Rev 1680 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1680 | Rev 1683 | ||
|---|---|---|---|
| Line 56... | Line 56... | ||
| 56 | #include "eeprom.h" |
56 | #include "eeprom.h" |
| 57 | #include "twimaster.h" |
57 | #include "twimaster.h" |
| 58 | #include "fc.h" |
58 | #include "fc.h" |
| 59 | #include "analog.h" |
59 | #include "analog.h" |
| 60 | #include "uart.h" |
60 | #include "uart.h" |
| - | 61 | #include "timer0.h" |
|
| Line 61... | Line 62... | ||
| 61 | 62 | ||
| 62 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
63 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
| 63 | volatile uint8_t dac_channel = 0; |
64 | volatile uint8_t dac_channel = 0; |
| 64 | volatile uint8_t motor_write = 0; |
65 | volatile uint8_t motor_write = 0; |
| Line 232... | Line 233... | ||
| 232 | if(++motor_read >= MAX_MOTORS) |
233 | if(++motor_read >= MAX_MOTORS) |
| 233 | { // all motors read |
234 | { // all motors read |
| 234 | motor_read = 0; // restart from beginning |
235 | motor_read = 0; // restart from beginning |
| 235 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
236 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
| 236 | if(++motor_read_temperature >= MAX_MOTORS) |
237 | if(++motor_read_temperature >= MAX_MOTORS) |
| 237 | { |
238 | { |
| 238 | motor_read_temperature = 0; |
239 | motor_read_temperature = 0; |
| 239 | BLFlags &= ~BLFLAG_READ_VERSION; |
240 | BLFlags &= ~BLFLAG_READ_VERSION; |
| 240 | } |
241 | } |
| 241 | } |
242 | } |
| 242 | BLFlags |= BLFLAG_TX_COMPLETE; |
243 | BLFlags |= BLFLAG_TX_COMPLETE; |
| Line 374... | Line 375... | ||
| 374 | 375 | ||
| 375 | 376 | ||
| 376 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
377 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
| - | 378 | { |
|
| Line 377... | Line 379... | ||
| 377 | { |
379 | uint8_t i; |
| 378 | uint8_t i; |
380 | uint16_t timer; |
| 379 | 381 | ||
| 380 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
382 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
| Line 387... | Line 389... | ||
| 387 | // check BL configuration to send |
389 | // check BL configuration to send |
| 388 | if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
390 | if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
| 389 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
391 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
| 390 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
392 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
| Line -... | Line 393... | ||
| - | 393 | ||
| 391 | 394 | timer = SetDelay(2000); |
|
| Line 392... | Line 395... | ||
| 392 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
395 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| 393 | 396 | ||
| 394 | // prepare the bitmask |
397 | // prepare the bitmask |
| 395 | if(!motor) // 0 means all |
398 | if(!motor) // 0 means all |
| Line 412... | Line 415... | ||
| 412 | motor_write = 0; |
415 | motor_write = 0; |
| 413 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
416 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
| 414 | do |
417 | do |
| 415 | { |
418 | { |
| 416 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
419 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
| 417 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
420 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| 418 | }while(BLConfig_WriteMask); // repeat until the BL config has been sent |
421 | }while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
| - | 422 | if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
|
| 419 | return(BLCONFIG_SUCCESS); |
423 | return(BLCONFIG_SUCCESS); |
| 420 | } |
424 | } |
| Line 421... | Line 425... | ||
| 421 | 425 | ||
| 422 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
426 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
| 423 | { |
427 | { |
| - | 428 | uint8_t i; |
|
| Line 424... | Line 429... | ||
| 424 | uint8_t i; |
429 | uint16_t timer; |
| 425 | 430 | ||
| 426 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
431 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
| 427 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
432 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| 428 | if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
433 | if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
| Line -... | Line 434... | ||
| - | 434 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
|
| 429 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
435 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
| Line 430... | Line 436... | ||
| 430 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
436 | |
| 431 | 437 | timer = SetDelay(2000); |
|
| Line 432... | Line 438... | ||
| 432 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
438 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| Line 448... | Line 454... | ||
| 448 | BLConfig.crc = 0; // bad checksum |
454 | BLConfig.crc = 0; // bad checksum |
| 449 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
455 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
| 450 | do |
456 | do |
| 451 | { |
457 | { |
| 452 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
458 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
| 453 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
459 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| 454 | }while(BLConfig_ReadMask); // repeat until the BL config has been received from all motors |
460 | }while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
| 455 | // validate result |
461 | // validate result |
| 456 | if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
462 | if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
| 457 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
463 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
| 458 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
464 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
| 459 | return(BLCONFIG_SUCCESS); |
465 | return(BLCONFIG_SUCCESS); |