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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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;
}
}