WebSVN - FlightCtrl - Diff - Rev 1665 and 1666 - /branches/V0.80g_ACC-HH


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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.
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// +     with our written permission
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// +     clearly linked as origin
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// +  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 "eeprom.h"
#include "twimaster.h"
#include "fc.h"
#include "analog.h"
#include "uart.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;
 
volatile uint8_t BLFlags = 0;
 
MotorData_t Motor[MAX_MOTORS];
 
// bit mask for witch BL the configuration should be sent
volatile uint16_t BLConfig_WriteMask = 0;
// bit mask for witch BL the configuration should be read
volatile uint16_t BLConfig_ReadMask = 0;
// buffer for BL Configuration
BLConfig_t BLConfig;
 
#define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
#define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);}
#define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
 
#define SCL_CLOCK  200000L
#define I2C_TIMEOUT 30000
#define TWI_BASE_ADDRESS 0x52
 
/**************************************************/
/*   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 = ((F_CPU/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].Version        = 0;
                Motor[i].SetPoint       = 0;
                Motor[i].SetPointLowerBits      = 0;
                Motor[i].State          = 0;
                Motor[i].ReadMode       = BL_READMODE_STATUS;
                Motor[i].Current        = 0;
                Motor[i].MaxPWM         = 0;
                Motor[i].Temperature = 0;
        }
 
        SREG = sreg;
}
 
void I2C_Reset(void)
{
        // stop i2c bus
        I2C_Stop(TWI_STATE_MOTOR_TX);
        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_WriteByte(0);
        BLFlags |= BLFLAG_READ_VERSION;
}
 
/****************************************/
/*        I2C ISR                       */
/****************************************/
ISR (TWI_vect)
{
        static uint8_t missing_motor = 0, motor_read_temperature = 0;
        static uint8_t *pBuff = 0;
        static uint8_t BuffLen = 0;
 
 
 
 
 
    switch (twi_state++)
        {
                // Master Transmit
        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
                        {
                                BLConfig_WriteMask = 0; // reset configuration bitmask
                                motor_write = 0; // reset motor write counter for next cycle
                                twi_state = TWI_STATE_MOTOR_RX;
                                I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode
                        }
                        else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode
                        break;
        case 1: // Send Data to Slave
                        I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint
                        // if old version has been detected
                        if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
                        {
                                twi_state = 4; //jump over sending more data
                        }
                        // the new version has been detected
                        else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask )  )
                        {       // or LowerBits are zero and no BlConfig should be sent (saves round trip time)
                                twi_state = 4; //jump over sending more data
                        }
                        break;
        case 2: // lower bits of setpoint (higher resolution)
                        if ((0x0001<<motor_write) & BLConfig_ReadMask)
                        {
                                Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request
                        }
                        else
                        {
                                Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request
                        }
                        // send read mode and the lower bits of setpoint
                I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07));
                        // configuration tranmission request?
                        if((0x0001<<motor_write) & BLConfig_WriteMask)
                        {       // redirect tx pointer to configuration data
                                pBuff = (uint8_t*)&BLConfig; // select config for motor
                                BuffLen = sizeof(BLConfig_t);
                        }
                        else
                        {       // jump to end of transmission for that motor
                                twi_state = 4;
                        }
                        break;
                case 3: // send configuration
                        I2C_WriteByte(*pBuff);
                        pBuff++;
                        if(--BuffLen > 0) twi_state = 3; // if there are some bytes left
                        break;
        case 4: // repeat case 0-4 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].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // 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 5: // TWI_STATE_MOTOR_RX
                        if(TWSR != TW_MR_SLA_ACK) //  SLA+R transmitted but no ACK received
                        {       // no response from the addressed slave received
                                Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit
                                if(++motor_read >= MAX_MOTORS)
                                {       // all motors read
                                        motor_read = 0;                 // restart from beginning
                                        BLConfig_ReadMask = 0;  // reset read configuration bitmask
                                        if(++motor_read_temperature >= MAX_MOTORS)
                                        {
                                                motor_read_temperature = 0;
                                                BLFlags &= ~BLFLAG_READ_VERSION;
                                        }
                                }
                                BLFlags |= BLFLAG_TX_COMPLETE;
                                I2C_Stop(TWI_STATE_MOTOR_TX);
                        }
                        else
                        {       // motor successfully addressed
                                Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit
 
                                if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)
                                {
                                        // new BL found
                                        switch(Motor[motor_read].ReadMode)
                                        {
                                                case BL_READMODE_CONFIG:
                                                        pBuff = (uint8_t*)&BLConfig;
                                                        BuffLen = sizeof(BLConfig_t);
                                                        break;
 
                                                case BL_READMODE_STATUS:
                                                        pBuff = (uint8_t*)&(Motor[motor_read].Current);
                                                        if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp
                                                        else BuffLen = 1;// read Current only
                                                        break;
                                        }
                                }
                                else // old BL version
                                {
                                        pBuff = (uint8_t*)&(Motor[motor_read].Current);
                                        if(BLFlags & BLFLAG_READ_VERSION) BuffLen = 2; // Current & MaxPwm
                                        else BuffLen = 1; // read Current only
                                }
                                if(BuffLen == 1)
                                {
                                        I2C_ReceiveLastByte();  // read last byte
                                }
                                else
                                {
                                        I2C_ReceiveByte();              // read next byte
                                }
                        }
                        MissingMotor = missing_motor;
                        missing_motor = 0;
                        break;
                case 6: // receive bytes
                        *pBuff = TWDR;
                        pBuff++;
                        BuffLen--;
                        if(BuffLen>1)
                        {
                                I2C_ReceiveByte(); // read next byte
                        }
                        else if (BuffLen == 1)
                        {
                                I2C_ReceiveLastByte();  // read last byte
                        }
                        else // nothing left
                        {
                                if(BLFlags & BLFLAG_READ_VERSION)
                                {
                                        if(!(FCFlags & FCFLAG_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK;
                                        else Motor[motor_read].Version = 0;
                                }
                                if(++motor_read >= MAX_MOTORS)
                                {
                                        motor_read = 0;                 // restart from beginning
                                        BLConfig_ReadMask = 0;  // reset read configuration bitmask
                                        if(++motor_read_temperature >= MAX_MOTORS)
                                        {
                                                motor_read_temperature = 0;
                                                BLFlags &= ~BLFLAG_READ_VERSION;
                                        }
                                }
                                I2C_Stop(TWI_STATE_MOTOR_TX);
                                BLFlags |= BLFLAG_TX_COMPLETE;
                                return;
                        }
                        twi_state = 6; // if there are some bytes left
                        break;
 
                // writing Gyro-Offsets
                case 18:
                        I2C_WriteByte(0x98); // Address the DAC
                        break;
 
                case 19:
                        I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)
                        break;
 
                case 20:
                        switch(dac_channel)
                        {
                                case 0:
                                                I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A
                                                break;
                                case 1:
                                                I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B
                                                break;
                                case 2:
                                                I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C
                                                break;
                        }
                        break;
 
                case 21:
                        I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
                        break;
 
                case 22:
                        I2C_Stop(TWI_STATE_MOTOR_TX);
                        I2CTimeout = 10;
                        // repeat case 18...22 until all DAC Channels are updated
                        if(dac_channel < 2)
                        {
                                dac_channel ++;         // jump to next channel
                                I2C_Start(TWI_STATE_GYRO_OFFSET_TX);            // start transmission for next channel
                        }
                        else
                        {
                                dac_channel = 0; // reset dac channel counter
                                BLFlags |= BLFLAG_TX_COMPLETE;
                        }
                        break;
 
        default:
                        I2C_Stop(TWI_STATE_MOTOR_TX);
                        BLFlags |= BLFLAG_TX_COMPLETE;
                        I2CTimeout = 10;
                        motor_write = 0;
                        motor_read = 0;
                        break;
        }
 
}
 
 
uint8_t I2C_WriteBLConfig(uint8_t motor)
{
        uint8_t i;
 
        if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING);        // not when motors are running!
        if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST);                   // motor does not exist!
        if(motor)
        {
                if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
                if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
        }
        // check BL configuration to send
        if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
        i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
        if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
 
        while(!(BLFlags & BLFLAG_TX_COMPLETE));         //wait for complete transfer
 
        // prepare the bitmask
        if(!motor) // 0 means all
        {
                BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration
        }
        else //only one specific motor
        {
                BLConfig_WriteMask = 0x0001<<(motor-1);
        }
        for(i = 0; i < MAX_MOTORS; i++)
        {
                if((0x0001<<i) & BLConfig_WriteMask)
                {
                        Motor[i].SetPoint = 0;
                        Motor[i].SetPointLowerBits = 0;
                }
        }
 
        motor_write = 0;
        // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
        do
        {
                I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
                while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
        }while(BLConfig_WriteMask); // repeat until the BL config has been sent
        return(BLCONFIG_SUCCESS);
}
 
uint8_t I2C_ReadBLConfig(uint8_t motor)
{
        uint8_t i;
 
        if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
        if((motor == 0) || (motor > MAX_MOTORS)) return (BLCONFIG_ERR_MOTOR_NOT_EXIST);                 // motor does not exist!
        if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
        if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
 
        while(!(BLFlags & BLFLAG_TX_COMPLETE));                                 //wait for complete transfer
 
        // prepare the bitmask
        BLConfig_ReadMask = 0x0001<<(motor-1);
 
        for(i = 0; i < MAX_MOTORS; i++)
        {
                if((0x0001<<i) & BLConfig_ReadMask)
                {
                        Motor[i].SetPoint = 0;
                        Motor[i].SetPointLowerBits = 0;
                }
        }
 
        motor_read = 0;
        BLConfig.Revision = 0; // bad revision
        BLConfig.crc = 0;          // bad checksum
        // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
        do
        {
                I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
                while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
        }while(BLConfig_ReadMask); // repeat until the BL config has been received from all motors
        // validate result
        if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
        i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
        if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
        return(BLCONFIG_SUCCESS);
}
 
 

Rev 1665	Rev 1666
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) Holger Buss, Ingo Busker	2	// + Copyright (c) Holger Buss, Ingo Busker
3	// + Nur für den privaten Gebrauch	3	// + Nur für den privaten Gebrauch
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	5	// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	7	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
8	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	8	// + 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	9	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
10	// + bzgl. der Nutzungsbedingungen aufzunehmen.	10	// + bzgl. der Nutzungsbedingungen aufzunehmen.
11	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	11	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
12	// + Verkauf von Luftbildaufnahmen, usw.	12	// + Verkauf von Luftbildaufnahmen, usw.
13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
14	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	14	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
15	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	15	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	17	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
18	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	18	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
19	// + eindeutig als Ursprung verlinkt werden	19	// + eindeutig als Ursprung verlinkt werden
20	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	20	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
21	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	21	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
22	// + Benutzung auf eigene Gefahr	22	// + Benutzung auf eigene Gefahr
23	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	23	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
24	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	24	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
25	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	25	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
26	// + mit unserer Zustimmung zulässig	26	// + mit unserer Zustimmung zulässig
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	28	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
29	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	29	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	30	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
31	// + this list of conditions and the following disclaimer.	31	// + 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	32	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
33	// + from this software without specific prior written permission.	33	// + from this software without specific prior written permission.
34	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	34	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
35	// + for non-commercial use (directly or indirectly)	35	// + for non-commercial use (directly or indirectly)
36	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	36	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
37	// + with our written permission	37	// + with our written permission
38	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	38	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
39	// + clearly linked as origin	39	// + clearly linked as origin
40	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed	40	// + * 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"	41	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
42	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	42	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
43	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	43	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
44	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	44	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
45	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	45	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
46	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	46	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
47	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	47	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
48	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	48	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
50	// + POSSIBILITY OF SUCH DAMAGE.	50	// + POSSIBILITY OF SUCH DAMAGE.
51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52		52
53	#include <avr/io.h>	53	#include <avr/io.h>
54	#include <avr/interrupt.h>	54	#include <avr/interrupt.h>
55	#include <util/twi.h>	55	#include <util/twi.h>
56	#include "eeprom.h"	56	#include "eeprom.h"
57	#include "twimaster.h"	57	#include "twimaster.h"
58	#include "fc.h"	58	#include "fc.h"
59	#include "analog.h"	59	#include "analog.h"
60	#include "uart.h"	60	#include "uart.h"
61		61
62	volatile uint8_t twi_state = TWI_STATE_MOTOR_TX;	62	volatile uint8_t twi_state = TWI_STATE_MOTOR_TX;
63	volatile uint8_t dac_channel = 0;	63	volatile uint8_t dac_channel = 0;
64	volatile uint8_t motor_write = 0;	64	volatile uint8_t motor_write = 0;
65	volatile uint8_t motor_read = 0;	65	volatile uint8_t motor_read = 0;
66		66
67		67
68	volatile uint16_t I2CTimeout = 100;	68	volatile uint16_t I2CTimeout = 100;
69		69
70	uint8_t MissingMotor = 0;	70	uint8_t MissingMotor = 0;
71		71
72	volatile uint8_t BLFlags = 0;	72	volatile uint8_t BLFlags = 0;
73		73
74	MotorData_t Motor[MAX_MOTORS];	74	MotorData_t Motor[MAX_MOTORS];
75		75
76	// bit mask for witch BL the configuration should be sent	76	// bit mask for witch BL the configuration should be sent
77	volatile uint16_t BLConfig_WriteMask = 0;	77	volatile uint16_t BLConfig_WriteMask = 0;
78	// bit mask for witch BL the configuration should be read	78	// bit mask for witch BL the configuration should be read
79	volatile uint16_t BLConfig_ReadMask = 0;	79	volatile uint16_t BLConfig_ReadMask = 0;
80	// buffer for BL Configuration	80	// buffer for BL Configuration
81	BLConfig_t BLConfig;	81	BLConfig_t BLConfig;
82		82
83	#define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);}	83	#define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);}
84	#define I2C_ReceiveByte() {TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE) \| (1<<TWEA);}	84	#define I2C_ReceiveByte() {TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE) \| (1<<TWEA);}
85	#define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);}	85	#define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);}
86		86
87	#define SCL_CLOCK 200000L	87	#define SCL_CLOCK 200000L
88	#define I2C_TIMEOUT 30000	88	#define I2C_TIMEOUT 30000
89	#define TWI_BASE_ADDRESS 0x52	89	#define TWI_BASE_ADDRESS 0x52
90		90
91	/**************************************************/	91	/**************************************************/
92	/* Initialize I2C (TWI) */	92	/* Initialize I2C (TWI) */
93	/**************************************************/	93	/**************************************************/
94		94
95	void I2C_Init(void)	95	void I2C_Init(void)
96	{	96	{
97	uint8_t i;	97	uint8_t i;
98	uint8_t sreg = SREG;	98	uint8_t sreg = SREG;
99	cli();	99	cli();
100		100
101	// SDA is INPUT	101	// SDA is INPUT
102	DDRC &= ~(1<<DDC1);	102	DDRC &= ~(1<<DDC1);
103	// SCL is output	103	// SCL is output
104	DDRC \|= (1<<DDC0);	104	DDRC \|= (1<<DDC0);
105	// pull up SDA	105	// pull up SDA
106	PORTC \|= (1<<PORTC0)\|(1<<PORTC1);	106	PORTC \|= (1<<PORTC0)\|(1<<PORTC1);
107		107
108	// TWI Status Register	108	// TWI Status Register
109	// prescaler 1 (TWPS1 = 0, TWPS0 = 0)	109	// prescaler 1 (TWPS1 = 0, TWPS0 = 0)
110	TWSR &= ~((1<<TWPS1)\|(1<<TWPS0));	110	TWSR &= ~((1<<TWPS1)\|(1<<TWPS0));
111		111
112	// set TWI Bit Rate Register	112	// set TWI Bit Rate Register
113	TWBR = ((F_CPU/SCL_CLOCK)-16)/2;	113	TWBR = ((F_CPU/SCL_CLOCK)-16)/2;
114		114
115	twi_state = TWI_STATE_MOTOR_TX;	115	twi_state = TWI_STATE_MOTOR_TX;
116	motor_write = 0;	116	motor_write = 0;
117	motor_read = 0;	117	motor_read = 0;
118		118
119	for(i=0; i < MAX_MOTORS; i++)	119	for(i=0; i < MAX_MOTORS; i++)
120	{	120	{
121	Motor[i].Version = 0;	121	Motor[i].Version = 0;
122	Motor[i].SetPoint = 0;	122	Motor[i].SetPoint = 0;
123	Motor[i].SetPointLowerBits = 0;	123	Motor[i].SetPointLowerBits = 0;
124	Motor[i].State = 0;	124	Motor[i].State = 0;
-		125	Motor[i].ReadMode = BL_READMODE_STATUS;
125	Motor[i].Current = 0;	126	Motor[i].Current = 0;
126	Motor[i].MaxPWM = 0;	127	Motor[i].MaxPWM = 0;
-		128	Motor[i].Temperature = 0;
127	}	129	}
128		130
129	SREG = sreg;	131	SREG = sreg;
130	}	132	}
131		133
132	void I2C_Reset(void)	134	void I2C_Reset(void)
133	{	135	{
134	// stop i2c bus	136	// stop i2c bus
135	I2C_Stop(TWI_STATE_MOTOR_TX);	137	I2C_Stop(TWI_STATE_MOTOR_TX);
136	motor_write = 0;	138	motor_write = 0;
137	motor_read = 0;	139	motor_read = 0;
138	TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset	140	TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset
139	TWAMR = 0;	141	TWAMR = 0;
140	TWAR = 0;	142	TWAR = 0;
141	TWDR = 0;	143	TWDR = 0;
142	TWSR = 0;	144	TWSR = 0;
143	TWBR = 0;	145	TWBR = 0;
144	I2C_Init();	146	I2C_Init();
145	I2C_WriteByte(0);	147	I2C_WriteByte(0);
146	BLFlags \|= BLFLAG_READ_VERSION;	148	BLFlags \|= BLFLAG_READ_VERSION;
147	}	149	}
148		150
149	/****************************************/	151	/****************************************/
150	/* I2C ISR */	152	/* I2C ISR */
151	/****************************************/	153	/****************************************/
152	ISR (TWI_vect)	154	ISR (TWI_vect)
153	{	155	{
154	static uint8_t missing_motor = 0, motor_read_temperature = 0;	156	static uint8_t missing_motor = 0, motor_read_temperature = 0;
155	static uint8_t *pBuff = 0;	157	static uint8_t *pBuff = 0;
156	static uint8_t BuffLen = 0;	158	static uint8_t BuffLen = 0;
157		-
158	#define BL_READ_STATUS 0	-
159	#define BL_READ_CONFIG 16	-
160	static uint8_t BLReadMode = BL_READ_STATUS;	-
161		159
162	switch (twi_state++)	160	switch (twi_state++)
163	{	161	{
164	// Master Transmit	162	// Master Transmit
165	case 0: // TWI_STATE_MOTOR_TX	163	case 0: // TWI_STATE_MOTOR_TX
166		164
167	// skip motor if not used in mixer	165	// skip motor if not used in mixer
168	while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;	166	while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;
169	if(motor_write >= MAX_MOTORS) // writing finished, read now	167	if(motor_write >= MAX_MOTORS) // writing finished, read now
170	{	168	{
171	BLConfig_WriteMask = 0; // reset configuration bitmask	169	BLConfig_WriteMask = 0; // reset configuration bitmask
172	motor_write = 0; // reset motor write counter for next cycle	170	motor_write = 0; // reset motor write counter for next cycle
173	twi_state = TWI_STATE_MOTOR_RX;	171	twi_state = TWI_STATE_MOTOR_RX;
174	I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode	172	I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode
175	}	173	}
176	else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode	174	else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode
177	break;	175	break;
178	case 1: // Send Data to Slave	176	case 1: // Send Data to Slave
179	I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint	177	I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint
180	// if old version has been detected	178	// if old version has been detected
181	if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))	179	if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
182	{	180	{
183	twi_state = 4; //jump over sending more data	181	twi_state = 4; //jump over sending more data
184	}	182	}
185	// the new version has been detected	183	// the new version has been detected
186	else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) \|\| BLConfig_WriteMask \|\| BLConfig_ReadMask ) )	184	else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) \|\| BLConfig_WriteMask \|\| BLConfig_ReadMask ) )
187	{ // or LowerBits are zero and no BlConfig should be sent (saves round trip time)	185	{ // or LowerBits are zero and no BlConfig should be sent (saves round trip time)
188	twi_state = 4; //jump over sending more data	186	twi_state = 4; //jump over sending more data
189	}	187	}
190	break;	188	break;
191	case 2: // lower bits of setpoint (higher resolution)	189	case 2: // lower bits of setpoint (higher resolution)
192	if ((motor_write == motor_read) && ((0x0001<<motor_read) & BLConfig_ReadMask))	190	if ((0x0001<<motor_write) & BLConfig_ReadMask)
193	{	191	{
194	BLReadMode = BL_READ_CONFIG; // configuration request	192	Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request
195	}	193	}
196	else	194	else
197	{	195	{
198	BLReadMode = BL_READ_STATUS; // normal status request	196	Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request
199	}	197	}
200	// send read mode and the lower bits of setpoint	198	// send read mode and the lower bits of setpoint
201	I2C_WriteByte((BLReadMode<<3)\|(Motor[motor_write].SetPointLowerBits & 0x07));	199	I2C_WriteByte((Motor[motor_write].ReadMode<<3)\|(Motor[motor_write].SetPointLowerBits & 0x07));
202	// configuration tranmission request?	200	// configuration tranmission request?
203	if((0x0001<<motor_write) & BLConfig_WriteMask)	201	if((0x0001<<motor_write) & BLConfig_WriteMask)
204	{ // redirect tx pointer to configuration data	202	{ // redirect tx pointer to configuration data
205	pBuff = (uint8_t*)&BLConfig; // select config for motor	203	pBuff = (uint8_t*)&BLConfig; // select config for motor
206	BuffLen = sizeof(BLConfig_t);	204	BuffLen = sizeof(BLConfig_t);
207	}	205	}
208	else	206	else
209	{ // jump to end of transmission for that motor	207	{ // jump to end of transmission for that motor
210	twi_state = 4;	208	twi_state = 4;
211	}	209	}
212	break;	210	break;
213	case 3: // send configuration	211	case 3: // send configuration
214	I2C_WriteByte(*pBuff);	212	I2C_WriteByte(*pBuff);
215	pBuff++;	213	pBuff++;
216	if(--BuffLen > 0) twi_state = 3; // if there are some bytes left	214	if(--BuffLen > 0) twi_state = 3; // if there are some bytes left
217	break;	215	break;
218	case 4: // repeat case 0-4 for all motors	216	case 4: // repeat case 0-4 for all motors
219	if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received	217	if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received
220	{	218	{
221	if(!missing_motor) missing_motor = motor_write + 1;	219	if(!missing_motor) missing_motor = motor_write + 1;
222	if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow	220	if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow
223	}	221	}
224	I2C_Stop(TWI_STATE_MOTOR_TX);	222	I2C_Stop(TWI_STATE_MOTOR_TX);
225	I2CTimeout = 10;	223	I2CTimeout = 10;
226	motor_write++; // next motor	224	motor_write++; // next motor
227	I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive	225	I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive
228	break;	226	break;
229	// Master Receive Data	227	// Master Receive Data
230	case 5: // TWI_STATE_MOTOR_RX	228	case 5: // TWI_STATE_MOTOR_RX
231	if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received	229	if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received
232	{ // no response from the addressed slave received	230	{ // no response from the addressed slave received
233	Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit	231	Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit
234	if(++motor_read >= MAX_MOTORS)	232	if(++motor_read >= MAX_MOTORS)
235	{ // all motors read	233	{ // all motors read
236	motor_read = 0; // restart from beginning	234	motor_read = 0; // restart from beginning
237	BLConfig_ReadMask = 0; // reset read configuration bitmask	235	BLConfig_ReadMask = 0; // reset read configuration bitmask
238	if(++motor_read_temperature >= MAX_MOTORS)	236	if(++motor_read_temperature >= MAX_MOTORS)
239	{	237	{
240	motor_read_temperature = 0;	238	motor_read_temperature = 0;
241	BLFlags &= ~BLFLAG_READ_VERSION;	239	BLFlags &= ~BLFLAG_READ_VERSION;
242	}	240	}
243	}	241	}
244	BLFlags \|= BLFLAG_TX_COMPLETE;	242	BLFlags \|= BLFLAG_TX_COMPLETE;
245	I2C_Stop(TWI_STATE_MOTOR_TX);	243	I2C_Stop(TWI_STATE_MOTOR_TX);
246	}	244	}
247	else	245	else
248	{ // motor successfully addressed	246	{ // motor successfully addressed
249	Motor[motor_read].State \|= MOTOR_STATE_PRESENT_MASK; // set present bit	247	Motor[motor_read].State \|= MOTOR_STATE_PRESENT_MASK; // set present bit
250		248
251	if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)	249	if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)
252	{	250	{
253	// new BL found	251	// new BL found
254	switch(BLReadMode)	252	switch(Motor[motor_read].ReadMode)
255	{	253	{
256	case BL_READ_CONFIG:	254	case BL_READMODE_CONFIG:
257	pBuff = (uint8_t*)&BLConfig;	255	pBuff = (uint8_t*)&BLConfig;
258	BuffLen = sizeof(BLConfig_t);	256	BuffLen = sizeof(BLConfig_t);
259	break;	257	break;
260		258
261	case BL_READ_STATUS:	259	case BL_READMODE_STATUS:
262	pBuff = (uint8_t*)&(Motor[motor_read].Current);	260	pBuff = (uint8_t*)&(Motor[motor_read].Current);
263	if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp	261	if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp
264	else BuffLen = 1;// read Current only	262	else BuffLen = 1;// read Current only
265	break;	263	break;
266	}	264	}
267	}	265	}
268	else // old BL version	266	else // old BL version
269	{	267	{
270	pBuff = (uint8_t*)&(Motor[motor_read].Current);	268	pBuff = (uint8_t*)&(Motor[motor_read].Current);
271	if(BLFlags & BLFLAG_READ_VERSION) BuffLen = 2; // Current & MaxPwm	269	if(BLFlags & BLFLAG_READ_VERSION) BuffLen = 2; // Current & MaxPwm
272	else BuffLen = 1; // read Current only	270	else BuffLen = 1; // read Current only
273	}	271	}
274	if(BuffLen == 1)	272	if(BuffLen == 1)
275	{	273	{
276	I2C_ReceiveLastByte(); // read last byte	274	I2C_ReceiveLastByte(); // read last byte
277	}	275	}
278	else	276	else
279	{	277	{
280	I2C_ReceiveByte(); // read next byte	278	I2C_ReceiveByte(); // read next byte
281	}	279	}
282	}	280	}
283	MissingMotor = missing_motor;	281	MissingMotor = missing_motor;
284	missing_motor = 0;	282	missing_motor = 0;
285	break;	283	break;
286	case 6: // receive bytes	284	case 6: // receive bytes
287	*pBuff = TWDR;	285	*pBuff = TWDR;
288	pBuff++;	286	pBuff++;
289	BuffLen--;	287	BuffLen--;
290	if(BuffLen>1)	288	if(BuffLen>1)
291	{	289	{
292	I2C_ReceiveByte(); // read next byte	290	I2C_ReceiveByte(); // read next byte
293	}	291	}
294	else if (BuffLen == 1)	292	else if (BuffLen == 1)
295	{	293	{
296	I2C_ReceiveLastByte(); // read last byte	294	I2C_ReceiveLastByte(); // read last byte
297	}	295	}
298	else // nothing left	296	else // nothing left
299	{	297	{
300	if(BLFlags & BLFLAG_READ_VERSION)	298	if(BLFlags & BLFLAG_READ_VERSION)
301	{	299	{
302	if(!(FCFlags & FCFLAG_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version \|= MOTOR_STATE_NEW_PROTOCOL_MASK;	300	if(!(FCFlags & FCFLAG_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version \|= MOTOR_STATE_NEW_PROTOCOL_MASK;
303	else Motor[motor_read].Version = 0;	301	else Motor[motor_read].Version = 0;
304	}	302	}
305	if(++motor_read >= MAX_MOTORS)	303	if(++motor_read >= MAX_MOTORS)
306	{	304	{
307	motor_read = 0; // restart from beginning	305	motor_read = 0; // restart from beginning
308	BLConfig_ReadMask = 0; // reset read configuration bitmask	306	BLConfig_ReadMask = 0; // reset read configuration bitmask
309	if(++motor_read_temperature >= MAX_MOTORS)	307	if(++motor_read_temperature >= MAX_MOTORS)
310	{	308	{
311	motor_read_temperature = 0;	309	motor_read_temperature = 0;
312	BLFlags &= ~BLFLAG_READ_VERSION;	310	BLFlags &= ~BLFLAG_READ_VERSION;
313	}	311	}
314	}	312	}
315	I2C_Stop(TWI_STATE_MOTOR_TX);	313	I2C_Stop(TWI_STATE_MOTOR_TX);
316	BLFlags \|= BLFLAG_TX_COMPLETE;	314	BLFlags \|= BLFLAG_TX_COMPLETE;
317	return;	315	return;
318	}	316	}
319	twi_state = 6; // if there are some bytes left	317	twi_state = 6; // if there are some bytes left
320	break;	318	break;
321		319
322	// writing Gyro-Offsets	320	// writing Gyro-Offsets
323	case 18:	321	case 18:
324	I2C_WriteByte(0x98); // Address the DAC	322	I2C_WriteByte(0x98); // Address the DAC
325	break;	323	break;
326		324
327	case 19:	325	case 19:
328	I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)	326	I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)
329	break;	327	break;
330		328
331	case 20:	329	case 20:
332	switch(dac_channel)	330	switch(dac_channel)
333	{	331	{
334	case 0:	332	case 0:
335	I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A	333	I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A
336	break;	334	break;
337	case 1:	335	case 1:
338	I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B	336	I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B
339	break;	337	break;
340	case 2:	338	case 2:
341	I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C	339	I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C
342	break;	340	break;
343	}	341	}
344	break;	342	break;
345		343
346	case 21:	344	case 21:
347	I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80	345	I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
348	break;	346	break;
349		347
350	case 22:	348	case 22:
351	I2C_Stop(TWI_STATE_MOTOR_TX);	349	I2C_Stop(TWI_STATE_MOTOR_TX);
352	I2CTimeout = 10;	350	I2CTimeout = 10;
353	// repeat case 18...22 until all DAC Channels are updated	351	// repeat case 18...22 until all DAC Channels are updated
354	if(dac_channel < 2)	352	if(dac_channel < 2)
355	{	353	{
356	dac_channel ++; // jump to next channel	354	dac_channel ++; // jump to next channel
357	I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel	355	I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel
358	}	356	}
359	else	357	else
360	{	358	{
361	dac_channel = 0; // reset dac channel counter	359	dac_channel = 0; // reset dac channel counter
362	BLFlags \|= BLFLAG_TX_COMPLETE;	360	BLFlags \|= BLFLAG_TX_COMPLETE;
363	}	361	}
364	break;	362	break;
365		363
366	default:	364	default:
367	I2C_Stop(TWI_STATE_MOTOR_TX);	365	I2C_Stop(TWI_STATE_MOTOR_TX);
368	BLFlags \|= BLFLAG_TX_COMPLETE;	366	BLFlags \|= BLFLAG_TX_COMPLETE;
369	I2CTimeout = 10;	367	I2CTimeout = 10;
370	motor_write = 0;	368	motor_write = 0;
371	motor_read = 0;	369	motor_read = 0;
372	break;	370	break;
373	}	371	}
374		372
375	}	373	}
376		374
377		375
378	uint8_t I2C_WriteBLConfig(uint8_t motor)	376	uint8_t I2C_WriteBLConfig(uint8_t motor)
379	{	377	{
380	uint8_t i;	378	uint8_t i;
381		379
382	if(MotorenEin \|\| PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!	380	if(MotorenEin \|\| PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
383	if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!	381	if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
384	if(motor)	382	if(motor)
385	{	383	{
386	if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!	384	if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
387	if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!	385	if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
388	}	386	}
389	// check BL configuration to send	387	// check BL configuration to send
390	if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison	388	if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
391	i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);	389	i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
392	if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum	390	if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
393		391
394	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer	392	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
395		393
396	// prepare the bitmask	394	// prepare the bitmask
397	if(!motor) // 0 means all	395	if(!motor) // 0 means all
398	{	396	{
399	BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration	397	BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration
400	}	398	}
401	else //only one specific motor	399	else //only one specific motor
402	{	400	{
403	BLConfig_WriteMask = 0x0001<<(motor-1);	401	BLConfig_WriteMask = 0x0001<<(motor-1);
404	}	402	}
405	for(i = 0; i < MAX_MOTORS; i++)	403	for(i = 0; i < MAX_MOTORS; i++)
406	{	404	{
407	if((0x0001<<i) & BLConfig_WriteMask)	405	if((0x0001<<i) & BLConfig_WriteMask)
408	{	406	{
409	Motor[i].SetPoint = 0;	407	Motor[i].SetPoint = 0;
410	Motor[i].SetPointLowerBits = 0;	408	Motor[i].SetPointLowerBits = 0;
411	}	409	}
412	}	410	}
413		411
414	motor_write = 0;	412	motor_write = 0;
415	// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)	413	// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
416	do	414	do
417	{	415	{
418	I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission	416	I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
419	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer	417	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
420	}while(BLConfig_WriteMask); // repeat until the BL config has been sent	418	}while(BLConfig_WriteMask); // repeat until the BL config has been sent
421	return(BLCONFIG_SUCCESS);	419	return(BLCONFIG_SUCCESS);
422	}	420	}
423		421
424	uint8_t I2C_ReadBLConfig(uint8_t motor)	422	uint8_t I2C_ReadBLConfig(uint8_t motor)
425	{	423	{
426	uint8_t i;	424	uint8_t i;
427		425
428	if(MotorenEin \|\| PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!	426	if(MotorenEin \|\| PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
429	if((motor == 0) \|\| (motor > MAX_MOTORS)) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!	427	if((motor == 0) \|\| (motor > MAX_MOTORS)) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
430	if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!	428	if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
431	if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!	429	if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
432		430
433	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer	431	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
434		432
435	// prepare the bitmask	433	// prepare the bitmask
436	BLConfig_ReadMask = 0x0001<<(motor-1);	434	BLConfig_ReadMask = 0x0001<<(motor-1);
437		435
438	for(i = 0; i < MAX_MOTORS; i++)	436	for(i = 0; i < MAX_MOTORS; i++)
439	{	437	{
440	if((0x0001<<i) & BLConfig_ReadMask)	438	if((0x0001<<i) & BLConfig_ReadMask)
441	{	439	{
442	Motor[i].SetPoint = 0;	440	Motor[i].SetPoint = 0;
443	Motor[i].SetPointLowerBits = 0;	441	Motor[i].SetPointLowerBits = 0;
444	}	442	}
445	}	443	}
446		444
447	motor_read = 0;	445	motor_read = 0;
448	BLConfig.Revision = 0; // bad revision	446	BLConfig.Revision = 0; // bad revision
449	BLConfig.crc = 0; // bad checksum	447	BLConfig.crc = 0; // bad checksum
450	// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)	448	// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
451	do	449	do
452	{	450	{
453	I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission	451	I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
454	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer	452	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
455	}while(BLConfig_ReadMask); // repeat until the BL config has been received from all motors	453	}while(BLConfig_ReadMask); // repeat until the BL config has been received from all motors
456	// validate result	454	// validate result
457	if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison	455	if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
458	i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);	456	i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
459	if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum	457	if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
460	return(BLCONFIG_SUCCESS);	458	return(BLCONFIG_SUCCESS);
461	}	459	}
462		460
463		461

Subversion Repositories FlightCtrl

(root)/branches/V0.80g_ACC-HH_MartinR/twimaster.c @ 2080 - Rev 1665 → 1666