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| - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 2 | // + Copyright (c) Holger Buss, Ingo Busker |
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| - | 3 | // + Nur für den privaten Gebrauch |
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| - | 4 | // + www.MikroKopter.com |
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| - | 5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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| - | 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 7 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| - | 8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| - | 9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| - | 10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| - | 11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| - | 12 | // + Verkauf von Luftbildaufnahmen, usw. |
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| - | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| - | 15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| - | 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| - | 18 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| - | 19 | // + eindeutig als Ursprung verlinkt werden |
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| - | 20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| - | 22 | // + Benutzung auf eigene Gefahr |
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| - | 23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| - | 24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| - | 26 | // + mit unserer Zustimmung zulässig |
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| - | 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| - | 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| - | 31 | // + this list of conditions and the following disclaimer. |
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| - | 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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| - | 33 | // + from this software without specific prior written permission. |
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| - | 34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| - | 35 | // + for non-commercial use (directly or indirectly) |
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| - | 36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| - | 37 | // + with our written permission |
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| - | 38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| - | 39 | // + clearly linked as origin |
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| - | 40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| - | 41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| - | 42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| - | 43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 1 | /*############################################################################ |
44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| - | 45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| - | 46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 2 | ############################################################################*/ |
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) |
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| - | 49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| - | 50 | // + POSSIBILITY OF SUCH DAMAGE. |
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| - | 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 52 | ||
| - | 53 | #include <avr/io.h> |
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| - | 54 | #include <avr/interrupt.h> |
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| - | 55 | #include <util/twi.h> |
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| - | 56 | #include "eeprom.h" |
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| - | 57 | #include "twimaster.h" |
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| - | 58 | #include "fc.h" |
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| - | 59 | #include "analog.h" |
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| - | 60 | ||
| - | 61 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
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| - | 62 | volatile uint8_t dac_channel = 0; |
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| - | 63 | volatile uint8_t motor_write = 0; |
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| - | 64 | volatile uint8_t motor_read = 0; |
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| 3 | - | ||
| 4 | #include "main.h" |
- | |
| 5 | 65 | ||
| 6 | volatile unsigned char twi_state = 0; |
- | |
| 7 | volatile unsigned char motor = 0; |
- | |
| 8 | volatile unsigned char motorread = 0,MissingMotor = 0; |
66 | |
| - | 67 | volatile uint16_t I2CTimeout = 100; |
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| 9 | volatile unsigned char BLFlags = 0; |
68 | |
| 10 | 69 | uint8_t MissingMotor = 0; |
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| - | 70 | ||
| 11 | MotorData_t Motor[MAX_MOTORS]; |
71 | volatile uint8_t BLFlags = 0; |
| - | 72 | ||
| - | 73 | MotorData_t Motor[MAX_MOTORS]; |
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| 12 | 74 | ||
| - | 75 | // bit mask for witch BL the configuration should be sent |
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| - | 76 | volatile uint16_t BLConfig_WriteMask = 0; |
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| - | 77 | // bit mask for witch BL the configuration should be read |
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| 13 | 78 | volatile uint16_t BLConfig_ReadMask = 0; |
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| 14 | unsigned int I2CError = 0; |
79 | // buffer for BL Configuration |
| - | 80 | BLConfig_t BLConfig; |
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| 15 | 81 | ||
| - | 82 | #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
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| - | 83 | #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
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| - | 84 | #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
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| - | 85 | ||
| - | 86 | #define SCL_CLOCK 200000L |
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| - | 87 | #define I2C_TIMEOUT 30000 |
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| - | 88 | #define TWI_BASE_ADDRESS 0x52 |
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| 16 | //############################################################################ |
89 | |
| - | 90 | /**************************************************/ |
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| - | 91 | /* Initialize I2C (TWI) */ |
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| - | 92 | /**************************************************/ |
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| - | 93 | ||
| - | 94 | void I2C_Init(void) |
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| - | 95 | { |
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| - | 96 | uint8_t i; |
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| - | 97 | uint8_t sreg = SREG; |
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| - | 98 | cli(); |
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| - | 99 | ||
| - | 100 | // SDA is INPUT |
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| - | 101 | DDRC &= ~(1<<DDC1); |
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| - | 102 | // SCL is output |
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| - | 103 | DDRC |= (1<<DDC0); |
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| - | 104 | // pull up SDA |
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| 17 | //Initzialisieren der I2C (TWI) Schnittstelle |
105 | PORTC |= (1<<PORTC0)|(1<<PORTC1); |
| - | 106 | ||
| - | 107 | // TWI Status Register |
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| - | 108 | // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
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| - | 109 | TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
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| 18 | void i2c_init(void) |
110 | |
| 19 | //############################################################################ |
111 | // set TWI Bit Rate Register |
| 20 | { |
112 | TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
| 21 | unsigned char i; |
113 | |
| 22 | 114 | twi_state = TWI_STATE_MOTOR_TX; |
|
| 23 | TWSR = 0; |
115 | motor_write = 0; |
| 24 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
116 | motor_read = 0; |
| 25 | 117 | ||
| 26 | for(i=0; i < MAX_MOTORS; i++) |
118 | for(i=0; i < MAX_MOTORS; i++) |
| 27 | { |
119 | { |
| 28 | Motor[i].Version = 0; |
120 | Motor[i].Version = 0; |
| 29 | Motor[i].SetPoint = 0; |
121 | Motor[i].SetPoint = 0; |
| 30 | Motor[i].SetPointLowerBits = 0; |
122 | Motor[i].SetPointLowerBits = 0; |
| 31 | Motor[i].State = 0; |
123 | Motor[i].State = 0; |
| 32 | Motor[i].Current = 0; |
124 | Motor[i].Current = 0; |
| 33 | Motor[i].MaxPWM = 0; |
125 | Motor[i].MaxPWM = 0; |
| 34 | BLConfig[i].SetMask = MASK_SET_PWM_SCALING|MASK_SET_CURRENT_LIMIT|MASK_SET_TEMP_LIMIT|MASK_SET_CURRENT_SCALING|MASK_SET_BITCONFIG; |
- | |
| 35 | BLConfig[i].PwmScaling = 255; // MaxPWM |
- | |
| 36 | BLConfig[i].CurrentLimit = 30; // Current Limit in A |
- | |
| 37 | BLConfig[i].TempLimit = 99; // Temperature Limit in °C |
- | |
| 38 | BLConfig[i].CurrentScaling = 64; // Current Scaling |
- | |
| 39 | BLConfig[i].BitConfig = 0; // BitConfig |
- | |
| 40 | } |
126 | } |
| - | 127 | ||
| - | 128 | SREG = sreg; |
|
| 41 | } |
129 | } |
| 42 | 130 | ||
| 43 | void i2c_reset(void) |
- | |
| 44 | //############################################################################ |
131 | void I2C_Reset(void) |
| 45 | { |
132 | { |
| 46 | I2C_Stop(); |
133 | // stop i2c bus |
| 47 | twi_state = 0; |
134 | I2C_Stop(TWI_STATE_MOTOR_TX); |
| 48 | motor = TWDR; |
135 | motor_write = 0; |
| 49 | motor = 0; |
136 | motor_read = 0; |
| 50 | TWCR = 0x80; |
137 | TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
| 51 | TWAMR = 0; |
138 | TWAMR = 0; |
| 52 | TWAR = 0; |
139 | TWAR = 0; |
| 53 | TWDR = 0; |
140 | TWDR = 0; |
| 54 | TWSR = 0; |
141 | TWSR = 0; |
| 55 | TWBR = 0; |
142 | TWBR = 0; |
| 56 | i2c_init(); |
143 | I2C_Init(); |
| 57 | I2C_Start(); |
144 | I2C_WriteByte(0); |
| 58 | i2c_write_byte(0); |
145 | BLFlags |= BLFLAG_READ_VERSION; |
| 59 | } |
146 | } |
| 60 | - | ||
| - | 147 | ||
| - | 148 | /****************************************/ |
|
| 61 | 149 | /* I2C ISR */ |
|
| 62 | //############################################################################ |
150 | /****************************************/ |
| 63 | SIGNAL (TWI_vect) |
- | |
| 64 | //############################################################################ |
151 | ISR (TWI_vect) |
| 65 | { |
152 | { |
| 66 | static unsigned char missing_motor = 0, byte_counter = 0, read_more = 0, motorread_temperature = 0; |
153 | static uint8_t missing_motor = 0, motor_read_temperature = 0; |
| - | 154 | static uint8_t *pBuff = 0; |
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| - | 155 | static uint8_t BuffLen = 0; |
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| - | 156 | ||
| - | 157 | #define BL_READ_STATUS 0 |
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| - | 158 | #define BL_READ_CONFIG 16 |
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| 67 | static unsigned char *pTxBuff; |
159 | static uint8_t BLReadMode = BL_READ_STATUS; |
| 68 | J4High; |
160 | |
| 69 | switch(twi_state++) |
161 | switch (twi_state++) |
| 70 | { |
- | |
| 71 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
162 | { |
| 72 | // Writing the Data |
163 | // Master Transmit |
| - | 164 | case 0: // TWI_STATE_MOTOR_TX |
|
| 73 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
165 | |
| 74 | case 0: |
166 | // skip motor if not used in mixer |
| 75 | while(Mixer.Motor[motor][MIX_GAS] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
167 | while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
| 76 | if(motor == MAX_MOTORS) // writing finished -> now read |
168 | if(motor_write >= MAX_MOTORS) // writing finished, read now |
| - | 169 | { |
|
| 77 | { |
170 | BLConfig_WriteMask = 0; // reset configuration bitmask |
| 78 | motor = 0; |
171 | motor_write = 0; // reset motor write counter for next cycle |
| 79 | twi_state = 5; |
172 | twi_state = TWI_STATE_MOTOR_RX; |
| 80 | i2c_write_byte(0x53+(motorread*2)); |
173 | I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
| 81 | } |
174 | } |
| 82 | else i2c_write_byte(0x52+(motor*2)); |
175 | else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
| 83 | break; |
176 | break; |
| 84 | case 1: |
177 | case 1: // Send Data to Slave |
| - | 178 | I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
|
| 85 | i2c_write_byte(Motor[motor].SetPoint); |
179 | // if old version has been detected |
| 86 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
180 | if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
| 87 | { |
181 | { |
| 88 | twi_state = 4; //jump over sending more data |
182 | twi_state = 4; //jump over sending more data |
| 89 | } |
183 | } |
| - | 184 | // the new version has been detected |
|
| 90 | else if(!( (Motor[motor].SetPointLowerBits && RequiredMotors < 7) || (BLFlags & BLFLAG_SEND_CONFIG))) |
185 | else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
| 91 | { |
- | |
| - | 186 | { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
|
| 92 | twi_state = 4; // skip state |
187 | twi_state = 4; //jump over sending more data |
| 93 | } |
188 | } |
| 94 | break; |
189 | break; |
| 95 | case 2: // lower bits of setpoint (higher resolution) |
190 | case 2: // lower bits of setpoint (higher resolution) |
| 96 | i2c_write_byte((Motor[motor].SetPointLowerBits << 1) & 0x07); // send the lower bits of setpoint |
- | |
| 97 | // transmit config only on demand and the motors are not running and only for one motor per round trip |
- | |
| 98 | if( (BLFlags & BLFLAG_SEND_CONFIG) && (motor == motorread)) |
191 | if ((motor_write == motor_read) && ((0x0001<<motor_read) & BLConfig_ReadMask)) |
| - | 192 | { |
|
| 99 | { // prepare sending of configuration |
193 | BLReadMode = BL_READ_CONFIG; // configuration request |
| 100 | byte_counter = 0; // reset send byte counter |
- | |
| 101 | } |
194 | } |
| 102 | else |
195 | else |
| 103 | { // jump to state for end of transmission for that motor |
- | |
| 104 | twi_state = 4; |
- | |
| 105 | } |
- | |
| 106 | break; |
- | |
| 107 | case 3: |
- | |
| 108 | if(!byte_counter) // first byte? |
- | |
| 109 | { |
196 | { |
| 110 | pTxBuff = (uint8_t*)&BLConfig[motor]; // select configuration for motor |
- | |
| 111 | i2c_write_byte(pTxBuff[byte_counter]); |
- | |
| 112 | twi_state = 3; // keep state 3 |
197 | BLReadMode = BL_READ_STATUS; // normal status request |
| 113 | } |
198 | } |
| 114 | else if(byte_counter >= sizeof(BLConfig_t)) |
199 | // send read mode and the lower bits of setpoint |
| - | 200 | I2C_WriteByte((BLReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
|
| 115 | { |
201 | // configuration tranmission request? |
| 116 | i2c_write_byte(0); |
202 | if((0x0001<<motor_write) & BLConfig_WriteMask) |
| 117 | // jump to case 4 |
203 | { // redirect tx pointer to configuration data |
| - | 204 | pBuff = (uint8_t*)&BLConfig; // select config for motor |
|
| - | 205 | BuffLen = sizeof(BLConfig_t); |
|
| 118 | } |
206 | } |
| 119 | else // transmit configuration to BLs |
- | |
| 120 | { |
207 | else |
| 121 | i2c_write_byte(pTxBuff[byte_counter]); // submit next byte |
208 | { // jump to end of transmission for that motor |
| 122 | twi_state = 3;// keep state 3 |
209 | twi_state = 4; |
| 123 | } |
210 | } |
| 124 | byte_counter++; // next byte |
- | |
| 125 | break; |
211 | break; |
| 126 | case 4: |
212 | case 3: // send configuration |
| 127 | - | ||
| 128 | if(TWSR == 0x30) |
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 |
|
| 129 | { |
219 | { |
| 130 | if(!missing_motor) missing_motor = motor + 1; |
220 | if(!missing_motor) missing_motor = motor_write + 1; |
| 131 | if((Motor[motor].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor].State++; // increment error counter and handle overflow |
221 | if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow |
| 132 | } |
222 | } |
| 133 | I2C_Stop(); |
223 | I2C_Stop(TWI_STATE_MOTOR_TX); |
| 134 | I2CTimeout = 10; |
224 | I2CTimeout = 10; |
| 135 | motor++; |
- | |
| 136 | twi_state = 0; |
225 | motor_write++; // next motor |
| 137 | I2C_Start(); |
226 | I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
| 138 | break; |
227 | break; |
| 139 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 140 | // Reading Data |
228 | // Master Receive Data |
| 141 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 142 | case 5: |
229 | case 5: // TWI_STATE_MOTOR_RX |
| 143 | //Transmit 1st byte for reading |
230 | if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
| 144 | if(TWSR != 0x40) // Error? |
231 | { // no response from the addressed slave received |
| 145 | { |
- | |
| 146 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
232 | Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
| 147 | if(++motorread >= MAX_MOTORS) |
233 | if(++motor_read >= MAX_MOTORS) |
| 148 | { |
234 | { // all motors read |
| 149 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
235 | motor_read = 0; // restart from beginning |
| 150 | motorread = 0; |
236 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
| 151 | if(++motorread_temperature >= MAX_MOTORS) |
237 | if(++motor_read_temperature >= MAX_MOTORS) |
| 152 | { |
238 | { |
| 153 | motorread_temperature = 0; |
239 | motor_read_temperature = 0; |
| 154 | BLFlags &= ~BLFLAG_READ_VERSION; |
240 | BLFlags &= ~BLFLAG_READ_VERSION; |
| 155 | } |
241 | } |
| 156 | } |
242 | } |
| 157 | I2C_Stop(); |
- | |
| 158 | twi_state = 0; |
- | |
| 159 | BLFlags |= BLFLAG_TX_COMPLETE; |
243 | BLFlags |= BLFLAG_TX_COMPLETE; |
| - | 244 | I2C_Stop(TWI_STATE_MOTOR_TX); |
|
| 160 | } |
245 | } |
| 161 | else |
246 | else |
| - | 247 | { // motor successfully addressed |
|
| - | 248 | Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
|
| - | 249 | ||
| - | 250 | if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
|
| 162 | { |
251 | { |
| - | 252 | // new BL found |
|
| - | 253 | switch(BLReadMode) |
|
| - | 254 | { |
|
| - | 255 | case BL_READ_CONFIG: |
|
| - | 256 | pBuff = (uint8_t*)&BLConfig; |
|
| - | 257 | BuffLen = sizeof(BLConfig_t); |
|
| - | 258 | break; |
|
| - | 259 | ||
| - | 260 | case BL_READ_STATUS: |
|
| 163 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
261 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
| 164 | if( (motorread == motorread_temperature) || (BLFlags & BLFLAG_READ_VERSION) ) |
262 | if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp |
| - | 263 | else BuffLen = 1;// read Current only |
|
| - | 264 | break; |
|
| - | 265 | } |
|
| - | 266 | } |
|
| - | 267 | else // old BL version |
|
| 165 | { |
268 | { |
| - | 269 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
|
| - | 270 | if(BLFlags & BLFLAG_READ_VERSION) BuffLen = 2; // Current & MaxPwm |
|
| - | 271 | else BuffLen = 1; // read Current only |
|
| - | 272 | } |
|
| 166 | read_more = 1; |
273 | if(BuffLen == 1) |
| - | 274 | { |
|
| 167 | I2C_ReceiveByte(); |
275 | I2C_ReceiveLastByte(); // read last byte |
| 168 | } |
276 | } |
| 169 | else |
277 | else |
| 170 | { |
278 | { |
| 171 | read_more = 0; |
- | |
| 172 | I2C_ReceiveLastByte(); |
279 | I2C_ReceiveByte(); // read next byte |
| 173 | } |
280 | } |
| 174 | } |
281 | } |
| 175 | MissingMotor = missing_motor; |
282 | MissingMotor = missing_motor; |
| 176 | missing_motor = 0; |
283 | missing_motor = 0; |
| 177 | break; |
284 | break; |
| 178 | case 6: //Read 1st byte and transmit 2nd Byte |
285 | case 6: // receive bytes |
| 179 | Motor[motorread].Current = TWDR; |
286 | *pBuff = TWDR; |
| - | 287 | pBuff++; |
|
| 180 | if(read_more) |
288 | BuffLen--; |
| 181 | { |
289 | if(BuffLen>1) |
| - | 290 | { |
|
| 182 | I2C_ReceiveByte() //ack |
291 | I2C_ReceiveByte(); // read next byte |
| - | 292 | } |
|
| - | 293 | else if (BuffLen == 1) |
|
| 183 | 294 | { |
|
| - | 295 | I2C_ReceiveLastByte(); // read last byte |
|
| 184 | } |
296 | } |
| - | 297 | else // nothing left |
|
| 185 | else |
298 | { |
| - | 299 | if(BLFlags & BLFLAG_READ_VERSION) |
|
| 186 | { |
300 | { |
| 187 | if(++motorread >= MAX_MOTORS) |
- | |
| 188 | { |
- | |
| 189 | motorread = 0; // restart from beginning |
- | |
| 190 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
- | |
| 191 | if(++motorread_temperature >= MAX_MOTORS) |
301 | if(!(FCFlags & FCFLAG_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
| 192 | { |
- | |
| 193 | motorread_temperature = 0; |
302 | else Motor[motor_read].Version = 0; |
| 194 | BLFlags &= ~BLFLAG_READ_VERSION; |
- | |
| 195 | } |
- | |
| 196 | } |
- | |
| 197 | I2C_Stop(); |
- | |
| 198 | twi_state = 0; |
- | |
| 199 | BLFlags |= BLFLAG_TX_COMPLETE; |
- | |
| 200 | } |
303 | } |
| 201 | break; |
- | |
| 202 | case 7: |
- | |
| 203 | //Read 2nd byte and transmit 3rd Byte |
- | |
| 204 | Motor[motorread].MaxPWM = TWDR; |
304 | if(++motor_read >= MAX_MOTORS) |
| 205 | if(BLFlags & BLFLAG_READ_VERSION) |
- | |
| 206 | { |
305 | { |
| 207 | if(TWDR == 250) |
306 | motor_read = 0; // restart from beginning |
| 208 | { |
- | |
| 209 | if(!MotorenEin) Motor[motorread].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
307 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
| 210 | } |
- | |
| 211 | else |
308 | if(++motor_read_temperature >= MAX_MOTORS) |
| 212 | { |
309 | { |
| 213 | Motor[motorread].Version = 0; |
310 | motor_read_temperature = 0; |
| - | 311 | BLFlags &= ~BLFLAG_READ_VERSION; |
|
| 214 | } |
312 | } |
| 215 | } |
313 | } |
| 216 | I2C_ReceiveLastByte(); //nack |
- | |
| 217 | break; |
- | |
| 218 | case 8: // read next |
- | |
| 219 | Motor[motorread].Temperature = TWDR; |
- | |
| 220 | if(++motorread >= MAX_MOTORS) |
314 | I2C_Stop(TWI_STATE_MOTOR_TX); |
| 221 | { |
- | |
| 222 | motorread = 0; // restart reading of first motor |
- | |
| 223 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
315 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 224 | if(++motorread_temperature >= MAX_MOTORS) |
- | |
| 225 | { |
- | |
| 226 | motorread_temperature = 0; |
- | |
| 227 | BLFlags &= ~BLFLAG_READ_VERSION; |
- | |
| 228 | } |
316 | return; |
| 229 | } |
317 | } |
| 230 | I2C_Stop(); |
- | |
| 231 | BLFlags |= BLFLAG_TX_COMPLETE; |
318 | twi_state = 6; // if there are some bytes left |
| 232 | twi_state = 0; |
- | |
| 233 | break; |
319 | break; |
| 234 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| - | 320 | ||
| 235 | // writing Gyro-Offset |
321 | // writing Gyro-Offsets |
| 236 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 237 | case 18: |
322 | case 18: |
| 238 | i2c_write_byte(0x98); // Address of the DAC |
323 | I2C_WriteByte(0x98); // Address the DAC |
| 239 | break; |
324 | break; |
| - | 325 | ||
| 240 | case 19: |
326 | case 19: |
| 241 | i2c_write_byte(0x10); // Update Channel A |
327 | I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
| 242 | break; |
328 | break; |
| - | 329 | ||
| 243 | case 20: |
330 | case 20: |
| 244 | i2c_write_byte(AnalogOffsetNick); // Value |
- | |
| 245 | break; |
331 | switch(dac_channel) |
| 246 | case 21: |
332 | { |
| 247 | i2c_write_byte(0x80); // Value |
- | |
| 248 | break; |
- | |
| 249 | case 22: |
333 | case 0: |
| 250 | I2C_Stop(); |
- | |
| 251 | I2CTimeout = 10; |
334 | I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
| 252 | I2C_Start(); |
- | |
| 253 | break; |
335 | break; |
| 254 | case 23: |
336 | case 1: |
| 255 | i2c_write_byte(0x98); // Address of the DAC |
337 | I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
| 256 | break; |
338 | break; |
| 257 | case 24: |
339 | case 2: |
| 258 | i2c_write_byte(0x12); // Update Channel B |
340 | I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
| 259 | break; |
341 | break; |
| 260 | case 25: |
342 | } |
| 261 | i2c_write_byte(AnalogOffsetRoll); // Value |
- | |
| 262 | break; |
343 | break; |
| - | 344 | ||
| 263 | case 26: |
345 | case 21: |
| 264 | i2c_write_byte(0x80); // Value |
346 | I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
| 265 | break; |
347 | break; |
| - | 348 | ||
| 266 | case 27: |
349 | case 22: |
| 267 | I2C_Stop(); |
350 | I2C_Stop(TWI_STATE_MOTOR_TX); |
| 268 | I2CTimeout = 10; |
351 | I2CTimeout = 10; |
| 269 | I2C_Start(); |
352 | // repeat case 7...10 until all DAC Channels are updated |
| 270 | break; |
353 | if(dac_channel < 2) |
| 271 | case 28: |
354 | { |
| 272 | i2c_write_byte(0x98); // Address of the DAC |
355 | dac_channel ++; // jump to next channel |
| 273 | break; |
- | |
| 274 | case 29: |
- | |
| 275 | i2c_write_byte(0x14); // Update Channel C |
356 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
| 276 | break; |
357 | } |
| 277 | case 30: |
358 | else |
| 278 | i2c_write_byte(AnalogOffsetGier); // Value |
- | |
| 279 | break; |
359 | { // data to last motor send |
| 280 | case 31: |
- | |
| 281 | i2c_write_byte(0x80); // Value |
360 | dac_channel = 0; // reset dac channel counter |
| - | 361 | } |
|
| 282 | break; |
362 | break; |
| - | 363 | ||
| 283 | case 32: |
364 | default: |
| 284 | I2C_Stop(); |
365 | I2C_Stop(TWI_STATE_MOTOR_TX); |
| 285 | I2CTimeout = 10; |
366 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 286 | twi_state = 0; |
367 | I2CTimeout = 10; |
| 287 | break; |
368 | motor_write = 0; |
| 288 | default: twi_state = 0; |
369 | motor_read = 0; |
| 289 | break; |
370 | break; |
| 290 | } |
371 | } |
| 291 | TWCR |= 0x80; |
- | |
| 292 | J4Low; |
372 | |
| 293 | } |
373 | } |
| - | 374 | ||
| 294 | 375 | ||
| 295 | void I2C_SendBLConfig(void) |
376 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
| 296 | { |
377 | { |
| - | 378 | uint8_t i; |
|
| - | 379 | ||
| - | 380 | if(MotorenEin) return(0); // not when motors are running! |
|
| 297 | unsigned char i; |
381 | if(motor > MAX_MOTORS) return (0); // motor does not exist! |
| - | 382 | if(motor) |
|
| - | 383 | { |
|
| - | 384 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(0); // motor does not exist! |
|
| - | 385 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(0); // not a new BL! |
|
| - | 386 | } |
|
| - | 387 | // check BL configuration to send |
|
| - | 388 | if(BLConfig.Revision != BLCONFIG_REVISION) return (0); // bad revison |
|
| - | 389 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
|
| - | 390 | if(i != BLConfig.crc) return(0); // bad checksum |
|
| 298 | if(MotorenEin) return; |
391 | |
| - | 392 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
|
| - | 393 | ||
| - | 394 | // prepare the bitmask |
|
| - | 395 | if(!motor) // 0 means all |
|
| 299 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
396 | { |
| - | 397 | BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration |
|
| 300 | BLFlags |= BLFLAG_SEND_CONFIG; // enable sending of BL config |
398 | } |
| - | 399 | else //only one specific motor |
|
| - | 400 | { |
|
| - | 401 | BLConfig_WriteMask = 0x0001<<(motor-1); |
|
| - | 402 | } |
|
| 301 | // setpoints should be zero |
403 | |
| 302 | for(i = 0; i < MAX_MOTORS; i++) |
404 | for(i = 0; i < MAX_MOTORS; i++) |
| - | 405 | { |
|
| - | 406 | if((0x0001<<i) & BLConfig_WriteMask) |
|
| 303 | { |
407 | { |
| 304 | Motor[i].SetPoint = 0; |
408 | Motor[i].SetPoint = 0; |
| - | 409 | Motor[i].SetPointLowerBits = 0; |
|
| 305 | Motor[i].SetPointLowerBits = 0; |
410 | } |
| 306 | } |
411 | } |
| 307 | motorread = 0; |
412 | motor_write = 0; |
| 308 | // 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) |
| 309 | do |
414 | do |
| 310 | { |
415 | { |
| 311 | twi_state = 0; |
- | |
| 312 | I2C_Start(); // start an i2c transmission |
416 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
| 313 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
417 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
| 314 | }while(BLFlags & BLFLAG_SEND_CONFIG); // repeat until the BL config has been send to all motors |
418 | }while(BLConfig_WriteMask); // repeat until the BL config has been sent |
| - | 419 | return(1); |
|
| 315 | } |
420 | } |
| - | 421 | ||
| - | 422 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
|
| - | 423 | { |
|
| - | 424 | uint8_t i; |
|
| - | 425 | ||
| - | 426 | if(MotorenEin) return(0); // not when motors are running! |
|
| - | 427 | if((motor == 0) || (motor > MAX_MOTORS)) return (0); // motor does not exist! |
|
| - | 428 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(0); // motor does not exist! |
|
| - | 429 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(0); // not a new BL! |
|
| - | 430 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
|
| - | 431 | ||
| - | 432 | // prepare the bitmask |
|
| - | 433 | BLConfig_ReadMask = 0x0001<<(motor-1); |
|
| - | 434 | for(i = 0; i < MAX_MOTORS; i++) |
|
| - | 435 | { |
|
| - | 436 | if((0x0001<<i) & BLConfig_ReadMask) |
|
| - | 437 | { |
|
| - | 438 | Motor[i].SetPoint = 0; |
|
| - | 439 | Motor[i].SetPointLowerBits = 0; |
|
| - | 440 | } |
|
| - | 441 | } |
|
| - | 442 | motor_read = 0; |
|
| - | 443 | BLConfig.Revision = 0; // bad revision |
|
| - | 444 | BLConfig.crc = 0; // bad checksum |
|
| - | 445 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
|
| - | 446 | do |
|
| - | 447 | { |
|
| - | 448 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
|
| - | 449 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
|
| - | 450 | }while(BLConfig_ReadMask); // repeat until the BL config has been received from all motors |
|
| - | 451 | // validate result |
|
| - | 452 | if(BLConfig.Revision != BLCONFIG_REVISION) return (0); // bad revison |
|
| - | 453 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
|
| 316 | 454 | if(i != BLConfig.crc) return(0); // bad checksum |
|
| 317 | 455 | return(1); |
|
| 318 | 456 | } |
|
| 319 | 457 | ||