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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2751 | - | 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, ReadBlSize; |
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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 | extern uint8_t Max_I2C_Packets; |
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| 16 | extern uint8_t MissingMotor; |
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| 17 | |||
| 18 | #define MAX_MOTORS 16 |
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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 | //Motor[x].Version |
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| 23 | #define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
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| 24 | #define MOTOR_STATE_FAST_MODE 0x02 |
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| 25 | #define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
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| 26 | |||
| 27 | #define BLFLAG_TX_COMPLETE 0x01 |
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| 28 | #define BLFLAG_READ_VERSION 0x02 |
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| 29 | |||
| 30 | extern volatile uint8_t BLFlags; |
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| 31 | |||
| 32 | #define BL_READMODE_STATUS 0 |
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| 33 | #define BL_READMODE_CONFIG 16 |
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| 34 | |||
| 35 | typedef struct |
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| 36 | { |
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| 37 | uint8_t Version; // the version of the BL (0 = old) |
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| 38 | uint8_t SetPoint; // written by attitude controller |
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| 39 | uint8_t SetPointLowerBits; // for higher Resolution of new BLs |
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| 40 | uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
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| 41 | uint8_t ReadMode; // select data to read |
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| 42 | // the following bytes must be exactly in that order! |
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| 43 | uint8_t Current; // in 0.1 A steps, read back from BL |
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| 44 | 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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| 45 | uint8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in °C |
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| 46 | uint8_t RPM; // Raw value for RPM |
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| 47 | uint8_t reserved1; // Voltage (BL3) or mAh (BL2) |
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| 48 | uint8_t Voltage; // in 0.1V (BL3 is limited to 255, BL2 is only low-byte) |
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| 49 | uint8_t SlaveI2cError; // BL2 & BL3 |
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| 50 | uint8_t VersionMajor; // BL2 & BL3 |
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| 51 | uint8_t VersionMinor; // BL2 & BL3 |
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| 52 | uint8_t NotReadyCnt; // Counts up is the Motor is not ready during flight -> MotorRestart etc. |
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| 53 | } __attribute__((packed)) MotorData_t; |
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| 54 | |||
| 55 | extern MotorData_t Motor[MAX_MOTORS]; |
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| 56 | |||
| 57 | // BitSate |
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| 58 | #define BL_BIT_STATE_I2C_OK 0x01 |
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| 59 | #define BL_BIT_STATE_I2C_VALUE 0x02 |
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| 60 | #define BL_BIT_STATE_I2C_BAD 0x04 |
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| 61 | #define BL_BIT_STATE_PPM_OK 0x08 |
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| 62 | #define BL_BIT_STATE_MOTOR_RUN 0x10 |
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| 63 | |||
| 64 | typedef struct |
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| 65 | { |
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| 66 | unsigned char BitSate; |
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| 67 | unsigned char Current; |
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| 68 | unsigned char State; |
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| 69 | unsigned char TemperatureInDeg; |
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| 70 | unsigned char Voltage80; |
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| 71 | } __attribute__((packed)) RedundantBl_t; |
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| 72 | extern RedundantBl_t RedundantMotor[MAX_MOTORS]; |
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| 73 | |||
| 74 | #define BLCONFIG_REVISION 2 |
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| 75 | |||
| 76 | #define MASK_SET_PWM_SCALING 0x01 |
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| 77 | #define MASK_SET_CURRENT_LIMIT 0x02 |
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| 78 | #define MASK_SET_TEMP_LIMIT 0x04 |
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| 79 | #define MASK_SET_CURRENT_SCALING 0x08 |
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| 80 | #define MASK_SET_BITCONFIG 0x10 |
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| 81 | #define MASK_SET_STARTPWM 0x20 |
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| 82 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
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| 83 | #define MASK_SET_SAVE_EEPROM 0x80 |
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| 84 | |||
| 85 | #define BITCONF_REVERSE_ROTATION 0x01 |
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| 86 | #define BITCONF_STARTGAS1 0x02 |
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| 87 | #define BITCONF_STARTGAS2 0x04 |
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| 88 | #define BITCONF_STARTGAS3 0x08 |
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| 89 | #define BITCONF_RES4 0x10 |
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| 90 | #define BITCONF_RES5 0x20 |
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| 91 | #define BITCONF_RES6 0x40 |
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| 92 | #define BITCONF_RES7 0x80 |
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| 93 | |||
| 94 | typedef struct |
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| 95 | { |
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| 96 | uint8_t Revision; // must be BL_REVISION |
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| 97 | uint8_t SetMask; // settings mask |
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| 98 | uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit |
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| 99 | uint8_t CurrentLimit; // current limit in A |
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| 100 | uint8_t TempLimit; // in °C |
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| 101 | uint8_t CurrentScaling; // scaling factor for current measurement |
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| 102 | uint8_t BitConfig; // see defines above |
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| 103 | uint8_t crc; // checksum |
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| 104 | } __attribute__((packed)) BLConfig_t; |
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| 105 | |||
| 106 | extern BLConfig_t BLConfig; |
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| 107 | |||
| 108 | extern volatile uint16_t I2CTimeout; |
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| 109 | |||
| 110 | void I2C_Init(char); // Initialize I2C |
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| 111 | #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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| 112 | #define I2C_Stop(start_state) {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);} |
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| 113 | void I2C_Reset(void); // Reset I2C |
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| 114 | |||
| 115 | #define BLCONFIG_SUCCESS 0 |
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| 116 | #define BLCONFIG_ERR_MOTOR_RUNNING 1 |
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| 117 | #define BLCONFIG_ERR_MOTOR_NOT_EXIST 2 |
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| 118 | #define BLCONFIG_ERR_HW_NOT_COMPATIBLE 3 |
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| 119 | #define BLCONFIG_ERR_SW_NOT_COMPATIBLE 4 |
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| 120 | #define BLCONFIG_ERR_CHECKSUM 5 |
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| 121 | #define BLCONFIG_ERR_READ_NOT_POSSIBLE 6 |
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| 122 | |||
| 123 | uint8_t I2C_WriteBLConfig(uint8_t motor); |
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| 124 | uint8_t I2C_ReadBLConfig(uint8_t motor); |
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| 125 | |||
| 126 | #endif |