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1662 killagreg 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) Holger Buss, Ingo Busker
3
// + Nur für den privaten Gebrauch
4
// + www.MikroKopter.com
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// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
6
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
8
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
9
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
14
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
16
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
19
// + eindeutig als Ursprung verlinkt werden
20
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
26
// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
41
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
43
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 52
 
1662 killagreg 53
#include <avr/io.h>
54
#include <avr/interrupt.h>
55
#include <util/twi.h>
56
#include "eeprom.h"
57
#include "twimaster.h"
58
#include "fc.h"
59
#include "analog.h"
1665 killagreg 60
#include "uart.h"
1683 killagreg 61
#include "timer0.h"
1 ingob 62
 
1662 killagreg 63
volatile uint8_t twi_state      = TWI_STATE_MOTOR_TX;
64
volatile uint8_t dac_channel    = 0;
65
volatile uint8_t motor_write    = 0;
66
volatile uint8_t motor_read     = 0;
1744 holgerb 67
volatile uint8_t I2C_TransferActive = 0;
1479 killagreg 68
 
1662 killagreg 69
volatile uint16_t I2CTimeout = 100;
70
 
71
uint8_t MissingMotor  = 0;
72
 
73
volatile uint8_t BLFlags = 0;
74
 
1479 killagreg 75
MotorData_t Motor[MAX_MOTORS];
76
 
1662 killagreg 77
// bit mask for witch BL the configuration should be sent
78
volatile uint16_t BLConfig_WriteMask = 0;
79
// bit mask for witch BL the configuration should be read
80
volatile uint16_t BLConfig_ReadMask = 0;
81
// buffer for BL Configuration
82
BLConfig_t BLConfig;
1648 killagreg 83
 
1662 killagreg 84
#define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
85
#define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);}
86
#define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
1 ingob 87
 
1662 killagreg 88
#define SCL_CLOCK  200000L
89
#define I2C_TIMEOUT 30000
90
#define TWI_BASE_ADDRESS 0x52
91
 
92
/**************************************************/
93
/*   Initialize I2C (TWI)                         */
94
/**************************************************/
95
 
1743 holgerb 96
void I2C_Init(char clear)
1 ingob 97
{
1662 killagreg 98
        uint8_t i;
99
        uint8_t sreg = SREG;
100
        cli();
1648 killagreg 101
 
1662 killagreg 102
        // SDA is INPUT
103
        DDRC  &= ~(1<<DDC1);
104
        // SCL is output
105
        DDRC |= (1<<DDC0);
106
        // pull up SDA
107
        PORTC |= (1<<PORTC0)|(1<<PORTC1);
1648 killagreg 108
 
1662 killagreg 109
        // TWI Status Register
110
        // prescaler 1 (TWPS1 = 0, TWPS0 = 0)
111
        TWSR &= ~((1<<TWPS1)|(1<<TWPS0));
112
 
113
        // set TWI Bit Rate Register
114
        TWBR = ((F_CPU/SCL_CLOCK)-16)/2;
115
 
116
        twi_state               = TWI_STATE_MOTOR_TX;
117
        motor_write     = 0;
118
        motor_read              = 0;
119
 
1743 holgerb 120
        if(clear) for(i=0; i < MAX_MOTORS; i++)
1648 killagreg 121
        {
122
                Motor[i].Version        = 0;
123
                Motor[i].SetPoint       = 0;
124
                Motor[i].SetPointLowerBits      = 0;
125
                Motor[i].State          = 0;
1666 killagreg 126
                Motor[i].ReadMode       = BL_READMODE_STATUS;
1648 killagreg 127
                Motor[i].Current        = 0;
128
                Motor[i].MaxPWM         = 0;
1666 killagreg 129
                Motor[i].Temperature = 0;
1648 killagreg 130
        }
1743 holgerb 131
    sei();
1662 killagreg 132
        SREG = sreg;
1 ingob 133
}
134
 
1662 killagreg 135
void I2C_Reset(void)
173 holgerb 136
{
1662 killagreg 137
        // stop i2c bus
138
        I2C_Stop(TWI_STATE_MOTOR_TX);
139
        TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset
1648 killagreg 140
        TWAMR = 0;
141
        TWAR = 0;
142
        TWDR = 0;
143
        TWSR = 0;
144
        TWBR = 0;
1765 killagreg 145
    I2C_TransferActive = 0;
1743 holgerb 146
        I2C_Init(0);
1662 killagreg 147
        I2C_WriteByte(0);
148
        BLFlags |= BLFLAG_READ_VERSION;
173 holgerb 149
}
1 ingob 150
 
1662 killagreg 151
/****************************************/
152
/*        I2C ISR                       */
153
/****************************************/
154
ISR (TWI_vect)
155
{
156
        static uint8_t missing_motor = 0, motor_read_temperature = 0;
157
        static uint8_t *pBuff = 0;
158
        static uint8_t BuffLen = 0;
1648 killagreg 159
 
1662 killagreg 160
    switch (twi_state++)
1648 killagreg 161
        {
1662 killagreg 162
                // Master Transmit
163
        case 0: // TWI_STATE_MOTOR_TX
1744 holgerb 164
            I2C_TransferActive = 1;
1662 killagreg 165
                        // skip motor if not used in mixer
166
                        while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;
167
                        if(motor_write >= MAX_MOTORS) // writing finished, read now
1648 killagreg 168
                        {
1662 killagreg 169
                                BLConfig_WriteMask = 0; // reset configuration bitmask
170
                                motor_write = 0; // reset motor write counter for next cycle
171
                                twi_state = TWI_STATE_MOTOR_RX;
172
                                I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode
1648 killagreg 173
                        }
1662 killagreg 174
                        else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode
1648 killagreg 175
                        break;
1662 killagreg 176
        case 1: // Send Data to Slave
177
                        I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint
178
                        // if old version has been detected
179
                        if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
1648 killagreg 180
                        {
181
                                twi_state = 4; //jump over sending more data
182
                        }
1662 killagreg 183
                        // the new version has been detected
184
                        else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask )  )
185
                        {       // or LowerBits are zero and no BlConfig should be sent (saves round trip time)
186
                                twi_state = 4; //jump over sending more data
1648 killagreg 187
                        }
188
                        break;
1662 killagreg 189
        case 2: // lower bits of setpoint (higher resolution)
1666 killagreg 190
                        if ((0x0001<<motor_write) & BLConfig_ReadMask)
1662 killagreg 191
                        {
1666 killagreg 192
                                Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request
1648 killagreg 193
                        }
194
                        else
195
                        {
1666 killagreg 196
                                Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request
1648 killagreg 197
                        }
1662 killagreg 198
                        // send read mode and the lower bits of setpoint
1666 killagreg 199
                I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07));
1662 killagreg 200
                        // configuration tranmission request?
201
                        if((0x0001<<motor_write) & BLConfig_WriteMask)
202
                        {       // redirect tx pointer to configuration data
203
                                pBuff = (uint8_t*)&BLConfig; // select config for motor
204
                                BuffLen = sizeof(BLConfig_t);
1651 killagreg 205
                        }
1662 killagreg 206
                        else
207
                        {       // jump to end of transmission for that motor
208
                                twi_state = 4;
1648 killagreg 209
                        }
210
                        break;
1662 killagreg 211
                case 3: // send configuration
212
                        I2C_WriteByte(*pBuff);
213
                        pBuff++;
214
                        if(--BuffLen > 0) twi_state = 3; // if there are some bytes left
215
                        break;
216
        case 4: // repeat case 0-4 for all motors
217
                        if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received
1648 killagreg 218
                        {
1662 killagreg 219
                                if(!missing_motor) missing_motor = motor_write + 1;
220
                                if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow
1648 killagreg 221
                        }
1662 killagreg 222
                        I2C_Stop(TWI_STATE_MOTOR_TX);
1648 killagreg 223
                        I2CTimeout = 10;
1662 killagreg 224
                        motor_write++; // next motor
225
                        I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive
1648 killagreg 226
                        break;
1662 killagreg 227
       // Master Receive Data
228
        case 5: // TWI_STATE_MOTOR_RX
229
                        if(TWSR != TW_MR_SLA_ACK) //  SLA+R transmitted but no ACK received
230
                        {       // no response from the addressed slave received
231
                                Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit
232
                                if(++motor_read >= MAX_MOTORS)
233
                                {       // all motors read
234
                                        motor_read = 0;                 // restart from beginning
235
                                        BLConfig_ReadMask = 0;  // reset read configuration bitmask
236
                                        if(++motor_read_temperature >= MAX_MOTORS)
1683 killagreg 237
                                        {
1662 killagreg 238
                                                motor_read_temperature = 0;
1648 killagreg 239
                                                BLFlags &= ~BLFLAG_READ_VERSION;
240
                                        }
241
                                }
242
                                BLFlags |= BLFLAG_TX_COMPLETE;
1662 killagreg 243
                                I2C_Stop(TWI_STATE_MOTOR_TX);
1744 holgerb 244
                                I2C_TransferActive = 0;
1648 killagreg 245
                        }
246
                        else
1662 killagreg 247
                        {       // motor successfully addressed
248
                                Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit
249
                                if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)
1648 killagreg 250
                                {
1662 killagreg 251
                                        // new BL found
1666 killagreg 252
                                        switch(Motor[motor_read].ReadMode)
1662 killagreg 253
                                        {
1666 killagreg 254
                                                case BL_READMODE_CONFIG:
1662 killagreg 255
                                                        pBuff = (uint8_t*)&BLConfig;
256
                                                        BuffLen = sizeof(BLConfig_t);
257
                                                        break;
258
 
1666 killagreg 259
                                                case BL_READMODE_STATUS:
1662 killagreg 260
                                                        pBuff = (uint8_t*)&(Motor[motor_read].Current);
261
                                                        if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp
262
                                                        else BuffLen = 1;// read Current only
263
                                                        break;
264
                                        }
1648 killagreg 265
                                }
1662 killagreg 266
                                else // old BL version
267
                                {
268
                                        pBuff = (uint8_t*)&(Motor[motor_read].Current);
1672 killagreg 269
                                        if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm
1662 killagreg 270
                                        else BuffLen = 1; // read Current only
271
                                }
272
                                if(BuffLen == 1)
273
                                {
274
                                        I2C_ReceiveLastByte();  // read last byte
275
                                }
1638 holgerb 276
                                else
1648 killagreg 277
                                {
1662 killagreg 278
                                        I2C_ReceiveByte();              // read next byte
1642 killagreg 279
                                }
1648 killagreg 280
                        }
281
                        MissingMotor = missing_motor;
282
                        missing_motor = 0;
283
                        break;
1662 killagreg 284
                case 6: // receive bytes
285
                        *pBuff = TWDR;
286
                        pBuff++;
287
                        BuffLen--;
288
                        if(BuffLen>1)
289
                        {
290
                                I2C_ReceiveByte(); // read next byte
291
                        }
292
                        else if (BuffLen == 1)
293
                        {
294
                                I2C_ReceiveLastByte();  // read last byte
295
                        }
296
                        else // nothing left
297
                        {
298
                                if(BLFlags & BLFLAG_READ_VERSION)
1648 killagreg 299
                                {
1765 killagreg 300
                                        if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK;
1662 killagreg 301
                                        else Motor[motor_read].Version = 0;
1648 killagreg 302
                                }
1662 killagreg 303
                                if(++motor_read >= MAX_MOTORS)
1648 killagreg 304
                                {
1662 killagreg 305
                                        motor_read = 0;                 // restart from beginning
306
                                        BLConfig_ReadMask = 0;  // reset read configuration bitmask
307
                                        if(++motor_read_temperature >= MAX_MOTORS)
1648 killagreg 308
                                        {
1662 killagreg 309
                                                motor_read_temperature = 0;
310
                                                BLFlags &= ~BLFLAG_READ_VERSION;
1648 killagreg 311
                                        }
312
                                }
1662 killagreg 313
                                I2C_Stop(TWI_STATE_MOTOR_TX);
314
                                BLFlags |= BLFLAG_TX_COMPLETE;
1744 holgerb 315
                I2C_TransferActive = 0;
1662 killagreg 316
                                return;
317
                        }
318
                        twi_state = 6; // if there are some bytes left
319
                        break;
320
 
321
                // writing Gyro-Offsets
322
                case 18:
323
                        I2C_WriteByte(0x98); // Address the DAC
324
                        break;
325
 
326
                case 19:
327
                        I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C)
328
                        break;
329
 
330
                case 20:
331
                        switch(dac_channel)
332
                        {
333
                                case 0:
334
                                                I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A
335
                                                break;
336
                                case 1:
337
                                                I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B
338
                                                break;
339
                                case 2:
340
                                                I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C
341
                                                break;
342
                        }
343
                        break;
344
 
345
                case 21:
346
                        I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
347
                        break;
348
 
349
                case 22:
350
                        I2C_Stop(TWI_STATE_MOTOR_TX);
1744 holgerb 351
                        I2C_TransferActive = 0;
1662 killagreg 352
                        I2CTimeout = 10;
1665 killagreg 353
                        // repeat case 18...22 until all DAC Channels are updated
1662 killagreg 354
                        if(dac_channel < 2)
355
                        {
356
                                dac_channel ++;         // jump to next channel
357
                                I2C_Start(TWI_STATE_GYRO_OFFSET_TX);            // start transmission for next channel
358
                        }
359
                        else
1665 killagreg 360
                        {
1662 killagreg 361
                                dac_channel = 0; // reset dac channel counter
1665 killagreg 362
                                BLFlags |= BLFLAG_TX_COMPLETE;
1662 killagreg 363
                        }
364
                        break;
365
        default:
366
                        I2C_Stop(TWI_STATE_MOTOR_TX);
367
                        BLFlags |= BLFLAG_TX_COMPLETE;
368
                        I2CTimeout = 10;
369
                        motor_write = 0;
370
                        motor_read = 0;
1744 holgerb 371
                        I2C_TransferActive = 0;
1662 killagreg 372
                        break;
1648 killagreg 373
        }
1662 killagreg 374
 
1638 holgerb 375
}
1639 holgerb 376
 
1662 killagreg 377
 
378
uint8_t I2C_WriteBLConfig(uint8_t motor)
1648 killagreg 379
{
1662 killagreg 380
        uint8_t i;
1683 killagreg 381
        uint16_t timer;
1662 killagreg 382
 
1665 killagreg 383
        if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING);        // not when motors are running!
384
        if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST);                   // motor does not exist!
1662 killagreg 385
        if(motor)
386
        {
1665 killagreg 387
                if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
388
                if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
1662 killagreg 389
        }
390
        // check BL configuration to send
1665 killagreg 391
        if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
1662 killagreg 392
        i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
1665 killagreg 393
        if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
1662 killagreg 394
 
1683 killagreg 395
        timer = SetDelay(2000);
396
        while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer));   //wait for complete transfer
1662 killagreg 397
 
398
        // prepare the bitmask
399
        if(!motor) // 0 means all
400
        {
401
                BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration
402
        }
403
        else //only one specific motor
404
        {
405
                BLConfig_WriteMask = 0x0001<<(motor-1);
406
        }
1648 killagreg 407
        for(i = 0; i < MAX_MOTORS; i++)
408
        {
1662 killagreg 409
                if((0x0001<<i) & BLConfig_WriteMask)
410
                {
411
                        Motor[i].SetPoint = 0;
412
                        Motor[i].SetPointLowerBits = 0;
413
                }
1648 killagreg 414
        }
1665 killagreg 415
 
1662 killagreg 416
        motor_write = 0;
1648 killagreg 417
        // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
418
        do
419
        {
1662 killagreg 420
                I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
1683 killagreg 421
                while(!(BLFlags & BLFLAG_TX_COMPLETE)  && !CheckDelay(timer)); //wait for complete transfer
422
        }while(BLConfig_WriteMask  && !CheckDelay(timer)); // repeat until the BL config has been sent
423
        if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST);
1665 killagreg 424
        return(BLCONFIG_SUCCESS);
1648 killagreg 425
}
426
 
1662 killagreg 427
uint8_t I2C_ReadBLConfig(uint8_t motor)
428
{
429
        uint8_t i;
1683 killagreg 430
        uint16_t timer;
1648 killagreg 431
 
1665 killagreg 432
        if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
1673 killagreg 433
        if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST);           // motor does not exist!
434
        if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE);
1665 killagreg 435
        if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
436
        if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
437
 
1683 killagreg 438
        timer = SetDelay(2000);
439
        while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer));                           //wait for complete transfer
1648 killagreg 440
 
1662 killagreg 441
        // prepare the bitmask
442
        BLConfig_ReadMask = 0x0001<<(motor-1);
1665 killagreg 443
 
1662 killagreg 444
        for(i = 0; i < MAX_MOTORS; i++)
445
        {
446
                if((0x0001<<i) & BLConfig_ReadMask)
447
                {
448
                        Motor[i].SetPoint = 0;
449
                        Motor[i].SetPointLowerBits = 0;
450
                }
451
        }
1665 killagreg 452
 
1662 killagreg 453
        motor_read = 0;
454
        BLConfig.Revision = 0; // bad revision
455
        BLConfig.crc = 0;          // bad checksum
456
        // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
457
        do
458
        {
459
                I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
1683 killagreg 460
                while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
461
        }while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors
1662 killagreg 462
        // validate result
1665 killagreg 463
        if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
1662 killagreg 464
        i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
1665 killagreg 465
        if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
466
        return(BLCONFIG_SUCCESS);
1662 killagreg 467
}
1665 killagreg 468