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1662 killagreg 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) Holger Buss, Ingo Busker
3
// + Nur für den privaten Gebrauch
4
// + www.MikroKopter.com
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// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
6
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
9
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
19
// + eindeutig als Ursprung verlinkt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
32
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
41
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 52
 
1662 killagreg 53
#include <avr/io.h>
54
#include <avr/interrupt.h>
55
#include <util/twi.h>
56
#include "eeprom.h"
57
#include "twimaster.h"
58
#include "fc.h"
59
#include "analog.h"
1665 killagreg 60
#include "uart.h"
1683 killagreg 61
#include "timer0.h"
1 ingob 62
 
1662 killagreg 63
volatile uint8_t twi_state      = TWI_STATE_MOTOR_TX;
64
volatile uint8_t dac_channel    = 0;
65
volatile uint8_t motor_write    = 0;
66
volatile uint8_t motor_read     = 0;
1744 holgerb 67
volatile uint8_t I2C_TransferActive = 0;
1479 killagreg 68
 
1662 killagreg 69
volatile uint16_t I2CTimeout = 100;
70
 
71
uint8_t MissingMotor  = 0;
72
 
73
volatile uint8_t BLFlags = 0;
74
 
1479 killagreg 75
MotorData_t Motor[MAX_MOTORS];
76
 
1662 killagreg 77
// bit mask for witch BL the configuration should be sent
78
volatile uint16_t BLConfig_WriteMask = 0;
79
// bit mask for witch BL the configuration should be read
80
volatile uint16_t BLConfig_ReadMask = 0;
81
// buffer for BL Configuration
82
BLConfig_t BLConfig;
1648 killagreg 83
 
1662 killagreg 84
#define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
85
#define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);}
86
#define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
1 ingob 87
 
1662 killagreg 88
#define SCL_CLOCK  200000L
89
#define I2C_TIMEOUT 30000
90
#define TWI_BASE_ADDRESS 0x52
91
 
92
/**************************************************/
93
/*   Initialize I2C (TWI)                         */
94
/**************************************************/
95
 
1743 holgerb 96
void I2C_Init(char clear)
1 ingob 97
{
1662 killagreg 98
        uint8_t i;
99
        uint8_t sreg = SREG;
100
        cli();
1648 killagreg 101
 
1662 killagreg 102
        // SDA is INPUT
103
        DDRC  &= ~(1<<DDC1);
104
        // SCL is output
105
        DDRC |= (1<<DDC0);
106
        // pull up SDA
107
        PORTC |= (1<<PORTC0)|(1<<PORTC1);
1648 killagreg 108
 
1662 killagreg 109
        // TWI Status Register
110
        // prescaler 1 (TWPS1 = 0, TWPS0 = 0)
111
        TWSR &= ~((1<<TWPS1)|(1<<TWPS0));
112
 
113
        // set TWI Bit Rate Register
114
        TWBR = ((F_CPU/SCL_CLOCK)-16)/2;
115
 
116
        twi_state               = TWI_STATE_MOTOR_TX;
117
        motor_write     = 0;
118
        motor_read              = 0;
119
 
1743 holgerb 120
        if(clear) for(i=0; i < MAX_MOTORS; i++)
1648 killagreg 121
        {
122
                Motor[i].Version        = 0;
123
                Motor[i].SetPoint       = 0;
124
                Motor[i].SetPointLowerBits      = 0;
125
                Motor[i].State          = 0;
1666 killagreg 126
                Motor[i].ReadMode       = BL_READMODE_STATUS;
1648 killagreg 127
                Motor[i].Current        = 0;
128
                Motor[i].MaxPWM         = 0;
1666 killagreg 129
                Motor[i].Temperature = 0;
1648 killagreg 130
        }
1743 holgerb 131
    sei();
1662 killagreg 132
        SREG = sreg;
1 ingob 133
}
134
 
1662 killagreg 135
void I2C_Reset(void)
173 holgerb 136
{
1662 killagreg 137
        // stop i2c bus
138
        I2C_Stop(TWI_STATE_MOTOR_TX);
139
        TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset
1648 killagreg 140
        TWAMR = 0;
141
        TWAR = 0;
142
        TWDR = 0;
143
        TWSR = 0;
144
        TWBR = 0;
1744 holgerb 145
    I2C_TransferActive = 0;    
1743 holgerb 146
        I2C_Init(0);
1662 killagreg 147
        I2C_WriteByte(0);
148
        BLFlags |= BLFLAG_READ_VERSION;
173 holgerb 149
}
1 ingob 150
 
1662 killagreg 151
/****************************************/
152
/*        I2C ISR                       */
153
/****************************************/
154
ISR (TWI_vect)
155
{
156
        static uint8_t missing_motor = 0, motor_read_temperature = 0;
157
        static uint8_t *pBuff = 0;
158
        static uint8_t BuffLen = 0;
1648 killagreg 159
 
1662 killagreg 160
    switch (twi_state++)
1648 killagreg 161
        {
1662 killagreg 162
                // Master Transmit
163
        case 0: // TWI_STATE_MOTOR_TX
1744 holgerb 164
            I2C_TransferActive = 1;
1662 killagreg 165
                        // skip motor if not used in mixer
166
                        while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;
167
                        if(motor_write >= MAX_MOTORS) // writing finished, read now
1648 killagreg 168
                        {
1662 killagreg 169
                                BLConfig_WriteMask = 0; // reset configuration bitmask
170
                                motor_write = 0; // reset motor write counter for next cycle
171
                                twi_state = TWI_STATE_MOTOR_RX;
172
                                I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode
1648 killagreg 173
                        }
1662 killagreg 174
                        else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode
1648 killagreg 175
                        break;
1662 killagreg 176
        case 1: // Send Data to Slave
177
                        I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint
1744 holgerb 178
if(Motor[motor_write].SetPoint == 0) if(MotorenEin) DebugOut.Analog[17]++;
1662 killagreg 179
                        // if old version has been detected
180
                        if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
1648 killagreg 181
                        {
182
                                twi_state = 4; //jump over sending more data
183
                        }
1662 killagreg 184
                        // the new version has been detected
185
                        else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask )  )
186
                        {       // or LowerBits are zero and no BlConfig should be sent (saves round trip time)
187
                                twi_state = 4; //jump over sending more data
1648 killagreg 188
                        }
189
                        break;
1662 killagreg 190
        case 2: // lower bits of setpoint (higher resolution)
1666 killagreg 191
                        if ((0x0001<<motor_write) & BLConfig_ReadMask)
1662 killagreg 192
                        {
1666 killagreg 193
                                Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request
1648 killagreg 194
                        }
195
                        else
196
                        {
1666 killagreg 197
                                Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request
1648 killagreg 198
                        }
1662 killagreg 199
                        // send read mode and the lower bits of setpoint
1666 killagreg 200
                I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07));
1662 killagreg 201
                        // configuration tranmission request?
202
                        if((0x0001<<motor_write) & BLConfig_WriteMask)
203
                        {       // redirect tx pointer to configuration data
204
                                pBuff = (uint8_t*)&BLConfig; // select config for motor
205
                                BuffLen = sizeof(BLConfig_t);
1651 killagreg 206
                        }
1662 killagreg 207
                        else
208
                        {       // jump to end of transmission for that motor
209
                                twi_state = 4;
1648 killagreg 210
                        }
211
                        break;
1662 killagreg 212
                case 3: // send configuration
213
                        I2C_WriteByte(*pBuff);
214
                        pBuff++;
215
                        if(--BuffLen > 0) twi_state = 3; // if there are some bytes left
216
                        break;
217
        case 4: // repeat case 0-4 for all motors
218
                        if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received
1648 killagreg 219
                        {
1662 killagreg 220
                                if(!missing_motor) missing_motor = motor_write + 1;
221
                                if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow
1648 killagreg 222
                        }
1662 killagreg 223
                        I2C_Stop(TWI_STATE_MOTOR_TX);
1648 killagreg 224
                        I2CTimeout = 10;
1662 killagreg 225
                        motor_write++; // next motor
226
                        I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive
1648 killagreg 227
                        break;
1662 killagreg 228
       // Master Receive Data
229
        case 5: // TWI_STATE_MOTOR_RX
230
                        if(TWSR != TW_MR_SLA_ACK) //  SLA+R transmitted but no ACK received
231
                        {       // no response from the addressed slave received
232
                                Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit
233
                                if(++motor_read >= MAX_MOTORS)
234
                                {       // all motors read
235
                                        motor_read = 0;                 // restart from beginning
236
                                        BLConfig_ReadMask = 0;  // reset read configuration bitmask
237
                                        if(++motor_read_temperature >= MAX_MOTORS)
1683 killagreg 238
                                        {
1662 killagreg 239
                                                motor_read_temperature = 0;
1648 killagreg 240
                                                BLFlags &= ~BLFLAG_READ_VERSION;
241
                                        }
242
                                }
243
                                BLFlags |= BLFLAG_TX_COMPLETE;
1662 killagreg 244
                                I2C_Stop(TWI_STATE_MOTOR_TX);
1744 holgerb 245
                                I2C_TransferActive = 0;
1648 killagreg 246
                        }
247
                        else
1662 killagreg 248
                        {       // motor successfully addressed
249
                                Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit
250
                                if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)
1648 killagreg 251
                                {
1662 killagreg 252
                                        // new BL found
1666 killagreg 253
                                        switch(Motor[motor_read].ReadMode)
1662 killagreg 254
                                        {
1666 killagreg 255
                                                case BL_READMODE_CONFIG:
1662 killagreg 256
                                                        pBuff = (uint8_t*)&BLConfig;
257
                                                        BuffLen = sizeof(BLConfig_t);
258
                                                        break;
259
 
1666 killagreg 260
                                                case BL_READMODE_STATUS:
1662 killagreg 261
                                                        pBuff = (uint8_t*)&(Motor[motor_read].Current);
262
                                                        if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp
263
                                                        else BuffLen = 1;// read Current only
264
                                                        break;
265
                                        }
1648 killagreg 266
                                }
1662 killagreg 267
                                else // old BL version
268
                                {
269
                                        pBuff = (uint8_t*)&(Motor[motor_read].Current);
1672 killagreg 270
                                        if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm
1662 killagreg 271
                                        else BuffLen = 1; // read Current only
272
                                }
273
                                if(BuffLen == 1)
274
                                {
275
                                        I2C_ReceiveLastByte();  // read last byte
276
                                }
1638 holgerb 277
                                else
1648 killagreg 278
                                {
1662 killagreg 279
                                        I2C_ReceiveByte();              // read next byte
1642 killagreg 280
                                }
1648 killagreg 281
                        }
282
                        MissingMotor = missing_motor;
283
                        missing_motor = 0;
284
                        break;
1662 killagreg 285
                case 6: // receive bytes
286
                        *pBuff = TWDR;
287
                        pBuff++;
288
                        BuffLen--;
289
                        if(BuffLen>1)
290
                        {
291
                                I2C_ReceiveByte(); // read next byte
292
                        }
293
                        else if (BuffLen == 1)
294
                        {
295
                                I2C_ReceiveLastByte();  // read last byte
296
                        }
297
                        else // nothing left
298
                        {
299
                                if(BLFlags & BLFLAG_READ_VERSION)
1648 killagreg 300
                                {
1662 killagreg 301
                                        if(!(FCFlags & FCFLAG_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK;
302
                                        else Motor[motor_read].Version = 0;
1648 killagreg 303
                                }
1662 killagreg 304
                                if(++motor_read >= MAX_MOTORS)
1648 killagreg 305
                                {
1662 killagreg 306
                                        motor_read = 0;                 // restart from beginning
307
                                        BLConfig_ReadMask = 0;  // reset read configuration bitmask
308
                                        if(++motor_read_temperature >= MAX_MOTORS)
1648 killagreg 309
                                        {
1662 killagreg 310
                                                motor_read_temperature = 0;
311
                                                BLFlags &= ~BLFLAG_READ_VERSION;
1648 killagreg 312
                                        }
313
                                }
1662 killagreg 314
                                I2C_Stop(TWI_STATE_MOTOR_TX);
315
                                BLFlags |= BLFLAG_TX_COMPLETE;
1744 holgerb 316
                I2C_TransferActive = 0;
1662 killagreg 317
                                return;
318
                        }
319
                        twi_state = 6; // if there are some bytes left
320
                        break;
321
 
322
                // writing Gyro-Offsets
323
                case 18:
324
                        I2C_WriteByte(0x98); // Address the DAC
325
                        break;
326
 
327
                case 19:
328
                        I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)
329
                        break;
330
 
331
                case 20:
332
                        switch(dac_channel)
333
                        {
334
                                case 0:
335
                                                I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A
336
                                                break;
337
                                case 1:
338
                                                I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B
339
                                                break;
340
                                case 2:
341
                                                I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C
342
                                                break;
343
                        }
344
                        break;
345
 
346
                case 21:
347
                        I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
348
                        break;
349
 
350
                case 22:
351
                        I2C_Stop(TWI_STATE_MOTOR_TX);
1744 holgerb 352
                        I2C_TransferActive = 0;
1662 killagreg 353
                        I2CTimeout = 10;
1665 killagreg 354
                        // repeat case 18...22 until all DAC Channels are updated
1662 killagreg 355
                        if(dac_channel < 2)
356
                        {
357
                                dac_channel ++;         // jump to next channel
358
                                I2C_Start(TWI_STATE_GYRO_OFFSET_TX);            // start transmission for next channel
359
                        }
360
                        else
1665 killagreg 361
                        {
1662 killagreg 362
                                dac_channel = 0; // reset dac channel counter
1665 killagreg 363
                                BLFlags |= BLFLAG_TX_COMPLETE;
1662 killagreg 364
                        }
365
                        break;
366
        default:
367
                        I2C_Stop(TWI_STATE_MOTOR_TX);
368
                        BLFlags |= BLFLAG_TX_COMPLETE;
369
                        I2CTimeout = 10;
370
                        motor_write = 0;
371
                        motor_read = 0;
1744 holgerb 372
                        I2C_TransferActive = 0;
1662 killagreg 373
                        break;
1648 killagreg 374
        }
1662 killagreg 375
 
1638 holgerb 376
}
1639 holgerb 377
 
1662 killagreg 378
 
379
uint8_t I2C_WriteBLConfig(uint8_t motor)
1648 killagreg 380
{
1662 killagreg 381
        uint8_t i;
1683 killagreg 382
        uint16_t timer;
1662 killagreg 383
 
1665 killagreg 384
        if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING);        // not when motors are running!
385
        if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST);                   // motor does not exist!
1662 killagreg 386
        if(motor)
387
        {
1665 killagreg 388
                if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
389
                if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
1662 killagreg 390
        }
391
        // check BL configuration to send
1665 killagreg 392
        if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
1662 killagreg 393
        i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
1665 killagreg 394
        if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
1662 killagreg 395
 
1683 killagreg 396
        timer = SetDelay(2000);
397
        while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer));   //wait for complete transfer
1662 killagreg 398
 
399
        // prepare the bitmask
400
        if(!motor) // 0 means all
401
        {
402
                BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration
403
        }
404
        else //only one specific motor
405
        {
406
                BLConfig_WriteMask = 0x0001<<(motor-1);
407
        }
1648 killagreg 408
        for(i = 0; i < MAX_MOTORS; i++)
409
        {
1662 killagreg 410
                if((0x0001<<i) & BLConfig_WriteMask)
411
                {
412
                        Motor[i].SetPoint = 0;
413
                        Motor[i].SetPointLowerBits = 0;
414
                }
1648 killagreg 415
        }
1665 killagreg 416
 
1662 killagreg 417
        motor_write = 0;
1648 killagreg 418
        // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
419
        do
420
        {
1662 killagreg 421
                I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
1683 killagreg 422
                while(!(BLFlags & BLFLAG_TX_COMPLETE)  && !CheckDelay(timer)); //wait for complete transfer
423
        }while(BLConfig_WriteMask  && !CheckDelay(timer)); // repeat until the BL config has been sent
424
        if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST);
1665 killagreg 425
        return(BLCONFIG_SUCCESS);
1648 killagreg 426
}
427
 
1662 killagreg 428
uint8_t I2C_ReadBLConfig(uint8_t motor)
429
{
430
        uint8_t i;
1683 killagreg 431
        uint16_t timer;
1648 killagreg 432
 
1665 killagreg 433
        if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
1673 killagreg 434
        if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST);           // motor does not exist!
435
        if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE);
1665 killagreg 436
        if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
437
        if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
438
 
1683 killagreg 439
        timer = SetDelay(2000);
440
        while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer));                           //wait for complete transfer
1648 killagreg 441
 
1662 killagreg 442
        // prepare the bitmask
443
        BLConfig_ReadMask = 0x0001<<(motor-1);
1665 killagreg 444
 
1662 killagreg 445
        for(i = 0; i < MAX_MOTORS; i++)
446
        {
447
                if((0x0001<<i) & BLConfig_ReadMask)
448
                {
449
                        Motor[i].SetPoint = 0;
450
                        Motor[i].SetPointLowerBits = 0;
451
                }
452
        }
1665 killagreg 453
 
1662 killagreg 454
        motor_read = 0;
455
        BLConfig.Revision = 0; // bad revision
456
        BLConfig.crc = 0;          // bad checksum
457
        // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
458
        do
459
        {
460
                I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
1683 killagreg 461
                while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
462
        }while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors
1662 killagreg 463
        // validate result
1665 killagreg 464
        if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
1662 killagreg 465
        i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
1665 killagreg 466
        if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
467
        return(BLCONFIG_SUCCESS);
1662 killagreg 468
}
1665 killagreg 469