Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + 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

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// +     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

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <avr/io.h>

#include <avr/interrupt.h>

#include <util/twi.h>

#include <util/delay.h>

#include "twimaster.h"

#include "configuration.h"

#include "analog.h"

#include "printf_P.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];

uint8_t DACChannel = 0;

#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 ((mixerMatrix.motor[motor_write][MIX_THROTTLE] <= 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 ADC values.

        case 7:

                I2C_WriteByte(0x98); // Address the DAC

                break;

        case 8:

                I2C_WriteByte(0x10 + (DACChannel << 1)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)

                break;

        case 9:

                I2C_WriteByte(DACValues.offsets[DACChannel]);

                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 (DACChannel < 2) {

                        DACChannel++; // jump to next channel

                        I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel

                } else {

                        DACChannel = 0; // reset dac channel counter

                }

                break;

        default:

                I2C_Stop(TWI_STATE_MOTOR_TX);

                I2CTimeout = 10;

                motor_write = 0;

                motor_read = 0;

        }

}

extern void twi_diagnostics(void) {

        // Check connected BL-Ctrls

        uint8_t i;

        printf("\n\rFound BL-Ctrl: ");

        for (i = 0; i < MAX_MOTORS; i++) {

                motor[i].SetPoint = 0;

        }

        I2C_Start(TWI_STATE_MOTOR_TX);

        _delay_ms(2);

        motor_read = 0; // read the first I2C-Data

        for (i = 0; i < MAX_MOTORS; i++) {

                I2C_Start(TWI_STATE_MOTOR_TX);

                _delay_ms(2);

                if (motor[i].Present)

                        printf("%d ",i+1);

        }

        for (i = 0; i < MAX_MOTORS; i++) {

                if (!motor[i].Present && mixerMatrix.motor[i][MIX_THROTTLE] > 0)

                        printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i + 1);

                motor[i].Error = 0;

        }

}