51,46 → 51,34 |
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#include <avr/io.h> |
#include <avr/interrupt.h> |
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#include <util/twi.h> |
#include "main.h" |
#include "eeprom.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 twi_state = TWI_STATE_MOTOR_TX; |
volatile uint8_t dac_channel = 0; |
volatile uint8_t motor_write = 0; |
volatile uint8_t motor_read = 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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uint8_t MissingMotor = 0; |
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MotorData_t Motor[MAX_MOTORS]; |
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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 i; |
uint8_t sreg = SREG; |
cli(); |
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108,10 → 96,18 |
// set TWI Bit Rate Register |
TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
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twi_state = 0; |
twi_state = TWI_STATE_MOTOR_TX; |
motor_write = 0; |
motor_read = 0; |
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for(i=0; i < MAX_MOTORS; i++) |
{ |
Motor[i].SetPoint = 0; |
Motor[i].Present = 0; |
Motor[i].Error = 0; |
Motor[i].MaxPWM = 0; |
} |
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SREG = sreg; |
} |
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118,8 → 114,9 |
/****************************************/ |
/* Start I2C */ |
/****************************************/ |
void I2C_Start(void) |
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) |
134,8 → 131,9 |
/****************************************/ |
/* Stop I2C */ |
/****************************************/ |
void I2C_Stop(void) |
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) |
153,12 → 151,12 |
/****************************************/ |
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); |
// 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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167,7 → 165,7 |
/****************************************/ |
void I2C_ReceiveByte(void) |
{ |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
} |
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/****************************************/ |
175,7 → 173,7 |
/****************************************/ |
void I2C_ReceiveLastByte(void) |
{ |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
} |
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185,7 → 183,7 |
void I2C_Reset(void) |
{ |
// stop i2c bus |
I2C_Stop(); |
I2C_Stop(TWI_STATE_MOTOR_TX); |
twi_state = 0; |
motor_write = TWDR; |
motor_write = 0; |
197,8 → 195,7 |
TWSR = 0; |
TWBR = 0; |
I2C_Init(); |
I2C_Start(); |
I2C_WriteByte(0); |
I2C_Start(TWI_STATE_MOTOR_TX); |
} |
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205,199 → 202,68 |
/****************************************/ |
/* I2C ISR */ |
/****************************************/ |
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#ifdef USE_QUADRO |
ISR (TWI_vect) |
{ |
static uint8_t missing_motor = 0; |
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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) ); |
case 0: // TWI_STATE_MOTOR_TX |
// skip motor if not used in mixer |
while((Mixer.Motor[motor_write][MIX_GAS] <= 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 |
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; |
} |
I2C_WriteByte(Motor[motor_write].SetPoint); // transmit rotation rate setpoint |
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) |
if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
{ |
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; |
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 |
} |
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 |
} |
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; |
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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 |
// 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 |
{ // data to last motor send |
motor_write = 0; // reset motor write counter |
{ |
Motor[motor_read].Present = ('1' - '-') + motor_read; |
I2C_ReceiveByte(); //Transmit 1st byte |
} |
I2C_Start(); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
MissingMotor = missing_motor; |
missing_motor = 0; |
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(); |
case 4: //Read 1st byte and transmit 2nd Byte |
Motor[motor_read].Current = TWDR; |
I2C_ReceiveLastByte(); // nack |
break; |
case 6: |
case 5: |
//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; |
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; |
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// Gyro-Offsets |
// writing Gyro-Offsets |
case 7: |
I2C_WriteByte(0x98); // Address the DAC |
break; |
426,29 → 292,24 |
break; |
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case 11: |
I2C_Stop(); |
I2C_Stop(TWI_STATE_MOTOR_TX); |
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 |
I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // 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; |
I2C_Stop(TWI_STATE_MOTOR_TX); |
I2CTimeout = 10; |
motor_write = 0; |
motor_read = 0; |
} |
} |
#endif // USE_OCTO, USE_OCTO2 |
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