WebSVN - FlightCtrl - Diff - Rev 1672 and 1673 - /branches/V0.84a-test1/twimaster.c


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// + Copyright (c) Holger Buss, Ingo Busker
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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) || (motor_read == motor_read_temperature)) 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 > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST);           // motor does not exist!
        if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE);
        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 1672	Rev 1673
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].ReadMode = BL_READMODE_STATUS;
126	Motor[i].Current = 0;	126	Motor[i].Current = 0;
127	Motor[i].MaxPWM = 0;	127	Motor[i].MaxPWM = 0;
128	Motor[i].Temperature = 0;	128	Motor[i].Temperature = 0;
129	}	129	}
130		130
131	SREG = sreg;	131	SREG = sreg;
132	}	132	}
133		133
134	void I2C_Reset(void)	134	void I2C_Reset(void)
135	{	135	{
136	// stop i2c bus	136	// stop i2c bus
137	I2C_Stop(TWI_STATE_MOTOR_TX);	137	I2C_Stop(TWI_STATE_MOTOR_TX);
138	motor_write = 0;	138	motor_write = 0;
139	motor_read = 0;	139	motor_read = 0;
140	TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset	140	TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset
141	TWAMR = 0;	141	TWAMR = 0;
142	TWAR = 0;	142	TWAR = 0;
143	TWDR = 0;	143	TWDR = 0;
144	TWSR = 0;	144	TWSR = 0;
145	TWBR = 0;	145	TWBR = 0;
146	I2C_Init();	146	I2C_Init();
147	I2C_WriteByte(0);	147	I2C_WriteByte(0);
148	BLFlags \|= BLFLAG_READ_VERSION;	148	BLFlags \|= BLFLAG_READ_VERSION;
149	}	149	}
150		150
151	/****************************************/	151	/****************************************/
152	/* I2C ISR */	152	/* I2C ISR */
153	/****************************************/	153	/****************************************/
154	ISR (TWI_vect)	154	ISR (TWI_vect)
155	{	155	{
156	static uint8_t missing_motor = 0, motor_read_temperature = 0;	156	static uint8_t missing_motor = 0, motor_read_temperature = 0;
157	static uint8_t *pBuff = 0;	157	static uint8_t *pBuff = 0;
158	static uint8_t BuffLen = 0;	158	static uint8_t BuffLen = 0;
159		159
160	switch (twi_state++)	160	switch (twi_state++)
161	{	161	{
162	// Master Transmit	162	// Master Transmit
163	case 0: // TWI_STATE_MOTOR_TX	163	case 0: // TWI_STATE_MOTOR_TX
164		164
165	// skip motor if not used in mixer	165	// skip motor if not used in mixer
166	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++;
167	if(motor_write >= MAX_MOTORS) // writing finished, read now	167	if(motor_write >= MAX_MOTORS) // writing finished, read now
168	{	168	{
169	BLConfig_WriteMask = 0; // reset configuration bitmask	169	BLConfig_WriteMask = 0; // reset configuration bitmask
170	motor_write = 0; // reset motor write counter for next cycle	170	motor_write = 0; // reset motor write counter for next cycle
171	twi_state = TWI_STATE_MOTOR_RX;	171	twi_state = TWI_STATE_MOTOR_RX;
172	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
173	}	173	}
174	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
175	break;	175	break;
176	case 1: // Send Data to Slave	176	case 1: // Send Data to Slave
177	I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint	177	I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint
178	// if old version has been detected	178	// if old version has been detected
179	if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))	179	if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
180	{	180	{
181	twi_state = 4; //jump over sending more data	181	twi_state = 4; //jump over sending more data
182	}	182	}
183	// the new version has been detected	183	// the new version has been detected
184	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 ) )
185	{ // 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)
186	twi_state = 4; //jump over sending more data	186	twi_state = 4; //jump over sending more data
187	}	187	}
188	break;	188	break;
189	case 2: // lower bits of setpoint (higher resolution)	189	case 2: // lower bits of setpoint (higher resolution)
190	if ((0x0001<<motor_write) & BLConfig_ReadMask)	190	if ((0x0001<<motor_write) & BLConfig_ReadMask)
191	{	191	{
192	Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request	192	Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request
193	}	193	}
194	else	194	else
195	{	195	{
196	Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request	196	Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request
197	}	197	}
198	// send read mode and the lower bits of setpoint	198	// send read mode and the lower bits of setpoint
199	I2C_WriteByte((Motor[motor_write].ReadMode<<3)\|(Motor[motor_write].SetPointLowerBits & 0x07));	199	I2C_WriteByte((Motor[motor_write].ReadMode<<3)\|(Motor[motor_write].SetPointLowerBits & 0x07));
200	// configuration tranmission request?	200	// configuration tranmission request?
201	if((0x0001<<motor_write) & BLConfig_WriteMask)	201	if((0x0001<<motor_write) & BLConfig_WriteMask)
202	{ // redirect tx pointer to configuration data	202	{ // redirect tx pointer to configuration data
203	pBuff = (uint8_t*)&BLConfig; // select config for motor	203	pBuff = (uint8_t*)&BLConfig; // select config for motor
204	BuffLen = sizeof(BLConfig_t);	204	BuffLen = sizeof(BLConfig_t);
205	}	205	}
206	else	206	else
207	{ // jump to end of transmission for that motor	207	{ // jump to end of transmission for that motor
208	twi_state = 4;	208	twi_state = 4;
209	}	209	}
210	break;	210	break;
211	case 3: // send configuration	211	case 3: // send configuration
212	I2C_WriteByte(*pBuff);	212	I2C_WriteByte(*pBuff);
213	pBuff++;	213	pBuff++;
214	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
215	break;	215	break;
216	case 4: // repeat case 0-4 for all motors	216	case 4: // repeat case 0-4 for all motors
217	if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received	217	if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received
218	{	218	{
219	if(!missing_motor) missing_motor = motor_write + 1;	219	if(!missing_motor) missing_motor = motor_write + 1;
220	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
221	}	221	}
222	I2C_Stop(TWI_STATE_MOTOR_TX);	222	I2C_Stop(TWI_STATE_MOTOR_TX);
223	I2CTimeout = 10;	223	I2CTimeout = 10;
224	motor_write++; // next motor	224	motor_write++; // next motor
225	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
226	break;	226	break;
227	// Master Receive Data	227	// Master Receive Data
228	case 5: // TWI_STATE_MOTOR_RX	228	case 5: // TWI_STATE_MOTOR_RX
229	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
230	{ // no response from the addressed slave received	230	{ // no response from the addressed slave received
231	Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit	231	Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit
232	if(++motor_read >= MAX_MOTORS)	232	if(++motor_read >= MAX_MOTORS)
233	{ // all motors read	233	{ // all motors read
234	motor_read = 0; // restart from beginning	234	motor_read = 0; // restart from beginning
235	BLConfig_ReadMask = 0; // reset read configuration bitmask	235	BLConfig_ReadMask = 0; // reset read configuration bitmask
236	if(++motor_read_temperature >= MAX_MOTORS)	236	if(++motor_read_temperature >= MAX_MOTORS)
237	{	237	{
238	motor_read_temperature = 0;	238	motor_read_temperature = 0;
239	BLFlags &= ~BLFLAG_READ_VERSION;	239	BLFlags &= ~BLFLAG_READ_VERSION;
240	}	240	}
241	}	241	}
242	BLFlags \|= BLFLAG_TX_COMPLETE;	242	BLFlags \|= BLFLAG_TX_COMPLETE;
243	I2C_Stop(TWI_STATE_MOTOR_TX);	243	I2C_Stop(TWI_STATE_MOTOR_TX);
244	}	244	}
245	else	245	else
246	{ // motor successfully addressed	246	{ // motor successfully addressed
247	Motor[motor_read].State \|= MOTOR_STATE_PRESENT_MASK; // set present bit	247	Motor[motor_read].State \|= MOTOR_STATE_PRESENT_MASK; // set present bit
248		248
249	if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)	249	if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)
250	{	250	{
251	// new BL found	251	// new BL found
252	switch(Motor[motor_read].ReadMode)	252	switch(Motor[motor_read].ReadMode)
253	{	253	{
254	case BL_READMODE_CONFIG:	254	case BL_READMODE_CONFIG:
255	pBuff = (uint8_t*)&BLConfig;	255	pBuff = (uint8_t*)&BLConfig;
256	BuffLen = sizeof(BLConfig_t);	256	BuffLen = sizeof(BLConfig_t);
257	break;	257	break;
258		258
259	case BL_READMODE_STATUS:	259	case BL_READMODE_STATUS:
260	pBuff = (uint8_t*)&(Motor[motor_read].Current);	260	pBuff = (uint8_t*)&(Motor[motor_read].Current);
261	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
262	else BuffLen = 1;// read Current only	262	else BuffLen = 1;// read Current only
263	break;	263	break;
264	}	264	}
265	}	265	}
266	else // old BL version	266	else // old BL version
267	{	267	{
268	pBuff = (uint8_t*)&(Motor[motor_read].Current);	268	pBuff = (uint8_t*)&(Motor[motor_read].Current);
269	if((BLFlags & BLFLAG_READ_VERSION) \|\| (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm	269	if((BLFlags & BLFLAG_READ_VERSION) \|\| (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm
270	else BuffLen = 1; // read Current only	270	else BuffLen = 1; // read Current only
271	}	271	}
272	if(BuffLen == 1)	272	if(BuffLen == 1)
273	{	273	{
274	I2C_ReceiveLastByte(); // read last byte	274	I2C_ReceiveLastByte(); // read last byte
275	}	275	}
276	else	276	else
277	{	277	{
278	I2C_ReceiveByte(); // read next byte	278	I2C_ReceiveByte(); // read next byte
279	}	279	}
280	}	280	}
281	MissingMotor = missing_motor;	281	MissingMotor = missing_motor;
282	missing_motor = 0;	282	missing_motor = 0;
283	break;	283	break;
284	case 6: // receive bytes	284	case 6: // receive bytes
285	*pBuff = TWDR;	285	*pBuff = TWDR;
286	pBuff++;	286	pBuff++;
287	BuffLen--;	287	BuffLen--;
288	if(BuffLen>1)	288	if(BuffLen>1)
289	{	289	{
290	I2C_ReceiveByte(); // read next byte	290	I2C_ReceiveByte(); // read next byte
291	}	291	}
292	else if (BuffLen == 1)	292	else if (BuffLen == 1)
293	{	293	{
294	I2C_ReceiveLastByte(); // read last byte	294	I2C_ReceiveLastByte(); // read last byte
295	}	295	}
296	else // nothing left	296	else // nothing left
297	{	297	{
298	if(BLFlags & BLFLAG_READ_VERSION)	298	if(BLFlags & BLFLAG_READ_VERSION)
299	{	299	{
300	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;
301	else Motor[motor_read].Version = 0;	301	else Motor[motor_read].Version = 0;
302	}	302	}
303	if(++motor_read >= MAX_MOTORS)	303	if(++motor_read >= MAX_MOTORS)
304	{	304	{
305	motor_read = 0; // restart from beginning	305	motor_read = 0; // restart from beginning
306	BLConfig_ReadMask = 0; // reset read configuration bitmask	306	BLConfig_ReadMask = 0; // reset read configuration bitmask
307	if(++motor_read_temperature >= MAX_MOTORS)	307	if(++motor_read_temperature >= MAX_MOTORS)
308	{	308	{
309	motor_read_temperature = 0;	309	motor_read_temperature = 0;
310	BLFlags &= ~BLFLAG_READ_VERSION;	310	BLFlags &= ~BLFLAG_READ_VERSION;
311	}	311	}
312	}	312	}
313	I2C_Stop(TWI_STATE_MOTOR_TX);	313	I2C_Stop(TWI_STATE_MOTOR_TX);
314	BLFlags \|= BLFLAG_TX_COMPLETE;	314	BLFlags \|= BLFLAG_TX_COMPLETE;
315	return;	315	return;
316	}	316	}
317	twi_state = 6; // if there are some bytes left	317	twi_state = 6; // if there are some bytes left
318	break;	318	break;
319		319
320	// writing Gyro-Offsets	320	// writing Gyro-Offsets
321	case 18:	321	case 18:
322	I2C_WriteByte(0x98); // Address the DAC	322	I2C_WriteByte(0x98); // Address the DAC
323	break;	323	break;
324		324
325	case 19:	325	case 19:
326	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)
327	break;	327	break;
328		328
329	case 20:	329	case 20:
330	switch(dac_channel)	330	switch(dac_channel)
331	{	331	{
332	case 0:	332	case 0:
333	I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A	333	I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A
334	break;	334	break;
335	case 1:	335	case 1:
336	I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B	336	I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B
337	break;	337	break;
338	case 2:	338	case 2:
339	I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C	339	I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C
340	break;	340	break;
341	}	341	}
342	break;	342	break;
343		343
344	case 21:	344	case 21:
345	I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80	345	I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
346	break;	346	break;
347		347
348	case 22:	348	case 22:
349	I2C_Stop(TWI_STATE_MOTOR_TX);	349	I2C_Stop(TWI_STATE_MOTOR_TX);
350	I2CTimeout = 10;	350	I2CTimeout = 10;
351	// repeat case 18...22 until all DAC Channels are updated	351	// repeat case 18...22 until all DAC Channels are updated
352	if(dac_channel < 2)	352	if(dac_channel < 2)
353	{	353	{
354	dac_channel ++; // jump to next channel	354	dac_channel ++; // jump to next channel
355	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
356	}	356	}
357	else	357	else
358	{	358	{
359	dac_channel = 0; // reset dac channel counter	359	dac_channel = 0; // reset dac channel counter
360	BLFlags \|= BLFLAG_TX_COMPLETE;	360	BLFlags \|= BLFLAG_TX_COMPLETE;
361	}	361	}
362	break;	362	break;
363		363
364	default:	364	default:
365	I2C_Stop(TWI_STATE_MOTOR_TX);	365	I2C_Stop(TWI_STATE_MOTOR_TX);
366	BLFlags \|= BLFLAG_TX_COMPLETE;	366	BLFlags \|= BLFLAG_TX_COMPLETE;
367	I2CTimeout = 10;	367	I2CTimeout = 10;
368	motor_write = 0;	368	motor_write = 0;
369	motor_read = 0;	369	motor_read = 0;
370	break;	370	break;
371	}	371	}
372		372
373	}	373	}
374		374
375		375
376	uint8_t I2C_WriteBLConfig(uint8_t motor)	376	uint8_t I2C_WriteBLConfig(uint8_t motor)
377	{	377	{
378	uint8_t i;	378	uint8_t i;
379		379
380	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!
381	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!
382	if(motor)	382	if(motor)
383	{	383	{
384	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!
385	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!
386	}	386	}
387	// check BL configuration to send	387	// check BL configuration to send
388	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
389	i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);	389	i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
390	if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum	390	if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
391		391
392	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer	392	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
393		393
394	// prepare the bitmask	394	// prepare the bitmask
395	if(!motor) // 0 means all	395	if(!motor) // 0 means all
396	{	396	{
397	BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration	397	BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration
398	}	398	}
399	else //only one specific motor	399	else //only one specific motor
400	{	400	{
401	BLConfig_WriteMask = 0x0001<<(motor-1);	401	BLConfig_WriteMask = 0x0001<<(motor-1);
402	}	402	}
403	for(i = 0; i < MAX_MOTORS; i++)	403	for(i = 0; i < MAX_MOTORS; i++)
404	{	404	{
405	if((0x0001<<i) & BLConfig_WriteMask)	405	if((0x0001<<i) & BLConfig_WriteMask)
406	{	406	{
407	Motor[i].SetPoint = 0;	407	Motor[i].SetPoint = 0;
408	Motor[i].SetPointLowerBits = 0;	408	Motor[i].SetPointLowerBits = 0;
409	}	409	}
410	}	410	}
411		411
412	motor_write = 0;	412	motor_write = 0;
413	// 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)
414	do	414	do
415	{	415	{
416	I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission	416	I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
417	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer	417	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
418	}while(BLConfig_WriteMask); // repeat until the BL config has been sent	418	}while(BLConfig_WriteMask); // repeat until the BL config has been sent
419	return(BLCONFIG_SUCCESS);	419	return(BLCONFIG_SUCCESS);
420	}	420	}
421		421
422	uint8_t I2C_ReadBLConfig(uint8_t motor)	422	uint8_t I2C_ReadBLConfig(uint8_t motor)
423	{	423	{
424	uint8_t i;	424	uint8_t i;
425		425
426	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!
427	if((motor == 0) \|\| (motor > MAX_MOTORS)) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!	427	if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
-		428	if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE);
428	if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!	429	if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
429	if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!	430	if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
430		431
431	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer	432	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
432		433
433	// prepare the bitmask	434	// prepare the bitmask
434	BLConfig_ReadMask = 0x0001<<(motor-1);	435	BLConfig_ReadMask = 0x0001<<(motor-1);
435		436
436	for(i = 0; i < MAX_MOTORS; i++)	437	for(i = 0; i < MAX_MOTORS; i++)
437	{	438	{
438	if((0x0001<<i) & BLConfig_ReadMask)	439	if((0x0001<<i) & BLConfig_ReadMask)
439	{	440	{
440	Motor[i].SetPoint = 0;	441	Motor[i].SetPoint = 0;
441	Motor[i].SetPointLowerBits = 0;	442	Motor[i].SetPointLowerBits = 0;
442	}	443	}
443	}	444	}
444		445
445	motor_read = 0;	446	motor_read = 0;
446	BLConfig.Revision = 0; // bad revision	447	BLConfig.Revision = 0; // bad revision
447	BLConfig.crc = 0; // bad checksum	448	BLConfig.crc = 0; // bad checksum
448	// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)	449	// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
449	do	450	do
450	{	451	{
451	I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission	452	I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
452	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer	453	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
453	}while(BLConfig_ReadMask); // repeat until the BL config has been received from all motors	454	}while(BLConfig_ReadMask); // repeat until the BL config has been received from all motors
454	// validate result	455	// validate result
455	if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison	456	if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
456	i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);	457	i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
457	if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum	458	if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
458	return(BLCONFIG_SUCCESS);	459	return(BLCONFIG_SUCCESS);
459	}	460	}
460		461
461		462

Subversion Repositories FlightCtrl

(root)/branches/V0.84a-test1/twimaster.c @ 2513 - Rev 1672 → 1673