Datasheet

The I2C communication between all the devices that are connected to the Motor Board is always
checked by the use of checksums inside the sent and received data packages. The I2C control
registers of the microcontrollers also provide error status information that is used to correct any
abnormal situation.
5.2.2. Motor Board Interrupt Driven Events
As was mentioned before there are 3 different events that can interrupt the microcontroller. They are
described below.
1. Navigation Computer Interrupt Events - When the Navigation Computer sends set or get
commands to the Motor Board (see Figure 29), a serial communication interrupt event is
triggered/initiated. The Motor Board processing jumps from the Low-level Control Loop to
the Navigation Computer Interrupt Events. All the data that was being used in the Low-
level Control Loop is saved and will be restored when the processing of the interrupt event
has been finished.
The Navigation Computer is able to force the following events:
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 35
Figure 29: how the system processes Navigation Computer Interrupt Events