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2506 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
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3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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4 | // + Software Nutzungsbedingungen (english version: see below) |
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5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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19 | // + des Mitverschuldens offen. |
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20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Software LICENSING TERMS |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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34 | // + The Software may only be used with the Licensor's products. |
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35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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37 | // + agreement shall be the property of the Licensor. |
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38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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40 | // + The customer shall be responsible for taking reasonable precautions |
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41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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50 | // + #### END OF LICENSING TERMS #### |
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51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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53 | |||
54 | #include <avr/io.h> |
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55 | #include <avr/interrupt.h> |
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56 | #include <util/twi.h> |
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57 | #include "eeprom.h" |
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58 | #include "twimaster.h" |
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59 | #include "fc.h" |
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60 | #include "analog.h" |
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61 | #include "uart.h" |
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62 | #include "timer0.h" |
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63 | #include "main.h" |
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64 | |||
65 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX, ReadBlSize = 9; |
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66 | volatile uint8_t dac_channel = 0; |
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67 | volatile uint8_t motor_write = 0; |
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68 | volatile uint8_t motor_read = 0; |
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69 | volatile uint8_t I2C_TransferActive = 0; |
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70 | uint8_t Max_I2C_Packets = 12; |
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71 | |||
72 | volatile uint16_t I2CTimeout = 100; |
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73 | |||
74 | uint8_t MissingMotor = 0; |
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75 | |||
76 | volatile uint8_t BLFlags = 0; |
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77 | |||
78 | MotorData_t Motor[MAX_MOTORS]; |
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79 | RedundantBl_t RedundantMotor[MAX_MOTORS]; |
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80 | |||
81 | // bit mask for witch BL the configuration should be sent |
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82 | volatile uint16_t BLConfig_WriteMask = 0; |
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83 | // bit mask for witch BL the configuration should be read |
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84 | volatile uint16_t BLConfig_ReadMask = 0; |
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85 | // buffer for BL Configuration |
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86 | BLConfig_t BLConfig; |
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87 | |||
88 | #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
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89 | #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
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90 | #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
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91 | |||
92 | #define SCL_CLOCK 200000L |
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93 | #define I2C_TIMEOUT 30000 |
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94 | #define TWI_BASE_ADDRESS 0x52 |
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95 | |||
96 | /**************************************************/ |
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97 | /* Initialize I2C (TWI) */ |
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98 | /**************************************************/ |
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99 | |||
100 | void I2C_Init(char clear) |
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101 | { |
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102 | uint8_t i; |
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103 | uint8_t sreg = SREG; |
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104 | cli(); |
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105 | |||
106 | // SDA is INPUT |
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107 | DDRC &= ~(1<<DDRC1); |
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108 | // SCL is output |
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109 | DDRC |= (1<<DDRC0); |
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110 | // pull up SDA |
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111 | PORTC |= (1<<PORTC0)|(1<<PORTC1); |
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112 | |||
113 | // TWI Status Register |
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114 | // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
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115 | TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
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116 | |||
117 | // set TWI Bit Rate Register |
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118 | TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
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119 | |||
120 | twi_state = TWI_STATE_MOTOR_TX; |
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121 | motor_write = 0; |
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122 | motor_read = 0; |
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123 | |||
124 | if(clear) for(i=0; i < MAX_MOTORS; i++) |
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125 | { |
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126 | Motor[i].Version = 0; |
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127 | Motor[i].SetPoint = 0; |
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128 | Motor[i].SetPointLowerBits = 0; |
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129 | Motor[i].State = 0; |
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130 | Motor[i].ReadMode = BL_READMODE_STATUS; |
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131 | Motor[i].Current = 0; |
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132 | Motor[i].MaxPWM = 0; |
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133 | Motor[i].Temperature = 0; |
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134 | Motor[i].NotReadyCnt = 0; |
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135 | Motor[i].RPM = 0; |
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136 | Motor[i].reserved1 = 0; |
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137 | Motor[i].Voltage = 0; |
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138 | Motor[i].SlaveI2cError = 0; |
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139 | Motor[i].VersionMajor = 0; |
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140 | Motor[i].VersionMinor = 0; |
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141 | } |
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142 | sei(); |
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143 | SREG = sreg; |
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144 | } |
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145 | |||
146 | void I2C_Reset(void) |
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147 | { |
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148 | // stop i2c bus |
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149 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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150 | TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
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151 | TWAMR = 0; |
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152 | TWAR = 0; |
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153 | TWDR = 0; |
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154 | TWSR = 0; |
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155 | TWBR = 0; |
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156 | I2C_TransferActive = 0; |
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157 | I2C_Init(0); |
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158 | I2C_WriteByte(0); |
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159 | BLFlags |= BLFLAG_READ_VERSION; |
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160 | } |
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161 | |||
162 | /****************************************/ |
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163 | /* I2C ISR */ |
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164 | /****************************************/ |
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165 | ISR (TWI_vect) |
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166 | { |
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167 | static uint8_t missing_motor = 0, motor_read_temperature = 0; |
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168 | static uint8_t *pBuff = 0; |
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169 | static uint8_t BuffLen = 0; |
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170 | static uint8_t max_packets = 0; |
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171 | switch (twi_state++) |
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172 | { |
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173 | // Master Transmit |
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174 | case 0: // TWI_STATE_MOTOR_TX |
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175 | I2C_TransferActive = 1; |
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176 | // skip motor if not used in mixer |
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177 | while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
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178 | motor_write %= MAX_MOTORS; |
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179 | if(++max_packets > Max_I2C_Packets) // writing finished, read now |
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180 | { |
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181 | max_packets = 0; |
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182 | BLConfig_WriteMask = 0; // reset configuration bitmask |
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183 | //motor_write = 0; // reset motor write counter for next cycle |
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184 | twi_state = TWI_STATE_MOTOR_RX; |
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185 | I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
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186 | } |
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187 | else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
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188 | break; |
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189 | case 1: // Send Data to Slave |
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190 | I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
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191 | // if old version has been detected |
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192 | if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
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193 | { |
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194 | twi_state = 4; //jump over sending more data |
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195 | } |
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196 | // the new version has been detected |
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197 | else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
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198 | { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
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199 | twi_state = 4; //jump over sending more data |
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200 | } |
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201 | break; |
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202 | case 2: // lower bits of setpoint (higher resolution) |
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203 | if ((0x0001<<motor_write) & BLConfig_ReadMask) |
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204 | { |
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205 | Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request |
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206 | } |
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207 | else |
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208 | { |
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209 | Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request |
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210 | } |
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211 | // send read mode and the lower bits of setpoint |
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212 | I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
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213 | // configuration tranmission request? |
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214 | if((0x0001<<motor_write) & BLConfig_WriteMask) |
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215 | { // redirect tx pointer to configuration data |
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216 | pBuff = (uint8_t*)&BLConfig; // select config for motor |
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217 | BuffLen = sizeof(BLConfig_t); |
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218 | } |
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219 | else |
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220 | { // jump to end of transmission for that motor |
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221 | twi_state = 4; |
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222 | } |
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223 | break; |
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224 | case 3: // send configuration |
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225 | I2C_WriteByte(*pBuff); |
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226 | pBuff++; |
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227 | if(--BuffLen > 0) twi_state = 3; // if there are some bytes left |
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228 | break; |
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229 | case 4: // repeat case 0-4 for all motors |
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230 | if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
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231 | { |
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232 | if(!missing_motor) missing_motor = motor_write + 1; |
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233 | if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow |
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234 | } |
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235 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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236 | I2CTimeout = 10; |
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237 | motor_write++; // next motor |
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238 | I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
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239 | break; |
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240 | // Master Receive Data |
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241 | case 5: // TWI_STATE_MOTOR_RX |
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242 | if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
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243 | { // no response from the addressed slave received |
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244 | Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
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245 | if(++motor_read >= MAX_MOTORS) |
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246 | { // all motors read |
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247 | motor_read = 0; // restart from beginning |
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248 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
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249 | if(++motor_read_temperature >= MAX_MOTORS) |
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250 | { |
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251 | motor_read_temperature = 0; |
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252 | BLFlags &= ~BLFLAG_READ_VERSION; |
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253 | } |
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254 | } |
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255 | BLFlags |= BLFLAG_TX_COMPLETE; |
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256 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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257 | I2C_TransferActive = 0; |
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258 | } |
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259 | else |
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260 | { // motor successfully addressed |
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261 | Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
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262 | if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
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263 | { |
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264 | // new BL found |
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265 | switch(Motor[motor_read].ReadMode) |
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266 | { |
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267 | case BL_READMODE_CONFIG: |
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268 | pBuff = (uint8_t*)&BLConfig; |
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269 | BuffLen = sizeof(BLConfig_t); |
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270 | Motor[motor_read].ReadMode = BL_READMODE_STATUS; // only once |
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271 | break; |
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272 | case BL_READMODE_STATUS: |
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273 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
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274 | if(motor_read == motor_read_temperature) BuffLen = ReadBlSize; // read Current, MaxPwm & Temp (is 3 or 9) |
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275 | else BuffLen = 1;// read Current only |
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276 | break; |
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277 | } |
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278 | } |
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279 | else // old BL version |
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280 | { |
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281 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
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282 | if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm |
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283 | else BuffLen = 1; // read Current only |
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284 | } |
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285 | if(BuffLen == 1) |
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286 | { |
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287 | I2C_ReceiveLastByte(); // read last byte |
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288 | } |
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289 | else |
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290 | { |
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291 | I2C_ReceiveByte(); // read next byte |
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292 | } |
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293 | } |
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294 | MissingMotor = missing_motor; |
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295 | missing_motor = 0; |
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296 | break; |
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297 | case 6: // receive bytes |
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298 | *pBuff = TWDR; |
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299 | pBuff++; // set Pointer to next element : Motor[].Current,Motor[].Temperature |
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300 | BuffLen--; |
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301 | if(BuffLen>1) |
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302 | { |
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303 | I2C_ReceiveByte(); // read next byte |
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304 | } |
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305 | else if (BuffLen == 1) |
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306 | { |
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307 | I2C_ReceiveLastByte(); // read last byte |
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308 | } |
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309 | else // nothing left -> ready |
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310 | { |
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311 | if(BLFlags & BLFLAG_READ_VERSION) |
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312 | { |
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313 | if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN)) |
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314 | { |
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315 | if((Motor[motor_read].MaxPWM & 252) == 248) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
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316 | else Motor[motor_read].Version = 0; |
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317 | if(Motor[motor_read].MaxPWM == 248) Motor[motor_read].Version |= (MOTOR_STATE_FAST_MODE | MOTOR_STATE_BL30); |
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318 | else |
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319 | if(Motor[motor_read].MaxPWM == 249) Motor[motor_read].Version |= MOTOR_STATE_BL30; |
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320 | } |
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321 | } |
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322 | |||
323 | if(FC_StatusFlags & FC_STATUS_FLY) |
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324 | { |
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325 | // Starting -> 40 |
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326 | // I2C-Setpoint is zero -> 250 |
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327 | // 255 -> Running and no Redundancy |
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328 | // 254 -> Running and active Redundancy |
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329 | if(Motor[motor_read].MaxPWM < 254) |
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330 | { |
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331 | Motor[motor_read].NotReadyCnt++; |
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332 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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333 | SpeakHoTT = SPEAK_ERR_MOTOR; |
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334 | #endif |
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335 | } |
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336 | } |
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337 | if(++motor_read >= MAX_MOTORS) |
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338 | { |
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339 | motor_read = 0; // restart from beginning |
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340 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
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341 | if(++motor_read_temperature >= MAX_MOTORS) |
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342 | { |
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343 | motor_read_temperature = 0; |
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344 | BLFlags &= ~BLFLAG_READ_VERSION; |
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345 | } |
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346 | } |
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347 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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348 | BLFlags |= BLFLAG_TX_COMPLETE; |
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349 | I2C_TransferActive = 0; |
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350 | return; |
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351 | } |
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352 | twi_state = 6; // if there are some bytes left |
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353 | break; |
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354 | /* |
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355 | // writing Gyro-Offsets |
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356 | case 18: |
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357 | I2C_WriteByte(0x98); // Address the DAC |
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358 | break; |
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359 | |||
360 | case 19: |
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361 | I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
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362 | break; |
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363 | |||
364 | case 20: |
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365 | switch(dac_channel) |
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366 | { |
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367 | case 0: |
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368 | I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
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369 | break; |
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370 | case 1: |
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371 | I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
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372 | break; |
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373 | case 2: |
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374 | I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
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375 | break; |
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376 | } |
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377 | break; |
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378 | |||
379 | case 21: |
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380 | I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
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381 | break; |
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382 | |||
383 | case 22: |
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384 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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385 | I2C_TransferActive = 0; |
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386 | I2CTimeout = 10; |
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387 | // repeat case 18...22 until all DAC Channels are updated |
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388 | if(dac_channel < 2) |
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389 | { |
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390 | dac_channel ++; // jump to next channel |
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391 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
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392 | } |
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393 | else |
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394 | { |
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395 | dac_channel = 0; // reset dac channel counter |
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396 | BLFlags |= BLFLAG_TX_COMPLETE; |
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397 | } |
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398 | break; |
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399 | */ |
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400 | default: |
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401 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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402 | BLFlags |= BLFLAG_TX_COMPLETE; |
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403 | I2CTimeout = 10; |
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404 | motor_write = 0; |
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405 | motor_read = 0; |
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406 | I2C_TransferActive = 0; |
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407 | break; |
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408 | } |
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409 | |||
410 | } |
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411 | |||
412 | |||
413 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
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414 | { |
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415 | uint8_t i, packets; |
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416 | uint16_t timer; |
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417 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
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418 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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419 | if(motor) |
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420 | { |
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421 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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422 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
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423 | } |
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424 | // check BL configuration to send |
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425 | if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
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426 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
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427 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
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428 | |||
429 | packets = Max_I2C_Packets; |
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430 | Max_I2C_Packets = 12; |
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431 | I2CTimeout = 100; |
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432 | |||
433 | timer = SetDelay(100); |
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434 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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435 | |||
436 | // prepare the bitmask |
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437 | if(!motor) BLConfig_WriteMask = 0x0FFF; // 0 means all -> all motors at once with the same configuration |
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438 | else BLConfig_WriteMask = 0x0001<<(motor-1); //only one specific motor |
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439 | |||
440 | motor_write = 0; |
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441 | motor_read = 0; |
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442 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
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443 | timer = SetDelay(1000); |
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444 | do |
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445 | { |
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446 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
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447 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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448 | } while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
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449 | Max_I2C_Packets = packets; |
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450 | if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
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451 | return(BLCONFIG_SUCCESS); |
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452 | } |
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453 | |||
454 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
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455 | { |
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456 | uint8_t i; |
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457 | uint16_t timer; |
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458 | |||
459 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
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460 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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461 | if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
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462 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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463 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
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464 | |||
465 | timer = SetDelay(1000); |
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466 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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467 | |||
468 | // prepare the bitmask |
||
469 | BLConfig_ReadMask = 0x0001<<(motor-1); |
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470 | |||
471 | motor_write = 0; |
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472 | motor_read = 0; |
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473 | BLConfig.Revision = 0; // bad revision |
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474 | BLConfig.crc = 0; // bad checksum |
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475 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
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476 | do |
||
477 | { |
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478 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
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479 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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480 | } while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
||
481 | // validate result |
||
482 | if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
||
483 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
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484 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
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485 | return(BLCONFIG_SUCCESS); |
||
486 | } |
||
487 |