| 0,0 → 1,46 |
|---|
| /*############################################################################ |
| ############################################################################*/ |
| |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| |
| //############################################################################ |
| |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| |
| //############################################################################ |
| |
| extern volatile unsigned char twi_state; |
| extern unsigned char motor,MissingMotor; |
| extern unsigned char motorread; |
| |
| #define MAX_MOTORS 12 |
| #define MOTOR_STATE_PRESENT_MASK 0x80 |
| #define MOTOR_STATE_ERROR_MASK 0x7F |
| |
| typedef struct |
| { |
| unsigned char SetPoint; // written by attitude controller |
| unsigned char State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
| unsigned char Current; // in 0.1 A steps, read back from BL |
| unsigned char MaxPWM; // read back from BL is less than 255 if BL is in current limit |
| } __attribute__((packed)) MotorData_t; |
| |
| extern MotorData_t Motor[MAX_MOTORS]; |
| |
| void i2c_reset(void); |
| extern void i2c_init (void); // I2C initialisieren |
| extern void i2c_start (void); // Start I2C |
| extern void i2c_stop (void); // Stop I2C |
| extern void i2c_write_byte (char byte); // 1 Byte schreiben |
| extern void i2c_reset(void); |
| |
| #endif |