WebSVN - FlightCtrl - Blame - Rev 1180 - /branches/V0.72p Code Redesign killagreg/twimaster.c

Rev	Author	Line No.	Line
1180	killagreg	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2	// + Copyright (c) 04.2007 Holger Buss
		3	// + Nur f�r den privaten Gebrauch
		4	// + www.MikroKopter.com
		5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		6	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
		7	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
		8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
		9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
		10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
		11	// + Verkauf von Luftbildaufnahmen, usw.
		12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
		14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
		15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
		17	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
		18	// + eindeutig als Ursprung verlinkt werden
		19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		20	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
		21	// + Benutzung auf eigene Gefahr
		22	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
		23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
		25	// + mit unserer Zustimmung zul�ssig
		26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
		28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
		30	// + this list of conditions and the following disclaimer.
		31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
		32	// + from this software without specific prior written permission.
		33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
		34	// + for non-commercial use (directly or indirectly)
		35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
		36	// + with our written permission
		37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
		38	// + clearly linked as origin
		39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
		40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
		41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		48	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
		49	// + POSSIBILITY OF SUCH DAMAGE.
		50	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	51
886	killagreg	52	#include <avr/io.h>
		53	#include <avr/interrupt.h>
		54
1	ingob	55	#include "main.h"
886	killagreg	56	#include "twimaster.h"
		57	#include "fc.h"
936	killagreg	58	#include "analog.h"
1	ingob	59
936	killagreg	60	volatile uint8_t twi_state = 0;
1180	killagreg	61	uint8_t motor_write = 0;
		62	uint8_t motor_read = 0;
936	killagreg	63	volatile uint8_t dac_channel = 0;
1180	killagreg	64
		65	#ifdef USE_QUADRO
		66	uint8_t motor_rx[8];
		67	#else
		68	uint8_t motor_rx[16];
		69	#endif
		70
936	killagreg	71	volatile uint16_t I2CTimeout = 100;
1	ingob	72
936	killagreg	73
		74	#define SCL_CLOCK 200000L
		75	#define I2C_TIMEOUT 30000
		76
		77	#define TWSR_STATUS_MASK 0xF8
		78	// for Master Transmitter Mode
		79
		80	#define I2C_STATUS_START 0x08
		81	#define I2C_STATUS_REPEATSTART 0x10
		82	#define I2C_STATUS_TX_SLA_ACK 0x18
		83	#define I2C_STATUS_SLAW_NOACK 0x20
		84	#define I2C_STATUS_TX_DATA_ACK 0x28
		85	#define I2C_STATUS_TX_DATA_NOTACK 0x30
		86	#define I2C_STATUS_RX_DATA_ACK 0x50
		87	#define I2C_STATUS_RX_DATA_NOTACK 0x58
		88
886	killagreg	89	/**************************************************/
		90	/* Initialize I2C (TWI) */
		91	/**************************************************/
		92	void I2C_Init(void)
1	ingob	93	{
886	killagreg	94	uint8_t sreg = SREG;
		95	cli();
		96
		97	// SDA is INPUT
		98	DDRC &= ~(1<<DDC1);
		99	// SCL is output
		100	DDRC \|= (1<<DDC0);
		101	// pull up SDA
		102	PORTC \|= (1<<PORTC0)\|(1<<PORTC1);
		103
		104	// TWI Status Register
		105	// prescaler 1 (TWPS1 = 0, TWPS0 = 0)
		106	TWSR &= ~((1<<TWPS1)\|(1<<TWPS0));
		107
		108	// set TWI Bit Rate Register
		109	TWBR = ((SYSCLK/SCL_CLOCK)-16)/2;
		110
936	killagreg	111	twi_state = 0;
		112	motor_write = 0;
		113	motor_read = 0;
		114
886	killagreg	115	SREG = sreg;
1	ingob	116	}
		117
886	killagreg	118	/****************************************/
		119	/* Start I2C */
		120	/****************************************/
		121	void I2C_Start(void)
1	ingob	122	{
886	killagreg	123	// TWI Control Register
		124	// clear TWI interrupt flag (TWINT=1)
		125	// disable TWI Acknowledge Bit (TWEA = 0)
		126	// enable TWI START Condition Bit (TWSTA = 1), MASTER
		127	// disable TWI STOP Condition Bit (TWSTO = 0)
		128	// disable TWI Write Collision Flag (TWWC = 0)
936	killagreg	129	// enable i2c (TWEN = 1)
886	killagreg	130	// enable TWI Interrupt (TWIE = 1)
		131	TWCR = (1<<TWINT) \| (1<<TWSTA) \| (1<<TWEN) \| (1<<TWIE);
1	ingob	132	}
		133
886	killagreg	134	/****************************************/
		135	/* Stop I2C */
		136	/****************************************/
		137	void I2C_Stop(void)
1	ingob	138	{
886	killagreg	139	// TWI Control Register
		140	// clear TWI interrupt flag (TWINT=1)
		141	// disable TWI Acknowledge Bit (TWEA = 0)
		142	// diable TWI START Condition Bit (TWSTA = 1), no MASTER
		143	// enable TWI STOP Condition Bit (TWSTO = 1)
		144	// disable TWI Write Collision Flag (TWWC = 0)
936	killagreg	145	// enable i2c (TWEN = 1)
886	killagreg	146	// disable TWI Interrupt (TWIE = 0)
		147	TWCR = (1<<TWINT) \| (1<<TWSTO) \| (1<<TWEN);
1	ingob	148	}
		149
173	holgerb	150
886	killagreg	151	/****************************************/
		152	/* Write to I2C */
		153	/****************************************/
		154	void I2C_WriteByte(int8_t byte)
		155	{
		156	// move byte to send into TWI Data Register
1	ingob	157	TWDR = byte;
886	killagreg	158	// clear interrupt flag (TWINT = 1)
		159	// enable i2c bus (TWEN = 1)
936	killagreg	160	// enable interrupt (TWIE = 1)
1	ingob	161	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);
		162	}
		163
886	killagreg	164
		165	/****************************************/
		166	/* Receive byte and send ACK */
		167	/****************************************/
		168	void I2C_ReceiveByte(void)
1	ingob	169	{
886	killagreg	170	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE) \| (1<<TWEA);
		171	}
		172
		173	/****************************************/
		174	/* I2C receive last byte and send no ACK*/
		175	/****************************************/
		176	void I2C_ReceiveLastByte(void)
		177	{
		178	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);
		179	}
		180
		181
		182	/****************************************/
936	killagreg	183	/* Reset I2C */
		184	/****************************************/
		185	void I2C_Reset(void)
		186	{
		187	// stop i2c bus
		188	I2C_Stop();
		189	twi_state = 0;
		190	motor_write = TWDR;
		191	motor_write = 0;
		192	motor_read = 0;
		193	TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset
		194	TWAMR = 0;
		195	TWAR = 0;
		196	TWDR = 0;
		197	TWSR = 0;
		198	TWBR = 0;
		199	I2C_Init();
		200	I2C_Start();
		201	I2C_WriteByte(0);
		202	}
		203
1180	killagreg	204
936	killagreg	205	/****************************************/
886	killagreg	206	/* I2C ISR */
		207	/****************************************/
1180	killagreg	208
		209	#ifdef USE_QUADRO
886	killagreg	210	ISR (TWI_vect)
		211	{
		212
936	killagreg	213	switch (twi_state++) // First i2c_start from SendMotorData()
		214	{
886	killagreg	215	// Master Transmit
		216	case 0: // Send SLA-W
936	killagreg	217	I2C_WriteByte(0x52 + (motor_write * 2) );
1	ingob	218	break;
936	killagreg	219	case 1: // Send Data to Slave
		220	switch(motor_write)
		221	{
1	ingob	222	case 0:
1180	killagreg	223	I2C_WriteByte(Motor1);
1	ingob	224	break;
886	killagreg	225	case 1:
1180	killagreg	226	I2C_WriteByte(Motor2);
1	ingob	227	break;
		228	case 2:
1180	killagreg	229	I2C_WriteByte(Motor3);
1	ingob	230	break;
		231	case 3:
1180	killagreg	232	I2C_WriteByte(Motor4);
1	ingob	233	break;
936	killagreg	234	}
1	ingob	235	break;
936	killagreg	236	case 2: // repeat case 0+1 for all motors
		237	I2C_Stop();
		238	if (motor_write < 3)
		239	{
		240	motor_write++; // jump to next motor
		241	twi_state = 0; // and repeat from state 0
		242	}
		243	else
		244	{ // data to last motor send
		245	motor_write = 0; // reset motor write counter
		246	}
952	killagreg	247	I2C_Start(); // Repeated start -> switch slave or switch Master Transmit -> Master Receive
1	ingob	248	break;
886	killagreg	249
		250	// Master Receive
		251	case 3: // Send SLA-R
936	killagreg	252	I2C_WriteByte(0x53 + (motor_read * 2) );
886	killagreg	253	break;
1	ingob	254	case 4:
886	killagreg	255	//Transmit 1st byte
		256	I2C_ReceiveByte();
1	ingob	257	break;
886	killagreg	258	case 5: //Read 1st byte and transmit 2nd Byte
936	killagreg	259	motor_rx[motor_read] = TWDR;
886	killagreg	260	I2C_ReceiveLastByte();
		261	break;
		262	case 6:
		263	//Read 2nd byte
936	killagreg	264	motor_rx[motor_read + 4] = TWDR;
		265	motor_read++;
		266	if (motor_read > 3) motor_read = 0;
		267	I2C_Stop();
		268	twi_state = 0;
		269	I2CTimeout = 10;
		270	break;
173	holgerb	271
936	killagreg	272	// Gyro-Offsets
		273	case 7:
		274	I2C_WriteByte(0x98); // Address the DAC
		275	break;
		276
		277	case 8:
		278	I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)
		279	break;
		280
		281	case 9:
		282	switch(dac_channel)
		283	{
		284	case 0:
1180	killagreg	285	I2C_WriteByte(DacOffsetGyroNick); // 1st byte for Channel A
936	killagreg	286	break;
		287	case 1:
1180	killagreg	288	I2C_WriteByte(DacOffsetGyroRoll); // 1st byte for Channel B
936	killagreg	289	break;
		290	case 2:
1180	killagreg	291	I2C_WriteByte(DacOffsetGyroYaw ); // 1st byte for Channel C
936	killagreg	292	break;
		293	}
		294	break;
		295
		296	case 10:
		297	I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
		298	break;
		299
		300	case 11:
		301	I2C_Stop();
		302	I2CTimeout = 10;
		303	// repeat case 7...10 until all DAC Channels are updated
		304	if(dac_channel < 2)
		305	{
		306	dac_channel ++; // jump to next channel
		307	twi_state = 7; // and repeat from state 7
		308	I2C_Start(); // start transmission for next channel
		309	}
		310	else
		311	{ // data to last motor send
		312	dac_channel = 0; // reset dac channel counter
		313	twi_state = 0; // reset twi_state
		314	}
		315	break;
		316
886	killagreg	317	default:
		318	I2C_Stop();
		319	twi_state = 0;
173	holgerb	320	I2CTimeout = 10;
936	killagreg	321	motor_write = 0;
		322	motor_read = 0;
		323	}
1	ingob	324	}
1180	killagreg	325	#else // USE_OCTO, USE_OCTO2, USE_OCTO3
		326	ISR (TWI_vect)
		327	{
		328
		329	switch (twi_state++) // First i2c_start from SendMotorData()
		330	{
		331	// Master Transmit
		332	case 0: // Send SLA-W
		333	I2C_WriteByte(0x52 + (motor_write * 2) );
		334	break;
		335	case 1: // Send Data to Slave
		336	switch(motor_write)
		337	{
		338	case 0:
		339	I2C_WriteByte(Motor1);
		340	break;
		341	case 1:
		342	I2C_WriteByte(Motor2);
		343	break;
		344	case 2:
		345	I2C_WriteByte(Motor3);
		346	break;
		347	case 3:
		348	I2C_WriteByte(Motor4);
		349	break;
		350	case 5:
		351	I2C_WriteByte(Motor5);
		352	break;
		353	case 6:
		354	I2C_WriteByte(Motor6);
		355	break;
		356	case 7:
		357	I2C_WriteByte(Motor7);
		358	break;
		359	case 8:
		360	I2C_WriteByte(Motor8);
		361	break;
		362	}
		363	break;
		364	case 2: // repeat case 0+1 for all motors
		365	I2C_Stop();
		366	if (motor_write < 7)
		367	{
		368	motor_write++; // jump to next motor
		369	twi_state = 0; // and repeat from state 0
		370	}
		371	else
		372	{ // data to last motor send
		373	motor_write = 0; // reset motor write counter
		374	}
		375	I2C_Start(); // Repeated start -> switch slave or switch Master Transmit -> Master Receive
		376	break;
		377
		378	// Master Receive
		379	case 3: // Send SLA-R
		380	I2C_WriteByte(0x53 + (motor_read * 2) );
		381	break;
		382	case 4:
		383	//Transmit 1st byte
		384	I2C_ReceiveByte();
		385	break;
		386	case 5: //Read 1st byte and transmit 2nd Byte
		387	motor_rx[motor_read] = TWDR;
		388	I2C_ReceiveLastByte();
		389	break;
		390	case 6:
		391	//Read 2nd byte
		392	motor_rx[motor_read + 8] = TWDR;
		393	motor_read++;
		394	if (motor_read > 7) motor_read = 0;
		395	I2C_Stop();
		396	twi_state = 0;
		397	I2CTimeout = 10;
		398	break;
		399
		400	// Gyro-Offsets
		401	case 7:
		402	I2C_WriteByte(0x98); // Address the DAC
		403	break;
		404
		405	case 8:
		406	I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)
		407	break;
		408
		409	case 9:
		410	switch(dac_channel)
		411	{
		412	case 0:
		413	I2C_WriteByte(DacOffsetGyroNick); // 1st byte for Channel A
		414	break;
		415	case 1:
		416	I2C_WriteByte(DacOffsetGyroRoll); // 1st byte for Channel B
		417	break;
		418	case 2:
		419	I2C_WriteByte(DacOffsetGyroYaw ); // 1st byte for Channel C
		420	break;
		421	}
		422	break;
		423
		424	case 10:
		425	I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
		426	break;
		427
		428	case 11:
		429	I2C_Stop();
		430	I2CTimeout = 10;
		431	// repeat case 7...10 until all DAC Channels are updated
		432	if(dac_channel < 2)
		433	{
		434	dac_channel ++; // jump to next channel
		435	twi_state = 7; // and repeat from state 7
		436	I2C_Start(); // start transmission for next channel
		437	}
		438	else
		439	{ // data to last motor send
		440	dac_channel = 0; // reset dac channel counter
		441	twi_state = 0; // reset twi_state
		442	}
		443	break;
		444
		445	default:
		446	I2C_Stop();
		447	twi_state = 0;
		448	I2CTimeout = 10;
		449	motor_write = 0;
		450	motor_read = 0;
		451	}
		452	}
		453	#endif // USE_OCTO, USE_OCTO2
		454

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