| /branches/V2.08a_Rens_Testversion/FlightCtrl_AS6.2/FlightCtrl/FlightCtrl/twimaster.h |
|---|
| 0,0 → 1,126 |
| #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, ReadBlSize; |
| +extern volatile uint8_t motor_write; |
| +extern volatile uint8_t motor_read; |
| +extern volatile uint8_t I2C_TransferActive; |
| +extern uint8_t Max_I2C_Packets; |
| +extern uint8_t MissingMotor; |
| + |
| +#define MAX_MOTORS 12 |
| +#define MOTOR_STATE_PRESENT_MASK 0x80 |
| +#define MOTOR_STATE_ERROR_MASK 0x7F |
| + |
| +//Motor[x].Version |
| +#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
| +#define MOTOR_STATE_FAST_MODE 0x02 |
| +#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
| + |
| +#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, not running (250) or starting (40) |
| + uint8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in °C |
| + uint8_t RPM; // Raw value for RPM |
| + uint8_t reserved1; // Voltage (BL3) or mAh (BL2) |
| + uint8_t Voltage; // in 0.1V (BL3 is limited to 255, BL2 is only low-byte) |
| + uint8_t SlaveI2cError; // BL2 & BL3 |
| + uint8_t VersionMajor; // BL2 & BL3 |
| + uint8_t VersionMinor; // BL2 & BL3 |
| + uint8_t NotReadyCnt; // Counts up is the Motor is not ready during flight -> MotorRestart etc. |
| +} __attribute__((packed)) MotorData_t; |
| + |
| +extern MotorData_t Motor[MAX_MOTORS]; |
| + |
| +// BitSate |
| +#define BL_BIT_STATE_I2C_OK 0x01 |
| +#define BL_BIT_STATE_I2C_VALUE 0x02 |
| +#define BL_BIT_STATE_I2C_BAD 0x04 |
| +#define BL_BIT_STATE_PPM_OK 0x08 |
| +#define BL_BIT_STATE_MOTOR_RUN 0x10 |
| + |
| +typedef struct |
| +{ |
| + unsigned char BitSate; |
| + unsigned char Current; |
| + unsigned char State; |
| + unsigned char TemperatureInDeg; |
| + unsigned char Voltage80; |
| +} __attribute__((packed)) RedundantBl_t; |
| +extern RedundantBl_t RedundantMotor[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_SET_STARTPWM 0x20 |
| +#define MASK_SET_DEFAULT_PARAMS 0x40 |
| +#define MASK_SET_SAVE_EEPROM 0x80 |
| + |
| +#define BITCONF_REVERSE_ROTATION 0x01 |
| +#define BITCONF_STARTGAS1 0x02 |
| +#define BITCONF_STARTGAS2 0x04 |
| +#define BITCONF_STARTGAS3 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(char); // 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 |