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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2231 | - | 1 | #ifndef _I2C_MASTER_H |
| 2 | #define _I2C_MASTER_H |
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| 3 | |||
| 4 | |||
| 5 | #include <inttypes.h> |
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| 6 | |||
| 7 | #define TWI_STATE_MOTOR_TX 0 |
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| 8 | #define TWI_STATE_MOTOR_RX 5 |
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| 9 | #define TWI_STATE_GYRO_OFFSET_TX 18 |
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| 10 | |||
| 11 | extern volatile uint8_t twi_state; |
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| 12 | extern volatile uint8_t motor_write; |
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| 13 | extern volatile uint8_t motor_read; |
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| 14 | extern volatile uint8_t I2C_TransferActive; |
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| 15 | |||
| 16 | extern uint8_t MissingMotor; |
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| 17 | |||
| 18 | #define MAX_MOTORS 12 |
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| 19 | #define MOTOR_STATE_PRESENT_MASK 0x80 |
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| 20 | #define MOTOR_STATE_ERROR_MASK 0x7F |
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| 21 | |||
| 22 | #define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
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| 23 | |||
| 24 | #define BLFLAG_TX_COMPLETE 0x01 |
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| 25 | #define BLFLAG_READ_VERSION 0x02 |
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| 26 | |||
| 27 | extern volatile uint8_t BLFlags; |
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| 28 | |||
| 29 | |||
| 30 | #define BL_READMODE_STATUS 0 |
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| 31 | #define BL_READMODE_CONFIG 16 |
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| 32 | |||
| 33 | typedef struct |
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| 34 | { |
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| 35 | uint8_t Version; // the version of the BL (0 = old) |
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| 36 | uint8_t SetPoint; // written by attitude controller |
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| 37 | uint8_t SetPointLowerBits; // for higher Resolution of new BLs |
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| 38 | uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
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| 39 | uint8_t ReadMode; // select data to read |
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| 40 | // the following bytes must be exactly in that order! |
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| 41 | uint8_t Current; // in 0.1 A steps, read back from BL |
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| 42 | 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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| 43 | int8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in °C |
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| 44 | } __attribute__((packed)) MotorData_t; |
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| 45 | |||
| 46 | extern MotorData_t Motor[MAX_MOTORS]; |
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| 47 | |||
| 48 | #define BLCONFIG_REVISION 2 |
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| 49 | |||
| 50 | #define MASK_SET_PWM_SCALING 0x01 |
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| 51 | #define MASK_SET_CURRENT_LIMIT 0x02 |
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| 52 | #define MASK_SET_TEMP_LIMIT 0x04 |
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| 53 | #define MASK_SET_CURRENT_SCALING 0x08 |
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| 54 | #define MASK_SET_BITCONFIG 0x10 |
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| 55 | #define MASK_RESET_CAPCOUNTER 0x20 |
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| 56 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
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| 57 | #define MASK_SET_SAVE_EEPROM 0x80 |
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| 58 | |||
| 59 | #define BITCONF_REVERSE_ROTATION 0x01 |
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| 60 | #define BITCONF_RES1 0x02 |
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| 61 | #define BITCONF_RES2 0x04 |
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| 62 | #define BITCONF_RES3 0x08 |
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| 63 | #define BITCONF_RES4 0x10 |
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| 64 | #define BITCONF_RES5 0x20 |
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| 65 | #define BITCONF_RES6 0x40 |
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| 66 | #define BITCONF_RES7 0x80 |
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| 67 | |||
| 68 | typedef struct |
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| 69 | { |
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| 70 | uint8_t Revision; // must be BL_REVISION |
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| 71 | uint8_t SetMask; // settings mask |
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| 72 | uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit |
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| 73 | uint8_t CurrentLimit; // current limit in A |
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| 74 | uint8_t TempLimit; // in °C |
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| 75 | uint8_t CurrentScaling; // scaling factor for current measurement |
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| 76 | uint8_t BitConfig; // see defines above |
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| 77 | uint8_t crc; // checksum |
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| 78 | } __attribute__((packed)) BLConfig_t; |
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| 79 | |||
| 80 | extern BLConfig_t BLConfig; |
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| 81 | |||
| 82 | extern volatile uint16_t I2CTimeout; |
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| 83 | |||
| 84 | void I2C_Init(char); // Initialize I2C |
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| 85 | #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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| 86 | #define I2C_Stop(start_state) {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);} |
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| 87 | void I2C_Reset(void); // Reset I2C |
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| 88 | |||
| 89 | #define BLCONFIG_SUCCESS 0 |
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| 90 | #define BLCONFIG_ERR_MOTOR_RUNNING 1 |
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| 91 | #define BLCONFIG_ERR_MOTOR_NOT_EXIST 2 |
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| 92 | #define BLCONFIG_ERR_HW_NOT_COMPATIBLE 3 |
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| 93 | #define BLCONFIG_ERR_SW_NOT_COMPATIBLE 4 |
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| 94 | #define BLCONFIG_ERR_CHECKSUM 5 |
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| 95 | #define BLCONFIG_ERR_READ_NOT_POSSIBLE 6 |
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| 96 | |||
| 97 | uint8_t I2C_WriteBLConfig(uint8_t motor); |
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| 98 | uint8_t I2C_ReadBLConfig(uint8_t motor); |
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| 99 | |||
| 100 | #endif |