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#ifndef _I2C_MASTER_H
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#ifndef _I2C_MASTER_H
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#define _I2C_MASTER_H
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#define _I2C_MASTER_H
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#include <inttypes.h>
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#include <inttypes.h>
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#define TWI_STATE_MOTOR_TX                      0
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#define TWI_STATE_MOTOR_TX                      0
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#define TWI_STATE_MOTOR_RX                      5
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#define TWI_STATE_MOTOR_RX                      5
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#define TWI_STATE_GYRO_OFFSET_TX        18
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#define TWI_STATE_GYRO_OFFSET_TX        18
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extern volatile uint8_t twi_state;
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extern volatile uint8_t twi_state;
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extern volatile uint8_t motor_write;
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extern volatile uint8_t motor_write;
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extern volatile uint8_t motor_read;
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extern volatile uint8_t motor_read;
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extern volatile uint8_t I2C_TransferActive;
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extern volatile uint8_t I2C_TransferActive;
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extern uint8_t MissingMotor;
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extern uint8_t MissingMotor;
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#define MAX_MOTORS      12
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#define MAX_MOTORS      12
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#define MOTOR_STATE_PRESENT_MASK                0x80
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#define MOTOR_STATE_PRESENT_MASK                0x80
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#define MOTOR_STATE_ERROR_MASK                  0x7F
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#define MOTOR_STATE_ERROR_MASK                  0x7F
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#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
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#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
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#define BLFLAG_TX_COMPLETE              0x01
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#define BLFLAG_TX_COMPLETE              0x01
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#define BLFLAG_READ_VERSION     0x02
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#define BLFLAG_READ_VERSION     0x02
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extern volatile uint8_t BLFlags;
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extern volatile uint8_t BLFlags;
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#define BL_READMODE_STATUS  0
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#define BL_READMODE_STATUS  0
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#define BL_READMODE_CONFIG      16
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#define BL_READMODE_CONFIG      16
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typedef struct
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typedef struct
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{
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{
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        uint8_t Version;                        // the version of the BL (0 = old)
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        uint8_t Version;                        // the version of the BL (0 = old)
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        uint8_t SetPoint;                       // written by attitude controller
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        uint8_t SetPoint;                       // written by attitude controller
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        uint8_t SetPointLowerBits;      // for higher Resolution of new BLs
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        uint8_t SetPointLowerBits;      // for higher Resolution of new BLs
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        uint8_t State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
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        uint8_t State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
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        uint8_t ReadMode;                       // select data to read
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        uint8_t ReadMode;                       // select data to read
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        // the following bytes must be exactly in that order!
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        // the following bytes must be exactly in that order!
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        uint8_t Current;                        // in 0.1 A steps, read back from BL
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        uint8_t Current;                        // in 0.1 A steps, read back from BL
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        uint8_t MaxPWM;                         // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40)
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        uint8_t MaxPWM;                         // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40)
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        int8_t  Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in °C
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        int8_t  Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in °C
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} __attribute__((packed)) MotorData_t;
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} __attribute__((packed)) MotorData_t;
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extern MotorData_t Motor[MAX_MOTORS];
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extern MotorData_t Motor[MAX_MOTORS];
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#define BLCONFIG_REVISION 2
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#define BLCONFIG_REVISION 2
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#define MASK_SET_PWM_SCALING            0x01
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#define MASK_SET_PWM_SCALING            0x01
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#define MASK_SET_CURRENT_LIMIT          0x02
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#define MASK_SET_CURRENT_LIMIT          0x02
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#define MASK_SET_TEMP_LIMIT                     0x04
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#define MASK_SET_TEMP_LIMIT                     0x04
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#define MASK_SET_CURRENT_SCALING        0x08
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#define MASK_SET_CURRENT_SCALING        0x08
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#define MASK_SET_BITCONFIG                      0x10
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#define MASK_SET_BITCONFIG                      0x10
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#define MASK_RESET_CAPCOUNTER           0x20
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#define MASK_RESET_CAPCOUNTER           0x20
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#define MASK_SET_DEFAULT_PARAMS         0x40
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#define MASK_SET_DEFAULT_PARAMS         0x40
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#define MASK_SET_SAVE_EEPROM            0x80
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#define MASK_SET_SAVE_EEPROM            0x80
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#define BITCONF_REVERSE_ROTATION 0x01
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#define BITCONF_REVERSE_ROTATION 0x01
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#define BITCONF_RES1 0x02
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#define BITCONF_RES1 0x02
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#define BITCONF_RES2 0x04
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#define BITCONF_RES2 0x04
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#define BITCONF_RES3 0x08
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#define BITCONF_RES3 0x08
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#define BITCONF_RES4 0x10
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#define BITCONF_RES4 0x10
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#define BITCONF_RES5 0x20
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#define BITCONF_RES5 0x20
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#define BITCONF_RES6 0x40
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#define BITCONF_RES6 0x40
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#define BITCONF_RES7 0x80
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#define BITCONF_RES7 0x80
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typedef struct
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typedef struct
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{
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{
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        uint8_t Revision;                       // must be BL_REVISION
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        uint8_t Revision;                       // must be BL_REVISION
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        uint8_t SetMask;                        // settings mask
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        uint8_t SetMask;                        // settings mask
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        uint8_t PwmScaling;                     // maximum value of control pwm, acts like a thrust limit
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        uint8_t PwmScaling;                     // maximum value of control pwm, acts like a thrust limit
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        uint8_t CurrentLimit;           // current limit in A
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        uint8_t CurrentLimit;           // current limit in A
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        uint8_t TempLimit;                      // in °C
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        uint8_t TempLimit;                      // in °C
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        uint8_t CurrentScaling;         // scaling factor for current measurement
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        uint8_t CurrentScaling;         // scaling factor for current measurement
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        uint8_t BitConfig;                      // see defines above
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        uint8_t BitConfig;                      // see defines above
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        uint8_t crc;                            // checksum
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        uint8_t crc;                            // checksum
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}  __attribute__((packed)) BLConfig_t;
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}  __attribute__((packed)) BLConfig_t;
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extern BLConfig_t BLConfig;
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extern BLConfig_t BLConfig;
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extern volatile uint16_t I2CTimeout;
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extern volatile uint16_t I2CTimeout;
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void I2C_Init(char); // Initialize I2C
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void I2C_Init(char); // Initialize I2C
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#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);}
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#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);}
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#define I2C_Stop(start_state)  {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);}
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#define I2C_Stop(start_state)  {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);}
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void I2C_Reset(void); // Reset I2C
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void I2C_Reset(void); // Reset I2C
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#define BLCONFIG_SUCCESS                             0
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#define BLCONFIG_SUCCESS                             0
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#define BLCONFIG_ERR_MOTOR_RUNNING       1
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#define BLCONFIG_ERR_MOTOR_RUNNING       1
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#define BLCONFIG_ERR_MOTOR_NOT_EXIST     2
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#define BLCONFIG_ERR_MOTOR_NOT_EXIST     2
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#define BLCONFIG_ERR_HW_NOT_COMPATIBLE   3
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#define BLCONFIG_ERR_HW_NOT_COMPATIBLE   3
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#define BLCONFIG_ERR_SW_NOT_COMPATIBLE   4
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#define BLCONFIG_ERR_SW_NOT_COMPATIBLE   4
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#define BLCONFIG_ERR_CHECKSUM            5
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#define BLCONFIG_ERR_CHECKSUM            5
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#define BLCONFIG_ERR_READ_NOT_POSSIBLE   6
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#define BLCONFIG_ERR_READ_NOT_POSSIBLE   6
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uint8_t I2C_WriteBLConfig(uint8_t motor);
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uint8_t I2C_WriteBLConfig(uint8_t motor);
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uint8_t I2C_ReadBLConfig(uint8_t motor);
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uint8_t I2C_ReadBLConfig(uint8_t motor);
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#endif