WebSVN - FlightCtrl - Blame - Rev 1639 - /branches/V0.84a_ACC-HH_HR

Rev	Author	Line No.	Line
1	ingob	1	/*############################################################################
		2	############################################################################*/
		3
		4	#include "main.h"
		5
918	hbuss	6	volatile unsigned char twi_state = 0;
1639	holgerb	7	unsigned char motor = 0,TransmitBlConfig = 0;
1210	hbuss	8	unsigned char motorread = 0,MissingMotor = 0;
1479	killagreg	9
		10	MotorData_t Motor[MAX_MOTORS];
		11
1322	hbuss	12	unsigned int I2CError = 0;
1	ingob	13
		14	//############################################################################
		15	//Initzialisieren der I2C (TWI) Schnittstelle
		16	void i2c_init(void)
		17	//############################################################################
		18	{
		19	TWSR = 0;
1479	killagreg	20	TWBR = ((SYSCLK/SCL_CLOCK)-16)/2;
1	ingob	21	}
		22
173	holgerb	23	void i2c_reset(void)
1	ingob	24	//############################################################################
173	holgerb	25	{
1639	holgerb	26	I2C_Stop();
173	holgerb	27	twi_state = 0;
		28	motor = TWDR;
		29	motor = 0;
		30	TWCR = 0x80;
		31	TWAMR = 0;
		32	TWAR = 0;
		33	TWDR = 0;
		34	TWSR = 0;
		35	TWBR = 0;
		36	i2c_init();
1639	holgerb	37	I2C_Start();
173	holgerb	38	i2c_write_byte(0);
		39	}
1639	holgerb	40	/*
173	holgerb	41	//############################################################################
1209	hbuss	42	void i2c_write_byte(char byte)
1	ingob	43	//############################################################################
1479	killagreg	44	{
1	ingob	45	TWSR = 0x00;
		46	TWDR = byte;
		47	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);
		48	}
1639	holgerb	49	*/
1	ingob	50
1639	holgerb	51	/*
1209	hbuss	52	void I2C_WriteByte(int8_t byte)
		53	{
		54	// move byte to send into TWI Data Register
		55	TWDR = byte;
		56	// clear interrupt flag (TWINT = 1)
		57	// enable i2c bus (TWEN = 1)
		58	// enable interrupt (TWIE = 1)
		59	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);
		60	}
1639	holgerb	61	*/
1209	hbuss	62
1638	holgerb	63	/*
1	ingob	64	//############################################################################
		65	SIGNAL (TWI_vect)
		66	//############################################################################
		67	{
1211	hbuss	68	static unsigned char missing_motor;
1210	hbuss	69	switch(twi_state++)
1	ingob	70	{
1210	hbuss	71	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		72	// Writing the Data
		73	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	74	case 0:
1210	hbuss	75	while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used
1479	killagreg	76	if(motor == MAX_MOTORS) // writing finished -> now read
		77	{
		78	motor = 0;
		79	twi_state = 3;
1210	hbuss	80	i2c_write_byte(0x53+(motorread*2));
1479	killagreg	81	}
1209	hbuss	82	else i2c_write_byte(0x52+(motor*2));
1	ingob	83	break;
		84	case 1:
1479	killagreg	85	i2c_write_byte(Motor[motor++].SetPoint);
1111	hbuss	86	break;
		87	case 2:
1479	killagreg	88	if(TWSR == 0x30)
		89	{
		90	if(!missing_motor) missing_motor = motor;
		91	if((Motor[motor-1].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor-1].State++; // increment error counter and handle overflow
1322	hbuss	92	}
1639	holgerb	93	I2C_Stop();
1210	hbuss	94	I2CTimeout = 10;
1209	hbuss	95	twi_state = 0;
1639	holgerb	96	I2C_Start();
1479	killagreg	97	break;
1210	hbuss	98	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		99	// Reading Data
		100	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1111	hbuss	101	case 3:
1211	hbuss	102	//Transmit 1st byte for reading
1210	hbuss	103	if(TWSR != 0x40) // Error?
1479	killagreg	104	{
		105	Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit
		106	motorread++;
1211	hbuss	107	if(motorread >= MAX_MOTORS) motorread = 0;
1639	holgerb	108	I2C_Stop();
1210	hbuss	109	twi_state = 0;
		110	}
1479	killagreg	111	else
1211	hbuss	112	{
1479	killagreg	113	Motor[motorread].State \|= MOTOR_STATE_PRESENT_MASK; // set present bit
1211	hbuss	114	I2C_ReceiveByte();
		115	}
1210	hbuss	116	MissingMotor = missing_motor;
1211	hbuss	117	missing_motor = 0;
1111	hbuss	118	break;
1210	hbuss	119	case 4: //Read 1st byte and transmit 2nd Byte
1479	killagreg	120	Motor[motorread].Current = TWDR;
1209	hbuss	121	I2C_ReceiveLastByte(); //nack
		122	break;
1210	hbuss	123	case 5:
1209	hbuss	124	//Read 2nd byte
1479	killagreg	125	Motor[motorread].MaxPWM = TWDR;
		126	motorread++; // next motor
1211	hbuss	127	if(motorread >= MAX_MOTORS) motorread = 0;
1639	holgerb	128	I2C_Stop();
1209	hbuss	129	twi_state = 0;
1111	hbuss	130	break;
1479	killagreg	131
1210	hbuss	132	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		133	// writing Gyro-Offset
		134	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1479	killagreg	135	case 8:
1111	hbuss	136	i2c_write_byte(0x98); // Address of the DAC
		137	break;
1479	killagreg	138	case 9:
1111	hbuss	139	i2c_write_byte(0x10); // Update Channel A
		140	break;
1479	killagreg	141	case 10:
1111	hbuss	142	i2c_write_byte(AnalogOffsetNick); // Value
		143	break;
1479	killagreg	144	case 11:
1111	hbuss	145	i2c_write_byte(0x80); // Value
		146	break;
1479	killagreg	147	case 12:
1639	holgerb	148	I2C_Stop();
1111	hbuss	149	I2CTimeout = 10;
1639	holgerb	150	I2C_Start();
1111	hbuss	151	break;
1479	killagreg	152	case 13:
1111	hbuss	153	i2c_write_byte(0x98); // Address of the DAC
		154	break;
1479	killagreg	155	case 14:
1111	hbuss	156	i2c_write_byte(0x12); // Update Channel B
		157	break;
1479	killagreg	158	case 15:
1111	hbuss	159	i2c_write_byte(AnalogOffsetRoll); // Value
		160	break;
1479	killagreg	161	case 16:
1111	hbuss	162	i2c_write_byte(0x80); // Value
		163	break;
1479	killagreg	164	case 17:
1639	holgerb	165	I2C_Stop();
1111	hbuss	166	I2CTimeout = 10;
1639	holgerb	167	I2C_Start();
1111	hbuss	168	break;
1479	killagreg	169	case 18:
1111	hbuss	170	i2c_write_byte(0x98); // Address of the DAC
		171	break;
1479	killagreg	172	case 19:
1111	hbuss	173	i2c_write_byte(0x14); // Update Channel C
		174	break;
1479	killagreg	175	case 20:
1111	hbuss	176	i2c_write_byte(AnalogOffsetGier); // Value
		177	break;
1479	killagreg	178	case 21:
1111	hbuss	179	i2c_write_byte(0x80); // Value
		180	break;
1479	killagreg	181	case 22:
1639	holgerb	182	I2C_Stop();
1111	hbuss	183	I2CTimeout = 10;
		184	twi_state = 0;
		185	break;
1209	hbuss	186	default: twi_state = 0;
1479	killagreg	187	break;
1209	hbuss	188	}
1111	hbuss	189	TWCR \|= 0x80;
		190	}
1638	holgerb	191	*/
		192
		193	/*
		194	if(DataArray[3] & 0x01) Parameter.PwmScaling = DataArray[4];
		195	if(DataArray[3] & 0x02) Parameter.MaxStrom = DataArray[5];
		196	if(DataArray[3] & 0x04) Parameter.TemperaturLimiter = DataArray[6];
		197	if(DataArray[3] & 0x08) Parameter.SkaliereStrom = DataArray[7];
		198	if(DataArray[3] & 0x10) Parameter.Bitconfig = DataArray[8];
		199	*/
		200
		201	//############################################################################
		202	SIGNAL (TWI_vect)
		203	//############################################################################
		204	{ // 2 3 4 5 6 7 8 9
		205	unsigned char test[] = {0,0,'#',0x1F,255,30,100,64,0x00,7,8,9,10};
1639	holgerb	206	static unsigned char missing_motor,send = 0,crc = 0, read_temperature = 0;
		207
1638	holgerb	208	switch(twi_state++)
		209	{
		210	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		211	// Writing the Data
		212	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		213	case 0:
		214	while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used
		215	if(motor == MAX_MOTORS) // writing finished -> now read
		216	{
		217	motor = 0;
		218	twi_state = 4;
		219	i2c_write_byte(0x53+(motorread*2));
		220	}
		221	else i2c_write_byte(0x52+(motor*2));
		222	send = 0;
		223	break;
		224	case 1:
		225	i2c_write_byte(Motor[motor].SetPoint);
1639	holgerb	226	if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)/* \|\| !Motor[motor].SetPointLowerBits*/)
		227	twi_state++;
1638	holgerb	228	break;
		229	case 2:
		230	if(!send++)
		231	{
		232	i2c_write_byte((Motor[motor].SetPointLowerBits << 1));// + (7 << 0));
		233	crc = 0xAA;
		234	}
		235	else
1639	holgerb	236	if(send == 9) i2c_write_byte(crc)
1638	holgerb	237	else
		238	{
		239	crc += test[send];
		240	i2c_write_byte(test[send]);
		241	}
1639	holgerb	242	if(TransmitBlConfig && !MotorenEin && motor == motorread && (Motor[motorread].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
		243	{
		244	if(send <= 10) twi_state--;
		245	}
		246
1638	holgerb	247	break;
		248	case 3:
		249	motor++;
		250	if(TWSR == 0x30)
		251	{
		252	if(!missing_motor) missing_motor = motor;
		253	if((Motor[motor-1].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor-1].State++; // increment error counter and handle overflow
		254	}
1639	holgerb	255	I2C_Stop();
1638	holgerb	256	I2CTimeout = 10;
		257	twi_state = 0;
1639	holgerb	258	I2C_Start();
1638	holgerb	259	break;
		260	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		261	// Reading Data
		262	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		263	case 4:
		264	//Transmit 1st byte for reading
		265	if(TWSR != 0x40) // Error?
		266	{
		267	Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit
		268	motorread++;
1639	holgerb	269	if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; }
		270	I2C_Stop();
1638	holgerb	271	twi_state = 0;
		272	}
		273	else
		274	{
		275	Motor[motorread].State \|= MOTOR_STATE_PRESENT_MASK; // set present bit
		276	I2C_ReceiveByte();
		277	}
		278	MissingMotor = missing_motor;
		279	missing_motor = 0;
		280	break;
		281	case 5: //Read 1st byte and transmit 2nd Byte
		282	Motor[motorread].Current = TWDR;
		283	I2C_ReceiveByte(); //nack
		284	break;
		285	case 6:
		286	//Read 2nd byte and transmit 3rd Byte
		287	Motor[motorread].MaxPWM = TWDR;
		288	if(TWDR == 250)
		289	{
		290	Motor[motorread].Version \|= MOTOR_STATE_NEW_PROTOCOL_MASK;
		291	}
1639	holgerb	292	else if(TransmitBlConfig) Motor[motorread].Version = 0;
1638	holgerb	293	I2C_ReceiveLastByte(); //nack
		294	break;
		295	case 7: // read next
		296	Motor[motorread].Temperature = TWDR;
		297	motorread++; // next motor
1639	holgerb	298	if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; }
		299	I2C_Stop();
1638	holgerb	300	twi_state = 0;
		301	break;
		302	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		303	// writing Gyro-Offset
		304	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		305	case 18:
		306	i2c_write_byte(0x98); // Address of the DAC
		307	break;
		308	case 19:
		309	i2c_write_byte(0x10); // Update Channel A
		310	break;
		311	case 20:
		312	i2c_write_byte(AnalogOffsetNick); // Value
		313	break;
		314	case 21:
		315	i2c_write_byte(0x80); // Value
		316	break;
		317	case 22:
1639	holgerb	318	I2C_Stop();
1638	holgerb	319	I2CTimeout = 10;
1639	holgerb	320	I2C_Start();
1638	holgerb	321	break;
		322	case 23:
		323	i2c_write_byte(0x98); // Address of the DAC
		324	break;
		325	case 24:
		326	i2c_write_byte(0x12); // Update Channel B
		327	break;
		328	case 25:
		329	i2c_write_byte(AnalogOffsetRoll); // Value
		330	break;
		331	case 26:
		332	i2c_write_byte(0x80); // Value
		333	break;
		334	case 27:
1639	holgerb	335	I2C_Stop();
1638	holgerb	336	I2CTimeout = 10;
1639	holgerb	337	I2C_Start();
1638	holgerb	338	break;
		339	case 28:
		340	i2c_write_byte(0x98); // Address of the DAC
		341	break;
		342	case 29:
		343	i2c_write_byte(0x14); // Update Channel C
		344	break;
		345	case 30:
		346	i2c_write_byte(AnalogOffsetGier); // Value
		347	break;
		348	case 31:
		349	i2c_write_byte(0x80); // Value
		350	break;
		351	case 32:
1639	holgerb	352	I2C_Stop();
1638	holgerb	353	I2CTimeout = 10;
		354	twi_state = 0;
		355	break;
		356	default: twi_state = 0;
		357	break;
		358	}
		359	TWCR \|= 0x80;
		360	}
1639	holgerb	361

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(root)/branches/V0.84a_ACC-HH_HR_MartinR/twimaster.c - Rev 1639