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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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| 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 |
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| 21 | void i2c_init(void) |
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| 22 | //############################################################################ |
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| 23 | { |
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| 1648 | killagreg | 24 | unsigned char i; |
| 25 | |||
| 26 | TWSR = 0; |
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| 27 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
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| 28 | |||
| 29 | for(i=0; i < MAX_MOTORS; i++) |
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| 30 | { |
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| 31 | Motor[i].Version = 0; |
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| 32 | Motor[i].SetPoint = 0; |
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| 33 | Motor[i].SetPointLowerBits = 0; |
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| 34 | Motor[i].State = 0; |
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| 35 | Motor[i].Current = 0; |
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| 36 | Motor[i].MaxPWM = 0; |
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| 37 | 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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| 38 | BLConfig[i].PwmScaling = 255; // MaxPWM |
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| 39 | BLConfig[i].CurrentLimit = 30; // Current Limit in A |
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| 40 | BLConfig[i].TempLimit = 99; // Temperature Limit in °C |
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| 41 | BLConfig[i].CurrentScaling = 64; // Current Scaling |
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| 42 | BLConfig[i].BitConfig = 0; // BitConfig |
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| 43 | } |
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| 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; |
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| 51 | motor = TWDR; |
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| 52 | motor = 0; |
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| 53 | TWCR = 0x80; |
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| 54 | TWAMR = 0; |
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| 55 | TWAR = 0; |
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| 56 | TWDR = 0; |
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| 57 | TWSR = 0; |
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| 58 | TWBR = 0; |
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| 59 | i2c_init(); |
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| 60 | I2C_Start(); |
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| 61 | i2c_write_byte(0); |
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| 173 | holgerb | 62 | } |
| 1 | ingob | 63 | |
| 1648 | killagreg | 64 | |
| 1 | ingob | 65 | //############################################################################ |
| 66 | SIGNAL (TWI_vect) |
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| 67 | //############################################################################ |
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| 68 | { |
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| 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; |
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| 1648 | killagreg | 71 | J4High; |
| 72 | switch(twi_state++) |
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| 73 | { |
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| 1210 | hbuss | 74 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 75 | // Writing the Data |
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| 76 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1648 | killagreg | 77 | case 0: |
| 78 | while(Mixer.Motor[motor][MIX_GAS] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
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| 79 | if(motor == MAX_MOTORS) // writing finished -> now read |
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| 80 | { |
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| 81 | motor = 0; |
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| 82 | twi_state = 5; |
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| 83 | i2c_write_byte(0x53+(motorread*2)); |
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| 84 | } |
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| 1209 | hbuss | 85 | else i2c_write_byte(0x52+(motor*2)); |
| 1648 | killagreg | 86 | break; |
| 87 | case 1: |
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| 88 | i2c_write_byte(Motor[motor].SetPoint); |
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| 1652 | holgerb | 89 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) || RequiredMotors > 6) |
| 1648 | killagreg | 90 | { |
| 91 | twi_state = 4; //jump over sending more data |
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| 92 | } |
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| 93 | else if(!(Motor[motor].SetPointLowerBits || (BLFlags & BLFLAG_SEND_CONFIG))) |
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| 94 | { |
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| 95 | twi_state = 4; // skip state |
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| 96 | } |
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| 97 | break; |
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| 98 | case 2: // lower bits of setpoint (higher resolution) |
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| 99 | i2c_write_byte((Motor[motor].SetPointLowerBits << 1) & 0x07); // send the lower bits of setpoint |
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| 100 | // 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 | 101 | if( (BLFlags & BLFLAG_SEND_CONFIG) && (motor == motorread)) |
| 1648 | killagreg | 102 | { // prepare sending of configuration |
| 103 | byte_counter = 0; // reset send byte counter |
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| 104 | crc = 0xAA; // init checksum |
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| 105 | } |
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| 106 | else |
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| 107 | { // jump to state for end of transmission for that motor |
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| 108 | twi_state = 4; |
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| 109 | } |
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| 110 | break; |
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| 111 | case 3: |
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| 112 | if(!byte_counter) // first byte? |
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| 113 | { |
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| 114 | i2c_write_byte(BL_CONF_SYNC_BYTE); |
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| 115 | crc += BL_CONF_SYNC_BYTE; // update crc |
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| 116 | pTxBuff = (uint8_t*)&BLConfig[motor]; // select configuration for motor |
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| 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); |
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| 1651 | killagreg | 122 | twi_state = 3; // keep state 3 |
| 1648 | killagreg | 123 | } |
| 1651 | killagreg | 124 | else if(byte_counter > sizeof(BLConfig_t) + 1) |
| 125 | { |
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| 126 | i2c_write_byte(0); |
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| 127 | // jump to case 4 |
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| 128 | } |
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| 1648 | killagreg | 129 | else // transmit configuration to BLs |
| 130 | { |
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| 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 |
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| 136 | break; |
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| 137 | case 4: |
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| 138 | |||
| 139 | if(TWSR == 0x30) |
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| 140 | { |
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| 141 | if(!missing_motor) missing_motor = motor + 1; |
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| 142 | 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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| 143 | } |
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| 144 | I2C_Stop(); |
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| 145 | I2CTimeout = 10; |
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| 146 | motor++; |
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| 147 | twi_state = 0; |
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| 148 | I2C_Start(); |
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| 149 | break; |
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| 1210 | hbuss | 150 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 151 | // Reading Data |
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| 152 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 153 | case 5: |
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| 1648 | killagreg | 154 | //Transmit 1st byte for reading |
| 155 | if(TWSR != 0x40) // Error? |
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| 156 | { |
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| 157 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
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| 158 | if(++motorread >= MAX_MOTORS) |
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| 1638 | holgerb | 159 | { |
| 1648 | killagreg | 160 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
| 161 | motorread = 0; |
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| 162 | if(++motorread_temperature >= MAX_MOTORS) |
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| 163 | { |
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| 164 | motorread_temperature = 0; |
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| 165 | BLFlags &= ~BLFLAG_READ_VERSION; |
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| 166 | } |
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| 167 | } |
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| 168 | I2C_Stop(); |
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| 169 | twi_state = 0; |
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| 170 | BLFlags |= BLFLAG_TX_COMPLETE; |
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| 171 | } |
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| 172 | else |
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| 173 | { |
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| 174 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
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| 175 | if(motorread == motorread_temperature) |
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| 176 | { |
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| 177 | read_more = 1; |
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| 178 | I2C_ReceiveByte(); |
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| 179 | } |
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| 1638 | holgerb | 180 | else |
| 1648 | killagreg | 181 | { |
| 182 | read_more = 0; |
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| 183 | I2C_ReceiveLastByte(); |
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| 1642 | killagreg | 184 | } |
| 1648 | killagreg | 185 | } |
| 186 | MissingMotor = missing_motor; |
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| 187 | missing_motor = 0; |
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| 188 | break; |
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| 189 | case 6: //Read 1st byte and transmit 2nd Byte |
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| 1638 | holgerb | 190 | Motor[motorread].Current = TWDR; |
| 1648 | killagreg | 191 | if(read_more) |
| 192 | { |
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| 193 | I2C_ReceiveByte() //ack |
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| 194 | |||
| 195 | } |
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| 1643 | holgerb | 196 | else |
| 1648 | killagreg | 197 | { |
| 198 | if(++motorread >= MAX_MOTORS) |
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| 199 | { |
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| 200 | motorread = 0; // restart from beginning |
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| 201 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
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| 202 | if(++motorread_temperature >= MAX_MOTORS) |
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| 203 | { |
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| 204 | motorread_temperature = 0; |
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| 205 | BLFlags &= ~BLFLAG_READ_VERSION; |
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| 206 | } |
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| 207 | } |
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| 1643 | holgerb | 208 | I2C_Stop(); |
| 209 | twi_state = 0; |
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| 1648 | killagreg | 210 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 211 | } |
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| 1638 | holgerb | 212 | break; |
| 1648 | killagreg | 213 | case 7: |
| 1638 | holgerb | 214 | //Read 2nd byte and transmit 3rd Byte |
| 215 | Motor[motorread].MaxPWM = TWDR; |
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| 1648 | killagreg | 216 | if(BLFlags & BLFLAG_READ_VERSION) |
| 217 | { |
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| 218 | if(TWDR == 250) |
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| 219 | { |
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| 220 | if(!MotorenEin) Motor[motorread].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
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| 221 | } |
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| 222 | else |
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| 223 | { |
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| 224 | Motor[motorread].Version = 0; |
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| 225 | } |
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| 226 | } |
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| 1638 | holgerb | 227 | I2C_ReceiveLastByte(); //nack |
| 228 | break; |
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| 1648 | killagreg | 229 | case 8: // read next |
| 1638 | holgerb | 230 | Motor[motorread].Temperature = TWDR; |
| 1648 | killagreg | 231 | if(++motorread >= MAX_MOTORS) |
| 232 | { |
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| 233 | motorread = 0; // restart reading of first motor |
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| 234 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
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| 235 | if(++motorread_temperature >= MAX_MOTORS) |
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| 236 | { |
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| 237 | motorread_temperature = 0; |
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| 238 | BLFlags &= ~BLFLAG_READ_VERSION; |
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| 239 | } |
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| 240 | } |
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| 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 |
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| 247 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 248 | case 18: |
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| 249 | i2c_write_byte(0x98); // Address of the DAC |
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| 250 | break; |
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| 251 | case 19: |
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| 252 | i2c_write_byte(0x10); // Update Channel A |
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| 253 | break; |
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| 254 | case 20: |
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| 255 | i2c_write_byte(AnalogOffsetNick); // Value |
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| 256 | break; |
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| 257 | case 21: |
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| 258 | i2c_write_byte(0x80); // Value |
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| 259 | break; |
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| 260 | case 22: |
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| 1639 | holgerb | 261 | I2C_Stop(); |
| 1638 | holgerb | 262 | I2CTimeout = 10; |
| 1639 | holgerb | 263 | I2C_Start(); |
| 1638 | holgerb | 264 | break; |
| 265 | case 23: |
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| 266 | i2c_write_byte(0x98); // Address of the DAC |
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| 267 | break; |
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| 268 | case 24: |
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| 269 | i2c_write_byte(0x12); // Update Channel B |
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| 270 | break; |
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| 271 | case 25: |
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| 272 | i2c_write_byte(AnalogOffsetRoll); // Value |
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| 273 | break; |
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| 274 | case 26: |
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| 275 | i2c_write_byte(0x80); // Value |
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| 276 | break; |
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| 277 | case 27: |
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| 1639 | holgerb | 278 | I2C_Stop(); |
| 1638 | holgerb | 279 | I2CTimeout = 10; |
| 1639 | holgerb | 280 | I2C_Start(); |
| 1638 | holgerb | 281 | break; |
| 282 | case 28: |
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| 283 | i2c_write_byte(0x98); // Address of the DAC |
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| 284 | break; |
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| 285 | case 29: |
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| 286 | i2c_write_byte(0x14); // Update Channel C |
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| 287 | break; |
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| 288 | case 30: |
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| 289 | i2c_write_byte(AnalogOffsetGier); // Value |
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| 290 | break; |
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| 291 | case 31: |
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| 292 | i2c_write_byte(0x80); // Value |
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| 293 | break; |
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| 294 | case 32: |
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| 1639 | holgerb | 295 | I2C_Stop(); |
| 1638 | holgerb | 296 | I2CTimeout = 10; |
| 297 | twi_state = 0; |
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| 298 | break; |
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| 299 | default: twi_state = 0; |
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| 300 | break; |
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| 1648 | killagreg | 301 | } |
| 302 | TWCR |= 0x80; |
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| 303 | J4Low; |
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| 1638 | holgerb | 304 | } |
| 1639 | holgerb | 305 | |
| 1648 | killagreg | 306 | void I2C_SendBLConfig(void) |
| 307 | { |
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| 308 | unsigned char i; |
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| 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 |
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| 1651 | killagreg | 312 | // setpoints should be zero |
| 1648 | killagreg | 313 | for(i = 0; i < MAX_MOTORS; i++) |
| 314 | { |
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| 315 | Motor[i].SetPoint = 0; |
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| 316 | Motor[i].SetPointLowerBits = 0; |
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| 317 | } |
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| 318 | motorread = 0; |
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| 319 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
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| 320 | do |
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| 321 | { |
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| 322 | twi_state = 0; |
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| 323 | I2C_Start(); // start an i2c transmission |
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| 324 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
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| 325 | }while(BLFlags & BLFLAG_SEND_CONFIG); // repeat until the BL config has been send to all motors |
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| 326 | } |
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| 327 | |||
| 328 | |||
| 329 |