0,0 → 1,454 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + 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 |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + 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 |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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#include <avr/io.h> |
#include <avr/interrupt.h> |
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#include "main.h" |
#include "twimaster.h" |
#include "fc.h" |
#include "analog.h" |
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volatile uint8_t twi_state = 0; |
uint8_t motor_write = 0; |
uint8_t motor_read = 0; |
volatile uint8_t dac_channel = 0; |
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#ifdef USE_QUADRO |
uint8_t motor_rx[8]; |
#else |
uint8_t motor_rx[16]; |
#endif |
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volatile uint16_t I2CTimeout = 100; |
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#define SCL_CLOCK 200000L |
#define I2C_TIMEOUT 30000 |
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#define TWSR_STATUS_MASK 0xF8 |
// for Master Transmitter Mode |
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#define I2C_STATUS_START 0x08 |
#define I2C_STATUS_REPEATSTART 0x10 |
#define I2C_STATUS_TX_SLA_ACK 0x18 |
#define I2C_STATUS_SLAW_NOACK 0x20 |
#define I2C_STATUS_TX_DATA_ACK 0x28 |
#define I2C_STATUS_TX_DATA_NOTACK 0x30 |
#define I2C_STATUS_RX_DATA_ACK 0x50 |
#define I2C_STATUS_RX_DATA_NOTACK 0x58 |
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/**************************************************/ |
/* Initialize I2C (TWI) */ |
/**************************************************/ |
void I2C_Init(void) |
{ |
uint8_t sreg = SREG; |
cli(); |
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// SDA is INPUT |
DDRC &= ~(1<<DDC1); |
// SCL is output |
DDRC |= (1<<DDC0); |
// pull up SDA |
PORTC |= (1<<PORTC0)|(1<<PORTC1); |
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// TWI Status Register |
// prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
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// set TWI Bit Rate Register |
TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
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twi_state = 0; |
motor_write = 0; |
motor_read = 0; |
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SREG = sreg; |
} |
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/****************************************/ |
/* Start I2C */ |
/****************************************/ |
void I2C_Start(void) |
{ |
// 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); |
} |
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/****************************************/ |
/* Stop I2C */ |
/****************************************/ |
void I2C_Stop(void) |
{ |
// 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); |
} |
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/****************************************/ |
/* 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); |
} |
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/****************************************/ |
/* Receive byte and send ACK */ |
/****************************************/ |
void I2C_ReceiveByte(void) |
{ |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
} |
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/****************************************/ |
/* I2C receive last byte and send no ACK*/ |
/****************************************/ |
void I2C_ReceiveLastByte(void) |
{ |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
} |
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/****************************************/ |
/* Reset I2C */ |
/****************************************/ |
void I2C_Reset(void) |
{ |
// stop i2c bus |
I2C_Stop(); |
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(); |
I2C_WriteByte(0); |
} |
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/****************************************/ |
/* I2C ISR */ |
/****************************************/ |
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#ifdef USE_QUADRO |
ISR (TWI_vect) |
{ |
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switch (twi_state++) // First i2c_start from SendMotorData() |
{ |
// Master Transmit |
case 0: // Send SLA-W |
I2C_WriteByte(0x52 + (motor_write * 2) ); |
break; |
case 1: // Send Data to Slave |
switch(motor_write) |
{ |
case 0: |
I2C_WriteByte(Motor1); |
break; |
case 1: |
I2C_WriteByte(Motor2); |
break; |
case 2: |
I2C_WriteByte(Motor3); |
break; |
case 3: |
I2C_WriteByte(Motor4); |
break; |
} |
break; |
case 2: // repeat case 0+1 for all motors |
I2C_Stop(); |
if (motor_write < 3) |
{ |
motor_write++; // jump to next motor |
twi_state = 0; // and repeat from state 0 |
} |
else |
{ // data to last motor send |
motor_write = 0; // reset motor write counter |
} |
I2C_Start(); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
break; |
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// Master Receive |
case 3: // Send SLA-R |
I2C_WriteByte(0x53 + (motor_read * 2) ); |
break; |
case 4: |
//Transmit 1st byte |
I2C_ReceiveByte(); |
break; |
case 5: //Read 1st byte and transmit 2nd Byte |
motor_rx[motor_read] = TWDR; |
I2C_ReceiveLastByte(); |
break; |
case 6: |
//Read 2nd byte |
motor_rx[motor_read + 4] = TWDR; |
motor_read++; |
if (motor_read > 3) motor_read = 0; |
I2C_Stop(); |
twi_state = 0; |
I2CTimeout = 10; |
break; |
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// Gyro-Offsets |
case 7: |
I2C_WriteByte(0x98); // Address the DAC |
break; |
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case 8: |
I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
break; |
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case 9: |
switch(dac_channel) |
{ |
case 0: |
I2C_WriteByte(DacOffsetGyroNick); // 1st byte for Channel A |
break; |
case 1: |
I2C_WriteByte(DacOffsetGyroRoll); // 1st byte for Channel B |
break; |
case 2: |
I2C_WriteByte(DacOffsetGyroYaw ); // 1st byte for Channel C |
break; |
} |
break; |
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case 10: |
I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
break; |
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case 11: |
I2C_Stop(); |
I2CTimeout = 10; |
// repeat case 7...10 until all DAC Channels are updated |
if(dac_channel < 2) |
{ |
dac_channel ++; // jump to next channel |
twi_state = 7; // and repeat from state 7 |
I2C_Start(); // start transmission for next channel |
} |
else |
{ // data to last motor send |
dac_channel = 0; // reset dac channel counter |
twi_state = 0; // reset twi_state |
} |
break; |
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default: |
I2C_Stop(); |
twi_state = 0; |
I2CTimeout = 10; |
motor_write = 0; |
motor_read = 0; |
} |
} |
#else // USE_OCTO, USE_OCTO2, USE_OCTO3 |
ISR (TWI_vect) |
{ |
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switch (twi_state++) // First i2c_start from SendMotorData() |
{ |
// Master Transmit |
case 0: // Send SLA-W |
I2C_WriteByte(0x52 + (motor_write * 2) ); |
break; |
case 1: // Send Data to Slave |
switch(motor_write) |
{ |
case 0: |
I2C_WriteByte(Motor1); |
break; |
case 1: |
I2C_WriteByte(Motor2); |
break; |
case 2: |
I2C_WriteByte(Motor3); |
break; |
case 3: |
I2C_WriteByte(Motor4); |
break; |
case 5: |
I2C_WriteByte(Motor5); |
break; |
case 6: |
I2C_WriteByte(Motor6); |
break; |
case 7: |
I2C_WriteByte(Motor7); |
break; |
case 8: |
I2C_WriteByte(Motor8); |
break; |
} |
break; |
case 2: // repeat case 0+1 for all motors |
I2C_Stop(); |
if (motor_write < 7) |
{ |
motor_write++; // jump to next motor |
twi_state = 0; // and repeat from state 0 |
} |
else |
{ // data to last motor send |
motor_write = 0; // reset motor write counter |
} |
I2C_Start(); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
break; |
|
// Master Receive |
case 3: // Send SLA-R |
I2C_WriteByte(0x53 + (motor_read * 2) ); |
break; |
case 4: |
//Transmit 1st byte |
I2C_ReceiveByte(); |
break; |
case 5: //Read 1st byte and transmit 2nd Byte |
motor_rx[motor_read] = TWDR; |
I2C_ReceiveLastByte(); |
break; |
case 6: |
//Read 2nd byte |
motor_rx[motor_read + 8] = TWDR; |
motor_read++; |
if (motor_read > 7) motor_read = 0; |
I2C_Stop(); |
twi_state = 0; |
I2CTimeout = 10; |
break; |
|
// Gyro-Offsets |
case 7: |
I2C_WriteByte(0x98); // Address the DAC |
break; |
|
case 8: |
I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
break; |
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case 9: |
switch(dac_channel) |
{ |
case 0: |
I2C_WriteByte(DacOffsetGyroNick); // 1st byte for Channel A |
break; |
case 1: |
I2C_WriteByte(DacOffsetGyroRoll); // 1st byte for Channel B |
break; |
case 2: |
I2C_WriteByte(DacOffsetGyroYaw ); // 1st byte for Channel C |
break; |
} |
break; |
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case 10: |
I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
break; |
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case 11: |
I2C_Stop(); |
I2CTimeout = 10; |
// repeat case 7...10 until all DAC Channels are updated |
if(dac_channel < 2) |
{ |
dac_channel ++; // jump to next channel |
twi_state = 7; // and repeat from state 7 |
I2C_Start(); // start transmission for next channel |
} |
else |
{ // data to last motor send |
dac_channel = 0; // reset dac channel counter |
twi_state = 0; // reset twi_state |
} |
break; |
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default: |
I2C_Stop(); |
twi_state = 0; |
I2CTimeout = 10; |
motor_write = 0; |
motor_read = 0; |
} |
} |
#endif // USE_OCTO, USE_OCTO2 |
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