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Transfer a synchronization message to make I2C recovery more robust.

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This commit is contained in:
László Monda
2017-10-04 02:24:34 +02:00
parent efb0f982d2
commit c707f0e408
4 changed files with 43 additions and 1 deletions
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24
right/src/slave_drivers/uhk_module_driver.c
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@@ -51,7 +51,7 @@ void UhkModuleSlaveDriver_Init(uint8_t uhkModuleDriverId)
uhkModuleTargetVars->ledPwmBrightness = 0;
uhk_module_phase_t *uhkModulePhase = &uhkModuleState->phase;
*uhkModulePhase = UhkModulePhase_RequestModuleFeatures;
*uhkModulePhase = UhkModulePhase_RequestSync;
uhk_module_i2c_addresses_t *uhkModuleI2cAddresses = moduleIdsToI2cAddresses + uhkModuleDriverId;
uhkModuleState->firmwareI2cAddress = uhkModuleI2cAddresses->firmwareI2cAddress;
@@ -70,6 +70,28 @@ status_t UhkModuleSlaveDriver_Update(uint8_t uhkModuleDriverId)
switch (*uhkModulePhase) {
// Sync communication
case UhkModulePhase_RequestSync:
txMessage.data[0] = SlaveCommand_RequestProperty;
txMessage.data[1] = SlaveProperty_Sync;
txMessage.length = 2;
status = tx(i2cAddress);
*uhkModulePhase = UhkModulePhase_ReceiveSync;
break;
case UhkModulePhase_ReceiveSync:
status = rx(rxMessage, i2cAddress);
*uhkModulePhase = UhkModulePhase_ProcessSync;
break;
case UhkModulePhase_ProcessSync: {
bool isMessageValid = CRC16_IsMessageValid(rxMessage);
bool isSyncValid = memcmp(rxMessage->data, SlaveSyncString, SLAVE_SYNC_STRING_LENGTH) == 0;
status = kStatus_Uhk_NoTransfer;
*uhkModulePhase = isSyncValid && isMessageValid
? UhkModulePhase_RequestModuleFeatures
: UhkModulePhase_RequestSync;
break;
}
// Get module features
case UhkModulePhase_RequestModuleFeatures:
txMessage.data[0] = SlaveCommand_RequestProperty;