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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2231 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + www.MikroKopter.com |
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| 3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 4 | // + Software Nutzungsbedingungen (english version: see below) |
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| 5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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| 8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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| 9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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| 12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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| 19 | // + des Mitverschuldens offen. |
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| 20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Software LICENSING TERMS |
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| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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| 32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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| 33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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| 34 | // + The Software may only be used with the Licensor's products. |
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| 35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 37 | // + agreement shall be the property of the Licensor. |
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| 38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 40 | // + The customer shall be responsible for taking reasonable precautions |
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| 41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 50 | // + #### END OF LICENSING TERMS #### |
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| 51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 53 | |||
| 54 | #include <avr/io.h> |
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| 55 | #include <avr/interrupt.h> |
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| 56 | #include <util/twi.h> |
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| 57 | #include "eeprom.h" |
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| 58 | #include "twimaster.h" |
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| 59 | #include "fc.h" |
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| 60 | #include "analog.h" |
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| 61 | #include "uart.h" |
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| 62 | #include "timer0.h" |
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| 63 | |||
| 64 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
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| 65 | volatile uint8_t dac_channel = 0; |
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| 66 | volatile uint8_t motor_write = 0; |
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| 67 | volatile uint8_t motor_read = 0; |
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| 68 | volatile uint8_t I2C_TransferActive = 0; |
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| 69 | |||
| 70 | volatile uint16_t I2CTimeout = 100; |
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| 71 | |||
| 72 | uint8_t MissingMotor = 0; |
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| 73 | |||
| 74 | volatile uint8_t BLFlags = 0; |
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| 75 | |||
| 76 | MotorData_t Motor[MAX_MOTORS]; |
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| 77 | |||
| 78 | // bit mask for witch BL the configuration should be sent |
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| 79 | volatile uint16_t BLConfig_WriteMask = 0; |
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| 80 | // bit mask for witch BL the configuration should be read |
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| 81 | volatile uint16_t BLConfig_ReadMask = 0; |
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| 82 | // buffer for BL Configuration |
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| 83 | BLConfig_t BLConfig; |
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| 84 | |||
| 85 | #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
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| 86 | #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
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| 87 | #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
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| 88 | |||
| 89 | #define SCL_CLOCK 200000L |
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| 90 | #define I2C_TIMEOUT 30000 |
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| 91 | #define TWI_BASE_ADDRESS 0x52 |
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| 92 | |||
| 93 | /**************************************************/ |
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| 94 | /* Initialize I2C (TWI) */ |
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| 95 | /**************************************************/ |
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| 96 | |||
| 97 | void I2C_Init(char clear) |
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| 98 | { |
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| 99 | uint8_t i; |
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| 100 | uint8_t sreg = SREG; |
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| 101 | cli(); |
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| 102 | |||
| 103 | // SDA is INPUT |
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| 104 | DDRC &= ~(1<<DDC1); |
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| 105 | // SCL is output |
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| 106 | DDRC |= (1<<DDC0); |
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| 107 | // pull up SDA |
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| 108 | PORTC |= (1<<PORTC0)|(1<<PORTC1); |
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| 109 | |||
| 110 | // TWI Status Register |
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| 111 | // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
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| 112 | TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
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| 113 | |||
| 114 | // set TWI Bit Rate Register |
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| 115 | TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
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| 116 | |||
| 117 | twi_state = TWI_STATE_MOTOR_TX; |
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| 118 | motor_write = 0; |
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| 119 | motor_read = 0; |
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| 120 | |||
| 121 | if(clear) for(i=0; i < MAX_MOTORS; i++) |
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| 122 | { |
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| 123 | Motor[i].Version = 0; |
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| 124 | Motor[i].SetPoint = 0; |
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| 125 | Motor[i].SetPointLowerBits = 0; |
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| 126 | Motor[i].State = 0; |
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| 127 | Motor[i].ReadMode = BL_READMODE_STATUS; |
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| 128 | Motor[i].Current = 0; |
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| 129 | Motor[i].MaxPWM = 0; |
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| 130 | Motor[i].Temperature = 0; |
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| 131 | } |
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| 132 | sei(); |
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| 133 | SREG = sreg; |
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| 134 | } |
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| 135 | |||
| 136 | void I2C_Reset(void) |
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| 137 | { |
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| 138 | // stop i2c bus |
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| 139 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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| 140 | TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
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| 141 | TWAMR = 0; |
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| 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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| 146 | I2C_TransferActive = 0; |
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| 147 | I2C_Init(0); |
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| 148 | I2C_WriteByte(0); |
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| 149 | BLFlags |= BLFLAG_READ_VERSION; |
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| 150 | } |
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| 151 | |||
| 152 | /****************************************/ |
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| 153 | /* I2C ISR */ |
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| 154 | /****************************************/ |
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| 155 | ISR (TWI_vect) |
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| 156 | { |
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| 157 | static uint8_t missing_motor = 0, motor_read_temperature = 0; |
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| 158 | static uint8_t *pBuff = 0; |
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| 159 | static uint8_t BuffLen = 0; |
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| 160 | |||
| 161 | switch (twi_state++) |
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| 162 | { |
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| 163 | // Master Transmit |
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| 164 | case 0: // TWI_STATE_MOTOR_TX |
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| 165 | I2C_TransferActive = 1; |
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| 166 | // skip motor if not used in mixer |
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| 167 | while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
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| 168 | if(motor_write >= MAX_MOTORS) // writing finished, read now |
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| 169 | { |
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| 170 | BLConfig_WriteMask = 0; // reset configuration bitmask |
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| 171 | motor_write = 0; // reset motor write counter for next cycle |
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| 172 | twi_state = TWI_STATE_MOTOR_RX; |
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| 173 | I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
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| 174 | } |
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| 175 | else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
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| 176 | break; |
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| 177 | case 1: // Send Data to Slave |
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| 178 | I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
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| 179 | // if old version has been detected |
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| 180 | if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
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| 181 | { |
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| 182 | twi_state = 4; //jump over sending more data |
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| 183 | } |
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| 184 | // the new version has been detected |
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| 185 | else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
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| 186 | { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
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| 187 | twi_state = 4; //jump over sending more data |
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| 188 | } |
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| 189 | break; |
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| 190 | case 2: // lower bits of setpoint (higher resolution) |
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| 191 | if ((0x0001<<motor_write) & BLConfig_ReadMask) |
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| 192 | { |
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| 193 | Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request |
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| 194 | } |
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| 195 | else |
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| 196 | { |
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| 197 | Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request |
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| 198 | } |
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| 199 | // send read mode and the lower bits of setpoint |
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| 200 | I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
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| 201 | // configuration tranmission request? |
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| 202 | if((0x0001<<motor_write) & BLConfig_WriteMask) |
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| 203 | { // redirect tx pointer to configuration data |
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| 204 | pBuff = (uint8_t*)&BLConfig; // select config for motor |
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| 205 | BuffLen = sizeof(BLConfig_t); |
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| 206 | } |
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| 207 | else |
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| 208 | { // jump to end of transmission for that motor |
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| 209 | twi_state = 4; |
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| 210 | } |
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| 211 | break; |
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| 212 | case 3: // send configuration |
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| 213 | I2C_WriteByte(*pBuff); |
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| 214 | pBuff++; |
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| 215 | if(--BuffLen > 0) twi_state = 3; // if there are some bytes left |
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| 216 | break; |
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| 217 | case 4: // repeat case 0-4 for all motors |
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| 218 | if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
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| 219 | { |
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| 220 | if(!missing_motor) missing_motor = motor_write + 1; |
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| 221 | 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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| 222 | } |
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| 223 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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| 224 | I2CTimeout = 10; |
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| 225 | motor_write++; // next motor |
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| 226 | I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
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| 227 | break; |
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| 228 | // Master Receive Data |
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| 229 | case 5: // TWI_STATE_MOTOR_RX |
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| 230 | if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
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| 231 | { // no response from the addressed slave received |
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| 232 | Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
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| 233 | if(++motor_read >= MAX_MOTORS) |
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| 234 | { // all motors read |
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| 235 | motor_read = 0; // restart from beginning |
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| 236 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
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| 237 | if(++motor_read_temperature >= MAX_MOTORS) |
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| 238 | { |
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| 239 | motor_read_temperature = 0; |
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| 240 | BLFlags &= ~BLFLAG_READ_VERSION; |
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| 241 | } |
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| 242 | } |
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| 243 | BLFlags |= BLFLAG_TX_COMPLETE; |
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| 244 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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| 245 | I2C_TransferActive = 0; |
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| 246 | } |
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| 247 | else |
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| 248 | { // motor successfully addressed |
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| 249 | Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
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| 250 | if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
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| 251 | { |
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| 252 | // new BL found |
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| 253 | switch(Motor[motor_read].ReadMode) |
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| 254 | { |
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| 255 | case BL_READMODE_CONFIG: |
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| 256 | pBuff = (uint8_t*)&BLConfig; |
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| 257 | BuffLen = sizeof(BLConfig_t); |
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| 258 | break; |
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| 259 | |||
| 260 | case BL_READMODE_STATUS: |
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| 261 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
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| 262 | if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp |
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| 263 | else BuffLen = 1;// read Current only |
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| 264 | break; |
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| 265 | } |
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| 266 | } |
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| 267 | else // old BL version |
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| 268 | { |
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| 269 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
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| 270 | if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm |
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| 271 | else BuffLen = 1; // read Current only |
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| 272 | } |
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| 273 | if(BuffLen == 1) |
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| 274 | { |
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| 275 | I2C_ReceiveLastByte(); // read last byte |
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| 276 | } |
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| 277 | else |
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| 278 | { |
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| 279 | I2C_ReceiveByte(); // read next byte |
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| 280 | } |
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| 281 | } |
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| 282 | MissingMotor = missing_motor; |
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| 283 | missing_motor = 0; |
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| 284 | break; |
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| 285 | case 6: // receive bytes |
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| 286 | *pBuff = TWDR; |
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| 287 | pBuff++; |
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| 288 | BuffLen--; |
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| 289 | if(BuffLen>1) |
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| 290 | { |
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| 291 | I2C_ReceiveByte(); // read next byte |
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| 292 | } |
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| 293 | else if (BuffLen == 1) |
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| 294 | { |
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| 295 | I2C_ReceiveLastByte(); // read last byte |
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| 296 | } |
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| 297 | else // nothing left |
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| 298 | { |
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| 299 | if(BLFlags & BLFLAG_READ_VERSION) |
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| 300 | { |
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| 301 | if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
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| 302 | else Motor[motor_read].Version = 0; |
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| 303 | } |
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| 304 | if(++motor_read >= MAX_MOTORS) |
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| 305 | { |
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| 306 | motor_read = 0; // restart from beginning |
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| 307 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
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| 308 | if(++motor_read_temperature >= MAX_MOTORS) |
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| 309 | { |
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| 310 | motor_read_temperature = 0; |
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| 311 | BLFlags &= ~BLFLAG_READ_VERSION; |
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| 312 | } |
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| 313 | } |
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| 314 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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| 315 | BLFlags |= BLFLAG_TX_COMPLETE; |
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| 316 | I2C_TransferActive = 0; |
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| 317 | return; |
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| 318 | } |
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| 319 | twi_state = 6; // if there are some bytes left |
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| 320 | break; |
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| 321 | |||
| 322 | // writing Gyro-Offsets |
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| 323 | case 18: |
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| 324 | I2C_WriteByte(0x98); // Address the DAC |
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| 325 | break; |
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| 326 | |||
| 327 | case 19: |
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| 328 | I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
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| 329 | break; |
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| 330 | |||
| 331 | case 20: |
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| 332 | switch(dac_channel) |
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| 333 | { |
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| 334 | case 0: |
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| 335 | I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
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| 336 | break; |
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| 337 | case 1: |
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| 338 | I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
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| 339 | break; |
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| 340 | case 2: |
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| 341 | I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
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| 342 | break; |
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| 343 | } |
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| 344 | break; |
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| 345 | |||
| 346 | case 21: |
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| 347 | I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
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| 348 | break; |
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| 349 | |||
| 350 | case 22: |
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| 351 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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| 352 | I2C_TransferActive = 0; |
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| 353 | I2CTimeout = 10; |
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| 354 | // repeat case 18...22 until all DAC Channels are updated |
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| 355 | if(dac_channel < 2) |
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| 356 | { |
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| 357 | dac_channel ++; // jump to next channel |
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| 358 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
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| 359 | } |
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| 360 | else |
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| 361 | { |
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| 362 | dac_channel = 0; // reset dac channel counter |
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| 363 | BLFlags |= BLFLAG_TX_COMPLETE; |
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| 364 | } |
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| 365 | break; |
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| 366 | default: |
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| 367 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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| 368 | BLFlags |= BLFLAG_TX_COMPLETE; |
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| 369 | I2CTimeout = 10; |
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| 370 | motor_write = 0; |
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| 371 | motor_read = 0; |
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| 372 | I2C_TransferActive = 0; |
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| 373 | break; |
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| 374 | } |
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| 375 | |||
| 376 | } |
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| 377 | |||
| 378 | |||
| 379 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
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| 380 | { |
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| 381 | uint8_t i; |
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| 382 | uint16_t timer; |
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| 383 | |||
| 384 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
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| 385 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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| 386 | if(motor) |
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| 387 | { |
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| 388 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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| 389 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
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| 390 | } |
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| 391 | // check BL configuration to send |
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| 392 | if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
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| 393 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
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| 394 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
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| 395 | |||
| 396 | timer = SetDelay(2000); |
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| 397 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 398 | |||
| 399 | // prepare the bitmask |
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| 400 | if(!motor) // 0 means all |
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| 401 | { |
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| 402 | BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration |
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| 403 | } |
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| 404 | else //only one specific motor |
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| 405 | { |
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| 406 | BLConfig_WriteMask = 0x0001<<(motor-1); |
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| 407 | } |
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| 408 | for(i = 0; i < MAX_MOTORS; i++) |
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| 409 | { |
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| 410 | if((0x0001<<i) & BLConfig_WriteMask) |
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| 411 | { |
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| 412 | Motor[i].SetPoint = 0; |
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| 413 | Motor[i].SetPointLowerBits = 0; |
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| 414 | } |
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| 415 | } |
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| 416 | |||
| 417 | motor_write = 0; |
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| 418 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
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| 419 | do |
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| 420 | { |
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| 421 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
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| 422 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 423 | }while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
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| 424 | if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
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| 425 | return(BLCONFIG_SUCCESS); |
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| 426 | } |
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| 427 | |||
| 428 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
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| 429 | { |
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| 430 | uint8_t i; |
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| 431 | uint16_t timer; |
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| 432 | |||
| 433 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
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| 434 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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| 435 | if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
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| 436 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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| 437 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
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| 438 | |||
| 439 | timer = SetDelay(2000); |
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| 440 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 441 | |||
| 442 | // prepare the bitmask |
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| 443 | BLConfig_ReadMask = 0x0001<<(motor-1); |
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| 444 | |||
| 445 | for(i = 0; i < MAX_MOTORS; i++) |
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| 446 | { |
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| 447 | if((0x0001<<i) & BLConfig_ReadMask) |
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| 448 | { |
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| 449 | Motor[i].SetPoint = 0; |
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| 450 | Motor[i].SetPointLowerBits = 0; |
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| 451 | } |
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| 452 | } |
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| 453 | |||
| 454 | motor_read = 0; |
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| 455 | BLConfig.Revision = 0; // bad revision |
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| 456 | BLConfig.crc = 0; // bad checksum |
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| 457 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
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| 458 | do |
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| 459 | { |
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| 460 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
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| 461 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 462 | }while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
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| 463 | // validate result |
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| 464 | if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
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| 465 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
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| 466 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
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| 467 | return(BLCONFIG_SUCCESS); |
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| 468 | } |
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| 469 |