Rev 1644 | Rev 1650 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
||
| 3 | |||
| 4 | #include "main.h" |
||
| 5 | |||
| 918 | hbuss | 6 | volatile unsigned char twi_state = 0; |
| 1648 | killagreg | 7 | unsigned char motor = 0; |
| 1210 | hbuss | 8 | unsigned char motorread = 0,MissingMotor = 0; |
| 1648 | killagreg | 9 | unsigned char BLFlags = 0; |
| 1479 | killagreg | 10 | |
| 11 | MotorData_t Motor[MAX_MOTORS]; |
||
| 1648 | killagreg | 12 | BLConfig_t BLConfig[MAX_MOTORS]; |
| 1479 | killagreg | 13 | |
| 1648 | killagreg | 14 | unsigned char *pTxBuff = (uint8_t*)&BLConfig[0]; |
| 15 | |||
| 1322 | hbuss | 16 | unsigned int I2CError = 0; |
| 1 | ingob | 17 | |
| 1648 | killagreg | 18 | #define BL_CONF_SYNC_BYTE '#' |
| 19 | |||
| 1 | ingob | 20 | //############################################################################ |
| 21 | //Initzialisieren der I2C (TWI) Schnittstelle |
||
| 22 | void i2c_init(void) |
||
| 23 | //############################################################################ |
||
| 24 | { |
||
| 1648 | killagreg | 25 | unsigned char i; |
| 26 | |||
| 27 | TWSR = 0; |
||
| 28 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
||
| 29 | |||
| 30 | for(i=0; i < MAX_MOTORS; i++) |
||
| 31 | { |
||
| 32 | Motor[i].Version = 0; |
||
| 33 | Motor[i].SetPoint = 0; |
||
| 34 | Motor[i].SetPointLowerBits = 0; |
||
| 35 | Motor[i].State = 0; |
||
| 36 | Motor[i].Current = 0; |
||
| 37 | Motor[i].MaxPWM = 0; |
||
| 38 | BLConfig[i].SetMask = MASK_SET_PWM_SCALING|MASK_SET_CURRENT_LIMIT|MASK_SET_TEMP_LIMIT|MASK_SET_CURRENT_SCALING|MASK_SET_BITCONFIG; |
||
| 39 | BLConfig[i].PwmScaling = 255; // MaxPWM |
||
| 40 | BLConfig[i].CurrentLimit = 30; // Current Limit in A |
||
| 41 | BLConfig[i].TempLimit = 99; // Temperature Limit in °C |
||
| 42 | BLConfig[i].CurrentScaling = 64; // Current Scaling |
||
| 43 | BLConfig[i].BitConfig = 0; // BitConfig |
||
| 44 | } |
||
| 1 | ingob | 45 | } |
| 46 | |||
| 173 | holgerb | 47 | void i2c_reset(void) |
| 1 | ingob | 48 | //############################################################################ |
| 173 | holgerb | 49 | { |
| 1648 | killagreg | 50 | I2C_Stop(); |
| 51 | twi_state = 0; |
||
| 52 | motor = TWDR; |
||
| 53 | motor = 0; |
||
| 54 | TWCR = 0x80; |
||
| 55 | TWAMR = 0; |
||
| 56 | TWAR = 0; |
||
| 57 | TWDR = 0; |
||
| 58 | TWSR = 0; |
||
| 59 | TWBR = 0; |
||
| 60 | i2c_init(); |
||
| 61 | I2C_Start(); |
||
| 62 | i2c_write_byte(0); |
||
| 173 | holgerb | 63 | } |
| 1 | ingob | 64 | |
| 1648 | killagreg | 65 | |
| 1 | ingob | 66 | //############################################################################ |
| 67 | SIGNAL (TWI_vect) |
||
| 68 | //############################################################################ |
||
| 69 | { |
||
| 1648 | killagreg | 70 | static unsigned char missing_motor = 0, byte_counter = 0, crc = 0, read_more = 0, motorread_temperature = 0; |
| 71 | J4High; |
||
| 72 | switch(twi_state++) |
||
| 73 | { |
||
| 1210 | hbuss | 74 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 75 | // Writing the Data |
||
| 76 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1648 | killagreg | 77 | case 0: |
| 78 | while(Mixer.Motor[motor][MIX_GAS] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
||
| 79 | if(motor == MAX_MOTORS) // writing finished -> now read |
||
| 80 | { |
||
| 81 | motor = 0; |
||
| 82 | twi_state = 5; |
||
| 83 | i2c_write_byte(0x53+(motorread*2)); |
||
| 84 | } |
||
| 1209 | hbuss | 85 | else i2c_write_byte(0x52+(motor*2)); |
| 1648 | killagreg | 86 | break; |
| 87 | case 1: |
||
| 88 | i2c_write_byte(Motor[motor].SetPoint); |
||
| 89 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) ) |
||
| 90 | { |
||
| 91 | twi_state = 4; //jump over sending more data |
||
| 92 | } |
||
| 93 | else if(!(Motor[motor].SetPointLowerBits || (BLFlags & BLFLAG_SEND_CONFIG))) |
||
| 94 | { |
||
| 95 | twi_state = 4; // skip state |
||
| 96 | } |
||
| 97 | break; |
||
| 98 | case 2: // lower bits of setpoint (higher resolution) |
||
| 99 | i2c_write_byte((Motor[motor].SetPointLowerBits << 1) & 0x07); // send the lower bits of setpoint |
||
| 100 | // transmit config only on demand and the motors are not running and only for one motor per round trip |
||
| 101 | if( (BLFlags & BLFLAG_SEND_CONFIG) && !MotorenEin && (motor == motorread)) |
||
| 102 | { // prepare sending of configuration |
||
| 103 | byte_counter = 0; // reset send byte counter |
||
| 104 | crc = 0xAA; // init checksum |
||
| 105 | } |
||
| 106 | else |
||
| 107 | { // jump to state for end of transmission for that motor |
||
| 108 | twi_state = 4; |
||
| 109 | } |
||
| 110 | break; |
||
| 111 | case 3: |
||
| 112 | if(!byte_counter) // first byte? |
||
| 113 | { |
||
| 114 | i2c_write_byte(BL_CONF_SYNC_BYTE); |
||
| 115 | crc += BL_CONF_SYNC_BYTE; // update crc |
||
| 116 | pTxBuff = (uint8_t*)&BLConfig[motor]; // select configuration for motor |
||
| 117 | } |
||
| 118 | else if(byte_counter >= sizeof(BLConfig_t)+1) // last byte? |
||
| 119 | { // send crc byte at the end |
||
| 120 | i2c_write_byte(crc); |
||
| 121 | } |
||
| 122 | else // transmit configuration to BLs |
||
| 123 | { |
||
| 124 | i2c_write_byte(pTxBuff[byte_counter-1]); // submit next byte |
||
| 125 | crc += pTxBuff[byte_counter-1]; // update crc |
||
| 126 | twi_state = 3; // stay in this state |
||
| 127 | } |
||
| 128 | byte_counter++; // next byte |
||
| 129 | break; |
||
| 130 | case 4: |
||
| 131 | |||
| 132 | if(TWSR == 0x30) |
||
| 133 | { |
||
| 134 | if(!missing_motor) missing_motor = motor + 1; |
||
| 135 | if((Motor[motor].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor].State++; // increment error counter and handle overflow |
||
| 136 | } |
||
| 137 | I2C_Stop(); |
||
| 138 | I2CTimeout = 10; |
||
| 139 | motor++; |
||
| 140 | twi_state = 0; |
||
| 141 | I2C_Start(); |
||
| 142 | break; |
||
| 1210 | hbuss | 143 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 144 | // Reading Data |
||
| 145 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 146 | case 5: |
||
| 1648 | killagreg | 147 | //Transmit 1st byte for reading |
| 148 | if(TWSR != 0x40) // Error? |
||
| 149 | { |
||
| 150 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
||
| 151 | if(++motorread >= MAX_MOTORS) |
||
| 1638 | holgerb | 152 | { |
| 1648 | killagreg | 153 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
| 154 | motorread = 0; |
||
| 155 | if(++motorread_temperature >= MAX_MOTORS) |
||
| 156 | { |
||
| 157 | motorread_temperature = 0; |
||
| 158 | BLFlags &= ~BLFLAG_READ_VERSION; |
||
| 159 | } |
||
| 160 | } |
||
| 161 | I2C_Stop(); |
||
| 162 | twi_state = 0; |
||
| 163 | BLFlags |= BLFLAG_TX_COMPLETE; |
||
| 164 | } |
||
| 165 | else |
||
| 166 | { |
||
| 167 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
||
| 168 | if(motorread == motorread_temperature) |
||
| 169 | { |
||
| 170 | read_more = 1; |
||
| 171 | I2C_ReceiveByte(); |
||
| 172 | } |
||
| 1638 | holgerb | 173 | else |
| 1648 | killagreg | 174 | { |
| 175 | read_more = 0; |
||
| 176 | I2C_ReceiveLastByte(); |
||
| 1642 | killagreg | 177 | } |
| 1648 | killagreg | 178 | } |
| 179 | MissingMotor = missing_motor; |
||
| 180 | missing_motor = 0; |
||
| 181 | break; |
||
| 182 | case 6: //Read 1st byte and transmit 2nd Byte |
||
| 1638 | holgerb | 183 | Motor[motorread].Current = TWDR; |
| 1648 | killagreg | 184 | if(read_more) |
| 185 | { |
||
| 186 | I2C_ReceiveByte() //ack |
||
| 187 | |||
| 188 | } |
||
| 1643 | holgerb | 189 | else |
| 1648 | killagreg | 190 | { |
| 191 | if(++motorread >= MAX_MOTORS) |
||
| 192 | { |
||
| 193 | motorread = 0; // restart from beginning |
||
| 194 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
||
| 195 | if(++motorread_temperature >= MAX_MOTORS) |
||
| 196 | { |
||
| 197 | motorread_temperature = 0; |
||
| 198 | BLFlags &= ~BLFLAG_READ_VERSION; |
||
| 199 | } |
||
| 200 | } |
||
| 1643 | holgerb | 201 | I2C_Stop(); |
| 202 | twi_state = 0; |
||
| 1648 | killagreg | 203 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 204 | } |
||
| 1638 | holgerb | 205 | break; |
| 1648 | killagreg | 206 | case 7: |
| 1638 | holgerb | 207 | //Read 2nd byte and transmit 3rd Byte |
| 208 | Motor[motorread].MaxPWM = TWDR; |
||
| 1648 | killagreg | 209 | if(BLFlags & BLFLAG_READ_VERSION) |
| 210 | { |
||
| 211 | if(TWDR == 250) |
||
| 212 | { |
||
| 213 | if(!MotorenEin) Motor[motorread].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
||
| 214 | } |
||
| 215 | else |
||
| 216 | { |
||
| 217 | Motor[motorread].Version = 0; |
||
| 218 | } |
||
| 219 | } |
||
| 1638 | holgerb | 220 | I2C_ReceiveLastByte(); //nack |
| 221 | break; |
||
| 1648 | killagreg | 222 | case 8: // read next |
| 1638 | holgerb | 223 | Motor[motorread].Temperature = TWDR; |
| 1648 | killagreg | 224 | if(++motorread >= MAX_MOTORS) |
| 225 | { |
||
| 226 | motorread = 0; // restart reading of first motor |
||
| 227 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
||
| 228 | if(++motorread_temperature >= MAX_MOTORS) |
||
| 229 | { |
||
| 230 | motorread_temperature = 0; |
||
| 231 | BLFlags &= ~BLFLAG_READ_VERSION; |
||
| 232 | } |
||
| 233 | } |
||
| 1639 | holgerb | 234 | I2C_Stop(); |
| 1648 | killagreg | 235 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 1638 | holgerb | 236 | twi_state = 0; |
| 1643 | holgerb | 237 | break; |
| 1638 | holgerb | 238 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 239 | // writing Gyro-Offset |
||
| 240 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 241 | case 18: |
||
| 242 | i2c_write_byte(0x98); // Address of the DAC |
||
| 243 | break; |
||
| 244 | case 19: |
||
| 245 | i2c_write_byte(0x10); // Update Channel A |
||
| 246 | break; |
||
| 247 | case 20: |
||
| 248 | i2c_write_byte(AnalogOffsetNick); // Value |
||
| 249 | break; |
||
| 250 | case 21: |
||
| 251 | i2c_write_byte(0x80); // Value |
||
| 252 | break; |
||
| 253 | case 22: |
||
| 1639 | holgerb | 254 | I2C_Stop(); |
| 1638 | holgerb | 255 | I2CTimeout = 10; |
| 1639 | holgerb | 256 | I2C_Start(); |
| 1638 | holgerb | 257 | break; |
| 258 | case 23: |
||
| 259 | i2c_write_byte(0x98); // Address of the DAC |
||
| 260 | break; |
||
| 261 | case 24: |
||
| 262 | i2c_write_byte(0x12); // Update Channel B |
||
| 263 | break; |
||
| 264 | case 25: |
||
| 265 | i2c_write_byte(AnalogOffsetRoll); // Value |
||
| 266 | break; |
||
| 267 | case 26: |
||
| 268 | i2c_write_byte(0x80); // Value |
||
| 269 | break; |
||
| 270 | case 27: |
||
| 1639 | holgerb | 271 | I2C_Stop(); |
| 1638 | holgerb | 272 | I2CTimeout = 10; |
| 1639 | holgerb | 273 | I2C_Start(); |
| 1638 | holgerb | 274 | break; |
| 275 | case 28: |
||
| 276 | i2c_write_byte(0x98); // Address of the DAC |
||
| 277 | break; |
||
| 278 | case 29: |
||
| 279 | i2c_write_byte(0x14); // Update Channel C |
||
| 280 | break; |
||
| 281 | case 30: |
||
| 282 | i2c_write_byte(AnalogOffsetGier); // Value |
||
| 283 | break; |
||
| 284 | case 31: |
||
| 285 | i2c_write_byte(0x80); // Value |
||
| 286 | break; |
||
| 287 | case 32: |
||
| 1639 | holgerb | 288 | I2C_Stop(); |
| 1638 | holgerb | 289 | I2CTimeout = 10; |
| 290 | twi_state = 0; |
||
| 291 | break; |
||
| 292 | default: twi_state = 0; |
||
| 293 | break; |
||
| 1648 | killagreg | 294 | } |
| 295 | TWCR |= 0x80; |
||
| 296 | J4Low; |
||
| 1638 | holgerb | 297 | } |
| 1639 | holgerb | 298 | |
| 1648 | killagreg | 299 | void I2C_SendBLConfig(void) |
| 300 | { |
||
| 301 | unsigned char i; |
||
| 302 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
||
| 303 | BLFlags |= BLFLAG_SEND_CONFIG; // enable sending of BL config |
||
| 304 | for(i = 0; i < MAX_MOTORS; i++) |
||
| 305 | { |
||
| 306 | Motor[i].SetPoint = 0; |
||
| 307 | Motor[i].SetPointLowerBits = 0; |
||
| 308 | } |
||
| 309 | motorread = 0; |
||
| 310 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
||
| 311 | do |
||
| 312 | { |
||
| 313 | twi_state = 0; |
||
| 314 | I2C_Start(); // start an i2c transmission |
||
| 315 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
||
| 316 | }while(BLFlags & BLFLAG_SEND_CONFIG); // repeat until the BL config has been send to all motors |
||
| 317 | } |
||
| 318 | |||
| 319 | |||
| 320 |