC1B  = PORTB <- _BV(4) = SOIC pin 3 (Analog 2)
+ */
+#define I2C_SLAVE_ADDRESS 0x4 // the 7-bit address (remember to change this when adapting this example)
+// Get this from https://github.com/rambo/TinyWire
+#include <TinyWireS.h>
+// The default buffer size, Can't recall the scope of defines right now
+#ifndef TWI_RX_BUFFER_SIZE
+#define TWI_RX_BUFFER_SIZE ( 16 )
+#endif
+// Get this library from http://bleaklow.com/files/2010/Task.tar.gz 
+// and read http://bleaklow.com/2010/07/20/a_very_simple_arduino_task_manager.html for background and instructions
+#include <Task.h>
+#include <TaskScheduler.h>
+
+// The led is connected so that the tiny sinks current
+#define LED_ON LOW
+#define LED_OFF HIGH
+
+// The I2C registers
+volatile uint8_t i2c_regs[] =
+{
+    150, // Delay between each position (ms, remeber that this isa byte so 255 is max)
+    B10101000, // SOS pattern 
+    B01110111, 
+    B01110001,
+    B01010000, 
+    B00000000,
+    B11111111, // Long on and off to mark end of pattern
+    B00000000,
+};
+// Tracks the current register pointer position
+volatile byte reg_position;
+const byte reg_size = sizeof(i2c_regs);
+
+
+/**
+ * BEGIN: PatternBlinker task based on the Task library Blinker example
+ */
+// Timed task to blink a LED.
+const byte pattern_lenght = (sizeof(i2c_regs)-1) * 8; // bits (first is the speed, rest is the pattern)
+class PatternBlinker : public TimedTask
+{
+public:
+    // Create a new blinker for the specified pin and rate.
+    PatternBlinker(uint8_t _pin);
+    virtual void run(uint32_t now);
+private:
+    uint8_t pin;      // LED pin.
+    uint8_t pattern_position; // Used to calcuate the register and bit offset
+};
+
+PatternBlinker::PatternBlinker(uint8_t _pin)
+: TimedTask(millis()),
+  pin(_pin)
+{
+    pinMode(pin, OUTPUT);     // Set pin for output.
+}
+
+void PatternBlinker::run(uint32_t now)
+{
+    // Start by setting the next runtime
+    incRunTime(i2c_regs[0]);
+
+    // Written out for clear code, the complier might optimize it to something more efficient even without it being unrolled into one line
+    byte reg = i2c_regs[1+(pattern_position/8)]; // Get the register where the bit pattern position is stored
+    byte shift_amount = 7 - (pattern_position % 7); // To have "natural" left-to-right pattern flow.
+    bool state = (reg >> shift_amount) & 0x1;
+    if (state) {
+        digitalWrite(pin, LED_ON);
+    } else {
+        digitalWrite(pin, LED_OFF);
+    }
+    // Calculate the next pattern position
+    pattern_position = (pattern_position+1) % pattern_lenght;
+}
+/**
+ * END: PatternBlinker task copied from the Task library example
+ */
+/**
+ * BEGIN: I2C Stop flag checker
+ *
+ * This task needs to run almost all the time due to the USI I2C implementation limitations
+ *
+ * So I2CStopCheck_YIELD_TICKS below is used to specify how often the task is run, not it's every 4 ticks
+ */
+#define I2CStopCheck_YIELD_TICKS 4
+class I2CStopCheck : public Task
+{
+public:
+    I2CStopCheck();
+    virtual void run(uint32_t now);
+    virtual bool canRun(uint32_t now);
+private:
+    uint8_t yield_counter; // Incremented on each canRun call, used to yield to other tasks.
+};
+
+I2CStopCheck::I2CStopCheck()
+: Task()
+{
+}
+
+// We can't just return true since then no other task could ever run (since we have the priority)
+bool I2CStopCheck::canRun(uint32_t now)
+{
+    yield_counter++;
+    bool ret = false;
+    if (yield_counter == I2CStopCheck_YIELD_TICKS)
+    {
+        ret = true;
+        yield_counter = 0;
+    }
+    return ret;
+}
+
+void I2CStopCheck::run(uint32_t now)
+{
+    TinyWireS_stop_check();
+}
+/**
+ * END: I2C Stop flag checker
+ */
+
+// Create the tasks.
+PatternBlinker blinker(3);
+I2CStopCheck checker;
+
+// Tasks are in priority order, only one task is run per tick
+Task *tasks[] = { &checker, &blinker, };
+TaskScheduler sched(tasks, NUM_TASKS(tasks));
+
+
+/**
+ * This is called for each read request we receive, never put more than one byte of data (with TinyWireS.send) to the 
+ * send-buffer when using this callback
+ */
+void requestEvent()
+{  
+    TinyWireS.send(i2c_regs[reg_position]);
+    // Increment the reg position on each read, and loop back to zero
+    reg_position++;
+    if (reg_position >= reg_size)
+    {
+        reg_position = 0;
+    }
+}
+
+/**
+ * The I2C data received -handler
+ *
+ * This needs to complete before the next incoming transaction (start, data, restart/stop) on the bus does
+ * so be quick, set flags for long running tasks to be called from the mainloop instead of running them directly,
+ */
+void receiveEvent(uint8_t howMany)
+{
+    if (howMany < 1)
+    {
+        // Sanity-check
+        return;
+    }
+    if (howMany > TWI_RX_BUFFER_SIZE)
+    {
+        // Also insane number
+        return;
+    }
+
+    reg_position = TinyWireS.receive();
+    howMany--;
+    if (!howMany)
+    {
+        // This write was only to set the buffer for next read
+        return;
+    }
+    while(howMany--)
+    {
+        i2c_regs[reg_position] = TinyWireS.receive();
+        reg_position++;
+        if (reg_position >= reg_size)
+        {
+            reg_position = 0;
+        }
+    }
+}
+
+
+void setup()
+{
+    // TODO: Tri-state this and wait for input voltage to stabilize 
+    pinMode(3, OUTPUT); // OC1B-, Arduino pin 3, ADC
+    digitalWrite(3, LED_ON); // Note that this makes the led turn on, it's wire this way to allow for the voltage sensing above.
+
+    pinMode(1, OUTPUT); // OC1A, also The only HW-PWM -pin supported by the tiny core analogWrite
+
+    /**
+     * Reminder: taking care of pull-ups is the masters job
+     */
+
+    TinyWireS.begin(I2C_SLAVE_ADDRESS);
+    TinyWireS.onReceive(receiveEvent);
+    TinyWireS.onRequest(requestEvent);
+
+    
+    // Whatever other setup routines ?
+    
+    digitalWrite(3, LED_OFF);
+}
+
+void loop()
+{
+    // Run the scheduler - never returns.
+    sched.run();
+}
diff --git a/digital-driver-board/firmware/TinyWireS/keywords.txt b/digital-driver-board/firmware/TinyWireS/keywords.txt
new file mode 100644
index 0000000..ccc0b46
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWireS/keywords.txt
@@ -0,0 +1,27 @@
+#######################################
+# Syntax Coloring Map For TinyWireS
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+begin	KEYWORD2
+send	KEYWORD2
+available	KEYWORD2
+receive	KEYWORD2
+
+#######################################
+# Instances (KEYWORD2)
+#######################################
+
+TinyWireS	KEYWORD2
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+
diff --git a/digital-driver-board/firmware/TinyWireS/usiTwiSlave.c b/digital-driver-board/firmware/TinyWireS/usiTwiSlave.c
new file mode 100644
index 0000000..a263184
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWireS/usiTwiSlave.c
@@ -0,0 +1,748 @@
+/********************************************************************************
+
+USI TWI Slave driver.
+
+Created by Donald R. Blake. donblake at worldnet.att.net
+Adapted by Jochen Toppe, jochen.toppe at jtoee.com
+
+---------------------------------------------------------------------------------
+
+Created from Atmel source files for Application Note AVR312: Using the USI Module
+as an I2C slave.
+
+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; either version 2 of the License, or (at your option) any later
+version.
+
+This program 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 General Public License for more details.
+
+---------------------------------------------------------------------------------
+
+Change Activity:
+
+    Date       Description
+   ------      -------------
+  16 Mar 2007  Created.
+  27 Mar 2007  Added support for ATtiny261, 461 and 861.
+  26 Apr 2007  Fixed ACK of slave address on a read.
+  04 Jul 2007  Fixed USISIF in ATtiny45 def
+  12 Dev 2009  Added callback functions for data requests
+  06 Feb 2016  Minor change to allow mutli-byte requestFrom() from master.
+  10 Feb 2016  Simplied RX/TX buffer code and allowed use of full buffer.
+  13 Feb 2016  Made USI_RECEIVE_CALLBACK() callback fully interrupt-driven
+  12 Dec 2016  Added support for ATtiny167
+  23 Dec 2017  Fixed repeated restart (which broke when making receive callback
+                interrupt-driven)
+
+********************************************************************************/
+
+
+/********************************************************************************
+                                    includes
+********************************************************************************/
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+#include "usiTwiSlave.h"
+//#include "../common/util.h"
+
+
+/********************************************************************************
+                            device dependent defines
+********************************************************************************/
+
+#if defined( __AVR_ATtiny167__ )
+#  define DDR_USI             DDRB
+#  define PORT_USI            PORTB
+#  define PIN_USI             PINB
+#  define PORT_USI_SDA        PB0
+#  define PORT_USI_SCL        PB2
+#  define PIN_USI_SDA         PINB0
+#  define PIN_USI_SCL         PINB2
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_START_vect
+#  define USI_OVERFLOW_VECTOR USI_OVERFLOW_vect
+#endif
+
+#if defined( __AVR_ATtiny2313__ )
+#  define DDR_USI             DDRB
+#  define PORT_USI            PORTB
+#  define PIN_USI             PINB
+#  define PORT_USI_SDA        PB5
+#  define PORT_USI_SCL        PB7
+#  define PIN_USI_SDA         PINB5
+#  define PIN_USI_SCL         PINB7
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_START_vect
+#  define USI_OVERFLOW_VECTOR USI_OVERFLOW_vect
+#endif
+
+#if defined(__AVR_ATtiny84__) | \
+     defined(__AVR_ATtiny44__)
+#  define DDR_USI             DDRA
+#  define PORT_USI            PORTA
+#  define PIN_USI             PINA
+#  define PORT_USI_SDA        PORTA6
+#  define PORT_USI_SCL        PORTA4
+#  define PIN_USI_SDA         PINA6
+#  define PIN_USI_SCL         PINA4
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_START_vect
+#  define USI_OVERFLOW_VECTOR USI_OVF_vect
+#endif
+
+#if defined( __AVR_ATtiny25__ ) | \
+     defined( __AVR_ATtiny45__ ) | \
+     defined( __AVR_ATtiny85__ )
+#  define DDR_USI             DDRB
+#  define PORT_USI            PORTB
+#  define PIN_USI             PINB
+#  define PORT_USI_SDA        PB0
+#  define PORT_USI_SCL        PB2
+#  define PIN_USI_SDA         PINB0
+#  define PIN_USI_SCL         PINB2
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_START_vect
+#  define USI_OVERFLOW_VECTOR USI_OVF_vect
+#endif
+
+#if defined( __AVR_ATtiny26__ )
+#  define DDR_USI             DDRB
+#  define PORT_USI            PORTB
+#  define PIN_USI             PINB
+#  define PORT_USI_SDA        PB0
+#  define PORT_USI_SCL        PB2
+#  define PIN_USI_SDA         PINB0
+#  define PIN_USI_SCL         PINB2
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_STRT_vect
+#  define USI_OVERFLOW_VECTOR USI_OVF_vect
+#endif
+
+#if defined( __AVR_ATtiny261__ ) | \
+      defined( __AVR_ATtiny461__ ) | \
+      defined( __AVR_ATtiny861__ )
+#  define DDR_USI             DDRB
+#  define PORT_USI            PORTB
+#  define PIN_USI             PINB
+#  define PORT_USI_SDA        PB0
+#  define PORT_USI_SCL        PB2
+#  define PIN_USI_SDA         PINB0
+#  define PIN_USI_SCL         PINB2
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_START_vect
+#  define USI_OVERFLOW_VECTOR USI_OVF_vect
+#endif
+
+#if defined( __AVR_ATmega165__ ) | \
+     defined( __AVR_ATmega325__ ) | \
+     defined( __AVR_ATmega3250__ ) | \
+     defined( __AVR_ATmega645__ ) | \
+     defined( __AVR_ATmega6450__ ) | \
+     defined( __AVR_ATmega329__ ) | \
+     defined( __AVR_ATmega3290__ )
+#  define DDR_USI             DDRE
+#  define PORT_USI            PORTE
+#  define PIN_USI             PINE
+#  define PORT_USI_SDA        PE5
+#  define PORT_USI_SCL        PE4
+#  define PIN_USI_SDA         PINE5
+#  define PIN_USI_SCL         PINE4
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_START_vect
+#  define USI_OVERFLOW_VECTOR USI_OVERFLOW_vect
+#endif
+
+#if defined( __AVR_ATmega169__ )
+#  define DDR_USI             DDRE
+#  define PORT_USI            PORTE
+#  define PIN_USI             PINE
+#  define PORT_USI_SDA        PE5
+#  define PORT_USI_SCL        PE4
+#  define PIN_USI_SDA         PINE5
+#  define PIN_USI_SCL         PINE4
+#  define USI_START_COND_INT  USISIF
+#  define USI_START_VECTOR    USI_START_vect
+#  define USI_OVERFLOW_VECTOR USI_OVERFLOW_vect
+#endif
+
+// These macros make the stop condition detection code more readable.
+#define USI_PINS_SCL_SDA ( ( 1 << PIN_USI_SDA ) | ( 1 << PIN_USI_SCL ) )
+#define USI_PINS_SDA     ( 1 << PIN_USI_SDA )
+#define USI_PINS_SCL     ( 1 << PIN_USI_SCL )
+
+/********************************************************************************
+
+                        functions implemented as macros
+
+********************************************************************************/
+
+#define SET_USI_TO_SEND_ACK( ) \
+{ \
+  /* prepare ACK, ack is a zero */ \
+  USIDR = 0; \
+  /* set SDA as output */ \
+  DDR_USI |= ( 1 << PORT_USI_SDA ); \
+  /* clear all interrupt flags, except Start Cond */ \
+  USISR = \
+       ( 0 << USI_START_COND_INT ) | \
+       ( 1 << USIOIF ) | ( 1 << USIPF ) | \
+       ( 1 << USIDC )| \
+       /* set USI counter to shift 1 bit */ \
+       ( 0x0E << USICNT0 ); \
+}
+
+#define SET_USI_TO_READ_ACK( ) \
+{ \
+  /* set SDA as input */ \
+  DDR_USI &= ~( 1 << PORT_USI_SDA ); \
+  /* prepare ACK */ \
+  USIDR = 0; \
+  /* clear all interrupt flags, except Start Cond */ \
+  USISR = \
+       ( 0 << USI_START_COND_INT ) | \
+       ( 1 << USIOIF ) | \
+       ( 1 << USIPF ) | \
+       ( 1 << USIDC ) | \
+       /* set USI counter to shift 1 bit */ \
+       ( 0x0E << USICNT0 ); \
+}
+
+#define SET_USI_TO_TWI_START_CONDITION_MODE( ) \
+{ \
+  USICR = \
+       /* enable Start Condition Interrupt, disable Overflow Interrupt */ \
+       ( 1 << USISIE ) | ( 0 << USIOIE ) | \
+       /* set USI in Two-wire mode, no USI Counter overflow hold */ \
+       ( 1 << USIWM1 ) | ( 0 << USIWM0 ) | \
+       /* Shift Register Clock Source = External, positive edge */ \
+       /* 4-Bit Counter Source = external, both edges */ \
+       ( 1 << USICS1 ) | ( 0 << USICS0 ) | ( 0 << USICLK ) | \
+       /* no toggle clock-port pin */ \
+       ( 0 << USITC ); \
+  USISR = \
+        /* clear all interrupt flags, except Start Cond */ \
+        ( 0 << USI_START_COND_INT ) | ( 1 << USIOIF ) | ( 1 << USIPF ) | \
+        ( 1 << USIDC ) | ( 0x0 << USICNT0 ); \
+}
+
+#define SET_USI_TO_SEND_DATA( ) \
+{ \
+  /* set SDA as output */ \
+  DDR_USI |=  ( 1 << PORT_USI_SDA ); \
+  /* clear all interrupt flags, except Start Cond */ \
+  USISR    =  \
+       ( 0 << USI_START_COND_INT ) | ( 1 << USIOIF ) | ( 1 << USIPF ) | \
+       ( 1 << USIDC) | \
+       /* set USI to shift out 8 bits */ \
+       ( 0x0 << USICNT0 ); \
+}
+
+#define SET_USI_TO_READ_DATA( ) \
+{ \
+  /* set SDA as input */ \
+  DDR_USI &= ~( 1 << PORT_USI_SDA ); \
+  /* clear all interrupt flags, except Start Cond */ \
+  USISR    = \
+       ( 0 << USI_START_COND_INT ) | ( 1 << USIOIF ) | \
+       ( 1 << USIPF ) | ( 1 << USIDC ) | \
+       /* set USI to shift out 8 bits */ \
+       ( 0x0 << USICNT0 ); \
+}
+
+#define USI_RECEIVE_CALLBACK() \
+{ \
+    if (usi_onReceiverPtr) \
+    { \
+        if (usiTwiAmountDataInReceiveBuffer()) \
+        { \
+            usi_onReceiverPtr(usiTwiAmountDataInReceiveBuffer()); \
+        } \
+    } \
+}
+
+#define USI_REQUEST_CALLBACK() \
+{ \
+    if(usi_onRequestPtr) usi_onRequestPtr(); \
+}
+
+/********************************************************************************
+
+                                   typedef's
+
+********************************************************************************/
+
+typedef enum
+{
+  USI_SLAVE_CHECK_ADDRESS                = 0x00,
+  USI_SLAVE_SEND_DATA                    = 0x01,
+  USI_SLAVE_REQUEST_REPLY_FROM_SEND_DATA = 0x02,
+  USI_SLAVE_CHECK_REPLY_FROM_SEND_DATA   = 0x03,
+  USI_SLAVE_REQUEST_DATA                 = 0x04,
+  USI_SLAVE_GET_DATA_AND_SEND_ACK        = 0x05
+} overflowState_t;
+
+
+
+/********************************************************************************
+
+                                local variables
+
+********************************************************************************/
+
+static uint8_t                  slaveAddress;
+static uint8_t                  sleep_enable_bit;
+static uint8_t                  in_transaction;
+static volatile overflowState_t overflowState;
+
+
+static uint8_t          rxBuf[ TWI_RX_BUFFER_SIZE ];
+static volatile uint8_t rxHead;
+static volatile uint8_t rxTail;
+static volatile uint8_t rxCount;
+
+static uint8_t          txBuf[ TWI_TX_BUFFER_SIZE ];
+static volatile uint8_t txHead;
+static volatile uint8_t txTail;
+static volatile uint8_t txCount;
+
+
+
+/********************************************************************************
+
+                                local functions
+
+********************************************************************************/
+
+// flushes the TWI buffers
+
+static void flushTwiBuffers( void )
+{
+  rxTail = 0;
+  rxHead = 0;
+  rxCount = 0;
+  txTail = 0;
+  txHead = 0;
+  txCount = 0;
+} // end flushTwiBuffers
+
+
+
+/********************************************************************************
+
+                                public functions
+
+********************************************************************************/
+
+// initialise USI for TWI slave mode
+
+void usiTwiSlaveInit( uint8_t ownAddress )
+{
+  // initialize the TX and RX buffers to empty
+  flushTwiBuffers( );
+
+  slaveAddress = ownAddress;
+
+  // In Two Wire mode (USIWM1, USIWM0 = 1X), the slave USI will pull SCL
+  // low when a start condition is detected or a counter overflow (only
+  // for USIWM1, USIWM0 = 11).  This inserts a wait state.  SCL is released
+  // by the ISRs (USI_START_vect and USI_OVERFLOW_vect).
+
+  // Set SCL and SDA as output
+  DDR_USI |= ( 1 << PORT_USI_SCL ) | ( 1 << PORT_USI_SDA );
+
+  // set SCL high
+  PORT_USI |= ( 1 << PORT_USI_SCL );
+
+  // set SDA high
+  PORT_USI |= ( 1 << PORT_USI_SDA );
+
+  // Set SDA as input
+  DDR_USI &= ~( 1 << PORT_USI_SDA );
+
+  USICR =
+       // enable Start Condition Interrupt
+       ( 1 << USISIE ) |
+       // disable Overflow Interrupt
+       ( 0 << USIOIE ) |
+       // set USI in Two-wire mode, no USI Counter overflow hold
+       ( 1 << USIWM1 ) | ( 0 << USIWM0 ) |
+       // Shift Register Clock Source = external, positive edge
+       // 4-Bit Counter Source = external, both edges
+       ( 1 << USICS1 ) | ( 0 << USICS0 ) | ( 0 << USICLK ) |
+       // no toggle clock-port pin
+       ( 0 << USITC );
+
+  // clear all interrupt flags and reset overflow counter
+
+  USISR = ( 1 << USI_START_COND_INT ) | ( 1 << USIOIF ) | ( 1 << USIPF ) | ( 1 << USIDC );
+
+  // The 'in_transaction' variable remembers if the usiTwiSlave driver is in the middle of
+  // an i2c transaction. Initialize it to zero
+  in_transaction = 0;
+
+} // end usiTwiSlaveInit
+
+
+bool usiTwiDataInTransmitBuffer(void)
+{
+
+  // return 0 (false) if the receive buffer is empty
+  return txCount;
+
+} // end usiTwiDataInTransmitBuffer
+
+
+// put data in the transmission buffer, wait if buffer is full
+
+void usiTwiTransmitByte( uint8_t data )
+{
+
+  // wait for free space in buffer
+  while ( txCount == TWI_TX_BUFFER_SIZE) ;
+
+  // store data in buffer
+  txBuf[ txHead ] = data;
+  txHead = ( txHead + 1 ) & TWI_TX_BUFFER_MASK;
+  txCount++;
+
+} // end usiTwiTransmitByte
+
+
+// return a byte from the receive buffer, wait if buffer is empty
+
+uint8_t usiTwiReceiveByte( void )
+{
+  uint8_t rtn_byte;
+
+  // wait for Rx data
+  while ( !rxCount );
+
+  rtn_byte = rxBuf [ rxTail ];
+  // calculate buffer index
+  rxTail = ( rxTail + 1 ) & TWI_RX_BUFFER_MASK;
+  rxCount--;
+
+  // return data from the buffer.
+  return rtn_byte;
+
+} // end usiTwiReceiveByte
+
+
+uint8_t usiTwiAmountDataInReceiveBuffer(void)
+{
+    return rxCount;
+}
+
+
+/********************************************************************************
+
+                            USI Start Condition ISR
+
+********************************************************************************/
+
+ISR( USI_START_VECTOR )
+{
+  uint8_t usi_pins;
+  // http://www.atmel.com/webdoc/AVRLibcReferenceManual/group__avr__interrupts.html
+
+  // Notes about ISR. The compiler in the Arduino IDE handles some of the
+  // basic ISR plumbing (unless the "ISR_NAKED" attribute is applied).
+  //   * The AVR processor resets the SREG.I bit when jumping into an ISR
+  //   * The compiler automatically adds code to save SREG
+  //   * < user's ISR code goes here >
+  //   * The compiler automatically adds code to restore SREG
+  //   * The compiler automatically uses the RETI instruction to return from the ISR.
+  //     The RETI instruction enables interrupts after the return from ISR.
+  // The compiler behavior can be altered with attributes into the ISR declaration;
+  // however, the description above is the default.
+
+  // cli() call is not necessary. Processor disables interrupts when
+  // jumping to an ISR
+
+  // no need to save the SREG. The compiler does this automatically when using the
+  // ISR construct without modifying attributes.
+
+  if ( !in_transaction )
+  {
+    // remeber the sleep enable bit when entering the ISR
+    sleep_enable_bit = MCUCR & ( 1 << SE );
+
+    // clear the sleep enable bit to prevent the CPU from entering sleep mode while executing this ISR.
+    MCUCR &= ~( 1 << SE );
+  }
+
+  // set default starting conditions for new TWI package
+  overflowState = USI_SLAVE_CHECK_ADDRESS;
+
+  // set SDA as input
+  DDR_USI &= ~( 1 << PORT_USI_SDA );
+
+  // the start condition is that the master pulls SDA low.
+
+  // wait for SCL to go low to ensure the Start Condition has completed (the
+  // start detector will hold SCL low ) - if a Stop Condition arises then leave
+  // the interrupt to prevent waiting forever - don't use USISR to test for Stop
+  // Condition as in Application Note AVR312 because the Stop Condition Flag is
+  // going to be set from the last TWI sequence
+
+  // while SCL is high and SDA is low
+  while  ( ( usi_pins = PIN_USI & USI_PINS_SCL_SDA ) == USI_PINS_SCL );
+
+  // if SDA line was low at SCL edge, then start condition occurred
+  if ( !( usi_pins & USI_PINS_SDA ) )
+  {
+    // a Stop Condition did not occur
+    
+    // Execute callback if this is a repeated start
+    if (in_transaction)
+    {
+        USI_RECEIVE_CALLBACK();
+    }
+
+    USICR =
+         // keep Start Condition Interrupt enabled to detect RESTART
+         ( 1 << USISIE ) |
+         // enable Overflow Interrupt
+         ( 1 << USIOIE ) |
+         // set USI in Two-wire mode, hold SCL low on USI Counter overflow
+         ( 1 << USIWM1 ) | ( 1 << USIWM0 ) |
+         // Shift Register Clock Source = External, positive edge
+         // 4-Bit Counter Source = external, both edges
+         ( 1 << USICS1 ) | ( 0 << USICS0 ) | ( 0 << USICLK ) |
+         // no toggle clock-port pin
+         ( 0 << USITC );
+         
+    //remember that the USI is in a valid i2c transaction
+    in_transaction = 1;
+
+  }
+  else
+  {
+    // a Stop Condition did occur
+
+    USICR =
+         // enable Start Condition Interrupt
+         ( 1 << USISIE ) |
+         // disable Overflow Interrupt
+         ( 0 << USIOIE ) |
+         // set USI in Two-wire mode, no USI Counter overflow hold
+         ( 1 << USIWM1 ) | ( 0 << USIWM0 ) |
+         // Shift Register Clock Source = external, positive edge
+         // 4-Bit Counter Source = external, both edges
+         ( 1 << USICS1 ) | ( 0 << USICS0 ) | ( 0 << USICLK ) |
+         // no toggle clock-port pin
+         ( 0 << USITC );
+
+    //no longer in valid i2c transaction
+    in_transaction = 0;
+    // restore the sleep enable bit
+    MCUCR |= sleep_enable_bit;
+
+  } // end if
+
+  USISR =
+       // clear interrupt flags - resetting the Start Condition Flag will
+       // release SCL
+       ( 1 << USI_START_COND_INT ) | ( 1 << USIOIF ) |
+       ( 1 << USIPF ) |( 1 << USIDC ) |
+       // set USI to sample 8 bits (count 16 external SCL pin toggles)
+       ( 0x0 << USICNT0);
+
+  // no need to restore the SREG. The compiler does this automatically when using the
+  // ISR construct without modifying attributes.
+
+  // The compiler automatically uses an RETI instruction to return when using the
+  // ISR construct without modifying attributes.
+
+} // end ISR( USI_START_VECTOR )
+
+
+
+/********************************************************************************
+
+                                USI Overflow ISR
+
+Handles all the communication.
+
+Only disabled when waiting for a new Start Condition.
+
+********************************************************************************/
+
+ISR( USI_OVERFLOW_VECTOR )
+{
+  uint8_t finished;
+  uint8_t usi_pins;
+
+  // http://www.atmel.com/webdoc/AVRLibcReferenceManual/group__avr__interrupts.html
+
+  // Notes about ISR. The compiler in the Arduino IDE handles some of the
+  // basic ISR plumbing.
+  //   * The AVR processor resets the SREG.I bit when jumping into an ISR
+  //   * The compiler automatically adds code to save the SREG
+  //   * < user's ISR code goes here >
+  //   * The compiler automatically adds code to restore the SREG
+  //   * The compiler automatically uses the RETI instruction to return from the ISR.
+  //     The RETI insturction enables interrupts after the return from ISR.
+  // The compiler behavior can be altered with attributes into the ISR declaration;
+  // however, the description above is the default.
+
+  // cli() call is not necessary. Processor disables interrupts when
+  // jumping to an ISR
+
+  // no need to save the SREG. The compiler does this automatically when using the
+  // ISR construct without modifying attributes.
+
+  // The ISR is only ever entered because the ISR(USI_START_VECTOR) interrupt
+  // routine ran first. That routine saved the sleep mode and disabled sleep.
+
+  // Most of the time this routine exits, it has setup the USI to shift in/out bits
+  // and is expected to re-entered because of the USI overflow interrupt. Track whether or
+  // not the transaction is completely finished.
+  finished = 0;
+
+
+  switch ( overflowState )
+  {
+
+    // Address mode: check address and send ACK (and next USI_SLAVE_SEND_DATA) if OK,
+    // else reset USI
+    case USI_SLAVE_CHECK_ADDRESS:
+      if ( ( USIDR == 0 ) || ( ( USIDR >> 1 ) == slaveAddress) )
+      {
+        if ( USIDR & 0x01 )
+        {
+          overflowState = USI_SLAVE_SEND_DATA;
+        }
+        else
+        {
+          overflowState = USI_SLAVE_REQUEST_DATA;
+        } // end if
+
+        // ack the start frame
+        // sets up the USI to pull SDA low and clock one bit (two edges)
+        SET_USI_TO_SEND_ACK( );
+      }
+      else
+      {
+        SET_USI_TO_TWI_START_CONDITION_MODE( );
+        finished = 1;
+      }
+      break;
+
+    // master-read / slave-send: check reply and goto USI_SLAVE_SEND_DATA if OK,
+    // else reset USI
+    case USI_SLAVE_CHECK_REPLY_FROM_SEND_DATA:
+      // Execute request callback for each byte requested, as this is the intended
+      // behavior of this library
+      USI_REQUEST_CALLBACK();
+      if ( USIDR )
+      {
+        // if NACK, the master does not want more data
+        SET_USI_TO_TWI_START_CONDITION_MODE( );
+        finished = 1;
+        break;
+      }
+      // from here we just drop straight into USI_SLAVE_SEND_DATA if the
+      // master sent an ACK
+
+    // copy data from buffer to USIDR and set USI to shift byte
+    // next USI_SLAVE_REQUEST_REPLY_FROM_SEND_DATA
+    case USI_SLAVE_SEND_DATA:
+      // Get data from Buffer
+      if ( txCount )
+      {
+        USIDR = txBuf[ txTail ];
+        txTail = ( txTail + 1 ) & TWI_TX_BUFFER_MASK;
+        txCount--;
+
+        overflowState = USI_SLAVE_REQUEST_REPLY_FROM_SEND_DATA;
+        SET_USI_TO_SEND_DATA( );
+      }
+      else
+      {
+        // the buffer is empty
+        SET_USI_TO_READ_ACK( ); // This might be neccessary sometimes see http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&p=805227#805227
+        SET_USI_TO_TWI_START_CONDITION_MODE( );
+      } // end if
+      break;
+
+    // set USI to sample reply from master
+    // next USI_SLAVE_CHECK_REPLY_FROM_SEND_DATA
+    case USI_SLAVE_REQUEST_REPLY_FROM_SEND_DATA:
+      overflowState = USI_SLAVE_CHECK_REPLY_FROM_SEND_DATA;
+      SET_USI_TO_READ_ACK( );
+      break;
+
+    // master-send / slave-receive: set USI to sample data from master, next
+    // USI_SLAVE_GET_DATA_AND_SEND_ACK
+    case USI_SLAVE_REQUEST_DATA:
+      overflowState = USI_SLAVE_GET_DATA_AND_SEND_ACK;
+      SET_USI_TO_READ_DATA( );
+
+      // with the SET_USI_TO_READ_DATA() macro call above, the USI has
+      // been setup to catch the next byte if the master sends one.
+      // while that's going on, look for a stop condition here which
+      // is when the SDA line goes high after the SCL line;
+
+      // wait until SCL goes high
+      while  ( ! ( ( usi_pins = PIN_USI & USI_PINS_SCL_SDA ) & USI_PINS_SCL ) );
+
+      // if SDA line was high at SCL edge, then not a stop condition
+      if ( usi_pins & USI_PINS_SDA )
+        break;
+
+      // wait until SCL goes low or SDA goes high
+      while  ( ( usi_pins = PIN_USI & USI_PINS_SCL_SDA ) == USI_PINS_SCL );
+
+      // if both SCL and SDA are high, then stop condition occurred
+      if ( usi_pins == USI_PINS_SCL_SDA )
+      {
+        USI_RECEIVE_CALLBACK();
+        SET_USI_TO_TWI_START_CONDITION_MODE( );
+        finished = 1;
+      }
+
+      break;
+
+    // copy data from USIDR and send ACK
+    // next USI_SLAVE_REQUEST_DATA
+    case USI_SLAVE_GET_DATA_AND_SEND_ACK:
+      // put data into buffer
+      // check buffer size
+      if ( rxCount < TWI_RX_BUFFER_SIZE )
+      {
+        rxBuf[ rxHead ] = USIDR;
+        rxHead = ( rxHead + 1 ) & TWI_RX_BUFFER_MASK;
+        rxCount++;
+      } else {
+        // overrun
+        // drop data
+      }
+      // next USI_SLAVE_REQUEST_DATA
+      overflowState = USI_SLAVE_REQUEST_DATA;
+      SET_USI_TO_SEND_ACK( );
+      break;
+
+  } // end switch
+
+  if (finished)
+  {
+    //no longer in valid i2c transaction
+    in_transaction = 0;
+    // restore the sleep enable bit
+    // note that this allows sleep -- it does not cause sleep
+    MCUCR |= sleep_enable_bit;
+  }
+
+  // no need to restore the SREG. The compiler does this automatically when using the
+  // ISR construct without modifying attributes.
+
+  // The compiler automatically uses an RETI instruction to return when using the
+  // ISR construct without modifying attributes.
+
+} // end ISR( USI_OVERFLOW_VECTOR )
diff --git a/digital-driver-board/firmware/TinyWireS/usiTwiSlave.h b/digital-driver-board/firmware/TinyWireS/usiTwiSlave.h
new file mode 100644
index 0000000..88b9445
--- /dev/null
+++ b/digital-driver-board/firmware/TinyWireS/usiTwiSlave.h
@@ -0,0 +1,96 @@
+/********************************************************************************
+
+Header file for the USI TWI Slave driver.
+
+Created by Donald R. Blake
+donblake at worldnet.att.net
+
+---------------------------------------------------------------------------------
+
+Created from Atmel source files for Application Note AVR312: Using the USI Module
+as an I2C slave.
+
+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; either version 2 of the License, or (at your option) any later
+version.
+
+This program 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 General Public License for more details.
+
+---------------------------------------------------------------------------------
+
+Change Activity:
+
+    Date       Description
+   ------      -------------
+  15 Mar 2007  Created.
+
+********************************************************************************/
+
+
+
+#ifndef _USI_TWI_SLAVE_H_
+#define _USI_TWI_SLAVE_H_
+
+
+
+/********************************************************************************
+
+                                    includes
+
+********************************************************************************/
+
+#include <stdbool.h>
+#include <avr/sleep.h>
+
+
+
+/********************************************************************************
+
+                                   prototypes
+
+********************************************************************************/
+
+void    usiTwiSlaveInit( uint8_t );
+void    usiTwiTransmitByte( uint8_t );
+uint8_t usiTwiReceiveByte( void );
+bool    usiTwiDataInTransmitBuffer(void);
+uint8_t usiTwiAmountDataInReceiveBuffer(void);
+// on_XXX handler pointers
+void    (*usi_onRequestPtr)(void);
+void    (*usi_onReceiverPtr)(uint8_t);
+
+
+/********************************************************************************
+
+                           driver buffer definitions
+
+********************************************************************************/
+
+// permitted RX buffer sizes: 1, 2, 4, 8, 16, 32, 64, 128 or 256
+
+#ifndef TWI_RX_BUFFER_SIZE
+#define TWI_RX_BUFFER_SIZE  ( 16 )
+#endif
+#define TWI_RX_BUFFER_MASK  ( TWI_RX_BUFFER_SIZE - 1 )
+
+#if ( TWI_RX_BUFFER_SIZE & TWI_RX_BUFFER_MASK )
+#  error TWI RX buffer size is not a power of 2
+#endif
+
+// permitted TX buffer sizes: 1, 2, 4, 8, 16, 32, 64, 128 or 256
+
+#ifndef TWI_TX_BUFFER_SIZE
+#define TWI_TX_BUFFER_SIZE ( 16 )
+#endif
+#define TWI_TX_BUFFER_MASK ( TWI_TX_BUFFER_SIZE - 1 )
+
+#if ( TWI_TX_BUFFER_SIZE & TWI_TX_BUFFER_MASK )
+#  error TWI TX buffer size is not a power of 2
+#endif
+
+
+
+#endif  // ifndef _USI_TWI_SLAVE_H_
diff --git a/digital-driver-board/firmware/firmware.ino b/digital-driver-board/firmware/firmware.ino
new file mode 100644
index 0000000..c024bbf
--- /dev/null
+++ b/digital-driver-board/firmware/firmware.ino
@@ -0,0 +1,58 @@
+////////////////////////////////////////////////////////////////////////////////////
+//       Digital Photoreactor Controller Slave Program Controlled by I2C          //
+//                    Run this slave program on the AtTiny85.                     //      
+////////////////////////////////////////////////////////////////////////////////////
+
+#include "TinyWireS.h"                  // wrapper class for I2C slave routines   https://github.com/rambo/TinyWire/tree/master
+
+#define I2C_SLAVE_ADDR  0x26            // I2C slave address (38, 0x26), 
+
+uint8_t master_data[1];               // global buffer to store data sent from the master.
+uint8_t master_bytes;                  // global variable to number of bytes sent from the master.
+
+const int LEDPin = 4;                  //Arduino pin 4, pin 3 on AtTiny85 pinout
+const int FanPin = 1;                  //Arduino pin 1, pin 6 on AtTiny85 pinout
+const int BlinkPin = 3;                //Arduino pin 3, pin 2 on AtTiny85 pinout
+
+void setup()
+{
+  // initialize the TinyWireS and usiTwiSlave libraries
+  TinyWireS.begin(I2C_SLAVE_ADDR);      // init I2C Slave mode
+
+  // register the onReceive() callback function
+  TinyWireS.onReceive(receiveEvent);
+  
+  pinMode(LEDPin, OUTPUT);   // set pin for LED PWM
+  pinMode(FanPin, OUTPUT);   // set pin for Fan PWM
+  pinMode(BlinkPin, OUTPUT); // set pin to blink LED
+  
+  TCCR0B = TCCR0B & 0b11111000 | 0b001; // sets internal timer of AtTiny85 to 31250 Hz for fast PWM for controlling fan speed
+}
+
+// Gets called when the ATtiny85 receives an I2C write slave request
+void receiveEvent(uint8_t num_bytes)
+{
+  uint8_t i;
+  
+  // save the number of bytes sent from the master
+  master_bytes = num_bytes;
+
+  // store the data from the master into the data buffer
+  for (i = 0; i < master_bytes; i++)
+    master_data[i] = TinyWireS.receive();
+
+  // set LED and Fan PWM duty to random byte values recieved from the master
+  analogWrite(FanPin, master_data[0]);
+  analogWrite(LEDPin, master_data[1]);
+
+  // blink LED whenever data is successfuly recieved
+  digitalWrite(BlinkPin, HIGH);
+  delay(10);
+  digitalWrite(BlinkPin, LOW);
+
+}
+
+void loop()
+{
+  
+}
author	Philip Lampkin <plampkin@chem.wisc.edu>	2021-04-24 12:07:04 -0500
committer	Philip Lampkin <plampkin@chem.wisc.edu>	2021-04-24 12:07:04 -0500
commit	40ab1463c3da0c844eedba5c5f52d5ef8af322c4 (patch)
tree	d7984802dbe72f0d203d7b86372ca355ac0c833d /digital-driver-board/firmware
parent	d6df6a65cf04da7ed29e8f09c0bf14c8b2cfb2e6 (diff)