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1662 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
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3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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2050 | holgerb | 4 | // + Software Nutzungsbedingungen (english version: see below) |
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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1662 | killagreg | 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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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1662 | killagreg | 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 29 | // + Software LICENSING TERMS |
1662 | killagreg | 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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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1662 | killagreg | 52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 53 | |
1662 | killagreg | 54 | #include <avr/io.h> |
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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1665 | killagreg | 61 | #include "uart.h" |
1683 | killagreg | 62 | #include "timer0.h" |
2443 | holgerb | 63 | #include "main.h" |
1 | ingob | 64 | |
1662 | killagreg | 65 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
66 | volatile uint8_t dac_channel = 0; |
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67 | volatile uint8_t motor_write = 0; |
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68 | volatile uint8_t motor_read = 0; |
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1744 | holgerb | 69 | volatile uint8_t I2C_TransferActive = 0; |
2407 | holgerb | 70 | uint8_t Max_I2C_Packets = 12; |
1479 | killagreg | 71 | |
1662 | killagreg | 72 | volatile uint16_t I2CTimeout = 100; |
73 | |||
74 | uint8_t MissingMotor = 0; |
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75 | |||
76 | volatile uint8_t BLFlags = 0; |
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77 | |||
1479 | killagreg | 78 | MotorData_t Motor[MAX_MOTORS]; |
2418 | holgerb | 79 | RedundantBl_t RedundantMotor[MAX_MOTORS]; |
1479 | killagreg | 80 | |
1662 | killagreg | 81 | // bit mask for witch BL the configuration should be sent |
82 | volatile uint16_t BLConfig_WriteMask = 0; |
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83 | // bit mask for witch BL the configuration should be read |
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84 | volatile uint16_t BLConfig_ReadMask = 0; |
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85 | // buffer for BL Configuration |
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86 | BLConfig_t BLConfig; |
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1648 | killagreg | 87 | |
1662 | killagreg | 88 | #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
89 | #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
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90 | #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
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1 | ingob | 91 | |
1662 | killagreg | 92 | #define SCL_CLOCK 200000L |
93 | #define I2C_TIMEOUT 30000 |
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94 | #define TWI_BASE_ADDRESS 0x52 |
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95 | |||
96 | /**************************************************/ |
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97 | /* Initialize I2C (TWI) */ |
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98 | /**************************************************/ |
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99 | |||
1743 | holgerb | 100 | void I2C_Init(char clear) |
1 | ingob | 101 | { |
1662 | killagreg | 102 | uint8_t i; |
103 | uint8_t sreg = SREG; |
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104 | cli(); |
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1648 | killagreg | 105 | |
1662 | killagreg | 106 | // SDA is INPUT |
107 | DDRC &= ~(1<<DDC1); |
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108 | // SCL is output |
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109 | DDRC |= (1<<DDC0); |
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110 | // pull up SDA |
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111 | PORTC |= (1<<PORTC0)|(1<<PORTC1); |
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1648 | killagreg | 112 | |
1662 | killagreg | 113 | // TWI Status Register |
114 | // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
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115 | TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
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116 | |||
117 | // set TWI Bit Rate Register |
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118 | TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
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119 | |||
120 | twi_state = TWI_STATE_MOTOR_TX; |
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121 | motor_write = 0; |
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122 | motor_read = 0; |
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123 | |||
1743 | holgerb | 124 | if(clear) for(i=0; i < MAX_MOTORS; i++) |
1648 | killagreg | 125 | { |
126 | Motor[i].Version = 0; |
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127 | Motor[i].SetPoint = 0; |
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128 | Motor[i].SetPointLowerBits = 0; |
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129 | Motor[i].State = 0; |
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1666 | killagreg | 130 | Motor[i].ReadMode = BL_READMODE_STATUS; |
1648 | killagreg | 131 | Motor[i].Current = 0; |
132 | Motor[i].MaxPWM = 0; |
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1666 | killagreg | 133 | Motor[i].Temperature = 0; |
2443 | holgerb | 134 | Motor[i].NotReadyCnt = 0; |
1648 | killagreg | 135 | } |
1743 | holgerb | 136 | sei(); |
1662 | killagreg | 137 | SREG = sreg; |
1 | ingob | 138 | } |
139 | |||
1662 | killagreg | 140 | void I2C_Reset(void) |
173 | holgerb | 141 | { |
1662 | killagreg | 142 | // stop i2c bus |
143 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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144 | TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
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1648 | killagreg | 145 | TWAMR = 0; |
146 | TWAR = 0; |
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147 | TWDR = 0; |
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148 | TWSR = 0; |
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149 | TWBR = 0; |
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1765 | killagreg | 150 | I2C_TransferActive = 0; |
1743 | holgerb | 151 | I2C_Init(0); |
1662 | killagreg | 152 | I2C_WriteByte(0); |
153 | BLFlags |= BLFLAG_READ_VERSION; |
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173 | holgerb | 154 | } |
1 | ingob | 155 | |
1662 | killagreg | 156 | /****************************************/ |
157 | /* I2C ISR */ |
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158 | /****************************************/ |
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159 | ISR (TWI_vect) |
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160 | { |
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161 | static uint8_t missing_motor = 0, motor_read_temperature = 0; |
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162 | static uint8_t *pBuff = 0; |
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163 | static uint8_t BuffLen = 0; |
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2407 | holgerb | 164 | static uint8_t max_packets = 0; |
1662 | killagreg | 165 | switch (twi_state++) |
1648 | killagreg | 166 | { |
1662 | killagreg | 167 | // Master Transmit |
168 | case 0: // TWI_STATE_MOTOR_TX |
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1744 | holgerb | 169 | I2C_TransferActive = 1; |
1662 | killagreg | 170 | // skip motor if not used in mixer |
171 | while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
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2407 | holgerb | 172 | motor_write %= MAX_MOTORS; |
173 | if(++max_packets > Max_I2C_Packets) // writing finished, read now |
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1648 | killagreg | 174 | { |
2407 | holgerb | 175 | max_packets = 0; |
1662 | killagreg | 176 | BLConfig_WriteMask = 0; // reset configuration bitmask |
2407 | holgerb | 177 | //motor_write = 0; // reset motor write counter for next cycle |
1662 | killagreg | 178 | twi_state = TWI_STATE_MOTOR_RX; |
179 | I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
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1648 | killagreg | 180 | } |
1662 | killagreg | 181 | else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
1648 | killagreg | 182 | break; |
1662 | killagreg | 183 | case 1: // Send Data to Slave |
184 | I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
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185 | // if old version has been detected |
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186 | if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
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1648 | killagreg | 187 | { |
188 | twi_state = 4; //jump over sending more data |
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189 | } |
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1662 | killagreg | 190 | // the new version has been detected |
191 | else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
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192 | { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
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193 | twi_state = 4; //jump over sending more data |
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1648 | killagreg | 194 | } |
195 | break; |
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1662 | killagreg | 196 | case 2: // lower bits of setpoint (higher resolution) |
1666 | killagreg | 197 | if ((0x0001<<motor_write) & BLConfig_ReadMask) |
1662 | killagreg | 198 | { |
1666 | killagreg | 199 | Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request |
1648 | killagreg | 200 | } |
201 | else |
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202 | { |
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1666 | killagreg | 203 | Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request |
1648 | killagreg | 204 | } |
1662 | killagreg | 205 | // send read mode and the lower bits of setpoint |
1666 | killagreg | 206 | I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
1662 | killagreg | 207 | // configuration tranmission request? |
208 | if((0x0001<<motor_write) & BLConfig_WriteMask) |
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209 | { // redirect tx pointer to configuration data |
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210 | pBuff = (uint8_t*)&BLConfig; // select config for motor |
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211 | BuffLen = sizeof(BLConfig_t); |
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1651 | killagreg | 212 | } |
1662 | killagreg | 213 | else |
214 | { // jump to end of transmission for that motor |
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215 | twi_state = 4; |
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1648 | killagreg | 216 | } |
217 | break; |
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1662 | killagreg | 218 | case 3: // send configuration |
219 | I2C_WriteByte(*pBuff); |
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220 | pBuff++; |
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221 | if(--BuffLen > 0) twi_state = 3; // if there are some bytes left |
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222 | break; |
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223 | case 4: // repeat case 0-4 for all motors |
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224 | if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
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1648 | killagreg | 225 | { |
1662 | killagreg | 226 | if(!missing_motor) missing_motor = motor_write + 1; |
227 | if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow |
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1648 | killagreg | 228 | } |
1662 | killagreg | 229 | I2C_Stop(TWI_STATE_MOTOR_TX); |
1648 | killagreg | 230 | I2CTimeout = 10; |
1662 | killagreg | 231 | motor_write++; // next motor |
232 | I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
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1648 | killagreg | 233 | break; |
1662 | killagreg | 234 | // Master Receive Data |
235 | case 5: // TWI_STATE_MOTOR_RX |
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236 | if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
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237 | { // no response from the addressed slave received |
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238 | Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
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239 | if(++motor_read >= MAX_MOTORS) |
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240 | { // all motors read |
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241 | motor_read = 0; // restart from beginning |
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242 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
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243 | if(++motor_read_temperature >= MAX_MOTORS) |
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1683 | killagreg | 244 | { |
1662 | killagreg | 245 | motor_read_temperature = 0; |
1648 | killagreg | 246 | BLFlags &= ~BLFLAG_READ_VERSION; |
247 | } |
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248 | } |
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249 | BLFlags |= BLFLAG_TX_COMPLETE; |
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1662 | killagreg | 250 | I2C_Stop(TWI_STATE_MOTOR_TX); |
1744 | holgerb | 251 | I2C_TransferActive = 0; |
1648 | killagreg | 252 | } |
253 | else |
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1662 | killagreg | 254 | { // motor successfully addressed |
255 | Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
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256 | if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
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1648 | killagreg | 257 | { |
1662 | killagreg | 258 | // new BL found |
1666 | killagreg | 259 | switch(Motor[motor_read].ReadMode) |
1662 | killagreg | 260 | { |
1666 | killagreg | 261 | case BL_READMODE_CONFIG: |
1662 | killagreg | 262 | pBuff = (uint8_t*)&BLConfig; |
263 | BuffLen = sizeof(BLConfig_t); |
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2370 | holgerb | 264 | Motor[motor_read].ReadMode = BL_READMODE_STATUS; // only once |
1662 | killagreg | 265 | break; |
1666 | killagreg | 266 | case BL_READMODE_STATUS: |
1662 | killagreg | 267 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
268 | if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp |
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269 | else BuffLen = 1;// read Current only |
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270 | break; |
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271 | } |
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1648 | killagreg | 272 | } |
1662 | killagreg | 273 | else // old BL version |
274 | { |
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275 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
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1672 | killagreg | 276 | if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm |
1662 | killagreg | 277 | else BuffLen = 1; // read Current only |
278 | } |
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279 | if(BuffLen == 1) |
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280 | { |
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281 | I2C_ReceiveLastByte(); // read last byte |
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282 | } |
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1638 | holgerb | 283 | else |
1648 | killagreg | 284 | { |
1662 | killagreg | 285 | I2C_ReceiveByte(); // read next byte |
1642 | killagreg | 286 | } |
1648 | killagreg | 287 | } |
288 | MissingMotor = missing_motor; |
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289 | missing_motor = 0; |
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290 | break; |
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1662 | killagreg | 291 | case 6: // receive bytes |
292 | *pBuff = TWDR; |
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2443 | holgerb | 293 | pBuff++; // set Pointer to next element : Motor[].Current,Motor[].Temperature |
1662 | killagreg | 294 | BuffLen--; |
295 | if(BuffLen>1) |
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296 | { |
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297 | I2C_ReceiveByte(); // read next byte |
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298 | } |
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299 | else if (BuffLen == 1) |
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300 | { |
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301 | I2C_ReceiveLastByte(); // read last byte |
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302 | } |
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2443 | holgerb | 303 | else // nothing left -> ready |
1662 | killagreg | 304 | { |
305 | if(BLFlags & BLFLAG_READ_VERSION) |
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1648 | killagreg | 306 | { |
2380 | holgerb | 307 | if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN)) |
308 | { |
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309 | if((Motor[motor_read].MaxPWM & 252) == 248) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
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310 | else Motor[motor_read].Version = 0; |
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2386 | holgerb | 311 | if(Motor[motor_read].MaxPWM == 248) Motor[motor_read].Version |= (MOTOR_STATE_FAST_MODE | MOTOR_STATE_BL30); |
312 | else |
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313 | if(Motor[motor_read].MaxPWM == 249) Motor[motor_read].Version |= MOTOR_STATE_BL30; |
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2380 | holgerb | 314 | } |
1648 | killagreg | 315 | } |
2443 | holgerb | 316 | |
317 | if(FC_StatusFlags & FC_STATUS_FLY) |
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318 | { |
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319 | // Starting -> 40 |
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320 | // I2C-Setpoint is zero -> 250 |
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321 | // 255 -> Running and no Redundancy |
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322 | // 254 -> Running and active Redundancy |
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323 | if(Motor[motor_read].MaxPWM < 254) |
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324 | { |
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325 | Motor[motor_read].NotReadyCnt++; |
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326 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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327 | SpeakHoTT = SPEAK_ERR_MOTOR; |
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328 | #endif |
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329 | } |
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330 | } |
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1662 | killagreg | 331 | if(++motor_read >= MAX_MOTORS) |
1648 | killagreg | 332 | { |
1662 | killagreg | 333 | motor_read = 0; // restart from beginning |
334 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
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335 | if(++motor_read_temperature >= MAX_MOTORS) |
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1648 | killagreg | 336 | { |
1662 | killagreg | 337 | motor_read_temperature = 0; |
338 | BLFlags &= ~BLFLAG_READ_VERSION; |
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1648 | killagreg | 339 | } |
340 | } |
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1662 | killagreg | 341 | I2C_Stop(TWI_STATE_MOTOR_TX); |
342 | BLFlags |= BLFLAG_TX_COMPLETE; |
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1744 | holgerb | 343 | I2C_TransferActive = 0; |
1662 | killagreg | 344 | return; |
345 | } |
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346 | twi_state = 6; // if there are some bytes left |
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347 | break; |
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2426 | holgerb | 348 | /* |
1662 | killagreg | 349 | // writing Gyro-Offsets |
350 | case 18: |
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351 | I2C_WriteByte(0x98); // Address the DAC |
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352 | break; |
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353 | |||
354 | case 19: |
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355 | I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
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356 | break; |
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357 | |||
358 | case 20: |
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359 | switch(dac_channel) |
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360 | { |
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361 | case 0: |
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362 | I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
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363 | break; |
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364 | case 1: |
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365 | I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
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366 | break; |
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367 | case 2: |
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368 | I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
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369 | break; |
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370 | } |
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371 | break; |
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372 | |||
373 | case 21: |
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374 | I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
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375 | break; |
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376 | |||
377 | case 22: |
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378 | I2C_Stop(TWI_STATE_MOTOR_TX); |
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1744 | holgerb | 379 | I2C_TransferActive = 0; |
1662 | killagreg | 380 | I2CTimeout = 10; |
1665 | killagreg | 381 | // repeat case 18...22 until all DAC Channels are updated |
1662 | killagreg | 382 | if(dac_channel < 2) |
383 | { |
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384 | dac_channel ++; // jump to next channel |
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385 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
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386 | } |
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387 | else |
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1665 | killagreg | 388 | { |
1662 | killagreg | 389 | dac_channel = 0; // reset dac channel counter |
1665 | killagreg | 390 | BLFlags |= BLFLAG_TX_COMPLETE; |
1662 | killagreg | 391 | } |
392 | break; |
||
2426 | holgerb | 393 | */ |
1662 | killagreg | 394 | default: |
395 | I2C_Stop(TWI_STATE_MOTOR_TX); |
||
396 | BLFlags |= BLFLAG_TX_COMPLETE; |
||
397 | I2CTimeout = 10; |
||
398 | motor_write = 0; |
||
399 | motor_read = 0; |
||
1744 | holgerb | 400 | I2C_TransferActive = 0; |
1662 | killagreg | 401 | break; |
1648 | killagreg | 402 | } |
1662 | killagreg | 403 | |
1638 | holgerb | 404 | } |
1639 | holgerb | 405 | |
1662 | killagreg | 406 | |
407 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
||
1648 | killagreg | 408 | { |
1662 | killagreg | 409 | uint8_t i; |
1683 | killagreg | 410 | uint16_t timer; |
1662 | killagreg | 411 | |
1665 | killagreg | 412 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
413 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
||
1662 | killagreg | 414 | if(motor) |
415 | { |
||
1665 | killagreg | 416 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
417 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
||
1662 | killagreg | 418 | } |
419 | // check BL configuration to send |
||
2370 | holgerb | 420 | if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
1662 | killagreg | 421 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
1665 | killagreg | 422 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
1662 | killagreg | 423 | |
1683 | killagreg | 424 | timer = SetDelay(2000); |
425 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
||
1662 | killagreg | 426 | |
427 | // prepare the bitmask |
||
428 | if(!motor) // 0 means all |
||
429 | { |
||
430 | BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration |
||
431 | } |
||
432 | else //only one specific motor |
||
433 | { |
||
434 | BLConfig_WriteMask = 0x0001<<(motor-1); |
||
435 | } |
||
1648 | killagreg | 436 | for(i = 0; i < MAX_MOTORS; i++) |
437 | { |
||
1662 | killagreg | 438 | if((0x0001<<i) & BLConfig_WriteMask) |
439 | { |
||
440 | Motor[i].SetPoint = 0; |
||
441 | Motor[i].SetPointLowerBits = 0; |
||
442 | } |
||
1648 | killagreg | 443 | } |
1665 | killagreg | 444 | |
1662 | killagreg | 445 | motor_write = 0; |
1648 | killagreg | 446 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
447 | do |
||
448 | { |
||
1662 | killagreg | 449 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
1683 | killagreg | 450 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
451 | }while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
||
452 | if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
||
1665 | killagreg | 453 | return(BLCONFIG_SUCCESS); |
1648 | killagreg | 454 | } |
455 | |||
1662 | killagreg | 456 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
457 | { |
||
458 | uint8_t i; |
||
1683 | killagreg | 459 | uint16_t timer; |
1648 | killagreg | 460 | |
1665 | killagreg | 461 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
1673 | killagreg | 462 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
463 | if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
||
1665 | killagreg | 464 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
465 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
||
466 | |||
1683 | killagreg | 467 | timer = SetDelay(2000); |
468 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
||
1648 | killagreg | 469 | |
1662 | killagreg | 470 | // prepare the bitmask |
471 | BLConfig_ReadMask = 0x0001<<(motor-1); |
||
1665 | killagreg | 472 | |
1662 | killagreg | 473 | for(i = 0; i < MAX_MOTORS; i++) |
474 | { |
||
475 | if((0x0001<<i) & BLConfig_ReadMask) |
||
476 | { |
||
477 | Motor[i].SetPoint = 0; |
||
478 | Motor[i].SetPointLowerBits = 0; |
||
479 | } |
||
480 | } |
||
1665 | killagreg | 481 | |
1662 | killagreg | 482 | motor_read = 0; |
483 | BLConfig.Revision = 0; // bad revision |
||
484 | BLConfig.crc = 0; // bad checksum |
||
485 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
||
486 | do |
||
487 | { |
||
488 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
||
1683 | killagreg | 489 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
490 | }while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
||
1662 | killagreg | 491 | // validate result |
2370 | holgerb | 492 | if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
1662 | killagreg | 493 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
1665 | killagreg | 494 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
495 | return(BLCONFIG_SUCCESS); |
||
1662 | killagreg | 496 | } |
1665 | killagreg | 497 |