WebSVN - Projects - Blame - Rev 1470 - /Transportables_Koptertool/branch/GPL_PKT_V3_5_8a

Rev	Author	Line No.	Line
1470	-	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2	// + Copyright (c) Holger Buss, Ingo Busker
		3	// + Nur f?r den privaten Gebrauch
		4	// + www.MikroKopter.com
		5	// + 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 f?r das gesamte Projekt (Hardware, Software, Bin?rfiles, Sourcecode und Dokumentation),
		8	// + dass eine Nutzung (auch auszugsweise) nur f?r den privaten (nicht-kommerziellen) Gebrauch zul?ssig ist.
		9	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
		10	// + bzgl. der Nutzungsbedingungen aufzunehmen.
		11	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best?ckung und Verkauf von Platinen oder Baus?tzen,
		12	// + Verkauf von Luftbildaufnahmen, usw.
		13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		14	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver?ffentlicht,
		15	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m?ssen dann beiliegen
		16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		17	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
		18	// + auf anderen Webseiten oder sonstigen Medien ver?ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
		19	// + eindeutig als Ursprung verlinkt werden
		20	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		21	// + Keine Gew?hr auf Fehlerfreiheit, Vollst?ndigkeit oder Funktion
		22	// + Benutzung auf eigene Gefahr
		23	// + Wir ?bernehmen keinerlei Haftung f?r direkte oder indirekte Personen- oder Sachsch?den
		24	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		25	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
		26	// + mit unserer Zustimmung zul?ssig
		27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		28	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
		29	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		30	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
		31	// + 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
		33	// + from this software without specific prior written permission.
		34	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
		35	// + for non-commercial use (directly or indirectly)
		36	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
		37	// + with our written permission
		38	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
		39	// + clearly linked as origin
		40	// + * 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"
		42	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
		43	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
		44	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
		45	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
		46	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
		47	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
		48	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
		49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
		50	// + POSSIBILITY OF SUCH DAMAGE.
		51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		52
		53	#include "cpu.h"
		54	#include <avr/io.h>
		55	#include <avr/interrupt.h>
		56	#include <util/twi.h>
		57	#include <util/delay.h>
		58	#include "eeprom.h"
		59	#include "twimaster.h"
		60	#include "timer.h"
		61
		62	volatile uint8_t twi_state = TWI_STATE_MOTOR_TX;
		63	volatile uint8_t dac_channel = 0;
		64	volatile uint8_t motor_write = 0;
		65	volatile uint8_t motor_read = 0;
		66	volatile uint8_t I2C_TransferActive = 0;
		67
		68	volatile uint16_t I2CTimeout = 100;
		69
		70	uint8_t MissingMotor = 0;
		71	uint8_t RequiredMotors = 1;
		72	char MotorenEin = 0;
		73
		74	volatile uint8_t BLFlags = 0;
		75
		76	MotorData_t Motor[MAX_MOTORS];
		77
		78	// bit mask for witch BL the configuration should be sent
		79	volatile uint16_t BLConfig_WriteMask = 0;
		80	// bit mask for witch BL the configuration should be read
		81	volatile uint16_t BLConfig_ReadMask = 0;
		82	// buffer for BL Configuration
		83	BLConfig_t BLConfig;
		84
		85	#define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);}
		86	#define I2C_ReceiveByte() {TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE) \| (1<<TWEA);}
		87	#define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);}
		88
		89	#define SCL_CLOCK 200000L
		90	#define I2C_TIMEOUT 30000
		91	#define TWI_BASE_ADDRESS 0x52
		92
		93
		94
		95
		96	uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len)
		97	{
		98	uint8_t crc = 0xAA;
		99	uint16_t i;
		100
		101	for(i=0; i<len; i++)
		102	{
		103	crc += pBuffer[i];
		104	}
		105	return crc;
		106	}
		107
		108
		109
		110
		111	//--------------------------------------------------------------
		112	// Initialize I2C (TWI)
		113	//
		114	void I2C_Init(char clear)
		115	{
		116	uint8_t i;
		117	uint8_t sreg = SREG;
		118	cli();
		119
		120	// SDA is INPUT
		121	DDRC &= ~(1<<DDC1);
		122	// SCL is output
		123	DDRC \|= (1<<DDC0);
		124	// pull up SDA
		125	//PORTC \|= (1<<PORTC0)\|(1<<PORTC1);
		126
		127	// TWI Status Register
		128	// prescaler 1 (TWPS1 = 0, TWPS0 = 0)
		129	TWSR &= ~((1<<TWPS1)\|(1<<TWPS0));
		130
		131	// set TWI Bit Rate Register
		132	TWBR = ((F_CPU/SCL_CLOCK)-16)/2;
		133
		134	twi_state = TWI_STATE_MOTOR_TX;
		135	motor_write = 0;
		136	motor_read = 0;
		137
		138	if(clear) for(i=0; i < MAX_MOTORS; i++)
		139	{
		140	Motor[i].Version = 0;
		141	Motor[i].SetPoint = 0;
		142	Motor[i].SetPointLowerBits = 0;
		143	Motor[i].State = 0;
		144	Motor[i].ReadMode = BL_READMODE_STATUS;
		145	Motor[i].Current = 0;
		146	Motor[i].MaxPWM = 0;
		147	Motor[i].Temperature = 0;
		148	}
		149	sei();
		150	SREG = sreg;
		151	}
		152
		153
		154	//--------------------------------------------------------------
		155	void I2C_Reset(void)
		156	{
		157	// stop i2c bus
		158	I2C_Stop(TWI_STATE_MOTOR_TX);
		159	TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset
		160	TWAMR = 0;
		161	TWAR = 0;
		162	TWDR = 0;
		163	TWSR = 0;
		164	TWBR = 0;
		165	I2C_TransferActive = 0;
		166	I2C_Init(0);
		167	I2C_WriteByte(0);
		168	BLFlags \|= BLFLAG_READ_VERSION;
		169	}
		170
		171
		172	//--------------------------------------------------------------
		173	// I2C ISR
		174	//
		175	ISR (TWI_vect)
		176	{
		177	static uint8_t missing_motor = 0, motor_read_temperature = 0;
		178	static uint8_t *pBuff = 0;
		179	static uint8_t BuffLen = 0;
		180
		181	switch (twi_state++)
		182	{
		183	// Master Transmit
		184
		185	case 0: // TWI_STATE_MOTOR_TX
		186	I2C_TransferActive = 1;
		187	// skip motor if not used in mixer
		188	// while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;
		189	if(motor_write >= MAX_MOTORS) // writing finished, read now
		190	{
		191	BLConfig_WriteMask = 0; // reset configuration bitmask
		192	motor_write = 0; // reset motor write counter for next cycle
		193	twi_state = TWI_STATE_MOTOR_RX;
		194	I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode
		195	}
		196	else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode
		197	break;
		198
		199	case 1: // Send Data to Slave
		200	I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint
		201	// if old version has been detected
		202	if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
		203	{
		204	twi_state = 4; //jump over sending more data
		205	}
		206	// the new version has been detected
		207	else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) \|\| BLConfig_WriteMask \|\| BLConfig_ReadMask ) )
		208	{ // or LowerBits are zero and no BlConfig should be sent (saves round trip time)
		209	twi_state = 4; //jump over sending more data
		210	}
		211	break;
		212
		213	case 2: // lower bits of setpoint (higher resolution)
		214	if ((0x0001<<motor_write) & BLConfig_ReadMask)
		215	{
		216	Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request
		217	}
		218	else
		219	{
		220	Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request
		221	}
		222	// send read mode and the lower bits of setpoint
		223	I2C_WriteByte((Motor[motor_write].ReadMode<<3)\|(Motor[motor_write].SetPointLowerBits & 0x07));
		224	// configuration tranmission request?
		225	if((0x0001<<motor_write) & BLConfig_WriteMask)
		226	{ // redirect tx pointer to configuration data
		227	pBuff = (uint8_t*)&BLConfig; // select config for motor
		228	BuffLen = sizeof(BLConfig_t);
		229	}
		230	else
		231	{ // jump to end of transmission for that motor
		232	twi_state = 4;
		233	}
		234	break;
		235
		236	case 3: // send configuration
		237	I2C_WriteByte(*pBuff);
		238	pBuff++;
		239	if(--BuffLen > 0)
		240	twi_state = 3; // if there are some bytes left
		241	break;
		242
		243	case 4: // repeat case 0-4 for all motors
		244	if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received
		245	{
		246	if(!missing_motor)
		247	missing_motor = motor_write + 1;
		248
		249	if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK)
		250	Motor[motor_write].State++; // increment error counter and handle overflow
		251	}
		252	I2C_Stop(TWI_STATE_MOTOR_TX);
		253	I2CTimeout = 10;
		254	motor_write++; // next motor
		255	I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive
		256	break;
		257
		258	// Master Receive Data
		259	case 5: // TWI_STATE_MOTOR_RX
		260	if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received
		261	{ // no response from the addressed slave received
		262	Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit
		263	if(++motor_read >= MAX_MOTORS)
		264	{ // all motors read
		265	motor_read = 0; // restart from beginning
		266	BLConfig_ReadMask = 0; // reset read configuration bitmask
		267	if(++motor_read_temperature >= MAX_MOTORS)
		268	{
		269	motor_read_temperature = 0;
		270	BLFlags &= ~BLFLAG_READ_VERSION;
		271	}
		272	}
		273	BLFlags \|= BLFLAG_TX_COMPLETE;
		274	I2C_Stop(TWI_STATE_MOTOR_TX);
		275	I2C_TransferActive = 0;
		276	}
		277	else
		278	{ // motor successfully addressed
		279	Motor[motor_read].State \|= MOTOR_STATE_PRESENT_MASK; // set present bit
		280	if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)
		281	{
		282	// new BL found
		283	switch(Motor[motor_read].ReadMode)
		284	{
		285	case BL_READMODE_CONFIG:
		286	pBuff = (uint8_t*)&BLConfig;
		287	BuffLen = sizeof(BLConfig_t);
		288	break;
		289
		290	case BL_READMODE_STATUS:
		291	pBuff = (uint8_t*)&(Motor[motor_read].Current);
		292	if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp
		293	else BuffLen = 1;// read Current only
		294	break;
		295	}
		296	}
		297	else // old BL version
		298	{
		299	pBuff = (uint8_t*)&(Motor[motor_read].Current);
		300	if((BLFlags & BLFLAG_READ_VERSION) \|\| (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm
		301	else BuffLen = 1; // read Current only
		302	}
		303	if(BuffLen == 1)
		304	{
		305	I2C_ReceiveLastByte(); // read last byte
		306	}
		307	else
		308	{
		309	I2C_ReceiveByte(); // read next byte
		310	}
		311	}
		312	MissingMotor = missing_motor;
		313	missing_motor = 0;
		314	break;
		315
		316	case 6: // receive bytes
		317	*pBuff = TWDR;
		318	pBuff++;
		319	BuffLen--;
		320	if(BuffLen>1)
		321	{
		322	I2C_ReceiveByte(); // read next byte
		323	}
		324	else if (BuffLen == 1)
		325	{
		326	I2C_ReceiveLastByte(); // read last byte
		327	}
		328	else // nothing left
		329	{
		330	if(BLFlags & BLFLAG_READ_VERSION)
		331	{
		332	// if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version \|= MOTOR_STATE_NEW_PROTOCOL_MASK;
		333	if((Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version \|= MOTOR_STATE_NEW_PROTOCOL_MASK;
		334	else Motor[motor_read].Version = 0;
		335	}
		336	if(++motor_read >= MAX_MOTORS)
		337	{
		338	motor_read = 0; // restart from beginning
		339	BLConfig_ReadMask = 0; // reset read configuration bitmask
		340	if(++motor_read_temperature >= MAX_MOTORS)
		341	{
		342	motor_read_temperature = 0;
		343	BLFlags &= ~BLFLAG_READ_VERSION;
		344	}
		345	}
		346	I2C_Stop(TWI_STATE_MOTOR_TX);
		347	BLFlags \|= BLFLAG_TX_COMPLETE;
		348	I2C_TransferActive = 0;
		349	return;
		350	}
		351	twi_state = 6; // if there are some bytes left
		352	break;
		353
		354	case 21:
		355	I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80
		356	break;
		357
		358	case 22:
		359	I2C_Stop(TWI_STATE_MOTOR_TX);
		360	I2C_TransferActive = 0;
		361	I2CTimeout = 10;
		362	// repeat case 18...22 until all DAC Channels are updated
		363	if(dac_channel < 2)
		364	{
		365	dac_channel ++; // jump to next channel
		366	I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel
		367	}
		368	else
		369	{
		370	dac_channel = 0; // reset dac channel counter
		371	BLFlags \|= BLFLAG_TX_COMPLETE;
		372	}
		373	break;
		374
		375	default:
		376	I2C_Stop(TWI_STATE_MOTOR_TX);
		377	BLFlags \|= BLFLAG_TX_COMPLETE;
		378	I2CTimeout = 10;
		379	motor_write = 0;
		380	motor_read = 0;
		381	I2C_TransferActive = 0;
		382	break;
		383	}
		384
		385	}
		386
		387
		388	//--------------------------------------------------------------
		389	uint8_t I2C_WriteBLConfig(uint8_t motor)
		390	{
		391	uint8_t i;
		392	uint16_t timer;
		393
		394	// if(MotorenEin \|\| PC_MotortestActive)
		395	// return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
		396
		397	if(MotorenEin)
		398	return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
		399
		400	if(motor > MAX_MOTORS)
		401	return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
		402
		403	if(motor)
		404	{
		405	if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK))
		406	return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
		407
		408	if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
		409	return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
		410	}
		411
		412	// check BL configuration to send
		413	if(BLConfig.Revision != BLCONFIG_REVISION)
		414	return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
		415
		416	i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
		417
		418	if(i != BLConfig.crc)
		419	return(BLCONFIG_ERR_CHECKSUM); // bad checksum
		420
		421	timer = SetDelay(2000);
		422	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
		423
		424	// prepare the bitmask
		425	if(!motor) // 0 means all
		426	{
		427	BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration
		428	}
		429	else //only one specific motor
		430	{
		431	BLConfig_WriteMask = 0x0001<<(motor-1);
		432	}
		433	for(i = 0; i < MAX_MOTORS; i++)
		434	{
		435	if((0x0001<<i) & BLConfig_WriteMask)
		436	{
		437	Motor[i].SetPoint = 0;
		438	Motor[i].SetPointLowerBits = 0;
		439	}
		440	}
		441
		442	motor_write = 0;
		443	// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
		444	do
		445	{
		446	I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
		447	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
		448	}
		449	while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent
		450
		451	if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST);
		452	return(BLCONFIG_SUCCESS);
		453	}
		454
		455
		456	//--------------------------------------------------------------
		457	uint8_t I2C_ReadBLConfig(uint8_t motor)
		458	{
		459	uint8_t i;
		460	uint16_t timer;
		461
		462	// if(MotorenEin \|\| PC_MotortestActive)
		463	return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
		464
		465	if(MotorenEin)
		466	return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
		467
		468	if(motor > MAX_MOTORS)
		469	return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
		470
		471	if(motor == 0)
		472	return (BLCONFIG_ERR_READ_NOT_POSSIBLE);
		473
		474	if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK))
		475	return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
		476
		477	if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK))
		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
		482
		483	// prepare the bitmask
		484	BLConfig_ReadMask = 0x0001<<(motor-1);
		485
		486	for(i = 0; i < MAX_MOTORS; i++)
		487	{
		488	if((0x0001<<i) & BLConfig_ReadMask)
		489	{
		490	Motor[i].SetPoint = 0;
		491	Motor[i].SetPointLowerBits = 0;
		492	}
		493	}
		494
		495	motor_read = 0;
		496	BLConfig.Revision = 0; // bad revision
		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

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(root)/Transportables_Koptertool/branch/GPL_PKT_V3_5_8a_FC086/twimaster.c @ 1506 - Rev 1470