WebSVN - FlightCtrl - Diff - Rev 1967 and 2035 - /branches/dongfang_FC


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur f�r den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zul�ssig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/twi.h>
#include <util/delay.h>
#include "twimaster.h"
#include "configuration.h"
#include "analog.h"
#include "printf_P.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;
 
motorData_t motor[MAX_MOTORS];
 
uint8_t DACChannel = 0;
 
#define SCL_CLOCK  200000L
#define I2C_TIMEOUT 30000
 
/**************************************************
 * 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 = ((SYSCLK / 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].throttle = 0;
                motor[i].present = 0;
 
                motor[i].maxPWM = 0;
        }
 
        SREG = sreg;
}
 
/****************************************
 * Start I2C                          
 ****************************************/
void I2C_Start(uint8_t start_state) {
        twi_state = start_state;
        // TWI Control Register
        // clear TWI interrupt flag (TWINT=1)
        // disable TWI Acknowledge Bit (TWEA = 0)
        // enable TWI START Condition Bit (TWSTA = 1), MASTER
        // disable TWI STOP Condition Bit (TWSTO = 0)
        // disable TWI Write Collision Flag (TWWC = 0)
        // enable i2c (TWEN = 1)
        // enable TWI Interrupt (TWIE = 1)
        TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN) | (1 << TWIE);
}
 
/****************************************
 * Stop I2C                          
 ****************************************/
void I2C_Stop(uint8_t start_state) {
        twi_state = start_state;
        // TWI Control Register
        // clear TWI interrupt flag (TWINT=1)
        // disable TWI Acknowledge Bit (TWEA = 0)
        // diable TWI START Condition Bit (TWSTA = 1), no MASTER
        // enable TWI STOP Condition Bit (TWSTO = 1)
        // disable TWI Write Collision Flag (TWWC = 0)
        // enable i2c (TWEN = 1)
        // disable TWI Interrupt (TWIE = 0)
        TWCR = (1 << TWINT) | (1 << TWSTO) | (1 << TWEN);
}
 
/****************************************
 *    Write to I2C                      
 ****************************************/
void I2C_WriteByte(int8_t byte) {
        // move byte to send into TWI Data Register
        TWDR = byte;
        // clear interrupt flag (TWINT = 1)
        // enable i2c bus (TWEN = 1)
        // enable interrupt (TWIE = 1)
        TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWIE);
}
 
/****************************************
 * Receive byte and send ACK        
 ****************************************/
void I2C_ReceiveByte(void) {
        TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWIE) | (1 << TWEA);
}
 
/****************************************
 * I2C receive last byte and send no ACK
 ****************************************/
void I2C_ReceiveLastByte(void) {
        TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWIE);
}
 
/****************************************
 * Reset I2C                        
 ****************************************/
void I2C_Reset(void) {
        // stop i2c bus
        I2C_Stop(TWI_STATE_MOTOR_TX);
        twi_state = 0;
        motor_write = TWDR;
        motor_write = 0;
        motor_read = 0;
        TWCR = (1 << TWINT); // reset to original state incl. interrupt flag reset
        TWAMR = 0;
        TWAR = 0;
        TWDR = 0;
        TWSR = 0;
        TWBR = 0;
        I2C_init();
        I2C_Start(TWI_STATE_MOTOR_TX);
}
 
/****************************************
 * I2C ISR
 ****************************************/
ISR (TWI_vect)
{
        static uint8_t missing_motor = 0;
        switch (twi_state++) { // First i2c_start from SendMotorData()
        // Master Transmit
        case 0: // TWI_STATE_MOTOR_TX
                // skip motor if not used in mixer
                while ((mixerMatrix.motor[motor_write][MIX_THROTTLE] <= 0) && (motor_write < MAX_MOTORS))
                        motor_write++;
                if (motor_write >= MAX_MOTORS) { // writing finished, read now
                        motor_write = 0;
                        twi_state = TWI_STATE_MOTOR_RX;
                        I2C_WriteByte(0x53 + (motor_read * 2)); // select slave adress in rx mode
                } else
                        I2C_WriteByte(0x52 + (motor_write * 2)); // select slave adress in tx mode
                break;
        case 1: // Send Data to Slave
                I2C_WriteByte(motor[motor_write].throttle); // transmit throttle value.
                break;
        case 2: // repeat case 0+1 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].error == 0)
                                motor[motor_write].error = 255; // 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 3:
                if (TWSR != TW_MR_SLA_ACK) { //  SLA+R transmitted, if not ACK received
                        // no response from the addressed slave received
                        motor[motor_read].present = 0;
                        motor_read++; // next motor
                        if (motor_read >= MAX_MOTORS)
                                motor_read = 0; // restart reading of first motor if we have reached the last one
                        I2C_Stop(TWI_STATE_MOTOR_TX);
                } else {
                        motor[motor_read].present = ('1' - '-') + motor_read;
                        I2C_ReceiveByte(); //Transmit 1st byte
                }
                missingMotor = missing_motor;
                missing_motor = 0;
                break;
        case 4: //Read 1st byte and transmit 2nd Byte
                motor[motor_read].current = TWDR;
                I2C_ReceiveLastByte(); // nack
                break;
        case 5:
                //Read 2nd byte
                motor[motor_read].maxPWM = TWDR;
                motor_read++; // next motor
                if (motor_read >= MAX_MOTORS)
                        motor_read = 0; // restart reading of first motor if we have reached the last one
                I2C_Stop(TWI_STATE_MOTOR_TX);
                break;
 
                // Writing ADC values.
        case 7:
                I2C_WriteByte(0x98); // Address the DAC
                break;
 
        case 8:
                I2C_WriteByte(0x10 + (DACChannel << 1)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)
                break;
 
        case 9:
                I2C_WriteByte(gyroAmplifierOffset.offsets[DACChannel]);
                break;
 
        case 10:
                I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
                break;
 
        case 11:
                I2C_Stop(TWI_STATE_MOTOR_TX);
                I2CTimeout = 10;
                // repeat case 7...10 until all DAC Channels are updated
                if (DACChannel < 2) {
                        DACChannel++; // jump to next channel
                        I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel
                } else {
                        DACChannel = 0; // reset dac channel counter
                }
                break;
 
        default:
                I2C_Stop(TWI_STATE_MOTOR_TX);
                I2CTimeout = 10;
                motor_write = 0;
                motor_read = 0;
        }
}
 
extern void twi_diagnostics(void) {
        // Check connected BL-Ctrls
        uint8_t i;
 
        printf("\n\rFound BL-Ctrl: ");
 
        for (i = 0; i < MAX_MOTORS; i++) {
                motor[i].throttle = 0;
        }
 
        I2C_Start(TWI_STATE_MOTOR_TX);
        _delay_ms(2);
 
        motor_read = 0; // read the first I2C-Data
 
        for (i = 0; i < MAX_MOTORS; i++) {
                I2C_Start(TWI_STATE_MOTOR_TX);
                _delay_ms(2);
                if (motor[i].present)
                        printf("%d ",i+1);
        }
 
        for (i = 0; i < MAX_MOTORS; i++) {
                if (!motor[i].present && mixerMatrix.motor[i][MIX_THROTTLE] > 0)
                        printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i + 1);
                motor[i].error = 0;
        }
}
 

Rev 1967	Rev 2035
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + Nur für den privaten Gebrauch	3	// + Nur f�r den privaten Gebrauch
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	6	// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	7	// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist.
8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9	// + bzgl. der Nutzungsbedingungen aufzunehmen.	9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen,
11	// + Verkauf von Luftbildaufnahmen, usw.	11	// + Verkauf von Luftbildaufnahmen, usw.
12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen
15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	17	// + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18	// + eindeutig als Ursprung verlinkt werden	18	// + eindeutig als Ursprung verlinkt werden
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	20	// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
21	// + Benutzung auf eigene Gefahr	21	// + Benutzung auf eigene Gefahr
22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	22	// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25	// + mit unserer Zustimmung zulässig	25	// + mit unserer Zustimmung zul�ssig
26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30	// + this list of conditions and the following disclaimer.	30	// + this list of conditions and the following disclaimer.
31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32	// + from this software without specific prior written permission.	32	// + from this software without specific prior written permission.
33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34	// + for non-commercial use (directly or indirectly)	34	// + for non-commercial use (directly or indirectly)
35	// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	35	// + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36	// + with our written permission	36	// + with our written permission
37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38	// + clearly linked as origin	38	// + clearly linked as origin
39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed	39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
48	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	48	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
49	// + POSSIBILITY OF SUCH DAMAGE.	49	// + POSSIBILITY OF SUCH DAMAGE.
50	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	50	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
51		51
52	#include <avr/io.h>	52	#include <avr/io.h>
53	#include <avr/interrupt.h>	53	#include <avr/interrupt.h>
54	#include <util/twi.h>	54	#include <util/twi.h>
55	#include <util/delay.h>	55	#include <util/delay.h>
56	#include "twimaster.h"	56	#include "twimaster.h"
57	#include "configuration.h"	57	#include "configuration.h"
58	#include "analog.h"	58	#include "analog.h"
59	#include "printf_P.h"	59	#include "printf_P.h"
60		60
61	volatile uint8_t twi_state = TWI_STATE_MOTOR_TX;	61	volatile uint8_t twi_state = TWI_STATE_MOTOR_TX;
62	volatile uint8_t dac_channel = 0;	62	volatile uint8_t dac_channel = 0;
63	volatile uint8_t motor_write = 0;	63	volatile uint8_t motor_write = 0;
64	volatile uint8_t motor_read = 0;	64	volatile uint8_t motor_read = 0;
65	volatile uint16_t I2CTimeout = 100;	65	volatile uint16_t I2CTimeout = 100;
66	uint8_t missingMotor = 0;	66	uint8_t missingMotor = 0;
67		67
68	motorData_t motor[MAX_MOTORS];	68	motorData_t motor[MAX_MOTORS];
69		69
70	uint8_t DACChannel = 0;	70	uint8_t DACChannel = 0;
71		71
72	#define SCL_CLOCK 200000L	72	#define SCL_CLOCK 200000L
73	#define I2C_TIMEOUT 30000	73	#define I2C_TIMEOUT 30000
74		74
75	/**************************************************	75	/**************************************************
76	* Initialize I2C (TWI)	76	* Initialize I2C (TWI)
77	**************************************************/	77	**************************************************/
78	void I2C_init(void) {	78	void I2C_init(void) {
79	uint8_t i;	79	uint8_t i;
80	uint8_t sreg = SREG;	80	uint8_t sreg = SREG;
81	cli();	81	cli();
82		82
83	// SDA is INPUT	83	// SDA is INPUT
84	DDRC &= ~(1 << DDC1);	84	DDRC &= ~(1 << DDC1);
85	// SCL is output	85	// SCL is output
86	DDRC \|= (1 << DDC0);	86	DDRC \|= (1 << DDC0);
87	// pull up SDA	87	// pull up SDA
88	PORTC \|= (1 << PORTC0) \| (1 << PORTC1);	88	PORTC \|= (1 << PORTC0) \| (1 << PORTC1);
89		89
90	// TWI Status Register	90	// TWI Status Register
91	// prescaler 1 (TWPS1 = 0, TWPS0 = 0)	91	// prescaler 1 (TWPS1 = 0, TWPS0 = 0)
92	TWSR &= ~((1 << TWPS1) \| (1 << TWPS0));	92	TWSR &= ~((1 << TWPS1) \| (1 << TWPS0));
93		93
94	// set TWI Bit Rate Register	94	// set TWI Bit Rate Register
95	TWBR = ((SYSCLK / SCL_CLOCK) - 16) / 2;	95	TWBR = ((SYSCLK / SCL_CLOCK) - 16) / 2;
96		96
97	twi_state = TWI_STATE_MOTOR_TX;	97	twi_state = TWI_STATE_MOTOR_TX;
98	motor_write = 0;	98	motor_write = 0;
99	motor_read = 0;	99	motor_read = 0;
100		100
101	for (i = 0; i < MAX_MOTORS; i++) {	101	for (i = 0; i < MAX_MOTORS; i++) {
102	motor[i].SetPoint = 0;	102	motor[i].throttle = 0;
103	motor[i].Present = 0;	103	motor[i].present = 0;
104	motor[i].Error = 0;	-
105	motor[i].MaxPWM = 0;	104	motor[i].maxPWM = 0;
106	}	105	}
107		106
108	SREG = sreg;	107	SREG = sreg;
109	}	108	}
110		109
111	/****************************************	110	/****************************************
112	* Start I2C	111	* Start I2C
113	****************************************/	112	****************************************/
114	void I2C_Start(uint8_t start_state) {	113	void I2C_Start(uint8_t start_state) {
115	twi_state = start_state;	114	twi_state = start_state;
116	// TWI Control Register	115	// TWI Control Register
117	// clear TWI interrupt flag (TWINT=1)	116	// clear TWI interrupt flag (TWINT=1)
118	// disable TWI Acknowledge Bit (TWEA = 0)	117	// disable TWI Acknowledge Bit (TWEA = 0)
119	// enable TWI START Condition Bit (TWSTA = 1), MASTER	118	// enable TWI START Condition Bit (TWSTA = 1), MASTER
120	// disable TWI STOP Condition Bit (TWSTO = 0)	119	// disable TWI STOP Condition Bit (TWSTO = 0)
121	// disable TWI Write Collision Flag (TWWC = 0)	120	// disable TWI Write Collision Flag (TWWC = 0)
122	// enable i2c (TWEN = 1)	121	// enable i2c (TWEN = 1)
123	// enable TWI Interrupt (TWIE = 1)	122	// enable TWI Interrupt (TWIE = 1)
124	TWCR = (1 << TWINT) \| (1 << TWSTA) \| (1 << TWEN) \| (1 << TWIE);	123	TWCR = (1 << TWINT) \| (1 << TWSTA) \| (1 << TWEN) \| (1 << TWIE);
125	}	124	}
126		125
127	/****************************************	126	/****************************************
128	* Stop I2C	127	* Stop I2C
129	****************************************/	128	****************************************/
130	void I2C_Stop(uint8_t start_state) {	129	void I2C_Stop(uint8_t start_state) {
131	twi_state = start_state;	130	twi_state = start_state;
132	// TWI Control Register	131	// TWI Control Register
133	// clear TWI interrupt flag (TWINT=1)	132	// clear TWI interrupt flag (TWINT=1)
134	// disable TWI Acknowledge Bit (TWEA = 0)	133	// disable TWI Acknowledge Bit (TWEA = 0)
135	// diable TWI START Condition Bit (TWSTA = 1), no MASTER	134	// diable TWI START Condition Bit (TWSTA = 1), no MASTER
136	// enable TWI STOP Condition Bit (TWSTO = 1)	135	// enable TWI STOP Condition Bit (TWSTO = 1)
137	// disable TWI Write Collision Flag (TWWC = 0)	136	// disable TWI Write Collision Flag (TWWC = 0)
138	// enable i2c (TWEN = 1)	137	// enable i2c (TWEN = 1)
139	// disable TWI Interrupt (TWIE = 0)	138	// disable TWI Interrupt (TWIE = 0)
140	TWCR = (1 << TWINT) \| (1 << TWSTO) \| (1 << TWEN);	139	TWCR = (1 << TWINT) \| (1 << TWSTO) \| (1 << TWEN);
141	}	140	}
142		141
143	/****************************************	142	/****************************************
144	* Write to I2C	143	* Write to I2C
145	****************************************/	144	****************************************/
146	void I2C_WriteByte(int8_t byte) {	145	void I2C_WriteByte(int8_t byte) {
147	// move byte to send into TWI Data Register	146	// move byte to send into TWI Data Register
148	TWDR = byte;	147	TWDR = byte;
149	// clear interrupt flag (TWINT = 1)	148	// clear interrupt flag (TWINT = 1)
150	// enable i2c bus (TWEN = 1)	149	// enable i2c bus (TWEN = 1)
151	// enable interrupt (TWIE = 1)	150	// enable interrupt (TWIE = 1)
152	TWCR = (1 << TWINT) \| (1 << TWEN) \| (1 << TWIE);	151	TWCR = (1 << TWINT) \| (1 << TWEN) \| (1 << TWIE);
153	}	152	}
154		153
155	/****************************************	154	/****************************************
156	* Receive byte and send ACK	155	* Receive byte and send ACK
157	****************************************/	156	****************************************/
158	void I2C_ReceiveByte(void) {	157	void I2C_ReceiveByte(void) {
159	TWCR = (1 << TWINT) \| (1 << TWEN) \| (1 << TWIE) \| (1 << TWEA);	158	TWCR = (1 << TWINT) \| (1 << TWEN) \| (1 << TWIE) \| (1 << TWEA);
160	}	159	}
161		160
162	/****************************************	161	/****************************************
163	* I2C receive last byte and send no ACK	162	* I2C receive last byte and send no ACK
164	****************************************/	163	****************************************/
165	void I2C_ReceiveLastByte(void) {	164	void I2C_ReceiveLastByte(void) {
166	TWCR = (1 << TWINT) \| (1 << TWEN) \| (1 << TWIE);	165	TWCR = (1 << TWINT) \| (1 << TWEN) \| (1 << TWIE);
167	}	166	}
168		167
169	/****************************************	168	/****************************************
170	* Reset I2C	169	* Reset I2C
171	****************************************/	170	****************************************/
172	void I2C_Reset(void) {	171	void I2C_Reset(void) {
173	// stop i2c bus	172	// stop i2c bus
174	I2C_Stop(TWI_STATE_MOTOR_TX);	173	I2C_Stop(TWI_STATE_MOTOR_TX);
175	twi_state = 0;	174	twi_state = 0;
176	motor_write = TWDR;	175	motor_write = TWDR;
177	motor_write = 0;	176	motor_write = 0;
178	motor_read = 0;	177	motor_read = 0;
179	TWCR = (1 << TWINT); // reset to original state incl. interrupt flag reset	178	TWCR = (1 << TWINT); // reset to original state incl. interrupt flag reset
180	TWAMR = 0;	179	TWAMR = 0;
181	TWAR = 0;	180	TWAR = 0;
182	TWDR = 0;	181	TWDR = 0;
183	TWSR = 0;	182	TWSR = 0;
184	TWBR = 0;	183	TWBR = 0;
185	I2C_init();	184	I2C_init();
186	I2C_Start(TWI_STATE_MOTOR_TX);	185	I2C_Start(TWI_STATE_MOTOR_TX);
187	}	186	}
188		187
189	/****************************************	188	/****************************************
190	* I2C ISR	189	* I2C ISR
191	****************************************/	190	****************************************/
192	ISR (TWI_vect)	191	ISR (TWI_vect)
193	{	192	{
194	static uint8_t missing_motor = 0;	193	static uint8_t missing_motor = 0;
195	switch (twi_state++) { // First i2c_start from SendMotorData()	194	switch (twi_state++) { // First i2c_start from SendMotorData()
196	// Master Transmit	195	// Master Transmit
197	case 0: // TWI_STATE_MOTOR_TX	196	case 0: // TWI_STATE_MOTOR_TX
198	// skip motor if not used in mixer	197	// skip motor if not used in mixer
199	while ((mixerMatrix.motor[motor_write][MIX_THROTTLE] <= 0) && (motor_write < MAX_MOTORS))	198	while ((mixerMatrix.motor[motor_write][MIX_THROTTLE] <= 0) && (motor_write < MAX_MOTORS))
200	motor_write++;	199	motor_write++;
201	if (motor_write >= MAX_MOTORS) { // writing finished, read now	200	if (motor_write >= MAX_MOTORS) { // writing finished, read now
202	motor_write = 0;	201	motor_write = 0;
203	twi_state = TWI_STATE_MOTOR_RX;	202	twi_state = TWI_STATE_MOTOR_RX;
204	I2C_WriteByte(0x53 + (motor_read * 2)); // select slave adress in rx mode	203	I2C_WriteByte(0x53 + (motor_read * 2)); // select slave adress in rx mode
205	} else	204	} else
206	I2C_WriteByte(0x52 + (motor_write * 2)); // select slave adress in tx mode	205	I2C_WriteByte(0x52 + (motor_write * 2)); // select slave adress in tx mode
207	break;	206	break;
208	case 1: // Send Data to Slave	207	case 1: // Send Data to Slave
209	I2C_WriteByte(motor[motor_write].SetPoint); // transmit rotation rate setpoint	208	I2C_WriteByte(motor[motor_write].throttle); // transmit throttle value.
210	break;	209	break;
211	case 2: // repeat case 0+1 for all motors	210	case 2: // repeat case 0+1 for all motors
212	if (TWSR == TW_MT_DATA_NACK) { // Data transmitted, NACK received	211	if (TWSR == TW_MT_DATA_NACK) { // Data transmitted, NACK received
213	if (!missing_motor)	212	if (!missing_motor)
214	missing_motor = motor_write + 1;	213	missing_motor = motor_write + 1;
215	if (++motor[motor_write].Error == 0)	214	if (++motor[motor_write].error == 0)
216	motor[motor_write].Error = 255; // increment error counter and handle overflow	215	motor[motor_write].error = 255; // increment error counter and handle overflow
217	}	216	}
218	I2C_Stop(TWI_STATE_MOTOR_TX);	217	I2C_Stop(TWI_STATE_MOTOR_TX);
219	I2CTimeout = 10;	218	I2CTimeout = 10;
220	motor_write++; // next motor	219	motor_write++; // next motor
221	I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive	220	I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive
222	break;	221	break;
223	// Master Receive Data	222	// Master Receive Data
224	case 3:	223	case 3:
225	if (TWSR != TW_MR_SLA_ACK) { // SLA+R transmitted, if not ACK received	224	if (TWSR != TW_MR_SLA_ACK) { // SLA+R transmitted, if not ACK received
226	// no response from the addressed slave received	225	// no response from the addressed slave received
227	motor[motor_read].Present = 0;	226	motor[motor_read].present = 0;
228	motor_read++; // next motor	227	motor_read++; // next motor
229	if (motor_read >= MAX_MOTORS)	228	if (motor_read >= MAX_MOTORS)
230	motor_read = 0; // restart reading of first motor if we have reached the last one	229	motor_read = 0; // restart reading of first motor if we have reached the last one
231	I2C_Stop(TWI_STATE_MOTOR_TX);	230	I2C_Stop(TWI_STATE_MOTOR_TX);
232	} else {	231	} else {
233	motor[motor_read].Present = ('1' - '-') + motor_read;	232	motor[motor_read].present = ('1' - '-') + motor_read;
234	I2C_ReceiveByte(); //Transmit 1st byte	233	I2C_ReceiveByte(); //Transmit 1st byte
235	}	234	}
236	missingMotor = missing_motor;	235	missingMotor = missing_motor;
237	missing_motor = 0;	236	missing_motor = 0;
238	break;	237	break;
239	case 4: //Read 1st byte and transmit 2nd Byte	238	case 4: //Read 1st byte and transmit 2nd Byte
240	motor[motor_read].Current = TWDR;	239	motor[motor_read].current = TWDR;
241	I2C_ReceiveLastByte(); // nack	240	I2C_ReceiveLastByte(); // nack
242	break;	241	break;
243	case 5:	242	case 5:
244	//Read 2nd byte	243	//Read 2nd byte
245	motor[motor_read].MaxPWM = TWDR;	244	motor[motor_read].maxPWM = TWDR;
246	motor_read++; // next motor	245	motor_read++; // next motor
247	if (motor_read >= MAX_MOTORS)	246	if (motor_read >= MAX_MOTORS)
248	motor_read = 0; // restart reading of first motor if we have reached the last one	247	motor_read = 0; // restart reading of first motor if we have reached the last one
249	I2C_Stop(TWI_STATE_MOTOR_TX);	248	I2C_Stop(TWI_STATE_MOTOR_TX);
250	break;	249	break;
251		250
252	// Writing ADC values.	251	// Writing ADC values.
253	case 7:	252	case 7:
254	I2C_WriteByte(0x98); // Address the DAC	253	I2C_WriteByte(0x98); // Address the DAC
255	break;	254	break;
256		255
257	case 8:	256	case 8:
258	I2C_WriteByte(0x10 + (DACChannel << 1)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)	257	I2C_WriteByte(0x10 + (DACChannel << 1)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)
259	break;	258	break;
260		259
261	case 9:	260	case 9:
262	I2C_WriteByte(gyroAmplifierOffset.offsets[DACChannel]);	261	I2C_WriteByte(gyroAmplifierOffset.offsets[DACChannel]);
263	break;	262	break;
264		263
265	case 10:	264	case 10:
266	I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80	265	I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
267	break;	266	break;
268		267
269	case 11:	268	case 11:
270	I2C_Stop(TWI_STATE_MOTOR_TX);	269	I2C_Stop(TWI_STATE_MOTOR_TX);
271	I2CTimeout = 10;	270	I2CTimeout = 10;
272	// repeat case 7...10 until all DAC Channels are updated	271	// repeat case 7...10 until all DAC Channels are updated
273	if (DACChannel < 2) {	272	if (DACChannel < 2) {
274	DACChannel++; // jump to next channel	273	DACChannel++; // jump to next channel
275	I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel	274	I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel
276	} else {	275	} else {
277	DACChannel = 0; // reset dac channel counter	276	DACChannel = 0; // reset dac channel counter
278	}	277	}
279	break;	278	break;
280		279
281	default:	280	default:
282	I2C_Stop(TWI_STATE_MOTOR_TX);	281	I2C_Stop(TWI_STATE_MOTOR_TX);
283	I2CTimeout = 10;	282	I2CTimeout = 10;
284	motor_write = 0;	283	motor_write = 0;
285	motor_read = 0;	284	motor_read = 0;
286	}	285	}
287	}	286	}
288		287
289	extern void twi_diagnostics(void) {	288	extern void twi_diagnostics(void) {
290	// Check connected BL-Ctrls	289	// Check connected BL-Ctrls
291	uint8_t i;	290	uint8_t i;
292		291
293	printf("\n\rFound BL-Ctrl: ");	292	printf("\n\rFound BL-Ctrl: ");
294		293
295	for (i = 0; i < MAX_MOTORS; i++) {	294	for (i = 0; i < MAX_MOTORS; i++) {
296	motor[i].SetPoint = 0;	295	motor[i].throttle = 0;
297	}	296	}
298		297
299	I2C_Start(TWI_STATE_MOTOR_TX);	298	I2C_Start(TWI_STATE_MOTOR_TX);
300	_delay_ms(2);	299	_delay_ms(2);
301		300
302	motor_read = 0; // read the first I2C-Data	301	motor_read = 0; // read the first I2C-Data
303		302
304	for (i = 0; i < MAX_MOTORS; i++) {	303	for (i = 0; i < MAX_MOTORS; i++) {
305	I2C_Start(TWI_STATE_MOTOR_TX);	304	I2C_Start(TWI_STATE_MOTOR_TX);
306	_delay_ms(2);	305	_delay_ms(2);
307	if (motor[i].Present)	306	if (motor[i].present)
308	printf("%d ",i+1);	307	printf("%d ",i+1);
309	}	308	}
310		309
311	for (i = 0; i < MAX_MOTORS; i++) {	310	for (i = 0; i < MAX_MOTORS; i++) {
312	if (!motor[i].Present && mixerMatrix.motor[i][MIX_THROTTLE] > 0)	311	if (!motor[i].present && mixerMatrix.motor[i][MIX_THROTTLE] > 0)
313	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i + 1);	312	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i + 1);
314	motor[i].Error = 0;	313	motor[i].error = 0;
315	}	314	}
316	}	315	}
317		316

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/twimaster.c @ 2117 - Rev 1967 → 2035