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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2136 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) Holger Buss, Ingo Busker |
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| 3 | // + Nur f?r 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 f?r das gesamte Projekt (Hardware, Software, Bin?rfiles, Sourcecode und Dokumentation), |
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| 8 | // + dass eine Nutzung (auch auszugsweise) nur f?r den privaten (nicht-kommerziellen) Gebrauch zul?ssig 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, Best?ckung und Verkauf von Platinen oder Baus?tzen, |
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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 ver?ffentlicht, |
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| 15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m?ssen 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 ver?ffentlicht 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 Gew?hr auf Fehlerfreiheit, Vollst?ndigkeit oder Funktion |
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| 22 | // + Benutzung auf eigene Gefahr |
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| 23 | // + Wir ?bernehmen keinerlei Haftung f?r direkte oder indirekte Personen- oder Sachsch?den |
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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 zul?ssig |
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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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| 52 | |||
| 53 | //############################################################################ |
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| 54 | //# HISTORY twimaster.c |
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| 55 | //# |
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| 56 | //# 13.05.2013 Cebra |
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| 57 | //# - chg: #define USE_I2CMOTORTEST, I2C Funktionen schaltbar |
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| 58 | //# |
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| 59 | //############################################################################ |
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| 60 | |||
| 61 | #include "../cpu.h" |
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| 62 | #include <avr/io.h> |
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| 63 | #include <avr/interrupt.h> |
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| 64 | #include <util/twi.h> |
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| 65 | #include <util/delay.h> |
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| 66 | #include "../eeprom/eeprom.h" |
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| 67 | #include "../motortest/twimaster.h" |
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| 68 | #include "../timer/timer.h" |
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| 69 | |||
| 70 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
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| 71 | volatile uint8_t dac_channel = 0; |
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| 72 | volatile uint8_t motor_write = 0; |
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| 73 | volatile uint8_t motor_read = 0; |
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| 74 | volatile uint8_t I2C_TransferActive = 0; |
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| 75 | |||
| 76 | volatile uint16_t I2CTimeout = 100; |
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| 77 | |||
| 78 | uint8_t MissingMotor = 0; |
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| 79 | uint8_t RequiredMotors = 1; |
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| 80 | char MotorenEin = 0; |
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| 81 | |||
| 82 | volatile uint8_t BLFlags = 0; |
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| 83 | |||
| 84 | MotorData_t Motor[MAX_MOTORS]; |
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| 85 | |||
| 86 | // bit mask for witch BL the configuration should be sent |
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| 87 | volatile uint16_t BLConfig_WriteMask = 0; |
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| 88 | // bit mask for witch BL the configuration should be read |
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| 89 | volatile uint16_t BLConfig_ReadMask = 0; |
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| 90 | // buffer for BL Configuration |
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| 91 | BLConfig_t BLConfig; |
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| 92 | |||
| 93 | #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
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| 94 | #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
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| 95 | #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
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| 96 | |||
| 97 | #define SCL_CLOCK 200000L |
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| 98 | #define I2C_TIMEOUT 30000 |
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| 99 | #define TWI_BASE_ADDRESS 0x52 |
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| 100 | |||
| 101 | |||
| 102 | |||
| 103 | |||
| 104 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
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| 105 | { |
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| 106 | uint8_t crc = 0xAA; |
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| 107 | uint16_t i; |
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| 108 | |||
| 109 | for(i=0; i<len; i++) |
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| 110 | { |
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| 111 | crc += pBuffer[i]; |
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| 112 | } |
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| 113 | return crc; |
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| 114 | } |
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| 115 | |||
| 116 | |||
| 117 | |||
| 118 | //-------------------------------------------------------------- |
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| 119 | // Initialize I2C (TWI) |
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| 120 | // |
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| 121 | void I2C_Init(char clear) |
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| 122 | { |
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| 123 | |||
| 124 | #ifdef USE_I2CMOTORTEST |
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| 125 | uint8_t i; |
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| 126 | uint8_t sreg = SREG; |
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| 127 | cli(); |
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| 128 | |||
| 129 | // SDA is INPUT |
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| 130 | DDRC &= ~(1<<DDC1); |
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| 131 | // SCL is output |
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| 132 | DDRC |= (1<<DDC0); |
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| 133 | // pull up SDA |
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| 134 | //PORTC |= (1<<PORTC0)|(1<<PORTC1); |
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| 135 | |||
| 136 | // TWI Status Register |
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| 137 | // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
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| 138 | TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
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| 139 | |||
| 140 | // set TWI Bit Rate Register |
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| 141 | TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
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| 142 | |||
| 143 | twi_state = TWI_STATE_MOTOR_TX; |
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| 144 | motor_write = 0; |
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| 145 | motor_read = 0; |
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| 146 | |||
| 147 | if(clear) for(i=0; i < MAX_MOTORS; i++) |
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| 148 | { |
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| 149 | Motor[i].Version = 0; |
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| 150 | Motor[i].SetPoint = 0; |
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| 151 | Motor[i].SetPointLowerBits = 0; |
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| 152 | Motor[i].State = 0; |
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| 153 | Motor[i].ReadMode = BL_READMODE_STATUS; |
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| 154 | Motor[i].Current = 0; |
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| 155 | Motor[i].MaxPWM = 0; |
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| 156 | Motor[i].Temperature = 0; |
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| 157 | } |
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| 158 | sei(); |
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| 159 | SREG = sreg; |
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| 160 | #endif |
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| 161 | } |
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| 162 | |||
| 163 | |||
| 164 | #ifdef USE_I2CMOTORTEST |
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| 165 | //-------------------------------------------------------------- |
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| 166 | void I2C_Reset(void) |
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| 167 | { |
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| 168 | // stop i2c bus |
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| 169 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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| 170 | TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
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| 171 | TWAMR = 0; |
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| 172 | TWAR = 0; |
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| 173 | TWDR = 0; |
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| 174 | TWSR = 0; |
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| 175 | TWBR = 0; |
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| 176 | I2C_TransferActive = 0; |
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| 177 | I2C_Init(0); |
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| 178 | I2C_WriteByte(0); |
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| 179 | BLFlags |= BLFLAG_READ_VERSION; |
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| 180 | } |
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| 181 | #endif |
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| 182 | |||
| 183 | #ifdef USE_I2CMOTORTEST |
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| 184 | //-------------------------------------------------------------- |
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| 185 | // I2C ISR |
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| 186 | // |
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| 187 | ISR (TWI_vect) |
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| 188 | { |
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| 189 | static uint8_t missing_motor = 0, motor_read_temperature = 0; |
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| 190 | static uint8_t *pBuff = 0; |
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| 191 | static uint8_t BuffLen = 0; |
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| 192 | |||
| 193 | switch (twi_state++) |
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| 194 | { |
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| 195 | // Master Transmit |
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| 196 | |||
| 197 | case 0: // TWI_STATE_MOTOR_TX |
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| 198 | I2C_TransferActive = 1; |
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| 199 | // skip motor if not used in mixer |
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| 200 | // while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
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| 201 | if(motor_write >= MAX_MOTORS) // writing finished, read now |
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| 202 | { |
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| 203 | BLConfig_WriteMask = 0; // reset configuration bitmask |
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| 204 | motor_write = 0; // reset motor write counter for next cycle |
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| 205 | twi_state = TWI_STATE_MOTOR_RX; |
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| 206 | I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
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| 207 | } |
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| 208 | else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
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| 209 | break; |
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| 210 | |||
| 211 | case 1: // Send Data to Slave |
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| 212 | I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
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| 213 | // if old version has been detected |
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| 214 | if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
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| 215 | { |
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| 216 | twi_state = 4; //jump over sending more data |
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| 217 | } |
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| 218 | // the new version has been detected |
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| 219 | else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
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| 220 | { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
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| 221 | twi_state = 4; //jump over sending more data |
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| 222 | } |
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| 223 | break; |
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| 224 | |||
| 225 | case 2: // lower bits of setpoint (higher resolution) |
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| 226 | if ((0x0001<<motor_write) & BLConfig_ReadMask) |
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| 227 | { |
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| 228 | Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request |
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| 229 | } |
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| 230 | else |
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| 231 | { |
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| 232 | Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request |
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| 233 | } |
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| 234 | // send read mode and the lower bits of setpoint |
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| 235 | I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
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| 236 | // configuration tranmission request? |
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| 237 | if((0x0001<<motor_write) & BLConfig_WriteMask) |
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| 238 | { // redirect tx pointer to configuration data |
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| 239 | pBuff = (uint8_t*)&BLConfig; // select config for motor |
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| 240 | BuffLen = sizeof(BLConfig_t); |
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| 241 | } |
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| 242 | else |
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| 243 | { // jump to end of transmission for that motor |
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| 244 | twi_state = 4; |
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| 245 | } |
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| 246 | break; |
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| 247 | |||
| 248 | case 3: // send configuration |
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| 249 | I2C_WriteByte(*pBuff); |
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| 250 | pBuff++; |
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| 251 | if(--BuffLen > 0) |
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| 252 | twi_state = 3; // if there are some bytes left |
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| 253 | break; |
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| 254 | |||
| 255 | case 4: // repeat case 0-4 for all motors |
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| 256 | if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
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| 257 | { |
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| 258 | if(!missing_motor) |
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| 259 | missing_motor = motor_write + 1; |
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| 260 | |||
| 261 | if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) |
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| 262 | Motor[motor_write].State++; // increment error counter and handle overflow |
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| 263 | } |
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| 264 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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| 265 | I2CTimeout = 10; |
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| 266 | motor_write++; // next motor |
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| 267 | I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
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| 268 | break; |
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| 269 | |||
| 270 | // Master Receive Data |
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| 271 | case 5: // TWI_STATE_MOTOR_RX |
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| 272 | if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
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| 273 | { // no response from the addressed slave received |
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| 274 | Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
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| 275 | if(++motor_read >= MAX_MOTORS) |
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| 276 | { // all motors read |
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| 277 | motor_read = 0; // restart from beginning |
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| 278 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
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| 279 | if(++motor_read_temperature >= MAX_MOTORS) |
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| 280 | { |
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| 281 | motor_read_temperature = 0; |
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| 282 | BLFlags &= ~BLFLAG_READ_VERSION; |
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| 283 | } |
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| 284 | } |
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| 285 | BLFlags |= BLFLAG_TX_COMPLETE; |
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| 286 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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| 287 | I2C_TransferActive = 0; |
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| 288 | } |
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| 289 | else |
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| 290 | { // motor successfully addressed |
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| 291 | Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
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| 292 | if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
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| 293 | { |
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| 294 | // new BL found |
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| 295 | switch(Motor[motor_read].ReadMode) |
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| 296 | { |
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| 297 | case BL_READMODE_CONFIG: |
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| 298 | pBuff = (uint8_t*)&BLConfig; |
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| 299 | BuffLen = sizeof(BLConfig_t); |
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| 300 | break; |
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| 301 | |||
| 302 | case BL_READMODE_STATUS: |
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| 303 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
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| 304 | if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp |
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| 305 | else BuffLen = 1;// read Current only |
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| 306 | break; |
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| 307 | } |
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| 308 | } |
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| 309 | else // old BL version |
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| 310 | { |
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| 311 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
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| 312 | if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm |
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| 313 | else BuffLen = 1; // read Current only |
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| 314 | } |
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| 315 | if(BuffLen == 1) |
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| 316 | { |
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| 317 | I2C_ReceiveLastByte(); // read last byte |
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| 318 | } |
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| 319 | else |
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| 320 | { |
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| 321 | I2C_ReceiveByte(); // read next byte |
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| 322 | } |
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| 323 | } |
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| 324 | MissingMotor = missing_motor; |
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| 325 | missing_motor = 0; |
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| 326 | break; |
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| 327 | |||
| 328 | case 6: // receive bytes |
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| 329 | *pBuff = TWDR; |
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| 330 | pBuff++; |
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| 331 | BuffLen--; |
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| 332 | if(BuffLen>1) |
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| 333 | { |
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| 334 | I2C_ReceiveByte(); // read next byte |
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| 335 | } |
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| 336 | else if (BuffLen == 1) |
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| 337 | { |
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| 338 | I2C_ReceiveLastByte(); // read last byte |
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| 339 | } |
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| 340 | else // nothing left |
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| 341 | { |
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| 342 | if(BLFlags & BLFLAG_READ_VERSION) |
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| 343 | { |
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| 344 | // 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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| 345 | if((Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
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| 346 | else Motor[motor_read].Version = 0; |
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| 347 | } |
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| 348 | if(++motor_read >= MAX_MOTORS) |
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| 349 | { |
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| 350 | motor_read = 0; // restart from beginning |
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| 351 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
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| 352 | if(++motor_read_temperature >= MAX_MOTORS) |
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| 353 | { |
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| 354 | motor_read_temperature = 0; |
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| 355 | BLFlags &= ~BLFLAG_READ_VERSION; |
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| 356 | } |
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| 357 | } |
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| 358 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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| 359 | BLFlags |= BLFLAG_TX_COMPLETE; |
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| 360 | I2C_TransferActive = 0; |
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| 361 | return; |
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| 362 | } |
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| 363 | twi_state = 6; // if there are some bytes left |
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| 364 | break; |
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| 365 | |||
| 366 | case 21: |
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| 367 | I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
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| 368 | break; |
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| 369 | |||
| 370 | case 22: |
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| 371 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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| 372 | I2C_TransferActive = 0; |
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| 373 | I2CTimeout = 10; |
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| 374 | // repeat case 18...22 until all DAC Channels are updated |
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| 375 | if(dac_channel < 2) |
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| 376 | { |
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| 377 | dac_channel ++; // jump to next channel |
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| 378 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
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| 379 | } |
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| 380 | else |
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| 381 | { |
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| 382 | dac_channel = 0; // reset dac channel counter |
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| 383 | BLFlags |= BLFLAG_TX_COMPLETE; |
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| 384 | } |
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| 385 | break; |
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| 386 | |||
| 387 | default: |
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| 388 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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| 389 | BLFlags |= BLFLAG_TX_COMPLETE; |
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| 390 | I2CTimeout = 10; |
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| 391 | motor_write = 0; |
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| 392 | motor_read = 0; |
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| 393 | I2C_TransferActive = 0; |
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| 394 | break; |
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| 395 | } |
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| 396 | |||
| 397 | } |
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| 398 | |||
| 399 | |||
| 400 | //-------------------------------------------------------------- |
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| 401 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
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| 402 | { |
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| 403 | uint8_t i; |
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| 404 | uint16_t timer; |
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| 405 | |||
| 406 | // if(MotorenEin || PC_MotortestActive) |
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| 407 | // return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
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| 408 | |||
| 409 | if(MotorenEin) |
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| 410 | return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
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| 411 | |||
| 412 | if(motor > MAX_MOTORS) |
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| 413 | return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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| 414 | |||
| 415 | if(motor) |
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| 416 | { |
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| 417 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) |
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| 418 | return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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| 419 | |||
| 420 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
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| 421 | return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
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| 422 | } |
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| 423 | |||
| 424 | // check BL configuration to send |
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| 425 | if(BLConfig.Revision != BLCONFIG_REVISION) |
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| 426 | return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
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| 427 | |||
| 428 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
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| 429 | |||
| 430 | if(i != BLConfig.crc) |
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| 431 | return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
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| 432 | |||
| 433 | timer = SetDelay(2000); |
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| 434 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 435 | |||
| 436 | // prepare the bitmask |
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| 437 | if(!motor) // 0 means all |
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| 438 | { |
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| 439 | BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration |
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| 440 | } |
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| 441 | else //only one specific motor |
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| 442 | { |
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| 443 | BLConfig_WriteMask = 0x0001<<(motor-1); |
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| 444 | } |
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| 445 | for(i = 0; i < MAX_MOTORS; i++) |
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| 446 | { |
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| 447 | if((0x0001<<i) & BLConfig_WriteMask) |
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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_write = 0; |
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| 455 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
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| 456 | do |
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| 457 | { |
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| 458 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
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| 459 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 460 | } |
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| 461 | while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
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| 462 | |||
| 463 | if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
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| 464 | return(BLCONFIG_SUCCESS); |
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| 465 | } |
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| 466 | |||
| 467 | |||
| 468 | //-------------------------------------------------------------- |
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| 469 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
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| 470 | { |
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| 471 | uint8_t i; |
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| 472 | uint16_t timer; |
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| 473 | |||
| 474 | // if(MotorenEin || PC_MotortestActive) |
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| 475 | return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
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| 476 | |||
| 477 | if(MotorenEin) |
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| 478 | return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
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| 479 | |||
| 480 | if(motor > MAX_MOTORS) |
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| 481 | return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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| 482 | |||
| 483 | if(motor == 0) |
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| 484 | return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
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| 485 | |||
| 486 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) |
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| 487 | return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
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| 488 | |||
| 489 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
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| 490 | return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
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| 491 | |||
| 492 | timer = SetDelay(2000); |
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| 493 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 494 | |||
| 495 | // prepare the bitmask |
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| 496 | BLConfig_ReadMask = 0x0001<<(motor-1); |
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| 497 | |||
| 498 | for(i = 0; i < MAX_MOTORS; i++) |
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| 499 | { |
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| 500 | if((0x0001<<i) & BLConfig_ReadMask) |
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| 501 | { |
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| 502 | Motor[i].SetPoint = 0; |
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| 503 | Motor[i].SetPointLowerBits = 0; |
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| 504 | } |
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| 505 | } |
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| 506 | |||
| 507 | motor_read = 0; |
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| 508 | BLConfig.Revision = 0; // bad revision |
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| 509 | BLConfig.crc = 0; // bad checksum |
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| 510 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
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| 511 | do |
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| 512 | { |
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| 513 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
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| 514 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
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| 515 | }while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
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| 516 | // validate result |
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| 517 | if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
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| 518 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
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| 519 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
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| 520 | return(BLCONFIG_SUCCESS); |
||
| 521 | } |
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| 522 | #endif |
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| 523 |