WebSVN - FlightCtrl - Diff - Rev 2443 and 2466

 #include "analog.h"
 #include "uart.h"
 #include "timer0.h"
 #include "main.h"
-volatile uint8_t twi_state      = TWI_STATE_MOTOR_TX;
+volatile uint8_t twi_state      = TWI_STATE_MOTOR_TX, ReadBlSize = 9;
 volatile uint8_t dac_channel    = 0;
 volatile uint8_t motor_write    = 0;
 volatile uint8_t motor_read     = 0;
 volatile uint8_t I2C_TransferActive = 0;
         motor_write     = 0;
         motor_read              = 0;
         if(clear) for(i=0; i < MAX_MOTORS; i++)
         {
-                Motor[i].Version        = 0;
+                Motor[i].Version                = 0;
-                Motor[i].SetPoint       = 0;
+                Motor[i].SetPoint               = 0;
                 Motor[i].SetPointLowerBits      = 0;
-                Motor[i].State          = 0;
+                Motor[i].State                  = 0;
-                Motor[i].ReadMode       = BL_READMODE_STATUS;
+                Motor[i].ReadMode               = BL_READMODE_STATUS;
-                Motor[i].Current        = 0;
+                Motor[i].Current                = 0;
-                Motor[i].MaxPWM         = 0;
+                Motor[i].MaxPWM                 = 0;
-                Motor[i].Temperature = 0;
+                Motor[i].Temperature    = 0;
+                Motor[i].NotReadyCnt    = 0;
+        Motor[i].reserved1              = 0;
+        Motor[i].reserved2              = 0;
+        Motor[i].Voltage                = 0;
+        Motor[i].SlaveI2cError  = 0;
+        Motor[i].VersionMajor   = 0;
-                Motor[i].NotReadyCnt = 0;
+        Motor[i].VersionMinor   = 0;
+        }
     sei();
         SREG = sreg;
                                                         BuffLen = sizeof(BLConfig_t);
                                                         Motor[motor_read].ReadMode = BL_READMODE_STATUS; // only once
                                                         break;
                                                 case BL_READMODE_STATUS:
                                                         pBuff = (uint8_t*)&(Motor[motor_read].Current);
-                                                        if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp
+                                                        if(motor_read == motor_read_temperature) BuffLen = ReadBlSize; // read Current, MaxPwm & Temp (is 3 or 9)
                                                         else BuffLen = 1;// read Current only
                                                         break;
+                                        }
+                                }
                                 else // old BL version
+}
 uint8_t I2C_WriteBLConfig(uint8_t motor)
+{
-        uint8_t i;
-        uint16_t timer;
+        uint8_t i, packets;
         uint16_t timer;
         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)
         // check BL configuration to send
         if((BLConfig.Revision & 0x0B) != 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
+    packets = Max_I2C_Packets;
+        Max_I2C_Packets = 12;
+        I2CTimeout = 100;
-        timer = SetDelay(2000);
+        timer = SetDelay(100);
         while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer));   //wait for complete transfer
-        // prepare the bitmask
-        if(!motor) // 0 means all
-        {
-                BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration
-        }
-        else //only one specific motor
+        // prepare the bitmask
-        {
-                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;
         if(!motor) BLConfig_WriteMask = 0x0FFF;                 // 0 means all -> all motors at once with the same configuration
+        else BLConfig_WriteMask = 0x0001<<(motor-1);    //only one specific motor
+        motor_write = 0;
         motor_read      = 0;
-        motor_write = 0;
+        // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
-        // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms)
+        timer = SetDelay(1000);
         do
         {
+                I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
-                I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission
+                while(!(BLFlags & BLFLAG_TX_COMPLETE)  && !CheckDelay(timer)); //wait for complete transfer
-                while(!(BLFlags & BLFLAG_TX_COMPLETE)  && !CheckDelay(timer)); //wait for complete transfer
+        } while(BLConfig_WriteMask  && !CheckDelay(timer)); // repeat until the BL config has been sent
-        }while(BLConfig_WriteMask  && !CheckDelay(timer)); // repeat until the BL config has been sent
+    Max_I2C_Packets = packets;
         if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST);
         if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST);           // motor does not exist!
         if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE);
         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!
-        timer = SetDelay(2000);
+        timer = SetDelay(1000);
         while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer));                           //wait for complete transfer
-        // prepare the bitmask
-        BLConfig_ReadMask = 0x0001<<(motor-1);
-        for(i = 0; i < MAX_MOTORS; i++)
-        {
+        // prepare the bitmask
-                if((0x0001<<i) & BLConfig_ReadMask)
-                {
-                        Motor[i].SetPoint = 0;
-                        Motor[i].SetPointLowerBits = 0;
-                }
+        BLConfig_ReadMask = 0x0001<<(motor-1);
         motor_write = 0;
-        motor_read = 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) && !CheckDelay(timer)); //wait for complete transfer
-        }while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors
+        } while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors
         // validate result
         if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison

Subversion Repositories FlightCtrl

(root)/tags/V2.10a/twimaster.c @ 2702 - Rev 2443 → 2466