WebSVN - FlightCtrl - Diff - Rev 1662 and 1665



#include <util/twi.h>
#include "eeprom.h"
#include "twimaster.h"
#include "fc.h"
#include "analog.h"
#include "uart.h"

 
volatile uint8_t twi_state      = TWI_STATE_MOTOR_TX;
volatile uint8_t dac_channel    = 0;
volatile uint8_t motor_write    = 0;

                        break;

 
                case 22:
                        I2C_Stop(TWI_STATE_MOTOR_TX);
                        I2CTimeout = 10;
                        // repeat case 18...22 until all DAC Channels are updated
                        if(dac_channel < 2)
                        {
                                dac_channel ++;         // jump to next channel
                                I2C_Start(TWI_STATE_GYRO_OFFSET_TX);            // start transmission for next channel
                        }
                        else
                        {
                                dac_channel = 0; // reset dac channel counter
                                BLFlags |= BLFLAG_TX_COMPLETE;
                        }

                        break;
 

 
uint8_t I2C_WriteBLConfig(uint8_t motor)
{

        uint8_t i;
 
        if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING);        // not when motors are running!
        if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST);                   // motor does not exist!
        if(motor)
        {
                if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
                if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
        }
        // check BL configuration to send
        if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison

        i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);

        if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
 

        }
        else //only one specific motor
        {
                BLConfig_WriteMask = 0x0001<<(motor-1);
        }
 
        for(i = 0; i < MAX_MOTORS; i++)
        {
                if((0x0001<<i) & BLConfig_WriteMask)
                {
                        Motor[i].SetPoint = 0;
                        Motor[i].SetPointLowerBits = 0;
                }
        }
 
        motor_write = 0;
        // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
        do
        {
                I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
                while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
        }while(BLConfig_WriteMask); // repeat until the BL config has been sent
        return(BLCONFIG_SUCCESS);
}

 
uint8_t I2C_ReadBLConfig(uint8_t motor)
{

        uint8_t i;
 
        if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
        if((motor == 0) || (motor > MAX_MOTORS)) return (BLCONFIG_ERR_MOTOR_NOT_EXIST);                 // motor does not exist!
        if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
        if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!

 
        while(!(BLFlags & BLFLAG_TX_COMPLETE));                                 //wait for complete transfer
 
        // prepare the bitmask
        BLConfig_ReadMask = 0x0001<<(motor-1);
 
        for(i = 0; i < MAX_MOTORS; i++)
        {
                if((0x0001<<i) & BLConfig_ReadMask)
                {
                        Motor[i].SetPoint = 0;
                        Motor[i].SetPointLowerBits = 0;
                }
        }
 
        motor_read = 0;
        BLConfig.Revision = 0; // bad revision
        BLConfig.crc = 0;          // bad checksum
        // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
        do
        {
                I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
                while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
        }while(BLConfig_ReadMask); // repeat until the BL config has been received from all motors
        // validate result
        if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
        i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
        if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum

Rev 1662	Rev 1665
Line 55...	Line 55...
55	#include <util/twi.h>	55	#include <util/twi.h>
56	#include "eeprom.h"	56	#include "eeprom.h"
57	#include "twimaster.h"	57	#include "twimaster.h"
58	#include "fc.h"	58	#include "fc.h"
59	#include "analog.h"	59	#include "analog.h"
-		60	#include "uart.h"
Line 60...	Line 61...
60		61
61	volatile uint8_t twi_state = TWI_STATE_MOTOR_TX;	62	volatile uint8_t twi_state = TWI_STATE_MOTOR_TX;
62	volatile uint8_t dac_channel = 0;	63	volatile uint8_t dac_channel = 0;
63	volatile uint8_t motor_write = 0;	64	volatile uint8_t motor_write = 0;
Line 347...	Line 348...
347	break;	348	break;
Line 348...	Line 349...
348		349
349	case 22:	350	case 22:
350	I2C_Stop(TWI_STATE_MOTOR_TX);	351	I2C_Stop(TWI_STATE_MOTOR_TX);
351	I2CTimeout = 10;	352	I2CTimeout = 10;
352	// repeat case 7...10 until all DAC Channels are updated	353	// repeat case 18...22 until all DAC Channels are updated
353	if(dac_channel < 2)	354	if(dac_channel < 2)
354	{	355	{
355	dac_channel ++; // jump to next channel	356	dac_channel ++; // jump to next channel
356	I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel	357	I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel
357	}	358	}
358	else	359	else
359	{ // data to last motor send	360	{
-		361	dac_channel = 0; // reset dac channel counter
360	dac_channel = 0; // reset dac channel counter	362	BLFlags \|= BLFLAG_TX_COMPLETE;
361	}	363	}
Line 362...	Line 364...
362	break;	364	break;
363		365
Line 375...	Line 377...
375		377
376	uint8_t I2C_WriteBLConfig(uint8_t motor)	378	uint8_t I2C_WriteBLConfig(uint8_t motor)
377	{	379	{
Line 378...	Line 380...
378	uint8_t i;	380	uint8_t i;
379		381
380	if(MotorenEin) return(0); // not when motors are running!	382	if(MotorenEin \|\| PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
381	if(motor > MAX_MOTORS) return (0); // motor does not exist!	383	if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
382	if(motor)	384	if(motor)
383	{	385	{
384	if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(0); // motor does not exist!	386	if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
385	if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(0); // not a new BL!	387	if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
386	}	388	}
387	// check BL configuration to send	389	// check BL configuration to send
388	if(BLConfig.Revision != BLCONFIG_REVISION) return (0); // bad revison	390	if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
Line 389...	Line 391...
389	i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);	391	i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
Line 390...	Line 392...
390	if(i != BLConfig.crc) return(0); // bad checksum	392	if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum
391		393
Line 398...	Line 400...
398	}	400	}
399	else //only one specific motor	401	else //only one specific motor
400	{	402	{
401	BLConfig_WriteMask = 0x0001<<(motor-1);	403	BLConfig_WriteMask = 0x0001<<(motor-1);
402	}	404	}
403		-
404	for(i = 0; i < MAX_MOTORS; i++)	405	for(i = 0; i < MAX_MOTORS; i++)
405	{	406	{
406	if((0x0001<<i) & BLConfig_WriteMask)	407	if((0x0001<<i) & BLConfig_WriteMask)
407	{	408	{
408	Motor[i].SetPoint = 0;	409	Motor[i].SetPoint = 0;
409	Motor[i].SetPointLowerBits = 0;	410	Motor[i].SetPointLowerBits = 0;
410	}	411	}
411	}	412	}
-		413
412	motor_write = 0;	414	motor_write = 0;
413	// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)	415	// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
414	do	416	do
415	{	417	{
416	I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission	418	I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
417	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer	419	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
418	}while(BLConfig_WriteMask); // repeat until the BL config has been sent	420	}while(BLConfig_WriteMask); // repeat until the BL config has been sent
419	return(1);	421	return(BLCONFIG_SUCCESS);
420	}	422	}
Line 421...	Line 423...
421		423
422	uint8_t I2C_ReadBLConfig(uint8_t motor)	424	uint8_t I2C_ReadBLConfig(uint8_t motor)
423	{	425	{
Line 424...	Line 426...
424	uint8_t i;	426	uint8_t i;
425		427
426	if(MotorenEin) return(0); // not when motors are running!	428	if(MotorenEin \|\| PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
427	if((motor == 0) \|\| (motor > MAX_MOTORS)) return (0); // motor does not exist!	429	if((motor == 0) \|\| (motor > MAX_MOTORS)) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
-		430	if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
428	if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(0); // motor does not exist!	431	if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!
Line 429...	Line 432...
429	if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(0); // not a new BL!	432
430	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer	433	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
-		434
431		435	// prepare the bitmask
432	// prepare the bitmask	436	BLConfig_ReadMask = 0x0001<<(motor-1);
433	BLConfig_ReadMask = 0x0001<<(motor-1);	437
434	for(i = 0; i < MAX_MOTORS; i++)	438	for(i = 0; i < MAX_MOTORS; i++)
435	{	439	{
436	if((0x0001<<i) & BLConfig_ReadMask)	440	if((0x0001<<i) & BLConfig_ReadMask)
437	{	441	{
438	Motor[i].SetPoint = 0;	442	Motor[i].SetPoint = 0;
-		443	Motor[i].SetPointLowerBits = 0;
439	Motor[i].SetPointLowerBits = 0;	444	}
440	}	445	}
441	}	446
442	motor_read = 0;	447	motor_read = 0;
443	BLConfig.Revision = 0; // bad revision	448	BLConfig.Revision = 0; // bad revision
444	BLConfig.crc = 0; // bad checksum	449	BLConfig.crc = 0; // bad checksum
445	// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)	450	// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
446	do	451	do
447	{	452	{
448	I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission	453	I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
449	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer	454	while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer
450	}while(BLConfig_ReadMask); // repeat until the BL config has been received from all motors	455	}while(BLConfig_ReadMask); // repeat until the BL config has been received from all motors
451	// validate result	456	// validate result
452	if(BLConfig.Revision != BLCONFIG_REVISION) return (0); // bad revison	457	if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison
453	i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);	458	i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1);
-		459	if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum

Subversion Repositories FlightCtrl

(root)/tags/V2.10a/twimaster.c @ 2702 - Rev 1662 → 1665