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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#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"
#include "timer0.h"
#include "main.h"
volatile uint8_t twi_state = TWI_STATE_MOTOR_TX, ReadBlSize = 9;
volatile uint8_t dac_channel = 0;
volatile uint8_t motor_write = 0;
volatile uint8_t motor_read = 0;
volatile uint8_t I2C_TransferActive = 0;
uint8_t Max_I2C_Packets = 12;
volatile uint16_t I2CTimeout = 100;
uint8_t MissingMotor = 0;
volatile uint8_t BLFlags = 0;
MotorData_t Motor[MAX_MOTORS];
RedundantBl_t RedundantMotor[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(char clear)
{
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;
if(clear) 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;
Motor[i].NotReadyCnt = 0;
Motor[i].RPM = 0;
Motor[i].reserved1 = 0;
Motor[i].Voltage = 0;
Motor[i].SlaveI2cError = 0;
Motor[i].VersionMajor = 0;
Motor[i].VersionMinor = 0;
}
sei();
SREG = sreg;
}
void I2C_Reset(void)
{
// stop i2c bus
I2C_Stop(TWI_STATE_MOTOR_TX);
TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset
TWAMR = 0;
TWAR = 0;
TWDR = 0;
TWSR = 0;
TWBR = 0;
I2C_TransferActive = 0;
I2C_Init(0);
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;
static uint8_t max_packets = 0;
switch (twi_state++)
{
// Master Transmit
case 0: // TWI_STATE_MOTOR_TX
I2C_TransferActive = 1;
// skip motor if not used in mixer
while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;
motor_write %= MAX_MOTORS;
if(++max_packets > Max_I2C_Packets) // writing finished, read now
{
max_packets = 0;
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);
I2C_TransferActive = 0;
}
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);
Motor[motor_read].ReadMode = BL_READMODE_STATUS; // only once
break;
case BL_READMODE_STATUS:
pBuff = (uint8_t*)&(Motor[motor_read].Current);
if(motor_read == motor_read_temperature) BuffLen = ReadBlSize; // read Current, MaxPwm & Temp (is 3 or 9)
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++; // set Pointer to next element : Motor[].Current,Motor[].Temperature
BuffLen--;
if(BuffLen>1)
{
I2C_ReceiveByte(); // read next byte
}
else if (BuffLen == 1)
{
I2C_ReceiveLastByte(); // read last byte
}
else // nothing left -> ready
{
if(BLFlags & BLFLAG_READ_VERSION)
{
if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN))
{
if((Motor[motor_read].MaxPWM & 252) == 248) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK;
else Motor[motor_read].Version = 0;
if(Motor[motor_read].MaxPWM == 248) Motor[motor_read].Version |= (MOTOR_STATE_FAST_MODE | MOTOR_STATE_BL30);
else
if(Motor[motor_read].MaxPWM == 249) Motor[motor_read].Version |= MOTOR_STATE_BL30;
}
}
if(FC_StatusFlags & FC_STATUS_FLY)
{
// Starting -> 40
// I2C-Setpoint is zero -> 250
// 255 -> Running and no Redundancy
// 254 -> Running and active Redundancy
if(Motor[motor_read].MaxPWM < 254)
{
Motor[motor_read].NotReadyCnt++;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
SpeakHoTT = SPEAK_ERR_MOTOR;
#endif
}
}
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;
I2C_TransferActive = 0;
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);
I2C_TransferActive = 0;
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;
I2C_TransferActive = 0;
break;
}
}
uint8_t I2C_WriteBLConfig(uint8_t motor)
{
uint8_t i, packets;
uint16_t timer;
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 & 0x0B) != 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
packets = Max_I2C_Packets;
Max_I2C_Packets = MAX_MOTORS;
I2CTimeout = 100;
timer = SetDelay(100);
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
// prepare the bitmask
if(!motor) BLConfig_WriteMask = 0x0FFF; // 0 means all -> all motors at once with the same configuration
else BLConfig_WriteMask = 0x0001<<(motor-1); //only one specific motor
motor_write = 0;
motor_read = 0;
// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
timer = SetDelay(1000);
do
{
I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
} while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent
Max_I2C_Packets = packets;
if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST);
return(BLCONFIG_SUCCESS);
}
uint8_t I2C_ReadBLConfig(uint8_t motor)
{
uint8_t i;
uint16_t timer;
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!
timer = SetDelay(1000);
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
// prepare the bitmask
BLConfig_ReadMask = 0x0001<<(motor-1);
motor_write = 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) && !CheckDelay(timer)); //wait for complete transfer
} while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors
// validate result
if((BLConfig.Revision & 0x0B) != 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);
}