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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
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| 3 | |||
| 4 | #include "main.h" |
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| 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; |
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| 9 | volatile unsigned char BLFlags = 0; |
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| 1479 | killagreg | 10 | |
| 11 | MotorData_t Motor[MAX_MOTORS]; |
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| 12 | |||
| 1648 | killagreg | 13 | |
| 1322 | hbuss | 14 | unsigned int I2CError = 0; |
| 1 | ingob | 15 | |
| 16 | //############################################################################ |
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| 17 | //Initzialisieren der I2C (TWI) Schnittstelle |
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| 18 | void i2c_init(void) |
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| 19 | //############################################################################ |
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| 20 | { |
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| 1648 | killagreg | 21 | unsigned char i; |
| 22 | |||
| 23 | TWSR = 0; |
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| 24 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
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| 25 | |||
| 26 | for(i=0; i < MAX_MOTORS; i++) |
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| 27 | { |
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| 28 | Motor[i].Version = 0; |
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| 29 | Motor[i].SetPoint = 0; |
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| 30 | Motor[i].SetPointLowerBits = 0; |
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| 31 | Motor[i].State = 0; |
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| 32 | Motor[i].Current = 0; |
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| 33 | Motor[i].MaxPWM = 0; |
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| 34 | BLConfig[i].SetMask = MASK_SET_PWM_SCALING|MASK_SET_CURRENT_LIMIT|MASK_SET_TEMP_LIMIT|MASK_SET_CURRENT_SCALING|MASK_SET_BITCONFIG; |
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| 35 | BLConfig[i].PwmScaling = 255; // MaxPWM |
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| 36 | BLConfig[i].CurrentLimit = 30; // Current Limit in A |
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| 37 | BLConfig[i].TempLimit = 99; // Temperature Limit in °C |
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| 38 | BLConfig[i].CurrentScaling = 64; // Current Scaling |
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| 39 | BLConfig[i].BitConfig = 0; // BitConfig |
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| 40 | } |
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| 1 | ingob | 41 | } |
| 42 | |||
| 173 | holgerb | 43 | void i2c_reset(void) |
| 1 | ingob | 44 | //############################################################################ |
| 173 | holgerb | 45 | { |
| 1648 | killagreg | 46 | I2C_Stop(); |
| 47 | twi_state = 0; |
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| 48 | motor = TWDR; |
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| 49 | motor = 0; |
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| 50 | TWCR = 0x80; |
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| 51 | TWAMR = 0; |
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| 52 | TWAR = 0; |
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| 53 | TWDR = 0; |
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| 54 | TWSR = 0; |
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| 55 | TWBR = 0; |
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| 56 | i2c_init(); |
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| 57 | I2C_Start(); |
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| 58 | i2c_write_byte(0); |
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| 173 | holgerb | 59 | } |
| 1 | ingob | 60 | |
| 1648 | killagreg | 61 | |
| 1 | ingob | 62 | //############################################################################ |
| 63 | SIGNAL (TWI_vect) |
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| 64 | //############################################################################ |
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| 65 | { |
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| 1657 | killagreg | 66 | static unsigned char missing_motor = 0, byte_counter = 0, read_more = 0, motorread_temperature = 0; |
| 1650 | killagreg | 67 | static unsigned char *pTxBuff; |
| 1648 | killagreg | 68 | J4High; |
| 69 | switch(twi_state++) |
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| 70 | { |
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| 1210 | hbuss | 71 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 72 | // Writing the Data |
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| 73 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1648 | killagreg | 74 | case 0: |
| 75 | while(Mixer.Motor[motor][MIX_GAS] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
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| 76 | if(motor == MAX_MOTORS) // writing finished -> now read |
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| 77 | { |
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| 78 | motor = 0; |
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| 79 | twi_state = 5; |
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| 80 | i2c_write_byte(0x53+(motorread*2)); |
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| 81 | } |
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| 1209 | hbuss | 82 | else i2c_write_byte(0x52+(motor*2)); |
| 1648 | killagreg | 83 | break; |
| 84 | case 1: |
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| 85 | i2c_write_byte(Motor[motor].SetPoint); |
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| 1654 | killagreg | 86 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
| 1648 | killagreg | 87 | { |
| 88 | twi_state = 4; //jump over sending more data |
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| 89 | } |
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| 1654 | killagreg | 90 | else if(!( (Motor[motor].SetPointLowerBits && RequiredMotors < 7) || (BLFlags & BLFLAG_SEND_CONFIG))) |
| 1648 | killagreg | 91 | { |
| 92 | twi_state = 4; // skip state |
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| 93 | } |
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| 94 | break; |
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| 95 | case 2: // lower bits of setpoint (higher resolution) |
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| 96 | i2c_write_byte((Motor[motor].SetPointLowerBits << 1) & 0x07); // send the lower bits of setpoint |
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| 97 | // transmit config only on demand and the motors are not running and only for one motor per round trip |
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| 1651 | killagreg | 98 | if( (BLFlags & BLFLAG_SEND_CONFIG) && (motor == motorread)) |
| 1648 | killagreg | 99 | { // prepare sending of configuration |
| 100 | byte_counter = 0; // reset send byte counter |
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| 101 | } |
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| 102 | else |
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| 103 | { // jump to state for end of transmission for that motor |
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| 104 | twi_state = 4; |
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| 105 | } |
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| 106 | break; |
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| 107 | case 3: |
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| 108 | if(!byte_counter) // first byte? |
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| 109 | { |
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| 110 | pTxBuff = (uint8_t*)&BLConfig[motor]; // select configuration for motor |
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| 1657 | killagreg | 111 | i2c_write_byte(pTxBuff[byte_counter]); |
| 1651 | killagreg | 112 | twi_state = 3; // keep state 3 |
| 1648 | killagreg | 113 | } |
| 1657 | killagreg | 114 | else if(byte_counter >= sizeof(BLConfig_t)) |
| 1651 | killagreg | 115 | { |
| 116 | i2c_write_byte(0); |
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| 117 | // jump to case 4 |
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| 118 | } |
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| 1648 | killagreg | 119 | else // transmit configuration to BLs |
| 120 | { |
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| 1657 | killagreg | 121 | i2c_write_byte(pTxBuff[byte_counter]); // submit next byte |
| 1651 | killagreg | 122 | twi_state = 3;// keep state 3 |
| 1648 | killagreg | 123 | } |
| 124 | byte_counter++; // next byte |
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| 125 | break; |
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| 126 | case 4: |
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| 127 | |||
| 128 | if(TWSR == 0x30) |
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| 129 | { |
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| 130 | if(!missing_motor) missing_motor = motor + 1; |
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| 131 | if((Motor[motor].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor].State++; // increment error counter and handle overflow |
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| 132 | } |
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| 133 | I2C_Stop(); |
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| 134 | I2CTimeout = 10; |
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| 135 | motor++; |
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| 136 | twi_state = 0; |
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| 137 | I2C_Start(); |
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| 138 | break; |
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| 1210 | hbuss | 139 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 140 | // Reading Data |
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| 141 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 142 | case 5: |
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| 1648 | killagreg | 143 | //Transmit 1st byte for reading |
| 144 | if(TWSR != 0x40) // Error? |
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| 145 | { |
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| 146 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
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| 147 | if(++motorread >= MAX_MOTORS) |
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| 1638 | holgerb | 148 | { |
| 1648 | killagreg | 149 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
| 150 | motorread = 0; |
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| 151 | if(++motorread_temperature >= MAX_MOTORS) |
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| 152 | { |
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| 153 | motorread_temperature = 0; |
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| 154 | BLFlags &= ~BLFLAG_READ_VERSION; |
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| 155 | } |
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| 156 | } |
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| 157 | I2C_Stop(); |
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| 158 | twi_state = 0; |
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| 159 | BLFlags |= BLFLAG_TX_COMPLETE; |
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| 160 | } |
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| 161 | else |
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| 162 | { |
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| 163 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
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| 1654 | killagreg | 164 | if( (motorread == motorread_temperature) || (BLFlags & BLFLAG_READ_VERSION) ) |
| 1648 | killagreg | 165 | { |
| 166 | read_more = 1; |
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| 167 | I2C_ReceiveByte(); |
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| 168 | } |
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| 1638 | holgerb | 169 | else |
| 1648 | killagreg | 170 | { |
| 171 | read_more = 0; |
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| 172 | I2C_ReceiveLastByte(); |
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| 1642 | killagreg | 173 | } |
| 1648 | killagreg | 174 | } |
| 175 | MissingMotor = missing_motor; |
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| 176 | missing_motor = 0; |
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| 177 | break; |
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| 178 | case 6: //Read 1st byte and transmit 2nd Byte |
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| 1638 | holgerb | 179 | Motor[motorread].Current = TWDR; |
| 1648 | killagreg | 180 | if(read_more) |
| 181 | { |
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| 182 | I2C_ReceiveByte() //ack |
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| 183 | |||
| 184 | } |
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| 1643 | holgerb | 185 | else |
| 1648 | killagreg | 186 | { |
| 187 | if(++motorread >= MAX_MOTORS) |
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| 188 | { |
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| 189 | motorread = 0; // restart from beginning |
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| 190 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
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| 191 | if(++motorread_temperature >= MAX_MOTORS) |
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| 192 | { |
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| 193 | motorread_temperature = 0; |
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| 194 | BLFlags &= ~BLFLAG_READ_VERSION; |
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| 195 | } |
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| 196 | } |
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| 1643 | holgerb | 197 | I2C_Stop(); |
| 198 | twi_state = 0; |
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| 1648 | killagreg | 199 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 200 | } |
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| 1638 | holgerb | 201 | break; |
| 1648 | killagreg | 202 | case 7: |
| 1638 | holgerb | 203 | //Read 2nd byte and transmit 3rd Byte |
| 204 | Motor[motorread].MaxPWM = TWDR; |
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| 1648 | killagreg | 205 | if(BLFlags & BLFLAG_READ_VERSION) |
| 206 | { |
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| 207 | if(TWDR == 250) |
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| 208 | { |
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| 209 | if(!MotorenEin) Motor[motorread].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
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| 210 | } |
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| 211 | else |
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| 212 | { |
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| 213 | Motor[motorread].Version = 0; |
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| 214 | } |
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| 215 | } |
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| 1638 | holgerb | 216 | I2C_ReceiveLastByte(); //nack |
| 217 | break; |
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| 1648 | killagreg | 218 | case 8: // read next |
| 1638 | holgerb | 219 | Motor[motorread].Temperature = TWDR; |
| 1648 | killagreg | 220 | if(++motorread >= MAX_MOTORS) |
| 221 | { |
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| 222 | motorread = 0; // restart reading of first motor |
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| 223 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
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| 224 | if(++motorread_temperature >= MAX_MOTORS) |
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| 225 | { |
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| 226 | motorread_temperature = 0; |
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| 227 | BLFlags &= ~BLFLAG_READ_VERSION; |
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| 228 | } |
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| 229 | } |
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| 1639 | holgerb | 230 | I2C_Stop(); |
| 1648 | killagreg | 231 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 1638 | holgerb | 232 | twi_state = 0; |
| 1643 | holgerb | 233 | break; |
| 1638 | holgerb | 234 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 235 | // writing Gyro-Offset |
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| 236 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 237 | case 18: |
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| 238 | i2c_write_byte(0x98); // Address of the DAC |
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| 239 | break; |
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| 240 | case 19: |
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| 241 | i2c_write_byte(0x10); // Update Channel A |
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| 242 | break; |
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| 243 | case 20: |
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| 244 | i2c_write_byte(AnalogOffsetNick); // Value |
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| 245 | break; |
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| 246 | case 21: |
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| 247 | i2c_write_byte(0x80); // Value |
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| 248 | break; |
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| 249 | case 22: |
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| 1639 | holgerb | 250 | I2C_Stop(); |
| 1638 | holgerb | 251 | I2CTimeout = 10; |
| 1639 | holgerb | 252 | I2C_Start(); |
| 1638 | holgerb | 253 | break; |
| 254 | case 23: |
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| 255 | i2c_write_byte(0x98); // Address of the DAC |
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| 256 | break; |
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| 257 | case 24: |
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| 258 | i2c_write_byte(0x12); // Update Channel B |
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| 259 | break; |
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| 260 | case 25: |
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| 261 | i2c_write_byte(AnalogOffsetRoll); // Value |
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| 262 | break; |
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| 263 | case 26: |
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| 264 | i2c_write_byte(0x80); // Value |
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| 265 | break; |
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| 266 | case 27: |
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| 1639 | holgerb | 267 | I2C_Stop(); |
| 1638 | holgerb | 268 | I2CTimeout = 10; |
| 1639 | holgerb | 269 | I2C_Start(); |
| 1638 | holgerb | 270 | break; |
| 271 | case 28: |
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| 272 | i2c_write_byte(0x98); // Address of the DAC |
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| 273 | break; |
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| 274 | case 29: |
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| 275 | i2c_write_byte(0x14); // Update Channel C |
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| 276 | break; |
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| 277 | case 30: |
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| 278 | i2c_write_byte(AnalogOffsetGier); // Value |
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| 279 | break; |
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| 280 | case 31: |
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| 281 | i2c_write_byte(0x80); // Value |
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| 282 | break; |
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| 283 | case 32: |
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| 1639 | holgerb | 284 | I2C_Stop(); |
| 1638 | holgerb | 285 | I2CTimeout = 10; |
| 286 | twi_state = 0; |
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| 287 | break; |
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| 288 | default: twi_state = 0; |
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| 289 | break; |
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| 1648 | killagreg | 290 | } |
| 291 | TWCR |= 0x80; |
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| 292 | J4Low; |
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| 1638 | holgerb | 293 | } |
| 1639 | holgerb | 294 | |
| 1648 | killagreg | 295 | void I2C_SendBLConfig(void) |
| 296 | { |
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| 297 | unsigned char i; |
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| 1651 | killagreg | 298 | if(MotorenEin) return; |
| 1648 | killagreg | 299 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
| 300 | BLFlags |= BLFLAG_SEND_CONFIG; // enable sending of BL config |
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| 1651 | killagreg | 301 | // setpoints should be zero |
| 1648 | killagreg | 302 | for(i = 0; i < MAX_MOTORS; i++) |
| 303 | { |
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| 304 | Motor[i].SetPoint = 0; |
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| 305 | Motor[i].SetPointLowerBits = 0; |
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| 306 | } |
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| 307 | motorread = 0; |
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| 308 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
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| 309 | do |
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| 310 | { |
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| 311 | twi_state = 0; |
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| 312 | I2C_Start(); // start an i2c transmission |
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| 313 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
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| 314 | }while(BLFlags & BLFLAG_SEND_CONFIG); // repeat until the BL config has been send to all motors |
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| 315 | } |
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| 316 | |||
| 317 | |||
| 318 |