WebSVN - FlightCtrl - Blame - Rev 943 - /branches/V0.70d CRK HexaLotte/twimaster.c

Rev	Author	Line No.	Line
1	ingob	1	/*############################################################################
		2	############################################################################*/
		3
886	killagreg	4	#include <avr/io.h>
		5	#include <avr/interrupt.h>
		6
1	ingob	7	#include "main.h"
886	killagreg	8	#include "twimaster.h"
		9	#include "fc.h"
936	killagreg	10	#include "analog.h"
1	ingob	11
936	killagreg	12	volatile uint8_t twi_state = 0;
		13	volatile uint8_t motor_write = 0;
		14	volatile uint8_t motor_read = 0;
		15	volatile uint8_t dac_channel = 0;
943	pangu	16	volatile uint8_t motor_rx[MOTOR_COUNT*2];
936	killagreg	17	volatile uint16_t I2CTimeout = 100;
1	ingob	18
936	killagreg	19
		20	#define SCL_CLOCK 200000L
		21	#define I2C_TIMEOUT 30000
		22
		23	#define TWSR_STATUS_MASK 0xF8
		24	// for Master Transmitter Mode
		25
		26	#define I2C_STATUS_START 0x08
		27	#define I2C_STATUS_REPEATSTART 0x10
		28	#define I2C_STATUS_TX_SLA_ACK 0x18
		29	#define I2C_STATUS_SLAW_NOACK 0x20
		30	#define I2C_STATUS_TX_DATA_ACK 0x28
		31	#define I2C_STATUS_TX_DATA_NOTACK 0x30
		32	#define I2C_STATUS_RX_DATA_ACK 0x50
		33	#define I2C_STATUS_RX_DATA_NOTACK 0x58
		34
886	killagreg	35	/**************************************************/
		36	/* Initialize I2C (TWI) */
		37	/**************************************************/
		38	void I2C_Init(void)
1	ingob	39	{
886	killagreg	40	uint8_t sreg = SREG;
		41	cli();
		42
		43	// SDA is INPUT
		44	DDRC &= ~(1<<DDC1);
		45	// SCL is output
		46	DDRC \|= (1<<DDC0);
		47	// pull up SDA
		48	PORTC \|= (1<<PORTC0)\|(1<<PORTC1);
		49
		50	// TWI Status Register
		51	// prescaler 1 (TWPS1 = 0, TWPS0 = 0)
		52	TWSR &= ~((1<<TWPS1)\|(1<<TWPS0));
		53
		54	// set TWI Bit Rate Register
		55	TWBR = ((SYSCLK/SCL_CLOCK)-16)/2;
		56
936	killagreg	57	twi_state = 0;
		58	motor_write = 0;
		59	motor_read = 0;
		60
886	killagreg	61	SREG = sreg;
1	ingob	62	}
		63
886	killagreg	64	/****************************************/
		65	/* Start I2C */
		66	/****************************************/
		67	void I2C_Start(void)
1	ingob	68	{
886	killagreg	69	// TWI Control Register
		70	// clear TWI interrupt flag (TWINT=1)
		71	// disable TWI Acknowledge Bit (TWEA = 0)
		72	// enable TWI START Condition Bit (TWSTA = 1), MASTER
		73	// disable TWI STOP Condition Bit (TWSTO = 0)
		74	// disable TWI Write Collision Flag (TWWC = 0)
936	killagreg	75	// enable i2c (TWEN = 1)
886	killagreg	76	// enable TWI Interrupt (TWIE = 1)
		77	TWCR = (1<<TWINT) \| (1<<TWSTA) \| (1<<TWEN) \| (1<<TWIE);
1	ingob	78	}
		79
886	killagreg	80	/****************************************/
		81	/* Stop I2C */
		82	/****************************************/
		83	void I2C_Stop(void)
1	ingob	84	{
886	killagreg	85	// TWI Control Register
		86	// clear TWI interrupt flag (TWINT=1)
		87	// disable TWI Acknowledge Bit (TWEA = 0)
		88	// diable TWI START Condition Bit (TWSTA = 1), no MASTER
		89	// enable TWI STOP Condition Bit (TWSTO = 1)
		90	// disable TWI Write Collision Flag (TWWC = 0)
936	killagreg	91	// enable i2c (TWEN = 1)
886	killagreg	92	// disable TWI Interrupt (TWIE = 0)
		93	TWCR = (1<<TWINT) \| (1<<TWSTO) \| (1<<TWEN);
1	ingob	94	}
		95
173	holgerb	96
886	killagreg	97	/****************************************/
		98	/* Write to I2C */
		99	/****************************************/
		100	void I2C_WriteByte(int8_t byte)
		101	{
		102	// move byte to send into TWI Data Register
1	ingob	103	TWDR = byte;
886	killagreg	104	// clear interrupt flag (TWINT = 1)
		105	// enable i2c bus (TWEN = 1)
936	killagreg	106	// enable interrupt (TWIE = 1)
1	ingob	107	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);
		108	}
		109
886	killagreg	110
		111	/****************************************/
		112	/* Receive byte and send ACK */
		113	/****************************************/
		114	void I2C_ReceiveByte(void)
1	ingob	115	{
886	killagreg	116	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE) \| (1<<TWEA);
		117	}
		118
		119	/****************************************/
		120	/* I2C receive last byte and send no ACK*/
		121	/****************************************/
		122	void I2C_ReceiveLastByte(void)
		123	{
		124	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);
		125	}
		126
		127
		128	/****************************************/
936	killagreg	129	/* Reset I2C */
		130	/****************************************/
		131	void I2C_Reset(void)
		132	{
		133	// stop i2c bus
		134	I2C_Stop();
		135	twi_state = 0;
		136	motor_write = TWDR;
		137	motor_write = 0;
		138	motor_read = 0;
		139	TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset
		140	TWAMR = 0;
		141	TWAR = 0;
		142	TWDR = 0;
		143	TWSR = 0;
		144	TWBR = 0;
		145	I2C_Init();
		146	I2C_Start();
		147	I2C_WriteByte(0);
		148	}
		149
		150	/****************************************/
886	killagreg	151	/* I2C ISR */
		152	/****************************************/
		153	ISR (TWI_vect)
		154
		155	{
		156
936	killagreg	157	switch (twi_state++) // First i2c_start from SendMotorData()
		158	{
886	killagreg	159	// Master Transmit
		160	case 0: // Send SLA-W
936	killagreg	161	I2C_WriteByte(0x52 + (motor_write * 2) );
1	ingob	162	break;
936	killagreg	163	case 1: // Send Data to Slave
943	pangu	164	#ifdef HEXAKOPTER
936	killagreg	165	switch(motor_write)
943	pangu	166	{
1	ingob	167	case 0:
943	pangu	168	I2C_WriteByte(Motor_FrontLeft);
		169	break;
		170	case 1:
		171	I2C_WriteByte(Motor_RearRight);
		172	break;
		173	case 2:
		174	I2C_WriteByte(Motor_FrontRight);
		175	break;
		176	case 3:
		177	I2C_WriteByte(Motor_RearLeft);
		178	break;
		179	case 4:
		180	I2C_WriteByte(Motor_Right);
		181	break;
		182	case 5:
		183	I2C_WriteByte(Motor_Left);
		184	break;
		185	}
		186
		187	#else
		188	switch(motor_write++)
		189	{
		190	case 0:
886	killagreg	191	I2C_WriteByte(Motor_Front);
1	ingob	192	break;
886	killagreg	193	case 1:
		194	I2C_WriteByte(Motor_Rear);
1	ingob	195	break;
		196	case 2:
886	killagreg	197	I2C_WriteByte(Motor_Right);
1	ingob	198	break;
		199	case 3:
886	killagreg	200	I2C_WriteByte(Motor_Left);
1	ingob	201	break;
936	killagreg	202	}
943	pangu	203	#endif
1	ingob	204	break;
936	killagreg	205	case 2: // repeat case 0+1 for all motors
943	pangu	206	I2C_Stop();
		207	if (motor_write < (MOTOR_COUNT-1))
936	killagreg	208	{
		209	motor_write++; // jump to next motor
		210	twi_state = 0; // and repeat from state 0
		211	}
		212	else
		213	{ // data to last motor send
		214	motor_write = 0; // reset motor write counter
		215	}
886	killagreg	216	I2C_Start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive
1	ingob	217	break;
886	killagreg	218	// Master Receive
		219	case 3: // Send SLA-R
936	killagreg	220	I2C_WriteByte(0x53 + (motor_read * 2) );
886	killagreg	221	break;
1	ingob	222	case 4:
886	killagreg	223	//Transmit 1st byte
		224	I2C_ReceiveByte();
1	ingob	225	break;
886	killagreg	226	case 5: //Read 1st byte and transmit 2nd Byte
936	killagreg	227	motor_rx[motor_read] = TWDR;
886	killagreg	228	I2C_ReceiveLastByte();
		229	break;
		230	case 6:
		231	//Read 2nd byte
936	killagreg	232	motor_rx[motor_read + 4] = TWDR;
		233	motor_read++;
943	pangu	234	if (motor_read > (MOTOR_COUNT-1)) motor_read = 0;
936	killagreg	235	I2C_Stop();
		236	twi_state = 0;
		237	I2CTimeout = 10;
		238	break;
173	holgerb	239
936	killagreg	240	// Gyro-Offsets
		241	case 7:
		242	I2C_WriteByte(0x98); // Address the DAC
		243	break;
		244
		245	case 8:
		246	I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)
		247	break;
		248
		249	case 9:
		250	switch(dac_channel)
		251	{
		252	case 0:
		253	I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A
		254	break;
		255	case 1:
		256	I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B
		257	break;
		258	case 2:
		259	I2C_WriteByte(AnalogOffsetYaw ); // 1st byte for Channel C
		260	break;
		261	}
		262	break;
		263
		264	case 10:
		265	I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
		266	break;
		267
		268	case 11:
		269	I2C_Stop();
		270	I2CTimeout = 10;
		271	// repeat case 7...10 until all DAC Channels are updated
		272	if(dac_channel < 2)
		273	{
		274	dac_channel ++; // jump to next channel
		275	twi_state = 7; // and repeat from state 7
		276	I2C_Start(); // start transmission for next channel
		277	}
		278	else
		279	{ // data to last motor send
		280	dac_channel = 0; // reset dac channel counter
		281	twi_state = 0; // reset twi_state
		282	}
		283	break;
		284
886	killagreg	285	default:
		286	I2C_Stop();
		287	twi_state = 0;
173	holgerb	288	I2CTimeout = 10;
936	killagreg	289	motor_write = 0;
		290	motor_read = 0;
		291	}
1	ingob	292	}

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