| 199,7 → 199,7 |
|---|
| // send read mode and the lower bits of setpoint |
| I2C_WriteByte((BLReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
| // configuration tranmission request? |
| if((0x0001<<motor_read) & BLConfig_WriteMask) |
| if((0x0001<<motor_write) & BLConfig_WriteMask) |
| { // redirect tx pointer to configuration data |
| pBuff = (uint8_t*)&BLConfig; // select config for motor |
| BuffLen = sizeof(BLConfig_t); |
| 379,9 → 379,11 |
|---|
| |
| if(FCFlags & FCFLAG_MOTOR_RUN) return(0); // not when motors are running! |
| if(motor > MAX_MOTORS) return (0); // motor does not exist! |
| if(!(Motor[motor].State & MOTOR_STATE_PRESENT_MASK)) return(0); // motor does not exist! |
| if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(0); // not a new BL! |
| |
| if(motor) |
| { |
| if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(0); // motor does not exist! |
| if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(0); // not a new BL! |
| } |
| // check BL configuration to send |
| if(BLConfig.Revision != BLCONFIG_REVISION) return (0); // bad revison |
| i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
| 424,8 → 426,8 |
|---|
| |
| if(FCFlags & FCFLAG_MOTOR_RUN) return(0); // not when motors are running! |
| if((motor == 0) || (motor > MAX_MOTORS)) return (0); // motor does not exist! |
| if(!(Motor[motor].State & MOTOR_STATE_PRESENT_MASK)) return(0); // motor does not exist! |
| if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(0); // not a new BL! |
| if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(0); // motor does not exist! |
| if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(0); // not a new BL! |
| while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
| // prepare the bitmask |
| BLConfig_ReadMask = 0x0001<<(motor-1); |
| 438,6 → 440,8 |
|---|
| } |
| } |
| motor_read = 0; |
| BLConfig.Revision = 0; // bad revision |
| BLConfig.crc = 0; // bad checksum |
| // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
| do |
| { |