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| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + 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 "main.h" |
| #include "eeprom.h" |
| #include "twimaster.h" |
| #include "fc.h" |
| #include "analog.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]; |
| |
| #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_GAS] <= 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 Gyro-Offsets |
| case 7: |
| I2C_WriteByte(0x98); // Address the DAC |
| break; |
| |
| case 8: |
| I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
| break; |
| |
| case 9: |
| switch(dac_channel) |
| { |
| case 0: |
| I2C_WriteByte(DacOffsetGyroNick); // 1st byte for Channel A |
| break; |
| case 1: |
| I2C_WriteByte(DacOffsetGyroRoll); // 1st byte for Channel B |
| break; |
| case 2: |
| I2C_WriteByte(DacOffsetGyroYaw ); // 1st byte for Channel C |
| break; |
| } |
| 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(dac_channel < 2) |
| { |
| dac_channel ++; // jump to next channel |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
| } |
| else |
| { // data to last motor send |
| dac_channel = 0; // reset dac channel counter |
| } |
| break; |
| |
| default: |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2CTimeout = 10; |
| motor_write = 0; |
| motor_read = 0; |
| } |
| } |