Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
||
| 3 | |||
| 4 | #include "main.h" |
||
| 5 | |||
| 918 | hbuss | 6 | volatile unsigned char twi_state = 0; |
| 1650 | killagreg | 7 | volatile unsigned char motor = 0; |
| 8 | volatile unsigned char motorread = 0,MissingMotor = 0; |
||
| 9 | volatile unsigned char BLFlags = 0; |
||
| 1479 | killagreg | 10 | |
| 11 | MotorData_t Motor[MAX_MOTORS]; |
||
| 1648 | killagreg | 12 | BLConfig_t BLConfig[MAX_MOTORS]; |
| 1479 | killagreg | 13 | |
| 1648 | killagreg | 14 | |
| 1322 | hbuss | 15 | unsigned int I2CError = 0; |
| 1 | ingob | 16 | |
| 1648 | killagreg | 17 | #define BL_CONF_SYNC_BYTE '#' |
| 18 | |||
| 1 | ingob | 19 | //############################################################################ |
| 20 | //Initzialisieren der I2C (TWI) Schnittstelle |
||
| 21 | void i2c_init(void) |
||
| 22 | //############################################################################ |
||
| 23 | { |
||
| 1648 | killagreg | 24 | unsigned char i; |
| 25 | |||
| 26 | TWSR = 0; |
||
| 27 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
||
| 28 | |||
| 29 | for(i=0; i < MAX_MOTORS; i++) |
||
| 30 | { |
||
| 31 | Motor[i].Version = 0; |
||
| 32 | Motor[i].SetPoint = 0; |
||
| 33 | Motor[i].SetPointLowerBits = 0; |
||
| 34 | Motor[i].State = 0; |
||
| 35 | Motor[i].Current = 0; |
||
| 36 | Motor[i].MaxPWM = 0; |
||
| 37 | BLConfig[i].SetMask = MASK_SET_PWM_SCALING|MASK_SET_CURRENT_LIMIT|MASK_SET_TEMP_LIMIT|MASK_SET_CURRENT_SCALING|MASK_SET_BITCONFIG; |
||
| 38 | BLConfig[i].PwmScaling = 255; // MaxPWM |
||
| 39 | BLConfig[i].CurrentLimit = 30; // Current Limit in A |
||
| 40 | BLConfig[i].TempLimit = 99; // Temperature Limit in °C |
||
| 41 | BLConfig[i].CurrentScaling = 64; // Current Scaling |
||
| 42 | BLConfig[i].BitConfig = 0; // BitConfig |
||
| 43 | } |
||
| 1 | ingob | 44 | } |
| 45 | |||
| 173 | holgerb | 46 | void i2c_reset(void) |
| 1 | ingob | 47 | //############################################################################ |
| 173 | holgerb | 48 | { |
| 1648 | killagreg | 49 | I2C_Stop(); |
| 50 | twi_state = 0; |
||
| 51 | motor = TWDR; |
||
| 52 | motor = 0; |
||
| 53 | TWCR = 0x80; |
||
| 54 | TWAMR = 0; |
||
| 55 | TWAR = 0; |
||
| 56 | TWDR = 0; |
||
| 57 | TWSR = 0; |
||
| 58 | TWBR = 0; |
||
| 59 | i2c_init(); |
||
| 60 | I2C_Start(); |
||
| 61 | i2c_write_byte(0); |
||
| 173 | holgerb | 62 | } |
| 1 | ingob | 63 | |
| 1648 | killagreg | 64 | |
| 1 | ingob | 65 | //############################################################################ |
| 66 | SIGNAL (TWI_vect) |
||
| 67 | //############################################################################ |
||
| 68 | { |
||
| 1650 | killagreg | 69 | static unsigned char missing_motor = 0, byte_counter = 0, crc = 0, read_more = 0, motorread_temperature = 0; |
| 70 | static unsigned char *pTxBuff; |
||
| 1648 | killagreg | 71 | J4High; |
| 72 | switch(twi_state++) |
||
| 73 | { |
||
| 1210 | hbuss | 74 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 75 | // Writing the Data |
||
| 76 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1648 | killagreg | 77 | case 0: |
| 78 | while(Mixer.Motor[motor][MIX_GAS] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
||
| 79 | if(motor == MAX_MOTORS) // writing finished -> now read |
||
| 80 | { |
||
| 81 | motor = 0; |
||
| 82 | twi_state = 5; |
||
| 83 | i2c_write_byte(0x53+(motorread*2)); |
||
| 84 | } |
||
| 1209 | hbuss | 85 | else i2c_write_byte(0x52+(motor*2)); |
| 1648 | killagreg | 86 | break; |
| 87 | case 1: |
||
| 88 | i2c_write_byte(Motor[motor].SetPoint); |
||
| 1654 | killagreg | 89 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
| 1648 | killagreg | 90 | { |
| 91 | twi_state = 4; //jump over sending more data |
||
| 92 | } |
||
| 1654 | killagreg | 93 | else if(!( (Motor[motor].SetPointLowerBits && RequiredMotors < 7) || (BLFlags & BLFLAG_SEND_CONFIG))) |
| 1648 | killagreg | 94 | { |
| 95 | twi_state = 4; // skip state |
||
| 96 | } |
||
| 97 | break; |
||
| 98 | case 2: // lower bits of setpoint (higher resolution) |
||
| 99 | i2c_write_byte((Motor[motor].SetPointLowerBits << 1) & 0x07); // send the lower bits of setpoint |
||
| 100 | // transmit config only on demand and the motors are not running and only for one motor per round trip |
||
| 1651 | killagreg | 101 | if( (BLFlags & BLFLAG_SEND_CONFIG) && (motor == motorread)) |
| 1648 | killagreg | 102 | { // prepare sending of configuration |
| 103 | byte_counter = 0; // reset send byte counter |
||
| 104 | crc = 0xAA; // init checksum |
||
| 105 | } |
||
| 106 | else |
||
| 107 | { // jump to state for end of transmission for that motor |
||
| 108 | twi_state = 4; |
||
| 109 | } |
||
| 110 | break; |
||
| 111 | case 3: |
||
| 112 | if(!byte_counter) // first byte? |
||
| 113 | { |
||
| 114 | i2c_write_byte(BL_CONF_SYNC_BYTE); |
||
| 115 | crc += BL_CONF_SYNC_BYTE; // update crc |
||
| 116 | pTxBuff = (uint8_t*)&BLConfig[motor]; // select configuration for motor |
||
| 1651 | killagreg | 117 | twi_state = 3; // keep state 3 |
| 1648 | killagreg | 118 | } |
| 1651 | killagreg | 119 | else if(byte_counter == sizeof(BLConfig_t) + 1) |
| 1648 | killagreg | 120 | { // send crc byte at the end |
| 121 | i2c_write_byte(crc); |
||
| 1651 | killagreg | 122 | twi_state = 3; // keep state 3 |
| 1648 | killagreg | 123 | } |
| 1651 | killagreg | 124 | else if(byte_counter > sizeof(BLConfig_t) + 1) |
| 125 | { |
||
| 126 | i2c_write_byte(0); |
||
| 127 | // jump to case 4 |
||
| 128 | } |
||
| 1648 | killagreg | 129 | else // transmit configuration to BLs |
| 130 | { |
||
| 1651 | killagreg | 131 | i2c_write_byte(pTxBuff[byte_counter-1]); // submit next byte |
| 1648 | killagreg | 132 | crc += pTxBuff[byte_counter-1]; // update crc |
| 1651 | killagreg | 133 | twi_state = 3;// keep state 3 |
| 1648 | killagreg | 134 | } |
| 135 | byte_counter++; // next byte |
||
| 136 | break; |
||
| 137 | case 4: |
||
| 138 | |||
| 139 | if(TWSR == 0x30) |
||
| 140 | { |
||
| 141 | if(!missing_motor) missing_motor = motor + 1; |
||
| 142 | if((Motor[motor].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor].State++; // increment error counter and handle overflow |
||
| 143 | } |
||
| 144 | I2C_Stop(); |
||
| 145 | I2CTimeout = 10; |
||
| 146 | motor++; |
||
| 147 | twi_state = 0; |
||
| 148 | I2C_Start(); |
||
| 149 | break; |
||
| 1210 | hbuss | 150 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 151 | // Reading Data |
||
| 152 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 153 | case 5: |
||
| 1648 | killagreg | 154 | //Transmit 1st byte for reading |
| 155 | if(TWSR != 0x40) // Error? |
||
| 156 | { |
||
| 157 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
||
| 158 | if(++motorread >= MAX_MOTORS) |
||
| 1638 | holgerb | 159 | { |
| 1648 | killagreg | 160 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
| 161 | motorread = 0; |
||
| 162 | if(++motorread_temperature >= MAX_MOTORS) |
||
| 163 | { |
||
| 164 | motorread_temperature = 0; |
||
| 165 | BLFlags &= ~BLFLAG_READ_VERSION; |
||
| 166 | } |
||
| 167 | } |
||
| 168 | I2C_Stop(); |
||
| 169 | twi_state = 0; |
||
| 170 | BLFlags |= BLFLAG_TX_COMPLETE; |
||
| 171 | } |
||
| 172 | else |
||
| 173 | { |
||
| 174 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
||
| 1654 | killagreg | 175 | if( (motorread == motorread_temperature) || (BLFlags & BLFLAG_READ_VERSION) ) |
| 1648 | killagreg | 176 | { |
| 177 | read_more = 1; |
||
| 178 | I2C_ReceiveByte(); |
||
| 179 | } |
||
| 1638 | holgerb | 180 | else |
| 1648 | killagreg | 181 | { |
| 182 | read_more = 0; |
||
| 183 | I2C_ReceiveLastByte(); |
||
| 1642 | killagreg | 184 | } |
| 1648 | killagreg | 185 | } |
| 186 | MissingMotor = missing_motor; |
||
| 187 | missing_motor = 0; |
||
| 188 | break; |
||
| 189 | case 6: //Read 1st byte and transmit 2nd Byte |
||
| 1638 | holgerb | 190 | Motor[motorread].Current = TWDR; |
| 1648 | killagreg | 191 | if(read_more) |
| 192 | { |
||
| 193 | I2C_ReceiveByte() //ack |
||
| 194 | |||
| 195 | } |
||
| 1643 | holgerb | 196 | else |
| 1648 | killagreg | 197 | { |
| 198 | if(++motorread >= MAX_MOTORS) |
||
| 199 | { |
||
| 200 | motorread = 0; // restart from beginning |
||
| 201 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
||
| 202 | if(++motorread_temperature >= MAX_MOTORS) |
||
| 203 | { |
||
| 204 | motorread_temperature = 0; |
||
| 205 | BLFlags &= ~BLFLAG_READ_VERSION; |
||
| 206 | } |
||
| 207 | } |
||
| 1643 | holgerb | 208 | I2C_Stop(); |
| 209 | twi_state = 0; |
||
| 1648 | killagreg | 210 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 211 | } |
||
| 1638 | holgerb | 212 | break; |
| 1648 | killagreg | 213 | case 7: |
| 1638 | holgerb | 214 | //Read 2nd byte and transmit 3rd Byte |
| 215 | Motor[motorread].MaxPWM = TWDR; |
||
| 1648 | killagreg | 216 | if(BLFlags & BLFLAG_READ_VERSION) |
| 217 | { |
||
| 218 | if(TWDR == 250) |
||
| 219 | { |
||
| 220 | if(!MotorenEin) Motor[motorread].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
||
| 221 | } |
||
| 222 | else |
||
| 223 | { |
||
| 224 | Motor[motorread].Version = 0; |
||
| 225 | } |
||
| 226 | } |
||
| 1638 | holgerb | 227 | I2C_ReceiveLastByte(); //nack |
| 228 | break; |
||
| 1648 | killagreg | 229 | case 8: // read next |
| 1638 | holgerb | 230 | Motor[motorread].Temperature = TWDR; |
| 1648 | killagreg | 231 | if(++motorread >= MAX_MOTORS) |
| 232 | { |
||
| 233 | motorread = 0; // restart reading of first motor |
||
| 234 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
||
| 235 | if(++motorread_temperature >= MAX_MOTORS) |
||
| 236 | { |
||
| 237 | motorread_temperature = 0; |
||
| 238 | BLFlags &= ~BLFLAG_READ_VERSION; |
||
| 239 | } |
||
| 240 | } |
||
| 1639 | holgerb | 241 | I2C_Stop(); |
| 1648 | killagreg | 242 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 1638 | holgerb | 243 | twi_state = 0; |
| 1643 | holgerb | 244 | break; |
| 1638 | holgerb | 245 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 246 | // writing Gyro-Offset |
||
| 247 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 248 | case 18: |
||
| 249 | i2c_write_byte(0x98); // Address of the DAC |
||
| 250 | break; |
||
| 251 | case 19: |
||
| 252 | i2c_write_byte(0x10); // Update Channel A |
||
| 253 | break; |
||
| 254 | case 20: |
||
| 255 | i2c_write_byte(AnalogOffsetNick); // Value |
||
| 256 | break; |
||
| 257 | case 21: |
||
| 258 | i2c_write_byte(0x80); // Value |
||
| 259 | break; |
||
| 260 | case 22: |
||
| 1639 | holgerb | 261 | I2C_Stop(); |
| 1638 | holgerb | 262 | I2CTimeout = 10; |
| 1639 | holgerb | 263 | I2C_Start(); |
| 1638 | holgerb | 264 | break; |
| 265 | case 23: |
||
| 266 | i2c_write_byte(0x98); // Address of the DAC |
||
| 267 | break; |
||
| 268 | case 24: |
||
| 269 | i2c_write_byte(0x12); // Update Channel B |
||
| 270 | break; |
||
| 271 | case 25: |
||
| 272 | i2c_write_byte(AnalogOffsetRoll); // Value |
||
| 273 | break; |
||
| 274 | case 26: |
||
| 275 | i2c_write_byte(0x80); // Value |
||
| 276 | break; |
||
| 277 | case 27: |
||
| 1639 | holgerb | 278 | I2C_Stop(); |
| 1638 | holgerb | 279 | I2CTimeout = 10; |
| 1639 | holgerb | 280 | I2C_Start(); |
| 1638 | holgerb | 281 | break; |
| 282 | case 28: |
||
| 283 | i2c_write_byte(0x98); // Address of the DAC |
||
| 284 | break; |
||
| 285 | case 29: |
||
| 286 | i2c_write_byte(0x14); // Update Channel C |
||
| 287 | break; |
||
| 288 | case 30: |
||
| 289 | i2c_write_byte(AnalogOffsetGier); // Value |
||
| 290 | break; |
||
| 291 | case 31: |
||
| 292 | i2c_write_byte(0x80); // Value |
||
| 293 | break; |
||
| 294 | case 32: |
||
| 1639 | holgerb | 295 | I2C_Stop(); |
| 1638 | holgerb | 296 | I2CTimeout = 10; |
| 297 | twi_state = 0; |
||
| 298 | break; |
||
| 299 | default: twi_state = 0; |
||
| 300 | break; |
||
| 1648 | killagreg | 301 | } |
| 302 | TWCR |= 0x80; |
||
| 303 | J4Low; |
||
| 1638 | holgerb | 304 | } |
| 1639 | holgerb | 305 | |
| 1648 | killagreg | 306 | void I2C_SendBLConfig(void) |
| 307 | { |
||
| 308 | unsigned char i; |
||
| 1651 | killagreg | 309 | if(MotorenEin) return; |
| 1648 | killagreg | 310 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
| 311 | BLFlags |= BLFLAG_SEND_CONFIG; // enable sending of BL config |
||
| 1651 | killagreg | 312 | // setpoints should be zero |
| 1648 | killagreg | 313 | for(i = 0; i < MAX_MOTORS; i++) |
| 314 | { |
||
| 315 | Motor[i].SetPoint = 0; |
||
| 316 | Motor[i].SetPointLowerBits = 0; |
||
| 317 | } |
||
| 318 | motorread = 0; |
||
| 319 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
||
| 320 | do |
||
| 321 | { |
||
| 322 | twi_state = 0; |
||
| 323 | I2C_Start(); // start an i2c transmission |
||
| 324 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
||
| 325 | }while(BLFlags & BLFLAG_SEND_CONFIG); // repeat until the BL config has been send to all motors |
||
| 326 | } |
||
| 327 | |||
| 328 | |||
| 329 |