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| Rev 1644 | Rev 1648 | ||
|---|---|---|---|
| Line 2... | Line 2... | ||
| 2 | ############################################################################*/ |
2 | ############################################################################*/ |
| Line 3... | Line 3... | ||
| 3 | 3 | ||
| Line 4... | Line 4... | ||
| 4 | #include "main.h" |
4 | #include "main.h" |
| 5 | 5 | ||
| 6 | volatile unsigned char twi_state = 0; |
6 | volatile unsigned char twi_state = 0; |
| 7 | unsigned char motor = 0,TransmitBlConfig = 1; |
7 | unsigned char motor = 0; |
| Line 8... | Line 8... | ||
| 8 | unsigned char motorread = 0,MissingMotor = 0; |
8 | unsigned char motorread = 0,MissingMotor = 0; |
| - | 9 | unsigned char BLFlags = 0; |
|
| - | 10 | ||
| - | 11 | MotorData_t Motor[MAX_MOTORS]; |
|
| Line 9... | Line 12... | ||
| 9 | unsigned char ReadTemperature = 0; |
12 | BLConfig_t BLConfig[MAX_MOTORS]; |
| Line -... | Line 13... | ||
| - | 13 | ||
| - | 14 | unsigned char *pTxBuff = (uint8_t*)&BLConfig[0]; |
|
| 10 | 15 | ||
| 11 | MotorData_t Motor[MAX_MOTORS]; |
16 | unsigned int I2CError = 0; |
| 12 | 17 | ||
| 13 | unsigned int I2CError = 0; |
18 | #define BL_CONF_SYNC_BYTE '#' |
| 14 | 19 | ||
| - | 20 | //############################################################################ |
|
| - | 21 | //Initzialisieren der I2C (TWI) Schnittstelle |
|
| 15 | //############################################################################ |
22 | void i2c_init(void) |
| 16 | //Initzialisieren der I2C (TWI) Schnittstelle |
23 | //############################################################################ |
| - | 24 | { |
|
| - | 25 | unsigned char i; |
|
| - | 26 | ||
| - | 27 | TWSR = 0; |
|
| - | 28 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
|
| - | 29 | ||
| - | 30 | for(i=0; i < MAX_MOTORS; i++) |
|
| - | 31 | { |
|
| - | 32 | Motor[i].Version = 0; |
|
| - | 33 | Motor[i].SetPoint = 0; |
|
| - | 34 | Motor[i].SetPointLowerBits = 0; |
|
| - | 35 | Motor[i].State = 0; |
|
| - | 36 | Motor[i].Current = 0; |
|
| - | 37 | Motor[i].MaxPWM = 0; |
|
| - | 38 | BLConfig[i].SetMask = MASK_SET_PWM_SCALING|MASK_SET_CURRENT_LIMIT|MASK_SET_TEMP_LIMIT|MASK_SET_CURRENT_SCALING|MASK_SET_BITCONFIG; |
|
| - | 39 | BLConfig[i].PwmScaling = 255; // MaxPWM |
|
| 17 | void i2c_init(void) |
40 | BLConfig[i].CurrentLimit = 30; // Current Limit in A |
| Line 18... | Line 41... | ||
| 18 | //############################################################################ |
41 | BLConfig[i].TempLimit = 99; // Temperature Limit in °C |
| 19 | { |
42 | BLConfig[i].CurrentScaling = 64; // Current Scaling |
| 20 | TWSR = 0; |
43 | BLConfig[i].BitConfig = 0; // BitConfig |
| Line 37... | Line 60... | ||
| 37 | i2c_init(); |
60 | i2c_init(); |
| 38 | I2C_Start(); |
61 | I2C_Start(); |
| 39 | i2c_write_byte(0); |
62 | i2c_write_byte(0); |
| 40 | } |
63 | } |
| Line 41... | Line 64... | ||
| 41 | 64 | ||
| 42 | /* |
65 | |
| 43 | //############################################################################ |
66 | //############################################################################ |
| 44 | SIGNAL (TWI_vect) |
67 | SIGNAL (TWI_vect) |
| 45 | //############################################################################ |
68 | //############################################################################ |
| 46 | { |
69 | { |
| - | 70 | static unsigned char missing_motor = 0, byte_counter = 0, crc = 0, read_more = 0, motorread_temperature = 0; |
|
| 47 | static unsigned char missing_motor; |
71 | J4High; |
| 48 | switch(twi_state++) |
72 | switch(twi_state++) |
| 49 | { |
73 | { |
| 50 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
74 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 51 | // Writing the Data |
75 | // Writing the Data |
| 52 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
76 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 53 | case 0: |
77 | case 0: |
| 54 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
78 | while(Mixer.Motor[motor][MIX_GAS] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
| 55 | if(motor == MAX_MOTORS) // writing finished -> now read |
79 | if(motor == MAX_MOTORS) // writing finished -> now read |
| 56 | { |
80 | { |
| 57 | motor = 0; |
81 | motor = 0; |
| 58 | twi_state = 3; |
82 | twi_state = 5; |
| 59 | i2c_write_byte(0x53+(motorread*2)); |
83 | i2c_write_byte(0x53+(motorread*2)); |
| 60 | } |
84 | } |
| 61 | else i2c_write_byte(0x52+(motor*2)); |
85 | else i2c_write_byte(0x52+(motor*2)); |
| 62 | break; |
86 | break; |
| 63 | case 1: |
87 | case 1: |
| 64 | i2c_write_byte(Motor[motor++].SetPoint); |
- | |
| 65 | break; |
- | |
| 66 | case 2: |
- | |
| 67 | if(TWSR == 0x30) |
- | |
| 68 | { |
88 | i2c_write_byte(Motor[motor].SetPoint); |
| 69 | if(!missing_motor) missing_motor = motor; |
- | |
| 70 | if((Motor[motor-1].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor-1].State++; // increment error counter and handle overflow |
- | |
| 71 | } |
- | |
| 72 | I2C_Stop(); |
- | |
| 73 | I2CTimeout = 10; |
- | |
| 74 | twi_state = 0; |
- | |
| 75 | I2C_Start(); |
- | |
| 76 | break; |
- | |
| 77 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 78 | // Reading Data |
- | |
| 79 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 80 | case 3: |
- | |
| 81 | //Transmit 1st byte for reading |
- | |
| 82 | if(TWSR != 0x40) // Error? |
89 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) ) |
| 83 | { |
- | |
| 84 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
- | |
| 85 | motorread++; |
90 | { |
| 86 | if(motorread >= MAX_MOTORS) motorread = 0; |
- | |
| 87 | I2C_Stop(); |
- | |
| 88 | twi_state = 0; |
91 | twi_state = 4; //jump over sending more data |
| 89 | } |
92 | } |
| 90 | else |
93 | else if(!(Motor[motor].SetPointLowerBits || (BLFlags & BLFLAG_SEND_CONFIG))) |
| 91 | { |
- | |
| 92 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
94 | { |
| 93 | I2C_ReceiveByte(); |
95 | twi_state = 4; // skip state |
| 94 | } |
- | |
| 95 | MissingMotor = missing_motor; |
- | |
| 96 | missing_motor = 0; |
- | |
| 97 | break; |
- | |
| 98 | case 4: //Read 1st byte and transmit 2nd Byte |
- | |
| 99 | Motor[motorread].Current = TWDR; |
- | |
| 100 | I2C_ReceiveLastByte(); //nack |
- | |
| 101 | break; |
- | |
| 102 | case 5: |
- | |
| 103 | //Read 2nd byte |
- | |
| 104 | Motor[motorread].MaxPWM = TWDR; |
- | |
| 105 | motorread++; // next motor |
- | |
| 106 | if(motorread >= MAX_MOTORS) motorread = 0; |
- | |
| 107 | I2C_Stop(); |
- | |
| 108 | twi_state = 0; |
- | |
| 109 | break; |
- | |
| 110 | - | ||
| 111 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 112 | // writing Gyro-Offset |
- | |
| 113 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 114 | case 8: |
- | |
| 115 | i2c_write_byte(0x98); // Address of the DAC |
- | |
| 116 | break; |
- | |
| 117 | case 9: |
- | |
| 118 | i2c_write_byte(0x10); // Update Channel A |
- | |
| 119 | break; |
- | |
| 120 | case 10: |
- | |
| 121 | i2c_write_byte(AnalogOffsetNick); // Value |
- | |
| 122 | break; |
- | |
| 123 | case 11: |
- | |
| 124 | i2c_write_byte(0x80); // Value |
- | |
| 125 | break; |
- | |
| 126 | case 12: |
- | |
| 127 | I2C_Stop(); |
- | |
| 128 | I2CTimeout = 10; |
- | |
| 129 | I2C_Start(); |
- | |
| 130 | break; |
- | |
| 131 | case 13: |
- | |
| 132 | i2c_write_byte(0x98); // Address of the DAC |
- | |
| 133 | break; |
- | |
| 134 | case 14: |
- | |
| 135 | i2c_write_byte(0x12); // Update Channel B |
- | |
| 136 | break; |
- | |
| 137 | case 15: |
- | |
| 138 | i2c_write_byte(AnalogOffsetRoll); // Value |
- | |
| 139 | break; |
- | |
| 140 | case 16: |
- | |
| 141 | i2c_write_byte(0x80); // Value |
- | |
| 142 | break; |
- | |
| 143 | case 17: |
- | |
| 144 | I2C_Stop(); |
- | |
| 145 | I2CTimeout = 10; |
- | |
| 146 | I2C_Start(); |
- | |
| 147 | break; |
- | |
| 148 | case 18: |
- | |
| 149 | i2c_write_byte(0x98); // Address of the DAC |
- | |
| 150 | break; |
- | |
| 151 | case 19: |
- | |
| 152 | i2c_write_byte(0x14); // Update Channel C |
- | |
| 153 | break; |
- | |
| 154 | case 20: |
- | |
| 155 | i2c_write_byte(AnalogOffsetGier); // Value |
- | |
| 156 | break; |
- | |
| 157 | case 21: |
- | |
| 158 | i2c_write_byte(0x80); // Value |
- | |
| 159 | break; |
- | |
| 160 | case 22: |
- | |
| 161 | I2C_Stop(); |
- | |
| 162 | I2CTimeout = 10; |
- | |
| 163 | twi_state = 0; |
- | |
| 164 | break; |
- | |
| 165 | default: twi_state = 0; |
96 | } |
| - | 97 | break; |
|
| - | 98 | case 2: // lower bits of setpoint (higher resolution) |
|
| - | 99 | i2c_write_byte((Motor[motor].SetPointLowerBits << 1) & 0x07); // send the lower bits of setpoint |
|
| - | 100 | // transmit config only on demand and the motors are not running and only for one motor per round trip |
|
| - | 101 | if( (BLFlags & BLFLAG_SEND_CONFIG) && !MotorenEin && (motor == motorread)) |
|
| - | 102 | { // prepare sending of configuration |
|
| - | 103 | byte_counter = 0; // reset send byte counter |
|
| 166 | break; |
104 | crc = 0xAA; // init checksum |
| 167 | } |
- | |
| 168 | TWCR |= 0x80; |
- | |
| 169 | } |
- | |
| 170 | */ |
- | |
| 171 | - | ||
| 172 | /* |
- | |
| 173 | if(DataArray[3] & 0x01) Parameter.PwmScaling = DataArray[4]; |
- | |
| 174 | if(DataArray[3] & 0x02) Parameter.MaxStrom = DataArray[5]; |
- | |
| 175 | if(DataArray[3] & 0x04) Parameter.TemperaturLimiter = DataArray[6]; |
- | |
| 176 | if(DataArray[3] & 0x08) Parameter.SkaliereStrom = DataArray[7]; |
- | |
| 177 | if(DataArray[3] & 0x10) Parameter.Bitconfig = DataArray[8]; |
- | |
| 178 | */ |
- | |
| 179 | - | ||
| 180 | //############################################################################ |
- | |
| 181 | SIGNAL (TWI_vect) |
- | |
| 182 | //############################################################################ |
- | |
| 183 | { // 2 3 4 5 6 7 8 9 |
- | |
| 184 | unsigned char test[] = {0,0,'#',0x1F,255,30,99,64,0x00,7,8,9,10}; |
- | |
| 185 | static unsigned char missing_motor,send = 0,crc = 0,read_more = 0; |
105 | } |
| 186 | J4High; |
- | |
| 187 | switch(twi_state++) |
- | |
| 188 | { |
- | |
| 189 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 190 | // Writing the Data |
- | |
| 191 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 192 | case 0: |
- | |
| 193 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
106 | else |
| 194 | if(motor == MAX_MOTORS) // writing finished -> now read |
- | |
| 195 | { |
- | |
| 196 | motor = 0; |
107 | { // jump to state for end of transmission for that motor |
| 197 | twi_state = 4; |
- | |
| 198 | i2c_write_byte(0x53+(motorread*2)); |
108 | twi_state = 4; |
| 199 | } |
- | |
| 200 | else i2c_write_byte(0x52+(motor*2)); |
- | |
| 201 | send = 0; |
109 | } |
| 202 | break; |
110 | break; |
| 203 | case 1: |
- | |
| 204 | i2c_write_byte(Motor[motor].SetPoint); |
- | |
| 205 | // if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) /*|| !Motor[motor].SetPointLowerBits*/) |
- | |
| 206 | if((!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) || !Motor[motor].SetPointLowerBits) && !TransmitBlConfig) |
111 | case 3: |
| 207 | twi_state++; // skip |
- | |
| 208 | break; |
- | |
| 209 | case 2: |
- | |
| 210 | if(!send++) |
112 | if(!byte_counter) // first byte? |
| 211 | { |
113 | { |
| 212 | i2c_write_byte((Motor[motor].SetPointLowerBits << 1) & 0x07); |
114 | i2c_write_byte(BL_CONF_SYNC_BYTE); |
| - | 115 | crc += BL_CONF_SYNC_BYTE; // update crc |
|
| 213 | crc = 0xAA; |
116 | pTxBuff = (uint8_t*)&BLConfig[motor]; // select configuration for motor |
| 214 | } |
- | |
| 215 | else |
117 | } |
| 216 | if(send == 9) i2c_write_byte(crc) |
- | |
| 217 | else |
- | |
| 218 | { |
118 | else if(byte_counter >= sizeof(BLConfig_t)+1) // last byte? |
| 219 | crc += test[send]; |
119 | { // send crc byte at the end |
| 220 | i2c_write_byte(test[send]); |
120 | i2c_write_byte(crc); |
| 221 | } |
121 | } |
| 222 | if(TransmitBlConfig && !MotorenEin && motor == motorread && (Motor[motorread].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
122 | else // transmit configuration to BLs |
| - | 123 | { |
|
| - | 124 | i2c_write_byte(pTxBuff[byte_counter-1]); // submit next byte |
|
| 223 | { |
125 | crc += pTxBuff[byte_counter-1]; // update crc |
| 224 | if(send <= 10) twi_state--; |
126 | twi_state = 3; // stay in this state |
| - | 127 | } |
|
| 225 | } |
128 | byte_counter++; // next byte |
| 226 | break; |
129 | break; |
| 227 | case 3: |
- | |
| - | 130 | case 4: |
|
| 228 | motor++; |
131 | |
| 229 | if(TWSR == 0x30) |
132 | if(TWSR == 0x30) |
| 230 | { |
133 | { |
| 231 | if(!missing_motor) missing_motor = motor; |
134 | if(!missing_motor) missing_motor = motor + 1; |
| 232 | if((Motor[motor-1].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor-1].State++; // increment error counter and handle overflow |
135 | if((Motor[motor].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor].State++; // increment error counter and handle overflow |
| 233 | } |
136 | } |
| 234 | I2C_Stop(); |
137 | I2C_Stop(); |
| - | 138 | I2CTimeout = 10; |
|
| 235 | I2CTimeout = 10; |
139 | motor++; |
| 236 | twi_state = 0; |
140 | twi_state = 0; |
| 237 | I2C_Start(); |
141 | I2C_Start(); |
| 238 | break; |
142 | break; |
| 239 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
143 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 240 | // Reading Data |
144 | // Reading Data |
| 241 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
145 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 242 | case 4: |
146 | case 5: |
| 243 | //Transmit 1st byte for reading |
147 | //Transmit 1st byte for reading |
| 244 | if(TWSR != 0x40) // Error? |
148 | if(TWSR != 0x40) // Error? |
| 245 | { |
149 | { |
| - | 150 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
|
| - | 151 | if(++motorread >= MAX_MOTORS) |
|
| - | 152 | { |
|
| 246 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
153 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
| 247 | motorread++; |
154 | motorread = 0; |
| - | 155 | if(++motorread_temperature >= MAX_MOTORS) |
|
| - | 156 | { |
|
| - | 157 | motorread_temperature = 0; |
|
| - | 158 | BLFlags &= ~BLFLAG_READ_VERSION; |
|
| - | 159 | } |
|
| 248 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; ReadTemperature = ++ReadTemperature & 0x0f;} |
160 | } |
| 249 | I2C_Stop(); |
161 | I2C_Stop(); |
| - | 162 | twi_state = 0; |
|
| 250 | twi_state = 0; |
163 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 251 | } |
164 | } |
| 252 | else |
165 | else |
| 253 | { |
166 | { |
| 254 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
167 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
| 255 | if(motorread == ReadTemperature || TransmitBlConfig) |
168 | if(motorread == motorread_temperature) |
| 256 | { |
169 | { |
| 257 | read_more = 1; |
170 | read_more = 1; |
| 258 | I2C_ReceiveByte(); |
171 | I2C_ReceiveByte(); |
| 259 | } |
172 | } |
| 260 | else |
173 | else |
| 261 | { |
- | |
| 262 | I2C_ReceiveLastByte(); |
174 | { |
| - | 175 | read_more = 0; |
|
| 263 | read_more = 0; |
176 | I2C_ReceiveLastByte(); |
| 264 | } |
177 | } |
| 265 | } |
178 | } |
| 266 | MissingMotor = missing_motor; |
179 | MissingMotor = missing_motor; |
| 267 | missing_motor = 0; |
180 | missing_motor = 0; |
| 268 | break; |
181 | break; |
| 269 | case 5: //Read 1st byte and transmit 2nd Byte |
182 | case 6: //Read 1st byte and transmit 2nd Byte |
| 270 | Motor[motorread].Current = TWDR; |
183 | Motor[motorread].Current = TWDR; |
| - | 184 | if(read_more) |
|
| - | 185 | { |
|
| - | 186 | I2C_ReceiveByte() //ack |
|
| - | 187 | ||
| 271 | if(read_more) I2C_ReceiveByte() //nack |
188 | } |
| 272 | else |
189 | else |
| 273 | { |
190 | { |
| - | 191 | if(++motorread >= MAX_MOTORS) |
|
| - | 192 | { |
|
| - | 193 | motorread = 0; // restart from beginning |
|
| 274 | motorread++; // next motor |
194 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
| - | 195 | if(++motorread_temperature >= MAX_MOTORS) |
|
| - | 196 | { |
|
| - | 197 | motorread_temperature = 0; |
|
| - | 198 | BLFlags &= ~BLFLAG_READ_VERSION; |
|
| - | 199 | } |
|
| 275 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; ReadTemperature = ++ReadTemperature & 0x0f;} |
200 | } |
| 276 | I2C_Stop(); |
201 | I2C_Stop(); |
| - | 202 | twi_state = 0; |
|
| 277 | twi_state = 0; |
203 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 278 | } |
204 | } |
| 279 | break; |
205 | break; |
| 280 | case 6: |
206 | case 7: |
| 281 | //Read 2nd byte and transmit 3rd Byte |
207 | //Read 2nd byte and transmit 3rd Byte |
| - | 208 | Motor[motorread].MaxPWM = TWDR; |
|
| - | 209 | if(BLFlags & BLFLAG_READ_VERSION) |
|
| 282 | Motor[motorread].MaxPWM = TWDR; |
210 | { |
| 283 | if(TWDR == 250) |
211 | if(TWDR == 250) |
| 284 | { |
212 | { |
| 285 | if(!MotorenEin) Motor[motorread].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
213 | if(!MotorenEin) Motor[motorread].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
| - | 214 | } |
|
| - | 215 | else |
|
| 286 | } |
216 | { |
| - | 217 | Motor[motorread].Version = 0; |
|
| - | 218 | } |
|
| 287 | else if(TransmitBlConfig) Motor[motorread].Version = 0; |
219 | } |
| 288 | I2C_ReceiveLastByte(); //nack |
220 | I2C_ReceiveLastByte(); //nack |
| 289 | break; |
221 | break; |
| 290 | case 7: // read next |
222 | case 8: // read next |
| 291 | Motor[motorread].Temperature = TWDR; |
223 | Motor[motorread].Temperature = TWDR; |
| - | 224 | if(++motorread >= MAX_MOTORS) |
|
| 292 | motorread++; // next motor |
225 | { |
| - | 226 | motorread = 0; // restart reading of first motor |
|
| - | 227 | BLFlags &= ~BLFLAG_SEND_CONFIG; |
|
| - | 228 | if(++motorread_temperature >= MAX_MOTORS) |
|
| - | 229 | { |
|
| - | 230 | motorread_temperature = 0; |
|
| - | 231 | BLFlags &= ~BLFLAG_READ_VERSION; |
|
| - | 232 | } |
|
| 293 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; } |
233 | } |
| - | 234 | I2C_Stop(); |
|
| 294 | I2C_Stop(); |
235 | BLFlags |= BLFLAG_TX_COMPLETE; |
| 295 | twi_state = 0; |
236 | twi_state = 0; |
| 296 | break; |
237 | break; |
| 297 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
238 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 298 | // writing Gyro-Offset |
239 | // writing Gyro-Offset |
| Line 353... | Line 294... | ||
| 353 | } |
294 | } |
| 354 | TWCR |= 0x80; |
295 | TWCR |= 0x80; |
| 355 | J4Low; |
296 | J4Low; |
| 356 | } |
297 | } |
| Line -... | Line 298... | ||
| - | 298 | ||
| - | 299 | void I2C_SendBLConfig(void) |
|
| - | 300 | { |
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| - | 301 | unsigned char i; |
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| - | 302 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
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| - | 303 | BLFlags |= BLFLAG_SEND_CONFIG; // enable sending of BL config |
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| - | 304 | for(i = 0; i < MAX_MOTORS; i++) |
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| - | 305 | { |
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| - | 306 | Motor[i].SetPoint = 0; |
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| - | 307 | Motor[i].SetPointLowerBits = 0; |
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| - | 308 | } |
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| - | 309 | motorread = 0; |
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| - | 310 | // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
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| - | 311 | do |
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| - | 312 | { |
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| - | 313 | twi_state = 0; |
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| - | 314 | I2C_Start(); // start an i2c transmission |
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| - | 315 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
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| - | 316 | }while(BLFlags & BLFLAG_SEND_CONFIG); // repeat until the BL config has been send to all motors |
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| - | 317 | } |
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| - | 318 | ||
| - | 319 | ||