Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 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
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// +  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].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 ((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].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(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].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 && mixerMatrix.motor[i][MIX_THROTTLE] > 0)
                        printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i + 1);
                motor[i].Error = 0;
        }
}