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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + www.MikroKopter.com |
2 | // + www.MikroKopter.com |
| 3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 4 | // + Software Nutzungsbedingungen (english version: see below) |
4 | // + Software Nutzungsbedingungen (english version: see below) |
| 5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| 6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| 7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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. |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| 13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| 14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| 15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| 16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| 18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 19 | // + des Mitverschuldens offen. |
19 | // + des Mitverschuldens offen. |
| 20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| 21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| 23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| 24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| 25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| 26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| 27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 29 | // + Software LICENSING TERMS |
29 | // + Software LICENSING TERMS |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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 |
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 |
| 33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| 34 | // + The Software may only be used with the Licensor's products. |
34 | // + The Software may only be used with the Licensor's products. |
| 35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| 36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| 37 | // + agreement shall be the property of the Licensor. |
37 | // + agreement shall be the property of the Licensor. |
| 38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| 39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
| 40 | // + The customer shall be responsible for taking reasonable precautions |
40 | // + The customer shall be responsible for taking reasonable precautions |
| 41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| 42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| 43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| 44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| 45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| 46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| 47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| 48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| 49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| 50 | // + #### END OF LICENSING TERMS #### |
50 | // + #### END OF LICENSING TERMS #### |
| 51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| 52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 53 | 53 | ||
| 54 | #include <avr/io.h> |
54 | #include <avr/io.h> |
| 55 | #include <avr/interrupt.h> |
55 | #include <avr/interrupt.h> |
| 56 | #include <util/twi.h> |
56 | #include <util/twi.h> |
| 57 | #include "eeprom.h" |
57 | #include "eeprom.h" |
| 58 | #include "twimaster.h" |
58 | #include "twimaster.h" |
| 59 | #include "fc.h" |
59 | #include "fc.h" |
| 60 | #include "analog.h" |
60 | #include "analog.h" |
| 61 | #include "uart.h" |
61 | #include "uart.h" |
| 62 | #include "timer0.h" |
62 | #include "timer0.h" |
| 63 | 63 | ||
| 64 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
64 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
| 65 | volatile uint8_t dac_channel = 0; |
65 | volatile uint8_t dac_channel = 0; |
| 66 | volatile uint8_t motor_write = 0; |
66 | volatile uint8_t motor_write = 0; |
| 67 | volatile uint8_t motor_read = 0; |
67 | volatile uint8_t motor_read = 0; |
| 68 | volatile uint8_t I2C_TransferActive = 0; |
68 | volatile uint8_t I2C_TransferActive = 0; |
| 69 | 69 | ||
| 70 | volatile uint16_t I2CTimeout = 100; |
70 | volatile uint16_t I2CTimeout = 100; |
| 71 | 71 | ||
| 72 | uint8_t MissingMotor = 0; |
72 | uint8_t MissingMotor = 0; |
| 73 | 73 | ||
| 74 | volatile uint8_t BLFlags = 0; |
74 | volatile uint8_t BLFlags = 0; |
| 75 | 75 | ||
| 76 | MotorData_t Motor[MAX_MOTORS]; |
76 | MotorData_t Motor[MAX_MOTORS]; |
| 77 | 77 | ||
| 78 | // bit mask for witch BL the configuration should be sent |
78 | // bit mask for witch BL the configuration should be sent |
| 79 | volatile uint16_t BLConfig_WriteMask = 0; |
79 | volatile uint16_t BLConfig_WriteMask = 0; |
| 80 | // bit mask for witch BL the configuration should be read |
80 | // bit mask for witch BL the configuration should be read |
| 81 | volatile uint16_t BLConfig_ReadMask = 0; |
81 | volatile uint16_t BLConfig_ReadMask = 0; |
| 82 | // buffer for BL Configuration |
82 | // buffer for BL Configuration |
| 83 | BLConfig_t BLConfig; |
83 | BLConfig_t BLConfig; |
| 84 | 84 | ||
| 85 | #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
85 | #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
| 86 | #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
86 | #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
| 87 | #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
87 | #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
| 88 | 88 | ||
| 89 | #define SCL_CLOCK 200000L |
89 | #define SCL_CLOCK 200000L |
| 90 | #define I2C_TIMEOUT 30000 |
90 | #define I2C_TIMEOUT 30000 |
| 91 | #define TWI_BASE_ADDRESS 0x52 |
91 | #define TWI_BASE_ADDRESS 0x52 |
| 92 | 92 | ||
| 93 | /**************************************************/ |
93 | /**************************************************/ |
| 94 | /* Initialize I2C (TWI) */ |
94 | /* Initialize I2C (TWI) */ |
| 95 | /**************************************************/ |
95 | /**************************************************/ |
| 96 | 96 | ||
| 97 | void I2C_Init(char clear) |
97 | void I2C_Init(char clear) |
| 98 | { |
98 | { |
| 99 | uint8_t i; |
99 | uint8_t i; |
| 100 | uint8_t sreg = SREG; |
100 | uint8_t sreg = SREG; |
| 101 | cli(); |
101 | cli(); |
| 102 | 102 | ||
| 103 | // SDA is INPUT |
103 | // SDA is INPUT |
| 104 | DDRC &= ~(1<<DDC1); |
104 | DDRC &= ~(1<<DDC1); |
| 105 | // SCL is output |
105 | // SCL is output |
| 106 | DDRC |= (1<<DDC0); |
106 | DDRC |= (1<<DDC0); |
| 107 | // pull up SDA |
107 | // pull up SDA |
| 108 | PORTC |= (1<<PORTC0)|(1<<PORTC1); |
108 | PORTC |= (1<<PORTC0)|(1<<PORTC1); |
| 109 | 109 | ||
| 110 | // TWI Status Register |
110 | // TWI Status Register |
| 111 | // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
111 | // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
| 112 | TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
112 | TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
| 113 | 113 | ||
| 114 | // set TWI Bit Rate Register |
114 | // set TWI Bit Rate Register |
| 115 | TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
115 | TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
| 116 | 116 | ||
| 117 | twi_state = TWI_STATE_MOTOR_TX; |
117 | twi_state = TWI_STATE_MOTOR_TX; |
| 118 | motor_write = 0; |
118 | motor_write = 0; |
| 119 | motor_read = 0; |
119 | motor_read = 0; |
| 120 | 120 | ||
| 121 | if(clear) for(i=0; i < MAX_MOTORS; i++) |
121 | if(clear) for(i=0; i < MAX_MOTORS; i++) |
| 122 | { |
122 | { |
| 123 | Motor[i].Version = 0; |
123 | Motor[i].Version = 0; |
| 124 | Motor[i].SetPoint = 0; |
124 | Motor[i].SetPoint = 0; |
| 125 | Motor[i].SetPointLowerBits = 0; |
125 | Motor[i].SetPointLowerBits = 0; |
| 126 | Motor[i].State = 0; |
126 | Motor[i].State = 0; |
| 127 | Motor[i].ReadMode = BL_READMODE_STATUS; |
127 | Motor[i].ReadMode = BL_READMODE_STATUS; |
| 128 | Motor[i].Current = 0; |
128 | Motor[i].Current = 0; |
| 129 | Motor[i].MaxPWM = 0; |
129 | Motor[i].MaxPWM = 0; |
| 130 | Motor[i].Temperature = 0; |
130 | Motor[i].Temperature = 0; |
| 131 | } |
131 | } |
| 132 | sei(); |
132 | sei(); |
| 133 | SREG = sreg; |
133 | SREG = sreg; |
| 134 | } |
134 | } |
| 135 | 135 | ||
| 136 | void I2C_Reset(void) |
136 | void I2C_Reset(void) |
| 137 | { |
137 | { |
| 138 | // stop i2c bus |
138 | // stop i2c bus |
| 139 | I2C_Stop(TWI_STATE_MOTOR_TX); |
139 | I2C_Stop(TWI_STATE_MOTOR_TX); |
| 140 | TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
140 | TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
| 141 | TWAMR = 0; |
141 | TWAMR = 0; |
| 142 | TWAR = 0; |
142 | TWAR = 0; |
| 143 | TWDR = 0; |
143 | TWDR = 0; |
| 144 | TWSR = 0; |
144 | TWSR = 0; |
| 145 | TWBR = 0; |
145 | TWBR = 0; |
| 146 | I2C_TransferActive = 0; |
146 | I2C_TransferActive = 0; |
| 147 | I2C_Init(0); |
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 | I2C_TransferActive = 1; |
165 | I2C_TransferActive = 1; |
| 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 | I2C_TransferActive = 0; |
245 | I2C_TransferActive = 0; |
| 246 | } |
246 | } |
| 247 | else |
247 | else |
| 248 | { // motor successfully addressed |
248 | { // motor successfully addressed |
| 249 | Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
249 | Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
| 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 | Motor[motor_read].ReadMode = BL_READMODE_STATUS; // only once |
258 | Motor[motor_read].ReadMode = BL_READMODE_STATUS; // only once |
| 259 | break; |
259 | break; |
| 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(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN) && ((Motor[motor_read].MaxPWM & 252) == 248)) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
301 | // if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN) && ((Motor[motor_read].MaxPWM & 252) == 248)) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
| 302 | // else Motor[motor_read].Version = 0; |
302 | // else Motor[motor_read].Version = 0; |
| 303 | if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN)) |
303 | if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN)) |
| 304 | { |
304 | { |
| 305 | if((Motor[motor_read].MaxPWM & 252) == 248) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
305 | if((Motor[motor_read].MaxPWM & 252) == 248) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
| 306 | else Motor[motor_read].Version = 0; |
306 | else Motor[motor_read].Version = 0; |
| - | 307 | if(Motor[motor_read].MaxPWM == 248) Motor[motor_read].Version |= (MOTOR_STATE_FAST_MODE | MOTOR_STATE_BL30); |
|
| - | 308 | else |
|
| 307 | if(Motor[motor_read].MaxPWM == 248) Motor[motor_read].Version |= MOTOR_STATE_FAST_MODE; |
309 | if(Motor[motor_read].MaxPWM == 249) Motor[motor_read].Version |= MOTOR_STATE_BL30; |
| 308 | } |
310 | } |
| 309 | } |
311 | } |
| 310 | if(++motor_read >= MAX_MOTORS) |
312 | if(++motor_read >= MAX_MOTORS) |
| 311 | { |
313 | { |
| 312 | motor_read = 0; // restart from beginning |
314 | motor_read = 0; // restart from beginning |
| 313 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
315 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
| 314 | if(++motor_read_temperature >= MAX_MOTORS) |
316 | if(++motor_read_temperature >= MAX_MOTORS) |
| 315 | { |
317 | { |
| 316 | motor_read_temperature = 0; |
318 | motor_read_temperature = 0; |
| 317 | BLFlags &= ~BLFLAG_READ_VERSION; |
319 | BLFlags &= ~BLFLAG_READ_VERSION; |
| 318 | } |
320 | } |
| 319 | } |
321 | } |
| 320 | I2C_Stop(TWI_STATE_MOTOR_TX); |
322 | I2C_Stop(TWI_STATE_MOTOR_TX); |
| 321 | BLFlags |= BLFLAG_TX_COMPLETE; |
323 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 322 | I2C_TransferActive = 0; |
324 | I2C_TransferActive = 0; |
| 323 | return; |
325 | return; |
| 324 | } |
326 | } |
| 325 | twi_state = 6; // if there are some bytes left |
327 | twi_state = 6; // if there are some bytes left |
| 326 | break; |
328 | break; |
| 327 | 329 | ||
| 328 | // writing Gyro-Offsets |
330 | // writing Gyro-Offsets |
| 329 | case 18: |
331 | case 18: |
| 330 | I2C_WriteByte(0x98); // Address the DAC |
332 | I2C_WriteByte(0x98); // Address the DAC |
| 331 | break; |
333 | break; |
| 332 | 334 | ||
| 333 | case 19: |
335 | case 19: |
| 334 | I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
336 | I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
| 335 | break; |
337 | break; |
| 336 | 338 | ||
| 337 | case 20: |
339 | case 20: |
| 338 | switch(dac_channel) |
340 | switch(dac_channel) |
| 339 | { |
341 | { |
| 340 | case 0: |
342 | case 0: |
| 341 | I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
343 | I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
| 342 | break; |
344 | break; |
| 343 | case 1: |
345 | case 1: |
| 344 | I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
346 | I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
| 345 | break; |
347 | break; |
| 346 | case 2: |
348 | case 2: |
| 347 | I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
349 | I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
| 348 | break; |
350 | break; |
| 349 | } |
351 | } |
| 350 | break; |
352 | break; |
| 351 | 353 | ||
| 352 | case 21: |
354 | case 21: |
| 353 | I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
355 | I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
| 354 | break; |
356 | break; |
| 355 | 357 | ||
| 356 | case 22: |
358 | case 22: |
| 357 | I2C_Stop(TWI_STATE_MOTOR_TX); |
359 | I2C_Stop(TWI_STATE_MOTOR_TX); |
| 358 | I2C_TransferActive = 0; |
360 | I2C_TransferActive = 0; |
| 359 | I2CTimeout = 10; |
361 | I2CTimeout = 10; |
| 360 | // repeat case 18...22 until all DAC Channels are updated |
362 | // repeat case 18...22 until all DAC Channels are updated |
| 361 | if(dac_channel < 2) |
363 | if(dac_channel < 2) |
| 362 | { |
364 | { |
| 363 | dac_channel ++; // jump to next channel |
365 | dac_channel ++; // jump to next channel |
| 364 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
366 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
| 365 | } |
367 | } |
| 366 | else |
368 | else |
| 367 | { |
369 | { |
| 368 | dac_channel = 0; // reset dac channel counter |
370 | dac_channel = 0; // reset dac channel counter |
| 369 | BLFlags |= BLFLAG_TX_COMPLETE; |
371 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 370 | } |
372 | } |
| 371 | break; |
373 | break; |
| 372 | default: |
374 | default: |
| 373 | I2C_Stop(TWI_STATE_MOTOR_TX); |
375 | I2C_Stop(TWI_STATE_MOTOR_TX); |
| 374 | BLFlags |= BLFLAG_TX_COMPLETE; |
376 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 375 | I2CTimeout = 10; |
377 | I2CTimeout = 10; |
| 376 | motor_write = 0; |
378 | motor_write = 0; |
| 377 | motor_read = 0; |
379 | motor_read = 0; |
| 378 | I2C_TransferActive = 0; |
380 | I2C_TransferActive = 0; |
| 379 | break; |
381 | break; |
| 380 | } |
382 | } |
| 381 | 383 | ||
| 382 | } |
384 | } |
| 383 | 385 | ||
| 384 | 386 | ||
| 385 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
387 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
| 386 | { |
388 | { |
| 387 | uint8_t i; |
389 | uint8_t i; |
| 388 | uint16_t timer; |
390 | uint16_t timer; |
| 389 | 391 | ||
| 390 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
392 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
| 391 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
393 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| 392 | if(motor) |
394 | if(motor) |
| 393 | { |
395 | { |
| 394 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
396 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| 395 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
397 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
| 396 | } |
398 | } |
| 397 | // check BL configuration to send |
399 | // check BL configuration to send |
| 398 | if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
400 | if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
| 399 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
401 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
| 400 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
402 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
| 401 | 403 | ||
| 402 | timer = SetDelay(2000); |
404 | timer = SetDelay(2000); |
| 403 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
405 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| 404 | 406 | ||
| 405 | // prepare the bitmask |
407 | // prepare the bitmask |
| 406 | if(!motor) // 0 means all |
408 | if(!motor) // 0 means all |
| 407 | { |
409 | { |
| 408 | BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration |
410 | BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration |
| 409 | } |
411 | } |
| 410 | else //only one specific motor |
412 | else //only one specific motor |
| 411 | { |
413 | { |
| 412 | BLConfig_WriteMask = 0x0001<<(motor-1); |
414 | BLConfig_WriteMask = 0x0001<<(motor-1); |
| 413 | } |
415 | } |
| 414 | for(i = 0; i < MAX_MOTORS; i++) |
416 | for(i = 0; i < MAX_MOTORS; i++) |
| 415 | { |
417 | { |
| 416 | if((0x0001<<i) & BLConfig_WriteMask) |
418 | if((0x0001<<i) & BLConfig_WriteMask) |
| 417 | { |
419 | { |
| 418 | Motor[i].SetPoint = 0; |
420 | Motor[i].SetPoint = 0; |
| 419 | Motor[i].SetPointLowerBits = 0; |
421 | Motor[i].SetPointLowerBits = 0; |
| 420 | } |
422 | } |
| 421 | } |
423 | } |
| 422 | 424 | ||
| 423 | motor_write = 0; |
425 | motor_write = 0; |
| 424 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
426 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
| 425 | do |
427 | do |
| 426 | { |
428 | { |
| 427 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
429 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
| 428 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
430 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| 429 | }while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
431 | }while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
| 430 | if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
432 | if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
| 431 | return(BLCONFIG_SUCCESS); |
433 | return(BLCONFIG_SUCCESS); |
| 432 | } |
434 | } |
| 433 | 435 | ||
| 434 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
436 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
| 435 | { |
437 | { |
| 436 | uint8_t i; |
438 | uint8_t i; |
| 437 | uint16_t timer; |
439 | uint16_t timer; |
| 438 | 440 | ||
| 439 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
441 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
| 440 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
442 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| 441 | if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
443 | if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
| 442 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
444 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| 443 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
445 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
| 444 | 446 | ||
| 445 | timer = SetDelay(2000); |
447 | timer = SetDelay(2000); |
| 446 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
448 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| 447 | 449 | ||
| 448 | // prepare the bitmask |
450 | // prepare the bitmask |
| 449 | BLConfig_ReadMask = 0x0001<<(motor-1); |
451 | BLConfig_ReadMask = 0x0001<<(motor-1); |
| 450 | 452 | ||
| 451 | for(i = 0; i < MAX_MOTORS; i++) |
453 | for(i = 0; i < MAX_MOTORS; i++) |
| 452 | { |
454 | { |
| 453 | if((0x0001<<i) & BLConfig_ReadMask) |
455 | if((0x0001<<i) & BLConfig_ReadMask) |
| 454 | { |
456 | { |
| 455 | Motor[i].SetPoint = 0; |
457 | Motor[i].SetPoint = 0; |
| 456 | Motor[i].SetPointLowerBits = 0; |
458 | Motor[i].SetPointLowerBits = 0; |
| 457 | } |
459 | } |
| 458 | } |
460 | } |
| 459 | 461 | ||
| 460 | motor_read = 0; |
462 | motor_read = 0; |
| 461 | BLConfig.Revision = 0; // bad revision |
463 | BLConfig.Revision = 0; // bad revision |
| 462 | BLConfig.crc = 0; // bad checksum |
464 | BLConfig.crc = 0; // bad checksum |
| 463 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
465 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
| 464 | do |
466 | do |
| 465 | { |
467 | { |
| 466 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
468 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
| 467 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
469 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| 468 | }while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
470 | }while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
| 469 | // validate result |
471 | // validate result |
| 470 | if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
472 | if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
| 471 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
473 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
| 472 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
474 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
| 473 | return(BLCONFIG_SUCCESS); |
475 | return(BLCONFIG_SUCCESS); |
| 474 | } |
476 | } |
| 475 | 477 | ||
| 476 | 478 | ||