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| Rev 1650 | Rev 1651 | ||
|---|---|---|---|
| Line 97... | Line 97... | ||
| 97 | } |
97 | } |
| 98 | break; |
98 | break; |
| 99 | case 2: // lower bits of setpoint (higher resolution) |
99 | case 2: // lower bits of setpoint (higher resolution) |
| 100 | i2c_write_byte((Motor[motor].SetPointLowerBits << 1) & 0x07); // send the lower bits of setpoint |
100 | i2c_write_byte((Motor[motor].SetPointLowerBits << 1) & 0x07); // send the lower bits of setpoint |
| 101 | // transmit config only on demand and the motors are not running and only for one motor per round trip |
101 | // transmit config only on demand and the motors are not running and only for one motor per round trip |
| 102 | if( (BLFlags & BLFLAG_SEND_CONFIG) && !MotorenEin && (motor == motorread)) |
102 | if( (BLFlags & BLFLAG_SEND_CONFIG) && (motor == motorread)) |
| 103 | { // prepare sending of configuration |
103 | { // prepare sending of configuration |
| 104 | byte_counter = 0; // reset send byte counter |
104 | byte_counter = 0; // reset send byte counter |
| 105 | crc = 0xAA; // init checksum |
105 | crc = 0xAA; // init checksum |
| 106 | } |
106 | } |
| 107 | else |
107 | else |
| Line 113... | Line 113... | ||
| 113 | if(!byte_counter) // first byte? |
113 | if(!byte_counter) // first byte? |
| 114 | { |
114 | { |
| 115 | i2c_write_byte(BL_CONF_SYNC_BYTE); |
115 | i2c_write_byte(BL_CONF_SYNC_BYTE); |
| 116 | crc += BL_CONF_SYNC_BYTE; // update crc |
116 | crc += BL_CONF_SYNC_BYTE; // update crc |
| 117 | pTxBuff = (uint8_t*)&BLConfig[motor]; // select configuration for motor |
117 | pTxBuff = (uint8_t*)&BLConfig[motor]; // select configuration for motor |
| - | 118 | twi_state = 3; // keep state 3 |
|
| 118 | } |
119 | } |
| 119 | else if(byte_counter >= sizeof(BLConfig_t)+1) // last byte? |
120 | else if(byte_counter == sizeof(BLConfig_t) + 1) |
| 120 | { // send crc byte at the end |
121 | { // send crc byte at the end |
| 121 | i2c_write_byte(crc); |
122 | i2c_write_byte(crc); |
| - | 123 | twi_state = 3; // keep state 3 |
|
| - | 124 | } |
|
| - | 125 | else if(byte_counter > sizeof(BLConfig_t) + 1) |
|
| - | 126 | { |
|
| - | 127 | i2c_write_byte(0); |
|
| - | 128 | // jump to case 4 |
|
| 122 | } |
129 | } |
| 123 | else // transmit configuration to BLs |
130 | else // transmit configuration to BLs |
| 124 | { |
131 | { |
| 125 | i2c_write_byte(pTxBuff[byte_counter-1]); // submit next byte |
132 | i2c_write_byte(pTxBuff[byte_counter-1]); // submit next byte |
| 126 | crc += pTxBuff[byte_counter-1]; // update crc |
133 | crc += pTxBuff[byte_counter-1]; // update crc |
| 127 | twi_state = 3; // stay in this state |
134 | twi_state = 3;// keep state 3 |
| 128 | } |
135 | } |
| 129 | byte_counter++; // next byte |
136 | byte_counter++; // next byte |
| 130 | break; |
137 | break; |
| 131 | case 4: |
138 | case 4: |
| Line 298... | Line 305... | ||
| 298 | } |
305 | } |
| Line 299... | Line 306... | ||
| 299 | 306 | ||
| 300 | void I2C_SendBLConfig(void) |
307 | void I2C_SendBLConfig(void) |
| 301 | { |
308 | { |
| - | 309 | unsigned char i; |
|
| 302 | unsigned char i; |
310 | if(MotorenEin) return; |
| 303 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
311 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
| - | 312 | BLFlags |= BLFLAG_SEND_CONFIG; // enable sending of BL config |
|
| 304 | BLFlags |= BLFLAG_SEND_CONFIG; // enable sending of BL config |
313 | // setpoints should be zero |
| 305 | for(i = 0; i < MAX_MOTORS; i++) |
314 | for(i = 0; i < MAX_MOTORS; i++) |
| 306 | { |
315 | { |
| 307 | Motor[i].SetPoint = 0; |
316 | Motor[i].SetPoint = 0; |
| 308 | Motor[i].SetPointLowerBits = 0; |
317 | Motor[i].SetPointLowerBits = 0; |