WebSVN - FlightCtrl - Diff - Rev 1743 and 1744 - /branches/V0.84a_ACC-HH_HR



 
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 uint8_t I2C_TransferActive = 0;

 

 
void I2C_Reset(void)
{
        // stop i2c bus
 
 
        I2C_Stop(TWI_STATE_MOTOR_TX);
        TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset
        TWAMR = 0;
        TWAR = 0;
        TWDR = 0;
        TWSR = 0;
        TWBR = 0;
    I2C_TransferActive = 0;    
        I2C_Init(0);
        I2C_WriteByte(0);
        BLFlags |= BLFLAG_READ_VERSION;

 
    switch (twi_state++)
        {
                // Master Transmit
 
        case 0: // TWI_STATE_MOTOR_TX
            I2C_TransferActive = 1;
                        // 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
                        {

                        }
                        else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode
                        break;
        case 1: // Send Data to Slave
                        I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint
if(Motor[motor_write].SetPoint == 0) if(MotorenEin) DebugOut.Analog[17]++;
                        // if old version has been detected
                        if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
                        {
                                twi_state = 4; //jump over sending more data
                        }

                                                BLFlags &= ~BLFLAG_READ_VERSION;
                                        }
                                }
                                BLFlags |= BLFLAG_TX_COMPLETE;
                                I2C_Stop(TWI_STATE_MOTOR_TX);
                                I2C_TransferActive = 0;
                        }
                        else
                        {       // motor successfully addressed
                                Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit
 
                                if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)
                                {
                                        // new BL found
                                        switch(Motor[motor_read].ReadMode)
                                        {

                                                BLFlags &= ~BLFLAG_READ_VERSION;
                                        }
                                }
                                I2C_Stop(TWI_STATE_MOTOR_TX);
                                BLFlags |= BLFLAG_TX_COMPLETE;
                I2C_TransferActive = 0;
                                return;
                        }
                        twi_state = 6; // if there are some bytes left
                        break;

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

 
                case 22:
                        I2C_Stop(TWI_STATE_MOTOR_TX);
                        I2C_TransferActive = 0;
                        I2CTimeout = 10;
                        // repeat case 18...22 until all DAC Channels are updated
                        if(dac_channel < 2)
                        {

                        {
                                dac_channel = 0; // reset dac channel counter
                                BLFlags |= BLFLAG_TX_COMPLETE;
                        }
                        break;
 
        default:
                        I2C_Stop(TWI_STATE_MOTOR_TX);
                        BLFlags |= BLFLAG_TX_COMPLETE;
                        I2CTimeout = 10;
                        motor_write = 0;
                        motor_read = 0;
                        I2C_TransferActive = 0;
                        break;
        }

 

Rev 1743	Rev 1744
Line 62...	Line 62...
62		62
63	volatile uint8_t twi_state = TWI_STATE_MOTOR_TX;	63	volatile uint8_t twi_state = TWI_STATE_MOTOR_TX;
64	volatile uint8_t dac_channel = 0;	64	volatile uint8_t dac_channel = 0;
65	volatile uint8_t motor_write = 0;	65	volatile uint8_t motor_write = 0;
66	volatile uint8_t motor_read = 0;	-
-		66	volatile uint8_t motor_read = 0;
Line 67...	Line 67...
67		67	volatile uint8_t I2C_TransferActive = 0;
Line 68...	Line 68...
68		68
Line 134...	Line 134...
134		134
135	void I2C_Reset(void)	135	void I2C_Reset(void)
136	{	136	{
137	// stop i2c bus	137	// stop i2c bus
138	I2C_Stop(TWI_STATE_MOTOR_TX);	-
139	motor_write = 0;	-
140	motor_read = 0;	138	I2C_Stop(TWI_STATE_MOTOR_TX);
141	TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset	139	TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset
142	TWAMR = 0;	140	TWAMR = 0;
143	TWAR = 0;	141	TWAR = 0;
144	TWDR = 0;	142	TWDR = 0;
145	TWSR = 0;	143	TWSR = 0;
-		144	TWBR = 0;
146	TWBR = 0;	145	I2C_TransferActive = 0;
147	I2C_Init(0);	146	I2C_Init(0);
148	I2C_WriteByte(0);	147	I2C_WriteByte(0);
149	BLFlags \|= BLFLAG_READ_VERSION;	148	BLFlags \|= BLFLAG_READ_VERSION;
Line 160...	Line 159...
160		159
161	switch (twi_state++)	160	switch (twi_state++)
162	{	161	{
163	// Master Transmit	162	// Master Transmit
164	case 0: // TWI_STATE_MOTOR_TX	-
-		163	case 0: // TWI_STATE_MOTOR_TX
165		164	I2C_TransferActive = 1;
166	// skip motor if not used in mixer	165	// skip motor if not used in mixer
167	while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;	166	while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;
168	if(motor_write >= MAX_MOTORS) // writing finished, read now	167	if(motor_write >= MAX_MOTORS) // writing finished, read now
169	{	168	{
Line 174...	Line 173...
174	}	173	}
175	else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode	174	else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode
176	break;	175	break;
177	case 1: // Send Data to Slave	176	case 1: // Send Data to Slave
178	I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint	177	I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint
-		178	if(Motor[motor_write].SetPoint == 0) if(MotorenEin) DebugOut.Analog[17]++;
179	// if old version has been detected	179	// if old version has been detected
180	if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))	180	if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
181	{	181	{
182	twi_state = 4; //jump over sending more data	182	twi_state = 4; //jump over sending more data
183	}	183	}
Line 240...	Line 240...
240	BLFlags &= ~BLFLAG_READ_VERSION;	240	BLFlags &= ~BLFLAG_READ_VERSION;
241	}	241	}
242	}	242	}
243	BLFlags \|= BLFLAG_TX_COMPLETE;	243	BLFlags \|= BLFLAG_TX_COMPLETE;
244	I2C_Stop(TWI_STATE_MOTOR_TX);	244	I2C_Stop(TWI_STATE_MOTOR_TX);
-		245	I2C_TransferActive = 0;
245	}	246	}
246	else	247	else
247	{ // motor successfully addressed	248	{ // motor successfully addressed
248	Motor[motor_read].State \|= MOTOR_STATE_PRESENT_MASK; // set present bit	249	Motor[motor_read].State \|= MOTOR_STATE_PRESENT_MASK; // set present bit
249		-
250	if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)	250	if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)
251	{	251	{
252	// new BL found	252	// new BL found
253	switch(Motor[motor_read].ReadMode)	253	switch(Motor[motor_read].ReadMode)
254	{	254	{
Line 311...	Line 311...
311	BLFlags &= ~BLFLAG_READ_VERSION;	311	BLFlags &= ~BLFLAG_READ_VERSION;
312	}	312	}
313	}	313	}
314	I2C_Stop(TWI_STATE_MOTOR_TX);	314	I2C_Stop(TWI_STATE_MOTOR_TX);
315	BLFlags \|= BLFLAG_TX_COMPLETE;	315	BLFlags \|= BLFLAG_TX_COMPLETE;
-		316	I2C_TransferActive = 0;
316	return;	317	return;
317	}	318	}
318	twi_state = 6; // if there are some bytes left	319	twi_state = 6; // if there are some bytes left
319	break;	320	break;
Line 346...	Line 347...
346	I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80	347	I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
347	break;	348	break;
Line 348...	Line 349...
348		349
349	case 22:	350	case 22:
-		351	I2C_Stop(TWI_STATE_MOTOR_TX);
350	I2C_Stop(TWI_STATE_MOTOR_TX);	352	I2C_TransferActive = 0;
351	I2CTimeout = 10;	353	I2CTimeout = 10;
352	// repeat case 18...22 until all DAC Channels are updated	354	// repeat case 18...22 until all DAC Channels are updated
353	if(dac_channel < 2)	355	if(dac_channel < 2)
354	{	356	{
Line 359...	Line 361...
359	{	361	{
360	dac_channel = 0; // reset dac channel counter	362	dac_channel = 0; // reset dac channel counter
361	BLFlags \|= BLFLAG_TX_COMPLETE;	363	BLFlags \|= BLFLAG_TX_COMPLETE;
362	}	364	}
363	break;	365	break;
364		-
365	default:	366	default:
366	I2C_Stop(TWI_STATE_MOTOR_TX);	367	I2C_Stop(TWI_STATE_MOTOR_TX);
367	BLFlags \|= BLFLAG_TX_COMPLETE;	368	BLFlags \|= BLFLAG_TX_COMPLETE;
368	I2CTimeout = 10;	369	I2CTimeout = 10;
369	motor_write = 0;	370	motor_write = 0;
370	motor_read = 0;	371	motor_read = 0;
-		372	I2C_TransferActive = 0;
371	break;	373	break;
372	}	374	}
Line 373...	Line 375...
373		375

Subversion Repositories FlightCtrl

(root)/branches/V0.84a_ACC-HH_HR_MartinR/twimaster.c @ 1888 - Rev 1743 → 1744