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| Rev 1665 | Rev 1666 | ||
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| 23 | 23 | ||
| 24 | #define BLFLAG_TX_COMPLETE 0x01 |
24 | #define BLFLAG_TX_COMPLETE 0x01 |
| Line 25... | Line 25... | ||
| 25 | #define BLFLAG_READ_VERSION 0x02 |
25 | #define BLFLAG_READ_VERSION 0x02 |
| Line -... | Line 26... | ||
| - | 26 | ||
| - | 27 | extern volatile uint8_t BLFlags; |
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| - | 28 | ||
| - | 29 | ||
| 26 | 30 | #define BL_READMODE_STATUS 0 |
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| 27 | extern volatile uint8_t BLFlags; |
31 | #define BL_READMODE_CONFIG 16 |
| 28 | 32 | ||
| 29 | typedef struct |
33 | typedef struct |
| 30 | { |
34 | { |
| 31 | uint8_t Version; // the version of the BL (0 = old) |
35 | uint8_t Version; // the version of the BL (0 = old) |
| - | 36 | uint8_t SetPoint; // written by attitude controller |
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| 32 | uint8_t SetPoint; // written by attitude controller |
37 | uint8_t SetPointLowerBits; // for higher Resolution of new BLs |
| 33 | uint8_t SetPointLowerBits; // for higher Resolution of new BLs |
38 | uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
| 34 | uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
39 | uint8_t ReadMode; // select data to read |
| 35 | // the following bytes must be exactly in that order! |
40 | // the following bytes must be exactly in that order! |
| 36 | uint8_t Current; // in 0.1 A steps, read back from BL |
41 | uint8_t Current; // in 0.1 A steps, read back from BL |