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1662 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
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3 | // + Nur für 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 für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig 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, Bestückung und Verkauf von Platinen oder Bausätzen, |
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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 veröffentlicht, |
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15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen 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 veröffentlicht 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 Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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22 | // + Benutzung auf eigene Gefahr |
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23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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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 zulässig |
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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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1 | ingob | 52 | |
1662 | killagreg | 53 | #include <avr/io.h> |
54 | #include <avr/interrupt.h> |
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55 | #include <util/twi.h> |
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56 | #include "eeprom.h" |
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57 | #include "twimaster.h" |
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58 | #include "fc.h" |
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59 | #include "analog.h" |
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1665 | killagreg | 60 | #include "uart.h" |
1 | ingob | 61 | |
1662 | killagreg | 62 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
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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1479 | killagreg | 66 | |
1662 | killagreg | 67 | |
68 | volatile uint16_t I2CTimeout = 100; |
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69 | |||
70 | uint8_t MissingMotor = 0; |
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71 | |||
72 | volatile uint8_t BLFlags = 0; |
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73 | |||
1479 | killagreg | 74 | MotorData_t Motor[MAX_MOTORS]; |
75 | |||
1662 | killagreg | 76 | // bit mask for witch BL the configuration should be sent |
77 | volatile uint16_t BLConfig_WriteMask = 0; |
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78 | // bit mask for witch BL the configuration should be read |
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79 | volatile uint16_t BLConfig_ReadMask = 0; |
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80 | // buffer for BL Configuration |
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81 | BLConfig_t BLConfig; |
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1648 | killagreg | 82 | |
1662 | killagreg | 83 | #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
84 | #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
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85 | #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
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1 | ingob | 86 | |
1662 | killagreg | 87 | #define SCL_CLOCK 200000L |
88 | #define I2C_TIMEOUT 30000 |
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89 | #define TWI_BASE_ADDRESS 0x52 |
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90 | |||
91 | /**************************************************/ |
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92 | /* Initialize I2C (TWI) */ |
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93 | /**************************************************/ |
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94 | |||
95 | void I2C_Init(void) |
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1 | ingob | 96 | { |
1662 | killagreg | 97 | uint8_t i; |
98 | uint8_t sreg = SREG; |
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99 | cli(); |
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1648 | killagreg | 100 | |
1662 | killagreg | 101 | // SDA is INPUT |
102 | DDRC &= ~(1<<DDC1); |
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103 | // SCL is output |
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104 | DDRC |= (1<<DDC0); |
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105 | // pull up SDA |
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106 | PORTC |= (1<<PORTC0)|(1<<PORTC1); |
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1648 | killagreg | 107 | |
1662 | killagreg | 108 | // TWI Status Register |
109 | // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
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110 | TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
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111 | |||
112 | // set TWI Bit Rate Register |
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113 | TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
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114 | |||
115 | twi_state = TWI_STATE_MOTOR_TX; |
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116 | motor_write = 0; |
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117 | motor_read = 0; |
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118 | |||
1648 | killagreg | 119 | for(i=0; i < MAX_MOTORS; i++) |
120 | { |
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121 | Motor[i].Version = 0; |
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122 | Motor[i].SetPoint = 0; |
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123 | Motor[i].SetPointLowerBits = 0; |
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124 | Motor[i].State = 0; |
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1666 | killagreg | 125 | Motor[i].ReadMode = BL_READMODE_STATUS; |
1648 | killagreg | 126 | Motor[i].Current = 0; |
127 | Motor[i].MaxPWM = 0; |
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1666 | killagreg | 128 | Motor[i].Temperature = 0; |
1648 | killagreg | 129 | } |
1662 | killagreg | 130 | |
131 | SREG = sreg; |
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1 | ingob | 132 | } |
133 | |||
1662 | killagreg | 134 | void I2C_Reset(void) |
173 | holgerb | 135 | { |
1662 | killagreg | 136 | // stop i2c bus |
137 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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138 | motor_write = 0; |
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139 | motor_read = 0; |
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140 | TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
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1648 | killagreg | 141 | TWAMR = 0; |
142 | TWAR = 0; |
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143 | TWDR = 0; |
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144 | TWSR = 0; |
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145 | TWBR = 0; |
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1662 | killagreg | 146 | I2C_Init(); |
147 | I2C_WriteByte(0); |
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148 | BLFlags |= BLFLAG_READ_VERSION; |
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173 | holgerb | 149 | } |
1 | ingob | 150 | |
1662 | killagreg | 151 | /****************************************/ |
152 | /* I2C ISR */ |
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153 | /****************************************/ |
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154 | ISR (TWI_vect) |
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155 | { |
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156 | static uint8_t missing_motor = 0, motor_read_temperature = 0; |
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157 | static uint8_t *pBuff = 0; |
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158 | static uint8_t BuffLen = 0; |
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1648 | killagreg | 159 | |
1662 | killagreg | 160 | switch (twi_state++) |
1648 | killagreg | 161 | { |
1662 | killagreg | 162 | // Master Transmit |
163 | case 0: // TWI_STATE_MOTOR_TX |
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164 | |||
165 | // skip motor if not used in mixer |
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166 | while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
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167 | if(motor_write >= MAX_MOTORS) // writing finished, read now |
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1648 | killagreg | 168 | { |
1662 | killagreg | 169 | BLConfig_WriteMask = 0; // reset configuration bitmask |
170 | motor_write = 0; // reset motor write counter for next cycle |
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171 | twi_state = TWI_STATE_MOTOR_RX; |
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172 | I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
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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 |
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178 | // if old version has been detected |
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179 | if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
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1648 | killagreg | 180 | { |
181 | twi_state = 4; //jump over sending more data |
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182 | } |
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1662 | killagreg | 183 | // the new version has been detected |
184 | else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
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185 | { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
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186 | twi_state = 4; //jump over sending more data |
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1648 | killagreg | 187 | } |
188 | break; |
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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 |
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195 | { |
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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) |
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202 | { // redirect tx pointer to configuration data |
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203 | pBuff = (uint8_t*)&BLConfig; // select config for motor |
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204 | BuffLen = sizeof(BLConfig_t); |
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1651 | killagreg | 205 | } |
1662 | killagreg | 206 | else |
207 | { // jump to end of transmission for that motor |
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208 | twi_state = 4; |
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1648 | killagreg | 209 | } |
210 | break; |
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1662 | killagreg | 211 | case 3: // send configuration |
212 | I2C_WriteByte(*pBuff); |
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213 | pBuff++; |
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214 | if(--BuffLen > 0) twi_state = 3; // if there are some bytes left |
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215 | break; |
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216 | case 4: // repeat case 0-4 for all motors |
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217 | if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
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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 |
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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 |
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1648 | killagreg | 226 | break; |
1662 | killagreg | 227 | // Master Receive Data |
228 | case 5: // TWI_STATE_MOTOR_RX |
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229 | if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
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230 | { // no response from the addressed slave received |
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231 | Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
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232 | if(++motor_read >= MAX_MOTORS) |
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233 | { // all motors read |
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234 | motor_read = 0; // restart from beginning |
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235 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
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236 | if(++motor_read_temperature >= MAX_MOTORS) |
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1648 | killagreg | 237 | { |
1662 | killagreg | 238 | motor_read_temperature = 0; |
1648 | killagreg | 239 | BLFlags &= ~BLFLAG_READ_VERSION; |
240 | } |
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241 | } |
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242 | BLFlags |= BLFLAG_TX_COMPLETE; |
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1662 | killagreg | 243 | I2C_Stop(TWI_STATE_MOTOR_TX); |
1648 | killagreg | 244 | } |
245 | else |
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1662 | killagreg | 246 | { // motor successfully addressed |
247 | Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
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248 | |||
249 | if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
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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); |
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257 | break; |
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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 |
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262 | else BuffLen = 1;// read Current only |
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263 | break; |
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264 | } |
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1648 | killagreg | 265 | } |
1662 | killagreg | 266 | else // old BL version |
267 | { |
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268 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
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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 | } |
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272 | if(BuffLen == 1) |
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273 | { |
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274 | I2C_ReceiveLastByte(); // read last byte |
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275 | } |
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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; |
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282 | missing_motor = 0; |
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283 | break; |
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1662 | killagreg | 284 | case 6: // receive bytes |
285 | *pBuff = TWDR; |
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286 | pBuff++; |
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287 | BuffLen--; |
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288 | if(BuffLen>1) |
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289 | { |
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290 | I2C_ReceiveByte(); // read next byte |
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291 | } |
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292 | else if (BuffLen == 1) |
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293 | { |
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294 | I2C_ReceiveLastByte(); // read last byte |
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295 | } |
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296 | else // nothing left |
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297 | { |
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298 | if(BLFlags & BLFLAG_READ_VERSION) |
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1648 | killagreg | 299 | { |
1662 | killagreg | 300 | if(!(FCFlags & FCFLAG_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
301 | else Motor[motor_read].Version = 0; |
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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 |
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307 | if(++motor_read_temperature >= MAX_MOTORS) |
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1648 | killagreg | 308 | { |
1662 | killagreg | 309 | motor_read_temperature = 0; |
310 | BLFlags &= ~BLFLAG_READ_VERSION; |
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1648 | killagreg | 311 | } |
312 | } |
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1662 | killagreg | 313 | I2C_Stop(TWI_STATE_MOTOR_TX); |
314 | BLFlags |= BLFLAG_TX_COMPLETE; |
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315 | return; |
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316 | } |
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317 | twi_state = 6; // if there are some bytes left |
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318 | break; |
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319 | |||
320 | // writing Gyro-Offsets |
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321 | case 18: |
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322 | I2C_WriteByte(0x98); // Address the DAC |
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323 | break; |
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324 | |||
325 | case 19: |
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326 | I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
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327 | break; |
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328 | |||
329 | case 20: |
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330 | switch(dac_channel) |
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331 | { |
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332 | case 0: |
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333 | I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
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334 | break; |
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335 | case 1: |
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336 | I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
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337 | break; |
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338 | case 2: |
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339 | I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
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340 | break; |
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341 | } |
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342 | break; |
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343 | |||
344 | case 21: |
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345 | I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
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346 | break; |
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347 | |||
348 | case 22: |
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349 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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350 | I2CTimeout = 10; |
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1665 | killagreg | 351 | // repeat case 18...22 until all DAC Channels are updated |
1662 | killagreg | 352 | if(dac_channel < 2) |
353 | { |
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354 | dac_channel ++; // jump to next channel |
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355 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
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356 | } |
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357 | else |
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1665 | killagreg | 358 | { |
1662 | killagreg | 359 | dac_channel = 0; // reset dac channel counter |
1665 | killagreg | 360 | BLFlags |= BLFLAG_TX_COMPLETE; |
1662 | killagreg | 361 | } |
362 | break; |
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363 | |||
364 | default: |
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365 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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366 | BLFlags |= BLFLAG_TX_COMPLETE; |
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367 | I2CTimeout = 10; |
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368 | motor_write = 0; |
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369 | motor_read = 0; |
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370 | break; |
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1648 | killagreg | 371 | } |
1662 | killagreg | 372 | |
1638 | holgerb | 373 | } |
1639 | holgerb | 374 | |
1662 | killagreg | 375 | |
376 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
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1648 | killagreg | 377 | { |
1662 | killagreg | 378 | uint8_t i; |
379 | |||
1665 | killagreg | 380 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
381 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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1662 | killagreg | 382 | if(motor) |
383 | { |
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1665 | killagreg | 384 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
385 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
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1662 | killagreg | 386 | } |
387 | // check BL configuration to send |
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1665 | killagreg | 388 | if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
1662 | killagreg | 389 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
1665 | killagreg | 390 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
1662 | killagreg | 391 | |
392 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
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393 | |||
394 | // prepare the bitmask |
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395 | if(!motor) // 0 means all |
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396 | { |
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397 | BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration |
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398 | } |
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399 | else //only one specific motor |
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400 | { |
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401 | BLConfig_WriteMask = 0x0001<<(motor-1); |
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402 | } |
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1648 | killagreg | 403 | for(i = 0; i < MAX_MOTORS; i++) |
404 | { |
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1662 | killagreg | 405 | if((0x0001<<i) & BLConfig_WriteMask) |
406 | { |
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407 | Motor[i].SetPoint = 0; |
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408 | Motor[i].SetPointLowerBits = 0; |
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409 | } |
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1648 | killagreg | 410 | } |
1665 | killagreg | 411 | |
1662 | killagreg | 412 | motor_write = 0; |
1648 | killagreg | 413 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
414 | do |
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415 | { |
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1662 | killagreg | 416 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
1648 | killagreg | 417 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
1662 | killagreg | 418 | }while(BLConfig_WriteMask); // repeat until the BL config has been sent |
1665 | killagreg | 419 | return(BLCONFIG_SUCCESS); |
1648 | killagreg | 420 | } |
421 | |||
1662 | killagreg | 422 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
423 | { |
||
424 | uint8_t i; |
||
1648 | killagreg | 425 | |
1665 | killagreg | 426 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
427 | if((motor == 0) || (motor > MAX_MOTORS)) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
||
428 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
||
429 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
||
430 | |||
1662 | killagreg | 431 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
1648 | killagreg | 432 | |
1662 | killagreg | 433 | // prepare the bitmask |
434 | BLConfig_ReadMask = 0x0001<<(motor-1); |
||
1665 | killagreg | 435 | |
1662 | killagreg | 436 | for(i = 0; i < MAX_MOTORS; i++) |
437 | { |
||
438 | if((0x0001<<i) & BLConfig_ReadMask) |
||
439 | { |
||
440 | Motor[i].SetPoint = 0; |
||
441 | Motor[i].SetPointLowerBits = 0; |
||
442 | } |
||
443 | } |
||
1665 | killagreg | 444 | |
1662 | killagreg | 445 | motor_read = 0; |
446 | BLConfig.Revision = 0; // bad revision |
||
447 | BLConfig.crc = 0; // bad checksum |
||
448 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
||
449 | do |
||
450 | { |
||
451 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
||
452 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
||
453 | }while(BLConfig_ReadMask); // repeat until the BL config has been received from all motors |
||
454 | // validate result |
||
1665 | killagreg | 455 | if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
1662 | killagreg | 456 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
1665 | killagreg | 457 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
458 | return(BLCONFIG_SUCCESS); |
||
1662 | killagreg | 459 | } |
1665 | killagreg | 460 |