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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
12 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // + Verkauf von Luftbildaufnahmen, usw. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
18 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
19 | // + eindeutig als Ursprung verlinkt werden |
19 | // + eindeutig als Ursprung verlinkt werden |
20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
22 | // + Benutzung auf eigene Gefahr |
22 | // + Benutzung auf eigene Gefahr |
23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
26 | // + mit unserer Zustimmung zulässig |
26 | // + mit unserer Zustimmung zulässig |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
31 | // + this list of conditions and the following disclaimer. |
31 | // + this list of conditions and the following disclaimer. |
32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
33 | // + from this software without specific prior written permission. |
33 | // + from this software without specific prior written permission. |
34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
35 | // + for non-commercial use (directly or indirectly) |
35 | // + for non-commercial use (directly or indirectly) |
36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
37 | // + with our written permission |
37 | // + with our written permission |
38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
39 | // + clearly linked as origin |
39 | // + clearly linked as origin |
40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | 52 | ||
53 | #include <avr/io.h> |
53 | #include <avr/io.h> |
54 | #include <avr/interrupt.h> |
54 | #include <avr/interrupt.h> |
55 | #include <util/twi.h> |
55 | #include <util/twi.h> |
56 | #include "eeprom.h" |
56 | #include "eeprom.h" |
57 | #include "twimaster.h" |
57 | #include "twimaster.h" |
58 | #include "fc.h" |
58 | #include "fc.h" |
59 | #include "analog.h" |
59 | #include "analog.h" |
60 | #include "uart.h" |
60 | #include "uart.h" |
61 | 61 | ||
62 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
62 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
63 | volatile uint8_t dac_channel = 0; |
63 | volatile uint8_t dac_channel = 0; |
64 | volatile uint8_t motor_write = 0; |
64 | volatile uint8_t motor_write = 0; |
65 | volatile uint8_t motor_read = 0; |
65 | volatile uint8_t motor_read = 0; |
66 | 66 | ||
67 | 67 | ||
68 | volatile uint16_t I2CTimeout = 100; |
68 | volatile uint16_t I2CTimeout = 100; |
69 | 69 | ||
70 | uint8_t MissingMotor = 0; |
70 | uint8_t MissingMotor = 0; |
71 | 71 | ||
72 | volatile uint8_t BLFlags = 0; |
72 | volatile uint8_t BLFlags = 0; |
73 | 73 | ||
74 | MotorData_t Motor[MAX_MOTORS]; |
74 | MotorData_t Motor[MAX_MOTORS]; |
75 | 75 | ||
76 | // bit mask for witch BL the configuration should be sent |
76 | // bit mask for witch BL the configuration should be sent |
77 | volatile uint16_t BLConfig_WriteMask = 0; |
77 | volatile uint16_t BLConfig_WriteMask = 0; |
78 | // bit mask for witch BL the configuration should be read |
78 | // bit mask for witch BL the configuration should be read |
79 | volatile uint16_t BLConfig_ReadMask = 0; |
79 | volatile uint16_t BLConfig_ReadMask = 0; |
80 | // buffer for BL Configuration |
80 | // buffer for BL Configuration |
81 | BLConfig_t BLConfig; |
81 | BLConfig_t BLConfig; |
82 | 82 | ||
83 | #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
83 | #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
84 | #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
84 | #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
85 | #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
85 | #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
86 | 86 | ||
87 | #define SCL_CLOCK 200000L |
87 | #define SCL_CLOCK 200000L |
88 | #define I2C_TIMEOUT 30000 |
88 | #define I2C_TIMEOUT 30000 |
89 | #define TWI_BASE_ADDRESS 0x52 |
89 | #define TWI_BASE_ADDRESS 0x52 |
90 | 90 | ||
91 | /**************************************************/ |
91 | /**************************************************/ |
92 | /* Initialize I2C (TWI) */ |
92 | /* Initialize I2C (TWI) */ |
93 | /**************************************************/ |
93 | /**************************************************/ |
94 | 94 | ||
95 | void I2C_Init(void) |
95 | void I2C_Init(void) |
96 | { |
96 | { |
97 | uint8_t i; |
97 | uint8_t i; |
98 | uint8_t sreg = SREG; |
98 | uint8_t sreg = SREG; |
99 | cli(); |
99 | cli(); |
100 | 100 | ||
101 | // SDA is INPUT |
101 | // SDA is INPUT |
102 | DDRC &= ~(1<<DDC1); |
102 | DDRC &= ~(1<<DDC1); |
103 | // SCL is output |
103 | // SCL is output |
104 | DDRC |= (1<<DDC0); |
104 | DDRC |= (1<<DDC0); |
105 | // pull up SDA |
105 | // pull up SDA |
106 | PORTC |= (1<<PORTC0)|(1<<PORTC1); |
106 | PORTC |= (1<<PORTC0)|(1<<PORTC1); |
107 | 107 | ||
108 | // TWI Status Register |
108 | // TWI Status Register |
109 | // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
109 | // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
110 | TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
110 | TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
111 | 111 | ||
112 | // set TWI Bit Rate Register |
112 | // set TWI Bit Rate Register |
113 | TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
113 | TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
114 | 114 | ||
115 | twi_state = TWI_STATE_MOTOR_TX; |
115 | twi_state = TWI_STATE_MOTOR_TX; |
116 | motor_write = 0; |
116 | motor_write = 0; |
117 | motor_read = 0; |
117 | motor_read = 0; |
118 | 118 | ||
119 | for(i=0; i < MAX_MOTORS; i++) |
119 | for(i=0; i < MAX_MOTORS; i++) |
120 | { |
120 | { |
121 | Motor[i].Version = 0; |
121 | Motor[i].Version = 0; |
122 | Motor[i].SetPoint = 0; |
122 | Motor[i].SetPoint = 0; |
123 | Motor[i].SetPointLowerBits = 0; |
123 | Motor[i].SetPointLowerBits = 0; |
124 | Motor[i].State = 0; |
124 | Motor[i].State = 0; |
- | 125 | Motor[i].ReadMode = BL_READMODE_STATUS; |
|
125 | Motor[i].Current = 0; |
126 | Motor[i].Current = 0; |
126 | Motor[i].MaxPWM = 0; |
127 | Motor[i].MaxPWM = 0; |
- | 128 | Motor[i].Temperature = 0; |
|
127 | } |
129 | } |
128 | 130 | ||
129 | SREG = sreg; |
131 | SREG = sreg; |
130 | } |
132 | } |
131 | 133 | ||
132 | void I2C_Reset(void) |
134 | void I2C_Reset(void) |
133 | { |
135 | { |
134 | // stop i2c bus |
136 | // stop i2c bus |
135 | I2C_Stop(TWI_STATE_MOTOR_TX); |
137 | I2C_Stop(TWI_STATE_MOTOR_TX); |
136 | motor_write = 0; |
138 | motor_write = 0; |
137 | motor_read = 0; |
139 | motor_read = 0; |
138 | TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
140 | TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
139 | TWAMR = 0; |
141 | TWAMR = 0; |
140 | TWAR = 0; |
142 | TWAR = 0; |
141 | TWDR = 0; |
143 | TWDR = 0; |
142 | TWSR = 0; |
144 | TWSR = 0; |
143 | TWBR = 0; |
145 | TWBR = 0; |
144 | I2C_Init(); |
146 | I2C_Init(); |
145 | I2C_WriteByte(0); |
147 | I2C_WriteByte(0); |
146 | BLFlags |= BLFLAG_READ_VERSION; |
148 | BLFlags |= BLFLAG_READ_VERSION; |
147 | } |
149 | } |
148 | 150 | ||
149 | /****************************************/ |
151 | /****************************************/ |
150 | /* I2C ISR */ |
152 | /* I2C ISR */ |
151 | /****************************************/ |
153 | /****************************************/ |
152 | ISR (TWI_vect) |
154 | ISR (TWI_vect) |
153 | { |
155 | { |
154 | static uint8_t missing_motor = 0, motor_read_temperature = 0; |
156 | static uint8_t missing_motor = 0, motor_read_temperature = 0; |
155 | static uint8_t *pBuff = 0; |
157 | static uint8_t *pBuff = 0; |
156 | static uint8_t BuffLen = 0; |
158 | static uint8_t BuffLen = 0; |
157 | - | ||
158 | #define BL_READ_STATUS 0 |
- | |
159 | #define BL_READ_CONFIG 16 |
- | |
160 | static uint8_t BLReadMode = BL_READ_STATUS; |
- | |
161 | 159 | ||
162 | switch (twi_state++) |
160 | switch (twi_state++) |
163 | { |
161 | { |
164 | // Master Transmit |
162 | // Master Transmit |
165 | case 0: // TWI_STATE_MOTOR_TX |
163 | case 0: // TWI_STATE_MOTOR_TX |
166 | 164 | ||
167 | // skip motor if not used in mixer |
165 | // skip motor if not used in mixer |
168 | while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
166 | while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
169 | if(motor_write >= MAX_MOTORS) // writing finished, read now |
167 | if(motor_write >= MAX_MOTORS) // writing finished, read now |
170 | { |
168 | { |
171 | BLConfig_WriteMask = 0; // reset configuration bitmask |
169 | BLConfig_WriteMask = 0; // reset configuration bitmask |
172 | motor_write = 0; // reset motor write counter for next cycle |
170 | motor_write = 0; // reset motor write counter for next cycle |
173 | twi_state = TWI_STATE_MOTOR_RX; |
171 | twi_state = TWI_STATE_MOTOR_RX; |
174 | I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
172 | I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
175 | } |
173 | } |
176 | else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
174 | else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
177 | break; |
175 | break; |
178 | case 1: // Send Data to Slave |
176 | case 1: // Send Data to Slave |
179 | I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
177 | I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
180 | // if old version has been detected |
178 | // if old version has been detected |
181 | if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
179 | if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
182 | { |
180 | { |
183 | twi_state = 4; //jump over sending more data |
181 | twi_state = 4; //jump over sending more data |
184 | } |
182 | } |
185 | // the new version has been detected |
183 | // the new version has been detected |
186 | else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
184 | else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
187 | { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
185 | { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
188 | twi_state = 4; //jump over sending more data |
186 | twi_state = 4; //jump over sending more data |
189 | } |
187 | } |
190 | break; |
188 | break; |
191 | case 2: // lower bits of setpoint (higher resolution) |
189 | case 2: // lower bits of setpoint (higher resolution) |
192 | if ((motor_write == motor_read) && ((0x0001<<motor_read) & BLConfig_ReadMask)) |
190 | if ((0x0001<<motor_write) & BLConfig_ReadMask) |
193 | { |
191 | { |
194 | BLReadMode = BL_READ_CONFIG; // configuration request |
192 | Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request |
195 | } |
193 | } |
196 | else |
194 | else |
197 | { |
195 | { |
198 | BLReadMode = BL_READ_STATUS; // normal status request |
196 | Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request |
199 | } |
197 | } |
200 | // send read mode and the lower bits of setpoint |
198 | // send read mode and the lower bits of setpoint |
201 | I2C_WriteByte((BLReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
199 | I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
202 | // configuration tranmission request? |
200 | // configuration tranmission request? |
203 | if((0x0001<<motor_write) & BLConfig_WriteMask) |
201 | if((0x0001<<motor_write) & BLConfig_WriteMask) |
204 | { // redirect tx pointer to configuration data |
202 | { // redirect tx pointer to configuration data |
205 | pBuff = (uint8_t*)&BLConfig; // select config for motor |
203 | pBuff = (uint8_t*)&BLConfig; // select config for motor |
206 | BuffLen = sizeof(BLConfig_t); |
204 | BuffLen = sizeof(BLConfig_t); |
207 | } |
205 | } |
208 | else |
206 | else |
209 | { // jump to end of transmission for that motor |
207 | { // jump to end of transmission for that motor |
210 | twi_state = 4; |
208 | twi_state = 4; |
211 | } |
209 | } |
212 | break; |
210 | break; |
213 | case 3: // send configuration |
211 | case 3: // send configuration |
214 | I2C_WriteByte(*pBuff); |
212 | I2C_WriteByte(*pBuff); |
215 | pBuff++; |
213 | pBuff++; |
216 | if(--BuffLen > 0) twi_state = 3; // if there are some bytes left |
214 | if(--BuffLen > 0) twi_state = 3; // if there are some bytes left |
217 | break; |
215 | break; |
218 | case 4: // repeat case 0-4 for all motors |
216 | case 4: // repeat case 0-4 for all motors |
219 | if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
217 | if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
220 | { |
218 | { |
221 | if(!missing_motor) missing_motor = motor_write + 1; |
219 | if(!missing_motor) missing_motor = motor_write + 1; |
222 | if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow |
220 | if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow |
223 | } |
221 | } |
224 | I2C_Stop(TWI_STATE_MOTOR_TX); |
222 | I2C_Stop(TWI_STATE_MOTOR_TX); |
225 | I2CTimeout = 10; |
223 | I2CTimeout = 10; |
226 | motor_write++; // next motor |
224 | motor_write++; // next motor |
227 | I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
225 | I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
228 | break; |
226 | break; |
229 | // Master Receive Data |
227 | // Master Receive Data |
230 | case 5: // TWI_STATE_MOTOR_RX |
228 | case 5: // TWI_STATE_MOTOR_RX |
231 | if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
229 | if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
232 | { // no response from the addressed slave received |
230 | { // no response from the addressed slave received |
233 | Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
231 | Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
234 | if(++motor_read >= MAX_MOTORS) |
232 | if(++motor_read >= MAX_MOTORS) |
235 | { // all motors read |
233 | { // all motors read |
236 | motor_read = 0; // restart from beginning |
234 | motor_read = 0; // restart from beginning |
237 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
235 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
238 | if(++motor_read_temperature >= MAX_MOTORS) |
236 | if(++motor_read_temperature >= MAX_MOTORS) |
239 | { |
237 | { |
240 | motor_read_temperature = 0; |
238 | motor_read_temperature = 0; |
241 | BLFlags &= ~BLFLAG_READ_VERSION; |
239 | BLFlags &= ~BLFLAG_READ_VERSION; |
242 | } |
240 | } |
243 | } |
241 | } |
244 | BLFlags |= BLFLAG_TX_COMPLETE; |
242 | BLFlags |= BLFLAG_TX_COMPLETE; |
245 | I2C_Stop(TWI_STATE_MOTOR_TX); |
243 | I2C_Stop(TWI_STATE_MOTOR_TX); |
246 | } |
244 | } |
247 | else |
245 | else |
248 | { // motor successfully addressed |
246 | { // motor successfully addressed |
249 | Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
247 | Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
250 | 248 | ||
251 | if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
249 | if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
252 | { |
250 | { |
253 | // new BL found |
251 | // new BL found |
254 | switch(BLReadMode) |
252 | switch(Motor[motor_read].ReadMode) |
255 | { |
253 | { |
256 | case BL_READ_CONFIG: |
254 | case BL_READMODE_CONFIG: |
257 | pBuff = (uint8_t*)&BLConfig; |
255 | pBuff = (uint8_t*)&BLConfig; |
258 | BuffLen = sizeof(BLConfig_t); |
256 | BuffLen = sizeof(BLConfig_t); |
259 | break; |
257 | break; |
260 | 258 | ||
261 | case BL_READ_STATUS: |
259 | case BL_READMODE_STATUS: |
262 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
260 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
263 | if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp |
261 | if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp |
264 | else BuffLen = 1;// read Current only |
262 | else BuffLen = 1;// read Current only |
265 | break; |
263 | break; |
266 | } |
264 | } |
267 | } |
265 | } |
268 | else // old BL version |
266 | else // old BL version |
269 | { |
267 | { |
270 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
268 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
271 | if(BLFlags & BLFLAG_READ_VERSION) BuffLen = 2; // Current & MaxPwm |
269 | if(BLFlags & BLFLAG_READ_VERSION) BuffLen = 2; // Current & MaxPwm |
272 | else BuffLen = 1; // read Current only |
270 | else BuffLen = 1; // read Current only |
273 | } |
271 | } |
274 | if(BuffLen == 1) |
272 | if(BuffLen == 1) |
275 | { |
273 | { |
276 | I2C_ReceiveLastByte(); // read last byte |
274 | I2C_ReceiveLastByte(); // read last byte |
277 | } |
275 | } |
278 | else |
276 | else |
279 | { |
277 | { |
280 | I2C_ReceiveByte(); // read next byte |
278 | I2C_ReceiveByte(); // read next byte |
281 | } |
279 | } |
282 | } |
280 | } |
283 | MissingMotor = missing_motor; |
281 | MissingMotor = missing_motor; |
284 | missing_motor = 0; |
282 | missing_motor = 0; |
285 | break; |
283 | break; |
286 | case 6: // receive bytes |
284 | case 6: // receive bytes |
287 | *pBuff = TWDR; |
285 | *pBuff = TWDR; |
288 | pBuff++; |
286 | pBuff++; |
289 | BuffLen--; |
287 | BuffLen--; |
290 | if(BuffLen>1) |
288 | if(BuffLen>1) |
291 | { |
289 | { |
292 | I2C_ReceiveByte(); // read next byte |
290 | I2C_ReceiveByte(); // read next byte |
293 | } |
291 | } |
294 | else if (BuffLen == 1) |
292 | else if (BuffLen == 1) |
295 | { |
293 | { |
296 | I2C_ReceiveLastByte(); // read last byte |
294 | I2C_ReceiveLastByte(); // read last byte |
297 | } |
295 | } |
298 | else // nothing left |
296 | else // nothing left |
299 | { |
297 | { |
300 | if(BLFlags & BLFLAG_READ_VERSION) |
298 | if(BLFlags & BLFLAG_READ_VERSION) |
301 | { |
299 | { |
302 | if(!(FCFlags & FCFLAG_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
300 | if(!(FCFlags & FCFLAG_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
303 | else Motor[motor_read].Version = 0; |
301 | else Motor[motor_read].Version = 0; |
304 | } |
302 | } |
305 | if(++motor_read >= MAX_MOTORS) |
303 | if(++motor_read >= MAX_MOTORS) |
306 | { |
304 | { |
307 | motor_read = 0; // restart from beginning |
305 | motor_read = 0; // restart from beginning |
308 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
306 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
309 | if(++motor_read_temperature >= MAX_MOTORS) |
307 | if(++motor_read_temperature >= MAX_MOTORS) |
310 | { |
308 | { |
311 | motor_read_temperature = 0; |
309 | motor_read_temperature = 0; |
312 | BLFlags &= ~BLFLAG_READ_VERSION; |
310 | BLFlags &= ~BLFLAG_READ_VERSION; |
313 | } |
311 | } |
314 | } |
312 | } |
315 | I2C_Stop(TWI_STATE_MOTOR_TX); |
313 | I2C_Stop(TWI_STATE_MOTOR_TX); |
316 | BLFlags |= BLFLAG_TX_COMPLETE; |
314 | BLFlags |= BLFLAG_TX_COMPLETE; |
317 | return; |
315 | return; |
318 | } |
316 | } |
319 | twi_state = 6; // if there are some bytes left |
317 | twi_state = 6; // if there are some bytes left |
320 | break; |
318 | break; |
321 | 319 | ||
322 | // writing Gyro-Offsets |
320 | // writing Gyro-Offsets |
323 | case 18: |
321 | case 18: |
324 | I2C_WriteByte(0x98); // Address the DAC |
322 | I2C_WriteByte(0x98); // Address the DAC |
325 | break; |
323 | break; |
326 | 324 | ||
327 | case 19: |
325 | case 19: |
328 | I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
326 | I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
329 | break; |
327 | break; |
330 | 328 | ||
331 | case 20: |
329 | case 20: |
332 | switch(dac_channel) |
330 | switch(dac_channel) |
333 | { |
331 | { |
334 | case 0: |
332 | case 0: |
335 | I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
333 | I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
336 | break; |
334 | break; |
337 | case 1: |
335 | case 1: |
338 | I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
336 | I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
339 | break; |
337 | break; |
340 | case 2: |
338 | case 2: |
341 | I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
339 | I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
342 | break; |
340 | break; |
343 | } |
341 | } |
344 | break; |
342 | break; |
345 | 343 | ||
346 | case 21: |
344 | case 21: |
347 | I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
345 | I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
348 | break; |
346 | break; |
349 | 347 | ||
350 | case 22: |
348 | case 22: |
351 | I2C_Stop(TWI_STATE_MOTOR_TX); |
349 | I2C_Stop(TWI_STATE_MOTOR_TX); |
352 | I2CTimeout = 10; |
350 | I2CTimeout = 10; |
353 | // repeat case 18...22 until all DAC Channels are updated |
351 | // repeat case 18...22 until all DAC Channels are updated |
354 | if(dac_channel < 2) |
352 | if(dac_channel < 2) |
355 | { |
353 | { |
356 | dac_channel ++; // jump to next channel |
354 | dac_channel ++; // jump to next channel |
357 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
355 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
358 | } |
356 | } |
359 | else |
357 | else |
360 | { |
358 | { |
361 | dac_channel = 0; // reset dac channel counter |
359 | dac_channel = 0; // reset dac channel counter |
362 | BLFlags |= BLFLAG_TX_COMPLETE; |
360 | BLFlags |= BLFLAG_TX_COMPLETE; |
363 | } |
361 | } |
364 | break; |
362 | break; |
365 | 363 | ||
366 | default: |
364 | default: |
367 | I2C_Stop(TWI_STATE_MOTOR_TX); |
365 | I2C_Stop(TWI_STATE_MOTOR_TX); |
368 | BLFlags |= BLFLAG_TX_COMPLETE; |
366 | BLFlags |= BLFLAG_TX_COMPLETE; |
369 | I2CTimeout = 10; |
367 | I2CTimeout = 10; |
370 | motor_write = 0; |
368 | motor_write = 0; |
371 | motor_read = 0; |
369 | motor_read = 0; |
372 | break; |
370 | break; |
373 | } |
371 | } |
374 | 372 | ||
375 | } |
373 | } |
376 | 374 | ||
377 | 375 | ||
378 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
376 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
379 | { |
377 | { |
380 | uint8_t i; |
378 | uint8_t i; |
381 | 379 | ||
382 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
380 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
383 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
381 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
384 | if(motor) |
382 | if(motor) |
385 | { |
383 | { |
386 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
384 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
387 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
385 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
388 | } |
386 | } |
389 | // check BL configuration to send |
387 | // check BL configuration to send |
390 | if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
388 | if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
391 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
389 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
392 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
390 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
393 | 391 | ||
394 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
392 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
395 | 393 | ||
396 | // prepare the bitmask |
394 | // prepare the bitmask |
397 | if(!motor) // 0 means all |
395 | if(!motor) // 0 means all |
398 | { |
396 | { |
399 | BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration |
397 | BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration |
400 | } |
398 | } |
401 | else //only one specific motor |
399 | else //only one specific motor |
402 | { |
400 | { |
403 | BLConfig_WriteMask = 0x0001<<(motor-1); |
401 | BLConfig_WriteMask = 0x0001<<(motor-1); |
404 | } |
402 | } |
405 | for(i = 0; i < MAX_MOTORS; i++) |
403 | for(i = 0; i < MAX_MOTORS; i++) |
406 | { |
404 | { |
407 | if((0x0001<<i) & BLConfig_WriteMask) |
405 | if((0x0001<<i) & BLConfig_WriteMask) |
408 | { |
406 | { |
409 | Motor[i].SetPoint = 0; |
407 | Motor[i].SetPoint = 0; |
410 | Motor[i].SetPointLowerBits = 0; |
408 | Motor[i].SetPointLowerBits = 0; |
411 | } |
409 | } |
412 | } |
410 | } |
413 | 411 | ||
414 | motor_write = 0; |
412 | motor_write = 0; |
415 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
413 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
416 | do |
414 | do |
417 | { |
415 | { |
418 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
416 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
419 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
417 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
420 | }while(BLConfig_WriteMask); // repeat until the BL config has been sent |
418 | }while(BLConfig_WriteMask); // repeat until the BL config has been sent |
421 | return(BLCONFIG_SUCCESS); |
419 | return(BLCONFIG_SUCCESS); |
422 | } |
420 | } |
423 | 421 | ||
424 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
422 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
425 | { |
423 | { |
426 | uint8_t i; |
424 | uint8_t i; |
427 | 425 | ||
428 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
426 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
429 | if((motor == 0) || (motor > MAX_MOTORS)) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
427 | if((motor == 0) || (motor > MAX_MOTORS)) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
430 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
428 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
431 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
429 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
432 | 430 | ||
433 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
431 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
434 | 432 | ||
435 | // prepare the bitmask |
433 | // prepare the bitmask |
436 | BLConfig_ReadMask = 0x0001<<(motor-1); |
434 | BLConfig_ReadMask = 0x0001<<(motor-1); |
437 | 435 | ||
438 | for(i = 0; i < MAX_MOTORS; i++) |
436 | for(i = 0; i < MAX_MOTORS; i++) |
439 | { |
437 | { |
440 | if((0x0001<<i) & BLConfig_ReadMask) |
438 | if((0x0001<<i) & BLConfig_ReadMask) |
441 | { |
439 | { |
442 | Motor[i].SetPoint = 0; |
440 | Motor[i].SetPoint = 0; |
443 | Motor[i].SetPointLowerBits = 0; |
441 | Motor[i].SetPointLowerBits = 0; |
444 | } |
442 | } |
445 | } |
443 | } |
446 | 444 | ||
447 | motor_read = 0; |
445 | motor_read = 0; |
448 | BLConfig.Revision = 0; // bad revision |
446 | BLConfig.Revision = 0; // bad revision |
449 | BLConfig.crc = 0; // bad checksum |
447 | BLConfig.crc = 0; // bad checksum |
450 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
448 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
451 | do |
449 | do |
452 | { |
450 | { |
453 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
451 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
454 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
452 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
455 | }while(BLConfig_ReadMask); // repeat until the BL config has been received from all motors |
453 | }while(BLConfig_ReadMask); // repeat until the BL config has been received from all motors |
456 | // validate result |
454 | // validate result |
457 | if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
455 | if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
458 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
456 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
459 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
457 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
460 | return(BLCONFIG_SUCCESS); |
458 | return(BLCONFIG_SUCCESS); |
461 | } |
459 | } |
462 | 460 | ||
463 | 461 |