148 lines
3.5 KiB
C
148 lines
3.5 KiB
C
/***************************************************************************
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* Copyright (C) 09/2007 by Olaf Rempel *
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* razzor@kopf-tisch.de *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; version 2 of the License, *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, write to the *
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* Free Software Foundation, Inc., *
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* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
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***************************************************************************/
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/wdt.h>
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#include "main.h"
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#include "blmc.h"
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extern struct blmc_ blmc;
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#define CMD_WAIT 0x00
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#define CMD_GET_INFO 0x10
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#define CMD_SET_PWM 0x21
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#define CMD_GET_STATUS 0x22
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// #define CMD_SET_PARAM 0x23
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// #define CMD_GET_PARAM 0x24
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#define CMD_BOOT_LOADER 0x2F
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const static uint8_t info[16] = "blctrl m8-v1.1";
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ISR(TWI_vect)
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{
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static uint8_t cmd;
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static uint8_t bcnt;
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switch (TWSR & 0xF8) {
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/* SLA + W received, ACK returned -> receive Data and ACK */
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case 0x60:
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bcnt = 0;
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TWCR |= (1<<TWINT) | (1<<TWEA);
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break;
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/* prev. SLA + W, data received, ACK returned -> receive Data and ACK */
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case 0x80:
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if (bcnt == 0) {
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cmd = TWDR;
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switch (cmd) {
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case CMD_BOOT_LOADER:
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wdt_enable(WDTO_15MS);
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case CMD_GET_INFO:
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case CMD_SET_PWM:
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case CMD_GET_STATUS:
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bcnt++;
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break;
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default:
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cmd = CMD_WAIT;
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bcnt = 0;
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break;
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}
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} else if (bcnt == 1) {
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if (cmd == CMD_SET_PWM)
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setpwm(TWDR);
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bcnt = 0;
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} else {
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bcnt = 0;
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}
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TWCR |= (1<<TWINT) | (1<<TWEA);
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break;
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/* SLA+R received, ACK returned -> send data */
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case 0xA8:
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bcnt = 0;
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/* prev. SLA+R, data sent, ACK returned -> send data */
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case 0xB8:
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switch (cmd) {
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case CMD_GET_INFO:
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TWDR = info[bcnt++];
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bcnt %= sizeof(info);
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break;
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case CMD_GET_STATUS:
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switch (bcnt++) {
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case 0: TWDR = blmc.pwm - blmc.pwm_limit;
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break;
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case 1: TWDR = blmc.pwm;
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break;
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case 2: TWDR = (blmc.rpm >> 8);
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break;
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case 3: TWDR = (blmc.rpm & 0xFF);
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break;
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case 4: TWDR = (blmc.current >> 8);
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break;
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case 5: TWDR = (blmc.current & 0xFF);
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break;
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case 6: TWDR = (blmc.voltage >> 8);
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break;
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case 7: TWDR = (blmc.voltage & 0xFF);
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bcnt = 0;
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break;
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default:
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bcnt = 0;
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break;
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}
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break;
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default:
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TWDR = 0xFF;
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break;
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}
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TWCR |= (1<<TWINT) | (1<<TWEA);
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break;
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/* STOP or repeated START */
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case 0xA0:
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/* Data transmitted, NACK returned */
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case 0xC0:
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TWCR |= (1<<TWINT) | (1<<TWEA);
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break;
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/* failsave -> reset Hardware */
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default:
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TWCR |= (1<<TWINT) | (1<<TWSTO) | (1<<TWEA);
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break;
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}
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}
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