|
|
@ -332,7 +332,7 @@ void TMC_Task(void)
|
|
|
|
|
|
|
|
|
|
|
|
TMC_MessageHeader_t MessageHeader;
|
|
|
|
TMC_MessageHeader_t MessageHeader;
|
|
|
|
|
|
|
|
|
|
|
|
/* Check if a TMC packet has been received */
|
|
|
|
/* Try to read in a TMC message from the interface, process if one is available */
|
|
|
|
if (ReadTMCHeader(&MessageHeader))
|
|
|
|
if (ReadTMCHeader(&MessageHeader))
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* Indicate busy */
|
|
|
|
/* Indicate busy */
|
|
|
@ -366,6 +366,12 @@ void TMC_Task(void)
|
|
|
|
IsTMCBulkOUTReset = false;
|
|
|
|
IsTMCBulkOUTReset = false;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/** Attempts to read in the TMC message header from the TMC interface.
|
|
|
|
|
|
|
|
*
|
|
|
|
|
|
|
|
* \param[out] MessageHeader Pointer to a location where the read header (if any) should be stored
|
|
|
|
|
|
|
|
*
|
|
|
|
|
|
|
|
* \return Boolean true if a header was read, false otherwise
|
|
|
|
|
|
|
|
*/
|
|
|
|
bool ReadTMCHeader(TMC_MessageHeader_t* const MessageHeader)
|
|
|
|
bool ReadTMCHeader(TMC_MessageHeader_t* const MessageHeader)
|
|
|
|
{
|
|
|
|
{
|
|
|
|
/* Select the Data Out endpoint */
|
|
|
|
/* Select the Data Out endpoint */
|
|
|
@ -382,7 +388,7 @@ bool ReadTMCHeader(TMC_MessageHeader_t* const MessageHeader)
|
|
|
|
CurrentTransferTag = MessageHeader->Tag;
|
|
|
|
CurrentTransferTag = MessageHeader->Tag;
|
|
|
|
|
|
|
|
|
|
|
|
/* Indicate if the command has been aborted or not */
|
|
|
|
/* Indicate if the command has been aborted or not */
|
|
|
|
return !IsTMCBulkOUTReset;
|
|
|
|
return !(IsTMCBulkOUTReset);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
bool WriteTMCHeader(TMC_MessageHeader_t* const MessageHeader)
|
|
|
|
bool WriteTMCHeader(TMC_MessageHeader_t* const MessageHeader)
|
|
|
@ -402,7 +408,7 @@ bool WriteTMCHeader(TMC_MessageHeader_t* const MessageHeader)
|
|
|
|
Endpoint_Write_Stream_LE(MessageHeader, sizeof(TMC_MessageHeader_t), StreamCallback_AbortINOnRequest);
|
|
|
|
Endpoint_Write_Stream_LE(MessageHeader, sizeof(TMC_MessageHeader_t), StreamCallback_AbortINOnRequest);
|
|
|
|
|
|
|
|
|
|
|
|
/* Indicate if the command has been aborted or not */
|
|
|
|
/* Indicate if the command has been aborted or not */
|
|
|
|
return !IsTMCBulkINReset;
|
|
|
|
return !(IsTMCBulkINReset);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/** Stream callback function for the Endpoint stream write functions. This callback will abort the current stream transfer
|
|
|
|
/** Stream callback function for the Endpoint stream write functions. This callback will abort the current stream transfer
|
|
|
|