WebSVN - FlightCtrl - Diff - Rev 2158 and 2189 - /branches/dongfang_FC

 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <util/twi.h>
 #include <util/delay.h>
+#include <stdio.h>
 #include "twimaster.h"
-#include "configuration.h"
+//#include "configuration.h"
+//#include "controlMixer.h"
 #include "analog.h"
-#include "printf_P.h"
-volatile uint8_t twi_state = TWI_STATE_MOTOR_TX;
+volatile uint8_t twi_state;
-volatile uint8_t dac_channel = 0;
+volatile uint8_t dac_channel;
-volatile uint8_t motor_write = 0;
+volatile uint8_t writeIndex;
-volatile uint8_t motor_read = 0;
+volatile uint8_t readIndex;
 volatile uint16_t I2CTimeout = 100;
-uint8_t missingMotor = 0;
+uint8_t missingMotor;
-motorData_t motor[MAX_MOTORS];
+MLBLC_t mkblcs[MAX_I2CCHANNELS];
-uint8_t DACChannel = 0;
+uint8_t DACChannel;
 #define SCL_CLOCK  200000L
         // 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;
+        TWBR = ((F_CPU / SCL_CLOCK) - 16) / 2;
         twi_state = TWI_STATE_MOTOR_TX;
-        motor_write = 0;
+        writeIndex = 0;
-        motor_read = 0;
+        readIndex = 0;
-        for (i = 0; i < MAX_MOTORS; i++) {
-                motor[i].throttle = 0;
+        for (i = 0; i < MAX_I2CCHANNELS; i++) {
-                motor[i].present = 0;
+          mkblcs[i].present = 0;
-                motor[i].maxPWM = 0;
+          mkblcs[i].maxPWM = 0;
+        }
         SREG = sreg;
 }
 /****************************************
  * Start I2C
  ****************************************/
-void I2C_Start(uint8_t start_state) {
+void I2C_start(uint8_t start_state) {
+}
 /****************************************
  * Stop I2C
  ****************************************/
-void I2C_Stop(uint8_t start_state) {
+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)
+}
 /****************************************
  *    Write to I2C
  ****************************************/
-void I2C_WriteByte(int8_t byte) {
+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)
+}
 /****************************************
  * Receive byte and send ACK
  ****************************************/
-void I2C_ReceiveByte(void) {
+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) {
+void I2C_receiveLastByte(void) {
         TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWIE);
+}
 /****************************************
  * Reset I2C
  ****************************************/
-void I2C_Reset(void) {
+void I2C_reset(void) {
         // stop i2c bus
-        I2C_Stop(TWI_STATE_MOTOR_TX);
+        I2C_stop(TWI_STATE_MOTOR_TX);
         twi_state = 0;
-        motor_write = TWDR;
+        writeIndex = TWDR;
-        motor_write = 0;
+        writeIndex = 0;
-        motor_read = 0;
+        readIndex = 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_start(TWI_STATE_MOTOR_TX);
+}
         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 ((motorMixer.matrix[motor_write][MIX_THROTTLE] <= 0) && (motor_write < MAX_MOTORS))
+                while ((outputMixer[writeIndex].outputType != OUTPUT_TYPE_MOTOR) && (writeIndex < MAX_I2CCHANNELS))
-                        motor_write++;
+                        writeIndex++;
-                if (motor_write >= MAX_MOTORS) { // writing finished, read now
+                if (writeIndex >= MAX_I2CCHANNELS) { // writing finished, read now
-                        motor_write = 0;
+                        writeIndex = 0;
                         twi_state = TWI_STATE_MOTOR_RX;
-                        I2C_WriteByte(0x53 + (motor_read * 2)); // select slave adress in rx mode
+                        I2C_writeByte(0x53 + (readIndex * 2)); // select slave adress in rx mode
                 } else
-                        I2C_WriteByte(0x52 + (motor_write * 2)); // select slave adress in tx mode
+                        I2C_writeByte(0x52 + (writeIndex * 2)); // select slave adress in tx mode
                 break;
         case 1: // Send Data to Slave
+                //I2C_writeByte(outputs[writeIndex]>>LOG_CONTROL_OUTPUT_SCALING); // transmit throttle value.
-                I2C_WriteByte(motor[motor_write].throttle); // transmit throttle value.
+            I2C_writeByte(mkblcs[writeIndex].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;
+                                missing_motor = writeIndex + 1;
-                        if (++motor[motor_write].error == 0)
+                        if (++mkblcs[writeIndex].error == 0)
-                                motor[motor_write].error = 255; // increment error counter and handle overflow
+                          mkblcs[writeIndex].error = 255; // increment error counter and handle overflow
+                }
-                I2C_Stop(TWI_STATE_MOTOR_TX);
+                I2C_stop(TWI_STATE_MOTOR_TX);
                 I2CTimeout = 10;
-                motor_write++; // next motor
+                writeIndex++; // next motor
-                I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive
+                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;
+                  mkblcs[readIndex].present = 0;
-                        motor_read++; // next motor
+                        readIndex++; // next motor
-                        if (motor_read >= MAX_MOTORS)
+                        if (readIndex >= MAX_I2CCHANNELS)
-                                motor_read = 0; // restart reading of first motor if we have reached the last one
+                                readIndex = 0; // restart reading of first motor if we have reached the last one
-                        I2C_Stop(TWI_STATE_MOTOR_TX);
+                        I2C_stop(TWI_STATE_MOTOR_TX);
                 } else {
-                        motor[motor_read].present = ('1' - '-') + motor_read;
+                  mkblcs[readIndex].present = ('1' - '-') + readIndex;
-                        I2C_ReceiveByte(); //Transmit 1st byte
+                        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;
+          mkblcs[readIndex].current = TWDR;
-                I2C_ReceiveLastByte(); // nack
+                I2C_receiveLastByte(); // nack
                 break;
         case 5:
                 //Read 2nd byte
-                motor[motor_read].maxPWM = TWDR;
+          mkblcs[readIndex].maxPWM = TWDR;
-                motor_read++; // next motor
+                readIndex++; // next motor
-                if (motor_read >= MAX_MOTORS)
+                if (readIndex >= MAX_I2CCHANNELS)
-                        motor_read = 0; // restart reading of first motor if we have reached the last one
+                        readIndex = 0; // restart reading of first motor if we have reached the last one
-                I2C_Stop(TWI_STATE_MOTOR_TX);
+                I2C_stop(TWI_STATE_MOTOR_TX);
                 break;
                 // Writing ADC values.
         case 7:
-                I2C_WriteByte(0x98); // Address the DAC
+                I2C_writeByte(0x98); // Address the DAC
                 break;
         case 8:
-                I2C_WriteByte(0x10 + (DACChannel << 1)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)
+                I2C_writeByte(0x10 + (DACChannel << 1)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)
                 break;
         case 9:
-                I2C_WriteByte(gyroAmplifierOffset.offsets[DACChannel]);
+                I2C_writeByte(gyroAmplifierOffset.offsets[DACChannel]);
                 break;
         case 10:
-                I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
+                I2C_writeByte(0x80); // 2nd byte for all channels is 0x80
                 break;
         case 11:
-                I2C_Stop(TWI_STATE_MOTOR_TX);
+                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
+                        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);
+                I2C_stop(TWI_STATE_MOTOR_TX);
                 I2CTimeout = 10;
-                motor_write = 0;
+                writeIndex = 0;
-                motor_read = 0;
+                readIndex = 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++) {
+        for (i=0; i<MAX_I2CCHANNELS; i++) {
-                motor[i].throttle = 0;
+                mkblcs[i].throttle = 0;
+        }
-        I2C_Start(TWI_STATE_MOTOR_TX);
+        I2C_start(TWI_STATE_MOTOR_TX);
         _delay_ms(2);
-        motor_read = 0; // read the first I2C-Data
+        readIndex = 0; // read the first I2C-Data

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/twimaster.c - Rev 2158 → 2189