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