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1734 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
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3 | // + Nur f?r den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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7 | // + Es gilt f?r das gesamte Projekt (Hardware, Software, Bin?rfiles, Sourcecode und Dokumentation), |
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8 | // + dass eine Nutzung (auch auszugsweise) nur f?r den privaten (nicht-kommerziellen) Gebrauch zul?ssig ist. |
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9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best?ckung und Verkauf von Platinen oder Baus?tzen, |
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12 | // + Verkauf von Luftbildaufnahmen, usw. |
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13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver?ffentlicht, |
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15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m?ssen dann beiliegen |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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18 | // + auf anderen Webseiten oder sonstigen Medien ver?ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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19 | // + eindeutig als Ursprung verlinkt werden |
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20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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21 | // + Keine Gew?hr auf Fehlerfreiheit, Vollst?ndigkeit oder Funktion |
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22 | // + Benutzung auf eigene Gefahr |
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23 | // + Wir ?bernehmen keinerlei Haftung f?r direkte oder indirekte Personen- oder Sachsch?den |
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24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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26 | // + mit unserer Zustimmung zul?ssig |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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31 | // + this list of conditions and the following disclaimer. |
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32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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33 | // + from this software without specific prior written permission. |
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34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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35 | // + for non-commercial use (directly or indirectly) |
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36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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37 | // + with our written permission |
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38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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39 | // + clearly linked as origin |
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40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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50 | // + POSSIBILITY OF SUCH DAMAGE. |
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51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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52 | |||
53 | #include "cpu.h" |
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54 | #include <avr/io.h> |
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55 | #include <avr/interrupt.h> |
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56 | #include <util/twi.h> |
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57 | #include <util/delay.h> |
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58 | #include "eeprom.h" |
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59 | #include "twimaster.h" |
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60 | #include "timer.h" |
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61 | |||
62 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
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63 | volatile uint8_t dac_channel = 0; |
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64 | volatile uint8_t motor_write = 0; |
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65 | volatile uint8_t motor_read = 0; |
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66 | volatile uint8_t I2C_TransferActive = 0; |
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67 | |||
68 | volatile uint16_t I2CTimeout = 100; |
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69 | |||
70 | uint8_t MissingMotor = 0; |
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71 | uint8_t RequiredMotors = 1; |
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72 | char MotorenEin = 0; |
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73 | |||
74 | volatile uint8_t BLFlags = 0; |
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75 | |||
76 | MotorData_t Motor[MAX_MOTORS]; |
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77 | |||
78 | // bit mask for witch BL the configuration should be sent |
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79 | volatile uint16_t BLConfig_WriteMask = 0; |
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80 | // bit mask for witch BL the configuration should be read |
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81 | volatile uint16_t BLConfig_ReadMask = 0; |
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82 | // buffer for BL Configuration |
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83 | BLConfig_t BLConfig; |
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84 | |||
85 | #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
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86 | #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
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87 | #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
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88 | |||
89 | #define SCL_CLOCK 200000L |
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90 | #define I2C_TIMEOUT 30000 |
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91 | #define TWI_BASE_ADDRESS 0x52 |
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92 | |||
93 | |||
94 | |||
95 | |||
96 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
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97 | { |
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98 | uint8_t crc = 0xAA; |
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99 | uint16_t i; |
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100 | |||
101 | for(i=0; i<len; i++) |
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102 | { |
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103 | crc += pBuffer[i]; |
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104 | } |
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105 | return crc; |
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106 | } |
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107 | |||
108 | |||
109 | |||
110 | |||
111 | //-------------------------------------------------------------- |
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112 | // Initialize I2C (TWI) |
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113 | // |
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114 | void I2C_Init(char clear) |
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115 | { |
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116 | uint8_t i; |
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117 | uint8_t sreg = SREG; |
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118 | cli(); |
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119 | |||
120 | // SDA is INPUT |
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121 | DDRC &= ~(1<<DDC1); |
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122 | // SCL is output |
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123 | DDRC |= (1<<DDC0); |
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124 | // pull up SDA |
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125 | //PORTC |= (1<<PORTC0)|(1<<PORTC1); |
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126 | |||
127 | // TWI Status Register |
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128 | // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
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129 | TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
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130 | |||
131 | // set TWI Bit Rate Register |
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132 | TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
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133 | |||
134 | twi_state = TWI_STATE_MOTOR_TX; |
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135 | motor_write = 0; |
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136 | motor_read = 0; |
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137 | |||
138 | if(clear) for(i=0; i < MAX_MOTORS; i++) |
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139 | { |
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140 | Motor[i].Version = 0; |
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141 | Motor[i].SetPoint = 0; |
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142 | Motor[i].SetPointLowerBits = 0; |
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143 | Motor[i].State = 0; |
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144 | Motor[i].ReadMode = BL_READMODE_STATUS; |
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145 | Motor[i].Current = 0; |
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146 | Motor[i].MaxPWM = 0; |
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147 | Motor[i].Temperature = 0; |
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148 | } |
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149 | sei(); |
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150 | SREG = sreg; |
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151 | } |
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152 | |||
153 | |||
154 | //-------------------------------------------------------------- |
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155 | void I2C_Reset(void) |
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156 | { |
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157 | // stop i2c bus |
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158 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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159 | TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
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160 | TWAMR = 0; |
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161 | TWAR = 0; |
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162 | TWDR = 0; |
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163 | TWSR = 0; |
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164 | TWBR = 0; |
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165 | I2C_TransferActive = 0; |
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166 | I2C_Init(0); |
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167 | I2C_WriteByte(0); |
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168 | BLFlags |= BLFLAG_READ_VERSION; |
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169 | } |
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170 | |||
171 | |||
172 | //-------------------------------------------------------------- |
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173 | // I2C ISR |
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174 | // |
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175 | ISR (TWI_vect) |
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176 | { |
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177 | static uint8_t missing_motor = 0, motor_read_temperature = 0; |
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178 | static uint8_t *pBuff = 0; |
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179 | static uint8_t BuffLen = 0; |
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180 | |||
181 | switch (twi_state++) |
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182 | { |
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183 | // Master Transmit |
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184 | |||
185 | case 0: // TWI_STATE_MOTOR_TX |
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186 | I2C_TransferActive = 1; |
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187 | // skip motor if not used in mixer |
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188 | // while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
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189 | if(motor_write >= MAX_MOTORS) // writing finished, read now |
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190 | { |
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191 | BLConfig_WriteMask = 0; // reset configuration bitmask |
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192 | motor_write = 0; // reset motor write counter for next cycle |
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193 | twi_state = TWI_STATE_MOTOR_RX; |
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194 | I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
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195 | } |
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196 | else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
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197 | break; |
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198 | |||
199 | case 1: // Send Data to Slave |
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200 | I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
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201 | // if old version has been detected |
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202 | if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
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203 | { |
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204 | twi_state = 4; //jump over sending more data |
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205 | } |
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206 | // the new version has been detected |
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207 | else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
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208 | { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
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209 | twi_state = 4; //jump over sending more data |
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210 | } |
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211 | break; |
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212 | |||
213 | case 2: // lower bits of setpoint (higher resolution) |
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214 | if ((0x0001<<motor_write) & BLConfig_ReadMask) |
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215 | { |
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216 | Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request |
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217 | } |
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218 | else |
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219 | { |
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220 | Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request |
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221 | } |
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222 | // send read mode and the lower bits of setpoint |
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223 | I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
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224 | // configuration tranmission request? |
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225 | if((0x0001<<motor_write) & BLConfig_WriteMask) |
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226 | { // redirect tx pointer to configuration data |
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227 | pBuff = (uint8_t*)&BLConfig; // select config for motor |
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228 | BuffLen = sizeof(BLConfig_t); |
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229 | } |
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230 | else |
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231 | { // jump to end of transmission for that motor |
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232 | twi_state = 4; |
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233 | } |
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234 | break; |
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235 | |||
236 | case 3: // send configuration |
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237 | I2C_WriteByte(*pBuff); |
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238 | pBuff++; |
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239 | if(--BuffLen > 0) |
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240 | twi_state = 3; // if there are some bytes left |
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241 | break; |
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242 | |||
243 | case 4: // repeat case 0-4 for all motors |
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244 | if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
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245 | { |
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246 | if(!missing_motor) |
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247 | missing_motor = motor_write + 1; |
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248 | |||
249 | if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) |
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250 | Motor[motor_write].State++; // increment error counter and handle overflow |
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251 | } |
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252 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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253 | I2CTimeout = 10; |
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254 | motor_write++; // next motor |
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255 | I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
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256 | break; |
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257 | |||
258 | // Master Receive Data |
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259 | case 5: // TWI_STATE_MOTOR_RX |
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260 | if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
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261 | { // no response from the addressed slave received |
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262 | Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
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263 | if(++motor_read >= MAX_MOTORS) |
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264 | { // all motors read |
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265 | motor_read = 0; // restart from beginning |
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266 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
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267 | if(++motor_read_temperature >= MAX_MOTORS) |
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268 | { |
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269 | motor_read_temperature = 0; |
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270 | BLFlags &= ~BLFLAG_READ_VERSION; |
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271 | } |
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272 | } |
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273 | BLFlags |= BLFLAG_TX_COMPLETE; |
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274 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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275 | I2C_TransferActive = 0; |
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276 | } |
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277 | else |
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278 | { // motor successfully addressed |
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279 | Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
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280 | if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
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281 | { |
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282 | // new BL found |
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283 | switch(Motor[motor_read].ReadMode) |
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284 | { |
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285 | case BL_READMODE_CONFIG: |
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286 | pBuff = (uint8_t*)&BLConfig; |
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287 | BuffLen = sizeof(BLConfig_t); |
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288 | break; |
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289 | |||
290 | case BL_READMODE_STATUS: |
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291 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
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292 | if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp |
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293 | else BuffLen = 1;// read Current only |
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294 | break; |
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295 | } |
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296 | } |
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297 | else // old BL version |
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298 | { |
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299 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
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300 | if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm |
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301 | else BuffLen = 1; // read Current only |
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302 | } |
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303 | if(BuffLen == 1) |
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304 | { |
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305 | I2C_ReceiveLastByte(); // read last byte |
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306 | } |
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307 | else |
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308 | { |
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309 | I2C_ReceiveByte(); // read next byte |
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310 | } |
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311 | } |
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312 | MissingMotor = missing_motor; |
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313 | missing_motor = 0; |
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314 | break; |
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315 | |||
316 | case 6: // receive bytes |
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317 | *pBuff = TWDR; |
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318 | pBuff++; |
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319 | BuffLen--; |
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320 | if(BuffLen>1) |
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321 | { |
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322 | I2C_ReceiveByte(); // read next byte |
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323 | } |
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324 | else if (BuffLen == 1) |
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325 | { |
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326 | I2C_ReceiveLastByte(); // read last byte |
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327 | } |
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328 | else // nothing left |
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329 | { |
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330 | if(BLFlags & BLFLAG_READ_VERSION) |
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331 | { |
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332 | // if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
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333 | if((Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
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334 | else Motor[motor_read].Version = 0; |
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335 | } |
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336 | if(++motor_read >= MAX_MOTORS) |
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337 | { |
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338 | motor_read = 0; // restart from beginning |
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339 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
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340 | if(++motor_read_temperature >= MAX_MOTORS) |
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341 | { |
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342 | motor_read_temperature = 0; |
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343 | BLFlags &= ~BLFLAG_READ_VERSION; |
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344 | } |
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345 | } |
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346 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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347 | BLFlags |= BLFLAG_TX_COMPLETE; |
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348 | I2C_TransferActive = 0; |
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349 | return; |
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350 | } |
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351 | twi_state = 6; // if there are some bytes left |
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352 | break; |
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353 | |||
354 | case 21: |
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355 | I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
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356 | break; |
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357 | |||
358 | case 22: |
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359 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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360 | I2C_TransferActive = 0; |
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361 | I2CTimeout = 10; |
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362 | // repeat case 18...22 until all DAC Channels are updated |
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363 | if(dac_channel < 2) |
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364 | { |
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365 | dac_channel ++; // jump to next channel |
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366 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
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367 | } |
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368 | else |
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369 | { |
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370 | dac_channel = 0; // reset dac channel counter |
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371 | BLFlags |= BLFLAG_TX_COMPLETE; |
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372 | } |
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373 | break; |
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374 | |||
375 | default: |
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376 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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377 | BLFlags |= BLFLAG_TX_COMPLETE; |
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378 | I2CTimeout = 10; |
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379 | motor_write = 0; |
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380 | motor_read = 0; |
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381 | I2C_TransferActive = 0; |
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382 | break; |
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383 | } |
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384 | |||
385 | } |
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386 | |||
387 | |||
388 | //-------------------------------------------------------------- |
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389 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
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390 | { |
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391 | uint8_t i; |
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392 | uint16_t timer; |
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393 | |||
394 | // if(MotorenEin || PC_MotortestActive) |
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395 | // return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
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396 | |||
397 | if(MotorenEin) |
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398 | return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
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399 | |||
400 | if(motor > MAX_MOTORS) |
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401 | return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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402 | |||
403 | if(motor) |
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404 | { |
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405 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) |
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406 | return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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407 | |||
408 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
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409 | return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
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410 | } |
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411 | |||
412 | // check BL configuration to send |
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413 | if(BLConfig.Revision != BLCONFIG_REVISION) |
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414 | return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
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415 | |||
416 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
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417 | |||
418 | if(i != BLConfig.crc) |
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419 | return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
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420 | |||
421 | timer = SetDelay(2000); |
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422 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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423 | |||
424 | // prepare the bitmask |
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425 | if(!motor) // 0 means all |
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426 | { |
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427 | BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration |
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428 | } |
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429 | else //only one specific motor |
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430 | { |
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431 | BLConfig_WriteMask = 0x0001<<(motor-1); |
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432 | } |
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433 | for(i = 0; i < MAX_MOTORS; i++) |
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434 | { |
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435 | if((0x0001<<i) & BLConfig_WriteMask) |
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436 | { |
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437 | Motor[i].SetPoint = 0; |
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438 | Motor[i].SetPointLowerBits = 0; |
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439 | } |
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440 | } |
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441 | |||
442 | motor_write = 0; |
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443 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
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444 | do |
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445 | { |
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446 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
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447 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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448 | } |
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449 | while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
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450 | |||
451 | if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
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452 | return(BLCONFIG_SUCCESS); |
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453 | } |
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454 | |||
455 | |||
456 | //-------------------------------------------------------------- |
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457 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
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458 | { |
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459 | uint8_t i; |
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460 | uint16_t timer; |
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461 | |||
462 | // if(MotorenEin || PC_MotortestActive) |
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463 | return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
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464 | |||
465 | if(MotorenEin) |
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466 | return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
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467 | |||
468 | if(motor > MAX_MOTORS) |
||
469 | return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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470 | |||
471 | if(motor == 0) |
||
472 | return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
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473 | |||
474 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) |
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475 | return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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476 | |||
477 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
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478 | return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
||
479 | |||
480 | timer = SetDelay(2000); |
||
481 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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482 | |||
483 | // prepare the bitmask |
||
484 | BLConfig_ReadMask = 0x0001<<(motor-1); |
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485 | |||
486 | for(i = 0; i < MAX_MOTORS; i++) |
||
487 | { |
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488 | if((0x0001<<i) & BLConfig_ReadMask) |
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489 | { |
||
490 | Motor[i].SetPoint = 0; |
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491 | Motor[i].SetPointLowerBits = 0; |
||
492 | } |
||
493 | } |
||
494 | |||
495 | motor_read = 0; |
||
496 | BLConfig.Revision = 0; // bad revision |
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497 | BLConfig.crc = 0; // bad checksum |
||
498 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
||
499 | do |
||
500 | { |
||
501 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
||
502 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
||
503 | }while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
||
504 | // validate result |
||
505 | if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
||
506 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
||
507 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
||
508 | return(BLCONFIG_SUCCESS); |
||
509 | } |
||
510 | |||
511 |