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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 | #include "main.h" |
63 | #include "main.h" |
64 | 64 | ||
65 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX, ReadBlSize = 9; |
65 | volatile uint8_t twi_state = TWI_STATE_MOTOR_TX, ReadBlSize = 9; |
66 | volatile uint8_t dac_channel = 0; |
66 | volatile uint8_t dac_channel = 0; |
67 | volatile uint8_t motor_write = 0; |
67 | volatile uint8_t motor_write = 0; |
68 | volatile uint8_t motor_read = 0; |
68 | volatile uint8_t motor_read = 0; |
69 | volatile uint8_t I2C_TransferActive = 0; |
69 | volatile uint8_t I2C_TransferActive = 0; |
70 | uint8_t Max_I2C_Packets = 12; |
70 | uint8_t Max_I2C_Packets = 12; |
71 | 71 | ||
72 | volatile uint16_t I2CTimeout = 100; |
72 | volatile uint16_t I2CTimeout = 100; |
73 | 73 | ||
74 | uint8_t MissingMotor = 0; |
74 | uint8_t MissingMotor = 0; |
75 | 75 | ||
76 | volatile uint8_t BLFlags = 0; |
76 | volatile uint8_t BLFlags = 0; |
77 | 77 | ||
78 | MotorData_t Motor[MAX_MOTORS]; |
78 | MotorData_t Motor[MAX_MOTORS]; |
79 | RedundantBl_t RedundantMotor[MAX_MOTORS]; |
79 | RedundantBl_t RedundantMotor[MAX_MOTORS]; |
80 | 80 | ||
81 | // bit mask for witch BL the configuration should be sent |
81 | // bit mask for witch BL the configuration should be sent |
82 | volatile uint16_t BLConfig_WriteMask = 0; |
82 | volatile uint16_t BLConfig_WriteMask = 0; |
83 | // bit mask for witch BL the configuration should be read |
83 | // bit mask for witch BL the configuration should be read |
84 | volatile uint16_t BLConfig_ReadMask = 0; |
84 | volatile uint16_t BLConfig_ReadMask = 0; |
85 | // buffer for BL Configuration |
85 | // buffer for BL Configuration |
86 | BLConfig_t BLConfig; |
86 | BLConfig_t BLConfig; |
87 | 87 | ||
88 | #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
88 | #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
89 | #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
89 | #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
90 | #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
90 | #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
91 | 91 | ||
92 | #define SCL_CLOCK 200000L |
92 | #define SCL_CLOCK 200000L |
93 | #define I2C_TIMEOUT 30000 |
93 | #define I2C_TIMEOUT 30000 |
94 | #define TWI_BASE_ADDRESS 0x52 |
94 | #define TWI_BASE_ADDRESS 0x52 |
95 | 95 | ||
96 | /**************************************************/ |
96 | /**************************************************/ |
97 | /* Initialize I2C (TWI) */ |
97 | /* Initialize I2C (TWI) */ |
98 | /**************************************************/ |
98 | /**************************************************/ |
99 | 99 | ||
100 | void I2C_Init(char clear) |
100 | void I2C_Init(char clear) |
101 | { |
101 | { |
102 | uint8_t i; |
102 | uint8_t i; |
103 | uint8_t sreg = SREG; |
103 | uint8_t sreg = SREG; |
104 | cli(); |
104 | cli(); |
105 | 105 | ||
106 | // SDA is INPUT |
106 | // SDA is INPUT |
107 | DDRC &= ~(1<<DDC1); |
107 | DDRC &= ~(1<<DDC1); |
108 | // SCL is output |
108 | // SCL is output |
109 | DDRC |= (1<<DDC0); |
109 | DDRC |= (1<<DDC0); |
110 | // pull up SDA |
110 | // pull up SDA |
111 | PORTC |= (1<<PORTC0)|(1<<PORTC1); |
111 | PORTC |= (1<<PORTC0)|(1<<PORTC1); |
112 | 112 | ||
113 | // TWI Status Register |
113 | // TWI Status Register |
114 | // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
114 | // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
115 | TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
115 | TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
116 | 116 | ||
117 | // set TWI Bit Rate Register |
117 | // set TWI Bit Rate Register |
118 | TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
118 | TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
119 | 119 | ||
120 | twi_state = TWI_STATE_MOTOR_TX; |
120 | twi_state = TWI_STATE_MOTOR_TX; |
121 | motor_write = 0; |
121 | motor_write = 0; |
122 | motor_read = 0; |
122 | motor_read = 0; |
123 | 123 | ||
124 | if(clear) for(i=0; i < MAX_MOTORS; i++) |
124 | if(clear) for(i=0; i < MAX_MOTORS; i++) |
125 | { |
125 | { |
126 | Motor[i].Version = 0; |
126 | Motor[i].Version = 0; |
127 | Motor[i].SetPoint = 0; |
127 | Motor[i].SetPoint = 0; |
128 | Motor[i].SetPointLowerBits = 0; |
128 | Motor[i].SetPointLowerBits = 0; |
129 | Motor[i].State = 0; |
129 | Motor[i].State = 0; |
130 | Motor[i].ReadMode = BL_READMODE_STATUS; |
130 | Motor[i].ReadMode = BL_READMODE_STATUS; |
131 | Motor[i].Current = 0; |
131 | Motor[i].Current = 0; |
132 | Motor[i].MaxPWM = 0; |
132 | Motor[i].MaxPWM = 0; |
133 | Motor[i].Temperature = 0; |
133 | Motor[i].Temperature = 0; |
134 | Motor[i].NotReadyCnt = 0; |
134 | Motor[i].NotReadyCnt = 0; |
- | 135 | Motor[i].RPM = 0; |
|
135 | Motor[i].reserved1 = 0; |
136 | Motor[i].reserved1 = 0; |
136 | Motor[i].reserved2 = 0; |
- | |
137 | Motor[i].Voltage = 0; |
137 | Motor[i].Voltage = 0; |
138 | Motor[i].SlaveI2cError = 0; |
138 | Motor[i].SlaveI2cError = 0; |
139 | Motor[i].VersionMajor = 0; |
139 | Motor[i].VersionMajor = 0; |
140 | Motor[i].VersionMinor = 0; |
140 | Motor[i].VersionMinor = 0; |
141 | } |
141 | } |
142 | sei(); |
142 | sei(); |
143 | SREG = sreg; |
143 | SREG = sreg; |
144 | } |
144 | } |
145 | 145 | ||
146 | void I2C_Reset(void) |
146 | void I2C_Reset(void) |
147 | { |
147 | { |
148 | // stop i2c bus |
148 | // stop i2c bus |
149 | I2C_Stop(TWI_STATE_MOTOR_TX); |
149 | I2C_Stop(TWI_STATE_MOTOR_TX); |
150 | TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
150 | TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
151 | TWAMR = 0; |
151 | TWAMR = 0; |
152 | TWAR = 0; |
152 | TWAR = 0; |
153 | TWDR = 0; |
153 | TWDR = 0; |
154 | TWSR = 0; |
154 | TWSR = 0; |
155 | TWBR = 0; |
155 | TWBR = 0; |
156 | I2C_TransferActive = 0; |
156 | I2C_TransferActive = 0; |
157 | I2C_Init(0); |
157 | I2C_Init(0); |
158 | I2C_WriteByte(0); |
158 | I2C_WriteByte(0); |
159 | BLFlags |= BLFLAG_READ_VERSION; |
159 | BLFlags |= BLFLAG_READ_VERSION; |
160 | } |
160 | } |
161 | 161 | ||
162 | /****************************************/ |
162 | /****************************************/ |
163 | /* I2C ISR */ |
163 | /* I2C ISR */ |
164 | /****************************************/ |
164 | /****************************************/ |
165 | ISR (TWI_vect) |
165 | ISR (TWI_vect) |
166 | { |
166 | { |
167 | static uint8_t missing_motor = 0, motor_read_temperature = 0; |
167 | static uint8_t missing_motor = 0, motor_read_temperature = 0; |
168 | static uint8_t *pBuff = 0; |
168 | static uint8_t *pBuff = 0; |
169 | static uint8_t BuffLen = 0; |
169 | static uint8_t BuffLen = 0; |
170 | static uint8_t max_packets = 0; |
170 | static uint8_t max_packets = 0; |
171 | switch (twi_state++) |
171 | switch (twi_state++) |
172 | { |
172 | { |
173 | // Master Transmit |
173 | // Master Transmit |
174 | case 0: // TWI_STATE_MOTOR_TX |
174 | case 0: // TWI_STATE_MOTOR_TX |
175 | I2C_TransferActive = 1; |
175 | I2C_TransferActive = 1; |
176 | // skip motor if not used in mixer |
176 | // skip motor if not used in mixer |
177 | while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
177 | while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
178 | motor_write %= MAX_MOTORS; |
178 | motor_write %= MAX_MOTORS; |
179 | if(++max_packets > Max_I2C_Packets) // writing finished, read now |
179 | if(++max_packets > Max_I2C_Packets) // writing finished, read now |
180 | { |
180 | { |
181 | max_packets = 0; |
181 | max_packets = 0; |
182 | BLConfig_WriteMask = 0; // reset configuration bitmask |
182 | BLConfig_WriteMask = 0; // reset configuration bitmask |
183 | //motor_write = 0; // reset motor write counter for next cycle |
183 | //motor_write = 0; // reset motor write counter for next cycle |
184 | twi_state = TWI_STATE_MOTOR_RX; |
184 | twi_state = TWI_STATE_MOTOR_RX; |
185 | I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
185 | I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
186 | } |
186 | } |
187 | else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
187 | else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
188 | break; |
188 | break; |
189 | case 1: // Send Data to Slave |
189 | case 1: // Send Data to Slave |
190 | I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
190 | I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
191 | // if old version has been detected |
191 | // if old version has been detected |
192 | if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
192 | if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
193 | { |
193 | { |
194 | twi_state = 4; //jump over sending more data |
194 | twi_state = 4; //jump over sending more data |
195 | } |
195 | } |
196 | // the new version has been detected |
196 | // the new version has been detected |
197 | else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
197 | else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
198 | { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
198 | { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
199 | twi_state = 4; //jump over sending more data |
199 | twi_state = 4; //jump over sending more data |
200 | } |
200 | } |
201 | break; |
201 | break; |
202 | case 2: // lower bits of setpoint (higher resolution) |
202 | case 2: // lower bits of setpoint (higher resolution) |
203 | if ((0x0001<<motor_write) & BLConfig_ReadMask) |
203 | if ((0x0001<<motor_write) & BLConfig_ReadMask) |
204 | { |
204 | { |
205 | Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request |
205 | Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request |
206 | } |
206 | } |
207 | else |
207 | else |
208 | { |
208 | { |
209 | Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request |
209 | Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request |
210 | } |
210 | } |
211 | // send read mode and the lower bits of setpoint |
211 | // send read mode and the lower bits of setpoint |
212 | I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
212 | I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
213 | // configuration tranmission request? |
213 | // configuration tranmission request? |
214 | if((0x0001<<motor_write) & BLConfig_WriteMask) |
214 | if((0x0001<<motor_write) & BLConfig_WriteMask) |
215 | { // redirect tx pointer to configuration data |
215 | { // redirect tx pointer to configuration data |
216 | pBuff = (uint8_t*)&BLConfig; // select config for motor |
216 | pBuff = (uint8_t*)&BLConfig; // select config for motor |
217 | BuffLen = sizeof(BLConfig_t); |
217 | BuffLen = sizeof(BLConfig_t); |
218 | } |
218 | } |
219 | else |
219 | else |
220 | { // jump to end of transmission for that motor |
220 | { // jump to end of transmission for that motor |
221 | twi_state = 4; |
221 | twi_state = 4; |
222 | } |
222 | } |
223 | break; |
223 | break; |
224 | case 3: // send configuration |
224 | case 3: // send configuration |
225 | I2C_WriteByte(*pBuff); |
225 | I2C_WriteByte(*pBuff); |
226 | pBuff++; |
226 | pBuff++; |
227 | if(--BuffLen > 0) twi_state = 3; // if there are some bytes left |
227 | if(--BuffLen > 0) twi_state = 3; // if there are some bytes left |
228 | break; |
228 | break; |
229 | case 4: // repeat case 0-4 for all motors |
229 | case 4: // repeat case 0-4 for all motors |
230 | if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
230 | if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
231 | { |
231 | { |
232 | if(!missing_motor) missing_motor = motor_write + 1; |
232 | if(!missing_motor) missing_motor = motor_write + 1; |
233 | if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow |
233 | if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow |
234 | } |
234 | } |
235 | I2C_Stop(TWI_STATE_MOTOR_TX); |
235 | I2C_Stop(TWI_STATE_MOTOR_TX); |
236 | I2CTimeout = 10; |
236 | I2CTimeout = 10; |
237 | motor_write++; // next motor |
237 | motor_write++; // next motor |
238 | I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
238 | I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
239 | break; |
239 | break; |
240 | // Master Receive Data |
240 | // Master Receive Data |
241 | case 5: // TWI_STATE_MOTOR_RX |
241 | case 5: // TWI_STATE_MOTOR_RX |
242 | if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
242 | if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
243 | { // no response from the addressed slave received |
243 | { // no response from the addressed slave received |
244 | Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
244 | Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
245 | if(++motor_read >= MAX_MOTORS) |
245 | if(++motor_read >= MAX_MOTORS) |
246 | { // all motors read |
246 | { // all motors read |
247 | motor_read = 0; // restart from beginning |
247 | motor_read = 0; // restart from beginning |
248 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
248 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
249 | if(++motor_read_temperature >= MAX_MOTORS) |
249 | if(++motor_read_temperature >= MAX_MOTORS) |
250 | { |
250 | { |
251 | motor_read_temperature = 0; |
251 | motor_read_temperature = 0; |
252 | BLFlags &= ~BLFLAG_READ_VERSION; |
252 | BLFlags &= ~BLFLAG_READ_VERSION; |
253 | } |
253 | } |
254 | } |
254 | } |
255 | BLFlags |= BLFLAG_TX_COMPLETE; |
255 | BLFlags |= BLFLAG_TX_COMPLETE; |
256 | I2C_Stop(TWI_STATE_MOTOR_TX); |
256 | I2C_Stop(TWI_STATE_MOTOR_TX); |
257 | I2C_TransferActive = 0; |
257 | I2C_TransferActive = 0; |
258 | } |
258 | } |
259 | else |
259 | else |
260 | { // motor successfully addressed |
260 | { // motor successfully addressed |
261 | Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
261 | Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
262 | if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
262 | if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
263 | { |
263 | { |
264 | // new BL found |
264 | // new BL found |
265 | switch(Motor[motor_read].ReadMode) |
265 | switch(Motor[motor_read].ReadMode) |
266 | { |
266 | { |
267 | case BL_READMODE_CONFIG: |
267 | case BL_READMODE_CONFIG: |
268 | pBuff = (uint8_t*)&BLConfig; |
268 | pBuff = (uint8_t*)&BLConfig; |
269 | BuffLen = sizeof(BLConfig_t); |
269 | BuffLen = sizeof(BLConfig_t); |
270 | Motor[motor_read].ReadMode = BL_READMODE_STATUS; // only once |
270 | Motor[motor_read].ReadMode = BL_READMODE_STATUS; // only once |
271 | break; |
271 | break; |
272 | case BL_READMODE_STATUS: |
272 | case BL_READMODE_STATUS: |
273 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
273 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
274 | if(motor_read == motor_read_temperature) BuffLen = ReadBlSize; // read Current, MaxPwm & Temp (is 3 or 9) |
274 | if(motor_read == motor_read_temperature) BuffLen = ReadBlSize; // read Current, MaxPwm & Temp (is 3 or 9) |
275 | else BuffLen = 1;// read Current only |
275 | else BuffLen = 1;// read Current only |
276 | break; |
276 | break; |
277 | } |
277 | } |
278 | } |
278 | } |
279 | else // old BL version |
279 | else // old BL version |
280 | { |
280 | { |
281 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
281 | pBuff = (uint8_t*)&(Motor[motor_read].Current); |
282 | if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm |
282 | if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm |
283 | else BuffLen = 1; // read Current only |
283 | else BuffLen = 1; // read Current only |
284 | } |
284 | } |
285 | if(BuffLen == 1) |
285 | if(BuffLen == 1) |
286 | { |
286 | { |
287 | I2C_ReceiveLastByte(); // read last byte |
287 | I2C_ReceiveLastByte(); // read last byte |
288 | } |
288 | } |
289 | else |
289 | else |
290 | { |
290 | { |
291 | I2C_ReceiveByte(); // read next byte |
291 | I2C_ReceiveByte(); // read next byte |
292 | } |
292 | } |
293 | } |
293 | } |
294 | MissingMotor = missing_motor; |
294 | MissingMotor = missing_motor; |
295 | missing_motor = 0; |
295 | missing_motor = 0; |
296 | break; |
296 | break; |
297 | case 6: // receive bytes |
297 | case 6: // receive bytes |
298 | *pBuff = TWDR; |
298 | *pBuff = TWDR; |
299 | pBuff++; // set Pointer to next element : Motor[].Current,Motor[].Temperature |
299 | pBuff++; // set Pointer to next element : Motor[].Current,Motor[].Temperature |
300 | BuffLen--; |
300 | BuffLen--; |
301 | if(BuffLen>1) |
301 | if(BuffLen>1) |
302 | { |
302 | { |
303 | I2C_ReceiveByte(); // read next byte |
303 | I2C_ReceiveByte(); // read next byte |
304 | } |
304 | } |
305 | else if (BuffLen == 1) |
305 | else if (BuffLen == 1) |
306 | { |
306 | { |
307 | I2C_ReceiveLastByte(); // read last byte |
307 | I2C_ReceiveLastByte(); // read last byte |
308 | } |
308 | } |
309 | else // nothing left -> ready |
309 | else // nothing left -> ready |
310 | { |
310 | { |
311 | if(BLFlags & BLFLAG_READ_VERSION) |
311 | if(BLFlags & BLFLAG_READ_VERSION) |
312 | { |
312 | { |
313 | if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN)) |
313 | if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN)) |
314 | { |
314 | { |
315 | if((Motor[motor_read].MaxPWM & 252) == 248) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
315 | if((Motor[motor_read].MaxPWM & 252) == 248) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
316 | else Motor[motor_read].Version = 0; |
316 | else Motor[motor_read].Version = 0; |
317 | if(Motor[motor_read].MaxPWM == 248) Motor[motor_read].Version |= (MOTOR_STATE_FAST_MODE | MOTOR_STATE_BL30); |
317 | if(Motor[motor_read].MaxPWM == 248) Motor[motor_read].Version |= (MOTOR_STATE_FAST_MODE | MOTOR_STATE_BL30); |
318 | else |
318 | else |
319 | if(Motor[motor_read].MaxPWM == 249) Motor[motor_read].Version |= MOTOR_STATE_BL30; |
319 | if(Motor[motor_read].MaxPWM == 249) Motor[motor_read].Version |= MOTOR_STATE_BL30; |
320 | } |
320 | } |
321 | } |
321 | } |
322 | 322 | ||
323 | if(FC_StatusFlags & FC_STATUS_FLY) |
323 | if(FC_StatusFlags & FC_STATUS_FLY) |
324 | { |
324 | { |
325 | // Starting -> 40 |
325 | // Starting -> 40 |
326 | // I2C-Setpoint is zero -> 250 |
326 | // I2C-Setpoint is zero -> 250 |
327 | // 255 -> Running and no Redundancy |
327 | // 255 -> Running and no Redundancy |
328 | // 254 -> Running and active Redundancy |
328 | // 254 -> Running and active Redundancy |
329 | if(Motor[motor_read].MaxPWM < 254) |
329 | if(Motor[motor_read].MaxPWM < 254) |
330 | { |
330 | { |
331 | Motor[motor_read].NotReadyCnt++; |
331 | Motor[motor_read].NotReadyCnt++; |
332 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
332 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
333 | SpeakHoTT = SPEAK_ERR_MOTOR; |
333 | SpeakHoTT = SPEAK_ERR_MOTOR; |
334 | #endif |
334 | #endif |
335 | } |
335 | } |
336 | } |
336 | } |
337 | if(++motor_read >= MAX_MOTORS) |
337 | if(++motor_read >= MAX_MOTORS) |
338 | { |
338 | { |
339 | motor_read = 0; // restart from beginning |
339 | motor_read = 0; // restart from beginning |
340 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
340 | BLConfig_ReadMask = 0; // reset read configuration bitmask |
341 | if(++motor_read_temperature >= MAX_MOTORS) |
341 | if(++motor_read_temperature >= MAX_MOTORS) |
342 | { |
342 | { |
343 | motor_read_temperature = 0; |
343 | motor_read_temperature = 0; |
344 | BLFlags &= ~BLFLAG_READ_VERSION; |
344 | BLFlags &= ~BLFLAG_READ_VERSION; |
345 | } |
345 | } |
346 | } |
346 | } |
347 | I2C_Stop(TWI_STATE_MOTOR_TX); |
347 | I2C_Stop(TWI_STATE_MOTOR_TX); |
348 | BLFlags |= BLFLAG_TX_COMPLETE; |
348 | BLFlags |= BLFLAG_TX_COMPLETE; |
349 | I2C_TransferActive = 0; |
349 | I2C_TransferActive = 0; |
350 | return; |
350 | return; |
351 | } |
351 | } |
352 | twi_state = 6; // if there are some bytes left |
352 | twi_state = 6; // if there are some bytes left |
353 | break; |
353 | break; |
354 | /* |
354 | /* |
355 | // writing Gyro-Offsets |
355 | // writing Gyro-Offsets |
356 | case 18: |
356 | case 18: |
357 | I2C_WriteByte(0x98); // Address the DAC |
357 | I2C_WriteByte(0x98); // Address the DAC |
358 | break; |
358 | break; |
359 | 359 | ||
360 | case 19: |
360 | case 19: |
361 | I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
361 | I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
362 | break; |
362 | break; |
363 | 363 | ||
364 | case 20: |
364 | case 20: |
365 | switch(dac_channel) |
365 | switch(dac_channel) |
366 | { |
366 | { |
367 | case 0: |
367 | case 0: |
368 | I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
368 | I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
369 | break; |
369 | break; |
370 | case 1: |
370 | case 1: |
371 | I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
371 | I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
372 | break; |
372 | break; |
373 | case 2: |
373 | case 2: |
374 | I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
374 | I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
375 | break; |
375 | break; |
376 | } |
376 | } |
377 | break; |
377 | break; |
378 | 378 | ||
379 | case 21: |
379 | case 21: |
380 | I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
380 | I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
381 | break; |
381 | break; |
382 | 382 | ||
383 | case 22: |
383 | case 22: |
384 | I2C_Stop(TWI_STATE_MOTOR_TX); |
384 | I2C_Stop(TWI_STATE_MOTOR_TX); |
385 | I2C_TransferActive = 0; |
385 | I2C_TransferActive = 0; |
386 | I2CTimeout = 10; |
386 | I2CTimeout = 10; |
387 | // repeat case 18...22 until all DAC Channels are updated |
387 | // repeat case 18...22 until all DAC Channels are updated |
388 | if(dac_channel < 2) |
388 | if(dac_channel < 2) |
389 | { |
389 | { |
390 | dac_channel ++; // jump to next channel |
390 | dac_channel ++; // jump to next channel |
391 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
391 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
392 | } |
392 | } |
393 | else |
393 | else |
394 | { |
394 | { |
395 | dac_channel = 0; // reset dac channel counter |
395 | dac_channel = 0; // reset dac channel counter |
396 | BLFlags |= BLFLAG_TX_COMPLETE; |
396 | BLFlags |= BLFLAG_TX_COMPLETE; |
397 | } |
397 | } |
398 | break; |
398 | break; |
399 | */ |
399 | */ |
400 | default: |
400 | default: |
401 | I2C_Stop(TWI_STATE_MOTOR_TX); |
401 | I2C_Stop(TWI_STATE_MOTOR_TX); |
402 | BLFlags |= BLFLAG_TX_COMPLETE; |
402 | BLFlags |= BLFLAG_TX_COMPLETE; |
403 | I2CTimeout = 10; |
403 | I2CTimeout = 10; |
404 | motor_write = 0; |
404 | motor_write = 0; |
405 | motor_read = 0; |
405 | motor_read = 0; |
406 | I2C_TransferActive = 0; |
406 | I2C_TransferActive = 0; |
407 | break; |
407 | break; |
408 | } |
408 | } |
409 | 409 | ||
410 | } |
410 | } |
411 | 411 | ||
412 | 412 | ||
413 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
413 | uint8_t I2C_WriteBLConfig(uint8_t motor) |
414 | { |
414 | { |
415 | uint8_t i, packets; |
415 | uint8_t i, packets; |
416 | uint16_t timer; |
416 | uint16_t timer; |
417 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
417 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
418 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
418 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
419 | if(motor) |
419 | if(motor) |
420 | { |
420 | { |
421 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
421 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
422 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
422 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
423 | } |
423 | } |
424 | // check BL configuration to send |
424 | // check BL configuration to send |
425 | if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
425 | if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
426 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
426 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
427 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
427 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
428 | 428 | ||
429 | packets = Max_I2C_Packets; |
429 | packets = Max_I2C_Packets; |
430 | Max_I2C_Packets = 12; |
430 | Max_I2C_Packets = 12; |
431 | I2CTimeout = 100; |
431 | I2CTimeout = 100; |
432 | 432 | ||
433 | timer = SetDelay(100); |
433 | timer = SetDelay(100); |
434 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
434 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
435 | 435 | ||
436 | // prepare the bitmask |
436 | // prepare the bitmask |
437 | if(!motor) BLConfig_WriteMask = 0x0FFF; // 0 means all -> all motors at once with the same configuration |
437 | if(!motor) BLConfig_WriteMask = 0x0FFF; // 0 means all -> all motors at once with the same configuration |
438 | else BLConfig_WriteMask = 0x0001<<(motor-1); //only one specific motor |
438 | else BLConfig_WriteMask = 0x0001<<(motor-1); //only one specific motor |
439 | 439 | ||
440 | motor_write = 0; |
440 | motor_write = 0; |
441 | motor_read = 0; |
441 | motor_read = 0; |
442 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
442 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
443 | timer = SetDelay(1000); |
443 | timer = SetDelay(1000); |
444 | do |
444 | do |
445 | { |
445 | { |
446 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
446 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
447 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
447 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
448 | } while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
448 | } while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
449 | Max_I2C_Packets = packets; |
449 | Max_I2C_Packets = packets; |
450 | if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
450 | if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
451 | return(BLCONFIG_SUCCESS); |
451 | return(BLCONFIG_SUCCESS); |
452 | } |
452 | } |
453 | 453 | ||
454 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
454 | uint8_t I2C_ReadBLConfig(uint8_t motor) |
455 | { |
455 | { |
456 | uint8_t i; |
456 | uint8_t i; |
457 | uint16_t timer; |
457 | uint16_t timer; |
458 | 458 | ||
459 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
459 | if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
460 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
460 | if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
461 | if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
461 | if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
462 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
462 | if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
463 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
463 | if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
464 | 464 | ||
465 | timer = SetDelay(1000); |
465 | timer = SetDelay(1000); |
466 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
466 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
467 | 467 | ||
468 | // prepare the bitmask |
468 | // prepare the bitmask |
469 | BLConfig_ReadMask = 0x0001<<(motor-1); |
469 | BLConfig_ReadMask = 0x0001<<(motor-1); |
470 | 470 | ||
471 | motor_write = 0; |
471 | motor_write = 0; |
472 | motor_read = 0; |
472 | motor_read = 0; |
473 | BLConfig.Revision = 0; // bad revision |
473 | BLConfig.Revision = 0; // bad revision |
474 | BLConfig.crc = 0; // bad checksum |
474 | BLConfig.crc = 0; // bad checksum |
475 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
475 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
476 | do |
476 | do |
477 | { |
477 | { |
478 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
478 | I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
479 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
479 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
480 | } while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
480 | } while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
481 | // validate result |
481 | // validate result |
482 | if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
482 | if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
483 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
483 | i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
484 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
484 | if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
485 | return(BLCONFIG_SUCCESS); |
485 | return(BLCONFIG_SUCCESS); |
486 | } |
486 | } |
487 | 487 | ||
488 | 488 |