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- BST change to i2c interrupt

Browse source 
- Add to receive heartbeat from CorePro otherwise, will soft reset the i2c.
This commit is contained in:
Larry (TBS) 2016-03-23 19:22:06 +08:00
parent 391dad4a7b
commit 4d481e9c1f
8 changed files with 252 additions and 277 deletions
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74
src/main/io/i2c_bst.c
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@ -290,7 +290,6 @@ static const char pidnames[] =
"MAG;"
"VEL;";
#define DATA_BUFFER_SIZE 64
#define BOARD_IDENTIFIER_LENGTH 4
typedef struct box_e {
@ -332,8 +331,8 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
};
uint8_t readData[DATA_BUFFER_SIZE];
uint8_t writeData[DATA_BUFFER_SIZE];
extern uint8_t readData[DATA_BUFFER_SIZE];
extern uint8_t writeData[DATA_BUFFER_SIZE];
/*************************************************************************************************/
uint8_t writeBufferPointer = 1;
@ -354,7 +353,12 @@ static void bstWrite32(uint32_t data)
bstWrite16((uint16_t)(data >> 16));
}
uint8_t readBufferPointer = 3;
uint8_t readBufferPointer = 4;
static uint8_t bstCurrentAddress(void)
{
return readData[0];
}
static uint8_t bstRead8(void)
{
return readData[readBufferPointer++] & 0xff;
@ -376,12 +380,12 @@ static uint32_t bstRead32(void)
static uint8_t bstReadDataSize(void)
{
return readData[0]-4;
return readData[1]-5;
}
static uint8_t bstReadCRC(void)
{
return readData[readData[0]];
return readData[readData[1]+1];
}
static void s_struct(uint8_t *cb, uint8_t siz)
@ -495,6 +499,7 @@ static void bstWriteDataflashReadReply(uint32_t address, uint8_t size)
/*************************************************************************************************/
#define BST_USB_COMMANDS 0x0A
#define BST_GENERAL_HEARTBEAT 0x0B
#define BST_USB_DEVICE_INFO_REQUEST 0x04 //Handshake
#define BST_USB_DEVICE_INFO_FRAME 0x05 //Handshake
#define BST_READ_COMMANDS 0x26
@ -999,7 +1004,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
// we do not know how to handle the (valid) message, indicate error BST
return false;
}
bstSlaveWrite(writeData);
//bstSlaveWrite(writeData);
return true;
}
@ -1236,7 +1241,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
if (ARMING_FLAG(ARMED)) {
ret = BST_FAILED;
bstWrite8(ret);
bstSlaveWrite(writeData);
//bstSlaveWrite(writeData);
return ret;
}
writeEEPROM();
@ -1465,7 +1470,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
ret = BST_FAILED;
}
bstWrite8(ret);
bstSlaveWrite(writeData);
//bstSlaveWrite(writeData);
if(ret == BST_FAILED)
return false;
return true;
@ -1482,18 +1487,19 @@ static bool bstSlaveUSBCommandFeedback(/*uint8_t bstFeedback*/)
bstWrite8(FC_VERSION_MINOR); //Firmware ID
bstWrite8(0x00);
bstWrite8(0x00);
bstSlaveWrite(writeData);
//bstSlaveWrite(writeData);
return true;
}
/*************************************************************************************************/
bool slaveModeOn = false;
static void bstSlaveProcessInCommand(void)
#define BST_RESET_TIME 1.2*1000*1000 //micro-seconds
uint32_t resetBstTimer = 0;
bool needResetCheck = true;
void bstProcessInCommand(void)
{
if(bstSlaveRead(readData)) {
slaveModeOn = true;
readBufferPointer = 1;
//Check if the CRC match
readBufferPointer = 2;
if(bstCurrentAddress() == CLEANFLIGHT_FC) {
if(bstReadCRC() == CRC8 && bstRead8()==BST_USB_COMMANDS) {
uint8_t i;
writeBufferPointer = 1;
@ -1519,8 +1525,23 @@ static void bstSlaveProcessInCommand(void)
break;
}
}
} else {
slaveModeOn = false;
} else if(bstCurrentAddress() == 0x00) {
if(bstReadCRC() == CRC8 && bstRead8()==BST_GENERAL_HEARTBEAT) {
resetBstTimer = micros();
needResetCheck = true;
}
}
}
void resetBstChecker(void)
{
if(needResetCheck) {
uint32_t currentTimer = micros();
if(currentTimer >= (resetBstTimer + BST_RESET_TIME))
{
bstTimeoutUserCallback();
needResetCheck = false;
}
}
}
@ -1555,26 +1576,13 @@ void taskBstMasterProcess(void)
if(sensors(SENSOR_GPS) && !bstWriteBusy())
writeGpsPositionPrameToBST();
}
}
void taskBstCheckCommand(void)
{
//Check if the BST input command available to out address
bstSlaveProcessInCommand();
bstMasterWriteLoop();
if (isRebootScheduled) {
stopMotors();
handleOneshotFeatureChangeOnRestart();
systemReset();
}
}
void bstMasterWriteLoop(void);
void taskBstReadWrite(void)
{
taskBstCheckCommand();
if(!slaveModeOn)
bstMasterWriteLoop();
resetBstChecker();
}
/*************************************************************************************************/