| /branches/V0.80f_ACC-HH_MartinR/twimaster.h |
|---|
| 0,0 → 1,100 |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| + |
| +#include <inttypes.h> |
| + |
| +#define TWI_STATE_MOTOR_TX 0 |
| +#define TWI_STATE_MOTOR_RX 5 |
| +#define TWI_STATE_GYRO_OFFSET_TX 18 |
| + |
| +extern volatile uint8_t twi_state; |
| +extern volatile uint8_t motor_write; |
| +extern volatile uint8_t motor_read; |
| + |
| + |
| +extern uint8_t MissingMotor; |
| + |
| +#define MAX_MOTORS 12 |
| +#define MOTOR_STATE_PRESENT_MASK 0x80 |
| +#define MOTOR_STATE_ERROR_MASK 0x7F |
| + |
| +#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
| + |
| +#define BLFLAG_TX_COMPLETE 0x01 |
| +#define BLFLAG_READ_VERSION 0x02 |
| + |
| +extern volatile uint8_t BLFlags; |
| + |
| + |
| +#define BL_READMODE_STATUS 0 |
| +#define BL_READMODE_CONFIG 16 |
| + |
| +typedef struct |
| +{ |
| + uint8_t Version; // the version of the BL (0 = old) |
| + uint8_t SetPoint; // written by attitude controller |
| + uint8_t SetPointLowerBits; // for higher Resolution of new BLs |
| + uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
| + uint8_t ReadMode; // select data to read |
| + // the following bytes must be exactly in that order! |
| + uint8_t Current; // in 0.1 A steps, read back from BL |
| + uint8_t MaxPWM; // read back from BL is less than 255 if BL is in current limit |
| + int8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in °C |
| +} __attribute__((packed)) MotorData_t; |
| + |
| +extern MotorData_t Motor[MAX_MOTORS]; |
| + |
| +#define BLCONFIG_REVISION 2 |
| + |
| +#define MASK_SET_PWM_SCALING 0x01 |
| +#define MASK_SET_CURRENT_LIMIT 0x02 |
| +#define MASK_SET_TEMP_LIMIT 0x04 |
| +#define MASK_SET_CURRENT_SCALING 0x08 |
| +#define MASK_SET_BITCONFIG 0x10 |
| +#define MASK_RESET_CAPCOUNTER 0x20 |
| +#define MASK_SET_DEFAULT_PARAMS 0x40 |
| +#define MASK_SET_SAVE_EEPROM 0x80 |
| + |
| +#define BITCONF_REVERSE_ROTATION 0x01 |
| +#define BITCONF_RES1 0x02 |
| +#define BITCONF_RES2 0x04 |
| +#define BITCONF_RES3 0x08 |
| +#define BITCONF_RES4 0x10 |
| +#define BITCONF_RES5 0x20 |
| +#define BITCONF_RES6 0x40 |
| +#define BITCONF_RES7 0x80 |
| + |
| +typedef struct |
| +{ |
| + uint8_t Revision; // must be BL_REVISION |
| + uint8_t SetMask; // settings mask |
| + uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit |
| + uint8_t CurrentLimit; // current limit in A |
| + uint8_t TempLimit; // in °C |
| + uint8_t CurrentScaling; // scaling factor for current measurement |
| + uint8_t BitConfig; // see defines above |
| + uint8_t crc; // checksum |
| +} __attribute__((packed)) BLConfig_t; |
| + |
| +extern BLConfig_t BLConfig; |
| + |
| +extern volatile uint16_t I2CTimeout; |
| + |
| +void I2C_Init (void); // Initialize I2C |
| +#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);} |
| +#define I2C_Stop(start_state) {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);} |
| +void I2C_Reset(void); // Reset I2C |
| + |
| +#define BLCONFIG_SUCCESS 0 |
| +#define BLCONFIG_ERR_MOTOR_RUNNING 1 |
| +#define BLCONFIG_ERR_MOTOR_NOT_EXIST 2 |
| +#define BLCONFIG_ERR_HW_NOT_COMPATIBLE 3 |
| +#define BLCONFIG_ERR_SW_NOT_COMPATIBLE 4 |
| +#define BLCONFIG_ERR_CHECKSUM 5 |
| +#define BLCONFIG_ERR_READ_NOT_POSSIBLE 6 |
| + |
| +uint8_t I2C_WriteBLConfig(uint8_t motor); |
| +uint8_t I2C_ReadBLConfig(uint8_t motor); |
| + |
| +#endif |