Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <avr/io.h>

#include <avr/interrupt.h>

#include <util/twi.h>

#include <util/delay.h>

//#include "eeprom.h"

#include "twimaster.h"

//#include "analog.h"

#include "configuration.h"

#include "printf_P.h"

volatile uint8_t twi_state      = TWI_STATE_MOTOR_TX;

volatile uint8_t dac_channel    = 0;

volatile uint8_t motor_write    = 0;

volatile uint8_t motor_read     = 0;

volatile uint16_t I2CTimeout    = 100;

uint8_t missingMotor  = 0;

MotorData_t Motor[MAX_MOTORS];

volatile uint8_t DACValues[4];

uint8_t DACChannel = 0;

#define SCL_CLOCK  200000L

#define I2C_TIMEOUT 30000

/**************************************************

 * Initialize I2C (TWI)                        

 **************************************************/

void I2C_init(void) {

  uint8_t i;

  uint8_t sreg = SREG;

  cli();

  // SDA is INPUT

  DDRC  &= ~(1<<DDC1);

  // SCL is output

  DDRC |= (1<<DDC0);

  // pull up SDA

  PORTC |= (1<<PORTC0)|(1<<PORTC1);

  // TWI Status Register

  // prescaler 1 (TWPS1 = 0, TWPS0 = 0)

  TWSR &= ~((1<<TWPS1)|(1<<TWPS0));

  // set TWI Bit Rate Register

  TWBR = ((SYSCLK/SCL_CLOCK)-16)/2;

  twi_state             = TWI_STATE_MOTOR_TX;

  motor_write           = 0;

  motor_read            = 0;

  for(i=0; i < MAX_MOTORS; i++) {

    Motor[i].SetPoint   = 0;

    Motor[i].Present    = 0;

    Motor[i].Error      = 0;

    Motor[i].MaxPWM     = 0;

  }

  SREG = sreg;

}

/****************************************

 * Start I2C                          

 ****************************************/

void I2C_Start(uint8_t start_state) {

  twi_state = start_state;

  // TWI Control Register

  // clear TWI interrupt flag (TWINT=1)

  // disable TWI Acknowledge Bit (TWEA = 0)

  // enable TWI START Condition Bit (TWSTA = 1), MASTER

  // disable TWI STOP Condition Bit (TWSTO = 0)

  // disable TWI Write Collision Flag (TWWC = 0)

  // enable i2c (TWEN = 1)

  // enable TWI Interrupt (TWIE = 1)

  TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN) | (1<<TWIE);

}

/****************************************

 * Stop I2C                          

 ****************************************/

void I2C_Stop(uint8_t start_state) {

  twi_state = start_state;

  // TWI Control Register

  // clear TWI interrupt flag (TWINT=1)

  // disable TWI Acknowledge Bit (TWEA = 0)

  // diable TWI START Condition Bit (TWSTA = 1), no MASTER

  // enable TWI STOP Condition Bit (TWSTO = 1)

  // disable TWI Write Collision Flag (TWWC = 0)

  // enable i2c (TWEN = 1)

  // disable TWI Interrupt (TWIE = 0)

  TWCR = (1<<TWINT) | (1<<TWSTO) | (1<<TWEN);

}

/****************************************

 *    Write to I2C                      

 ****************************************/

void I2C_WriteByte(int8_t byte) {

  // move byte to send into TWI Data Register

  TWDR = byte;

  // clear interrupt flag (TWINT = 1)

  // enable i2c bus (TWEN = 1)

  // enable interrupt (TWIE = 1)

  TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);

}

/****************************************

 * Receive byte and send ACK        

 ****************************************/

void I2C_ReceiveByte(void) {

  TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);

}

/****************************************

 * I2C receive last byte and send no ACK

 ****************************************/

void I2C_ReceiveLastByte(void){

  TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);

}

/****************************************

 * Reset I2C                        

 ****************************************/

void I2C_Reset(void) {

  // stop i2c bus

  I2C_Stop(TWI_STATE_MOTOR_TX);

  twi_state             = 0;

  motor_write   = TWDR;

  motor_write   = 0;

  motor_read            = 0;

  TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset

  TWAMR = 0;

  TWAR = 0;

  TWDR = 0;

  TWSR = 0;

  TWBR = 0;

  I2C_init();

  I2C_Start(TWI_STATE_MOTOR_TX);

}

/****************************************

 * I2C ISR

 ****************************************/

ISR (TWI_vect) {

  static uint8_t missing_motor  = 0;

  switch (twi_state++) { // First i2c_start from SendMotorData()

    // Master Transmit

  case 0: // TWI_STATE_MOTOR_TX

    // skip motor if not used in mixer

    while((Mixer.Motor[motor_write][MIX_THROTTLE] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;

    if(motor_write >= MAX_MOTORS) { // writing finished, read now

      motor_write = 0;

      twi_state = TWI_STATE_MOTOR_RX;

      I2C_WriteByte(0x53 + (motor_read * 2)); // select slave adress in rx mode

    }

    else I2C_WriteByte(0x52 + (motor_write * 2)); // select slave adress in tx mode

    break;

  case 1: // Send Data to Slave

    I2C_WriteByte(Motor[motor_write].SetPoint); // transmit rotation rate setpoint

    break;

  case 2: // repeat case 0+1 for all motors

    if(TWSR == TW_MT_DATA_NACK) { // Data transmitted, NACK received

      if(!missing_motor) missing_motor = motor_write + 1;

      if(++Motor[motor_write].Error == 0) Motor[motor_write].Error = 255; // increment error counter and handle overflow

    }

    I2C_Stop(TWI_STATE_MOTOR_TX);

    I2CTimeout = 10;

    motor_write++; // next motor

    I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive

    break;

    // Master Receive Data

  case 3:

    if(TWSR != TW_MR_SLA_ACK) { //  SLA+R transmitted, if not ACK received

      // no response from the addressed slave received

      Motor[motor_read].Present = 0;

      motor_read++; // next motor

      if(motor_read >= MAX_MOTORS) motor_read = 0; // restart reading of first motor if we have reached the last one

      I2C_Stop(TWI_STATE_MOTOR_TX);

    } else {

      Motor[motor_read].Present = ('1' - '-') + motor_read;

      I2C_ReceiveByte(); //Transmit 1st byte

    }

    missingMotor = missing_motor;

    missing_motor = 0;

    break;

  case 4: //Read 1st byte and transmit 2nd Byte

    Motor[motor_read].Current = TWDR;

    I2C_ReceiveLastByte(); // nack

    break;

  case 5:

    //Read 2nd byte

    Motor[motor_read].MaxPWM = TWDR;

    motor_read++; // next motor

    if(motor_read >= MAX_MOTORS) motor_read = 0; // restart reading of first motor if we have reached the last one

    I2C_Stop(TWI_STATE_MOTOR_TX);

    break;

    // Writing ADC values.

  case 7:

    I2C_WriteByte(0x98); // Address the DAC

    break;

  case 8:

    I2C_WriteByte(0x10 + (DACChannel << 1)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)

    break;

  case 9:

    I2C_WriteByte(DACValues[DACChannel]);

    break;

  case 10:

    I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80

    break;

  case 11:

    I2C_Stop(TWI_STATE_MOTOR_TX);

    I2CTimeout = 10;

    // repeat case 7...10 until all DAC Channels are updated

    if(DACChannel < 2) {

      DACChannel ++;    // jump to next channel

      I2C_Start(TWI_STATE_GYRO_OFFSET_TX);              // start transmission for next channel

    } else {

      DACChannel = 0; // reset dac channel counter

    }

    break;

  default:

    I2C_Stop(TWI_STATE_MOTOR_TX);

    I2CTimeout = 10;

    motor_write = 0;

    motor_read = 0;

  }

}

extern void twi_diagnostics(void) {

  // Check connected BL-Ctrls

  uint8_t i;

  printf("\n\rFound BL-Ctrl: ");

  for(i = 0; i < MAX_MOTORS; i++) {

    Motor[i].SetPoint = 0;

  }

  I2C_Start(TWI_STATE_MOTOR_TX);

  _delay_ms(2);

  motor_read = 0;  // read the first I2C-Data

  for(i = 0; i < MAX_MOTORS; i++) {

    I2C_Start(TWI_STATE_MOTOR_TX);

    _delay_ms(2);

    if(Motor[i].Present) printf("%d ",i+1);

  }

  for(i = 0; i < MAX_MOTORS; i++) {

    if(!Motor[i].Present && Mixer.Motor[i][MIX_THROTTLE] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i + 1);

    Motor[i].Error = 0;

  }

}