Subversion Repositories FlightCtrl

Rev

Rev 1994 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1994 Rev 1995
Line 1... Line 1...
1
#ifndef _I2C_MASTER_H
1
#ifndef _I2C_MASTER_H
2
#define _I2C_MASTER_H
2
#define _I2C_MASTER_H
-
 
3
 
3
 
4
 
4
 
5
#include <inttypes.h>
5
#include <inttypes.h>
6
 
6
 
7
#define TWI_STATE_MOTOR_TX                      0
7
#define TWI_STATE_MOTOR_TX                      0
8
#define TWI_STATE_MOTOR_RX                      5
8
#define TWI_STATE_MOTOR_RX                      5
9
#define TWI_STATE_GYRO_OFFSET_TX        18
9
#define TWI_STATE_GYRO_OFFSET_TX        18
10
 
10
 
11
extern volatile uint8_t twi_state;
11
extern volatile uint8_t twi_state;
12
extern volatile uint8_t motor_write;
12
extern volatile uint8_t motor_write;
13
extern volatile uint8_t motor_read;
13
extern volatile uint8_t motor_read;
14
extern volatile uint8_t I2C_TransferActive;
14
extern volatile uint8_t I2C_TransferActive;
15
 
15
 
16
extern uint8_t MissingMotor;
16
extern uint8_t MissingMotor;
17
 
17
 
18
#define MAX_MOTORS      12
18
#define MAX_MOTORS      12
19
#define MOTOR_STATE_PRESENT_MASK                0x80
19
#define MOTOR_STATE_PRESENT_MASK                0x80
20
#define MOTOR_STATE_ERROR_MASK                  0x7F
20
#define MOTOR_STATE_ERROR_MASK                  0x7F
21
 
21
 
22
#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
22
#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
23
 
23
 
24
#define BLFLAG_TX_COMPLETE              0x01
24
#define BLFLAG_TX_COMPLETE              0x01
25
#define BLFLAG_READ_VERSION     0x02
25
#define BLFLAG_READ_VERSION     0x02
26
 
26
 
27
extern volatile uint8_t BLFlags;
27
extern volatile uint8_t BLFlags;
28
 
28
 
29
 
29
 
30
#define BL_READMODE_STATUS  0
30
#define BL_READMODE_STATUS  0
31
#define BL_READMODE_CONFIG      16
31
#define BL_READMODE_CONFIG      16
32
 
32
 
33
typedef struct
33
typedef struct
34
{
34
{
35
        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
36
        uint8_t SetPoint;                       // written by attitude controller
37
        uint8_t SetPointLowerBits;      // for higher Resolution of new BLs
37
        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
38
        uint8_t State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
39
        uint8_t ReadMode;                       // select data to read
39
        uint8_t ReadMode;                       // select data to read
40
        // the following bytes must be exactly in that order!
40
        // the following bytes must be exactly in that order!
41
        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
42
        uint8_t MaxPWM;                         // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40)
42
        uint8_t MaxPWM;                         // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40)
43
        int8_t  Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in °C
43
        int8_t  Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in °C
44
} __attribute__((packed)) MotorData_t;
44
} __attribute__((packed)) MotorData_t;
45
 
45
 
46
extern MotorData_t Motor[MAX_MOTORS];
46
extern MotorData_t Motor[MAX_MOTORS];
47
 
47
 
48
#define BLCONFIG_REVISION 2
48
#define BLCONFIG_REVISION 2
49
 
49
 
50
#define MASK_SET_PWM_SCALING            0x01
50
#define MASK_SET_PWM_SCALING            0x01
51
#define MASK_SET_CURRENT_LIMIT          0x02
51
#define MASK_SET_CURRENT_LIMIT          0x02
52
#define MASK_SET_TEMP_LIMIT                     0x04
52
#define MASK_SET_TEMP_LIMIT                     0x04
53
#define MASK_SET_CURRENT_SCALING        0x08
53
#define MASK_SET_CURRENT_SCALING        0x08
54
#define MASK_SET_BITCONFIG                      0x10
54
#define MASK_SET_BITCONFIG                      0x10
55
#define MASK_RESET_CAPCOUNTER           0x20
55
#define MASK_RESET_CAPCOUNTER           0x20
56
#define MASK_SET_DEFAULT_PARAMS         0x40
56
#define MASK_SET_DEFAULT_PARAMS         0x40
57
#define MASK_SET_SAVE_EEPROM            0x80
57
#define MASK_SET_SAVE_EEPROM            0x80
58
 
58
 
59
#define BITCONF_REVERSE_ROTATION 0x01
59
#define BITCONF_REVERSE_ROTATION 0x01
60
#define BITCONF_RES1 0x02
60
#define BITCONF_RES1 0x02
61
#define BITCONF_RES2 0x04
61
#define BITCONF_RES2 0x04
62
#define BITCONF_RES3 0x08
62
#define BITCONF_RES3 0x08
63
#define BITCONF_RES4 0x10
63
#define BITCONF_RES4 0x10
64
#define BITCONF_RES5 0x20
64
#define BITCONF_RES5 0x20
65
#define BITCONF_RES6 0x40
65
#define BITCONF_RES6 0x40
66
#define BITCONF_RES7 0x80
66
#define BITCONF_RES7 0x80
67
 
67
 
68
typedef struct
68
typedef struct
69
{
69
{
70
        uint8_t Revision;                       // must be BL_REVISION
70
        uint8_t Revision;                       // must be BL_REVISION
71
        uint8_t SetMask;                        // settings mask
71
        uint8_t SetMask;                        // settings mask
72
        uint8_t PwmScaling;                     // maximum value of control pwm, acts like a thrust limit
72
        uint8_t PwmScaling;                     // maximum value of control pwm, acts like a thrust limit
73
        uint8_t CurrentLimit;           // current limit in A
73
        uint8_t CurrentLimit;           // current limit in A
74
        uint8_t TempLimit;                      // in °C
74
        uint8_t TempLimit;                      // in °C
75
        uint8_t CurrentScaling;         // scaling factor for current measurement
75
        uint8_t CurrentScaling;         // scaling factor for current measurement
76
        uint8_t BitConfig;                      // see defines above
76
        uint8_t BitConfig;                      // see defines above
77
        uint8_t crc;                            // checksum
77
        uint8_t crc;                            // checksum
78
}  __attribute__((packed)) BLConfig_t;
78
}  __attribute__((packed)) BLConfig_t;
79
 
79
 
80
extern BLConfig_t BLConfig;
80
extern BLConfig_t BLConfig;
81
 
81
 
82
extern volatile uint16_t I2CTimeout;
82
extern volatile uint16_t I2CTimeout;
83
 
83
 
84
void I2C_Init(char); // Initialize I2C
84
void I2C_Init(char); // Initialize I2C
85
#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);}
85
#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);}
86
#define I2C_Stop(start_state)  {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);}
86
#define I2C_Stop(start_state)  {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);}
87
void I2C_Reset(void); // Reset I2C
87
void I2C_Reset(void); // Reset I2C
88
 
88
 
89
#define BLCONFIG_SUCCESS                             0
89
#define BLCONFIG_SUCCESS                             0
90
#define BLCONFIG_ERR_MOTOR_RUNNING       1
90
#define BLCONFIG_ERR_MOTOR_RUNNING       1
91
#define BLCONFIG_ERR_MOTOR_NOT_EXIST     2
91
#define BLCONFIG_ERR_MOTOR_NOT_EXIST     2
92
#define BLCONFIG_ERR_HW_NOT_COMPATIBLE   3
92
#define BLCONFIG_ERR_HW_NOT_COMPATIBLE   3
93
#define BLCONFIG_ERR_SW_NOT_COMPATIBLE   4
93
#define BLCONFIG_ERR_SW_NOT_COMPATIBLE   4
94
#define BLCONFIG_ERR_CHECKSUM            5
94
#define BLCONFIG_ERR_CHECKSUM            5
95
#define BLCONFIG_ERR_READ_NOT_POSSIBLE   6
95
#define BLCONFIG_ERR_READ_NOT_POSSIBLE   6
96
 
96
 
97
uint8_t I2C_WriteBLConfig(uint8_t motor);
97
uint8_t I2C_WriteBLConfig(uint8_t motor);
98
uint8_t I2C_ReadBLConfig(uint8_t motor);
98
uint8_t I2C_ReadBLConfig(uint8_t motor);
99
 
99
 
100
#endif