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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig 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, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 excample: 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 "eeprom.h"
#include "twimaster.h"
//#include "analog.h"
#include "configuration.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
];
volatile uint8_t DACValues
[4];
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
].
SetPoint = 0;
Motor
[i
].
Present = 0;
Motor
[i
].
Error = 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((Mixer.
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
].
SetPoint); // transmit rotation rate setpoint
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
(DACValues
[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
].
SetPoint = 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 && Mixer.
Motor[i
][MIX_THROTTLE
] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i
+ 1);
Motor
[i
].
Error = 0;
}
}