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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
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| 3 | |||
| 4 | #ifndef _I2C_MASTER_H |
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| 5 | #define _I2C_MASTER_H |
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| 6 | |||
| 7 | //############################################################################ |
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| 8 | |||
| 9 | // I2C Konstanten |
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| 10 | #define SCL_CLOCK 200000L |
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| 11 | #define I2C_TIMEOUT 30000 |
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| 12 | #define I2C_START 0x08 |
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| 13 | #define I2C_REPEATED_START 0x10 |
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| 14 | #define I2C_TX_SLA_ACK 0x18 |
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| 15 | #define I2C_TX_DATA_ACK 0x28 |
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| 16 | #define I2C_RX_SLA_ACK 0x40 |
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| 17 | #define I2C_RX_DATA_ACK 0x50 |
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| 18 | |||
| 19 | //############################################################################ |
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| 20 | |||
| 918 | hbuss | 21 | extern volatile unsigned char twi_state; |
| 1210 | hbuss | 22 | extern unsigned char motor,MissingMotor; |
| 1648 | killagreg | 23 | extern unsigned char motorread; |
| 1 | ingob | 24 | |
| 1479 | killagreg | 25 | #define MAX_MOTORS 12 |
| 1638 | holgerb | 26 | #define MOTOR_STATE_PRESENT_MASK 0x80 |
| 27 | #define MOTOR_STATE_ERROR_MASK 0x7F |
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| 1479 | killagreg | 28 | |
| 1638 | holgerb | 29 | |
| 30 | #define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
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| 31 | |||
| 1648 | killagreg | 32 | #define BLFLAG_READ_VERSION 0x01 |
| 33 | #define BLFLAG_SEND_CONFIG 0x02 |
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| 34 | #define BLFLAG_TX_COMPLETE 0x04 |
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| 35 | |||
| 36 | extern unsigned char BLFlags; |
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| 37 | |||
| 38 | #define MASK_SET_PWM_SCALING 0x01 |
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| 39 | #define MASK_SET_CURRENT_LIMIT 0x02 |
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| 40 | #define MASK_SET_TEMP_LIMIT 0x04 |
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| 41 | #define MASK_SET_CURRENT_SCALING 0x08 |
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| 42 | #define MASK_SET_BITCONFIG 0x10 |
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| 43 | #define MASK_RESET_CAPCOUNTER 0x20 |
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| 44 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
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| 45 | #define MASK_SET_SAVE_EEPROM 0x80 |
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| 46 | |||
| 47 | #define BITCONF_REVERSE_ROTATION 0x01 |
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| 48 | #define BITCONF_RES1 0x02 |
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| 49 | #define BITCONF_RES2 0x04 |
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| 50 | #define BITCONF_RES3 0x08 |
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| 51 | #define BITCONF_RES4 0x10 |
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| 52 | #define BITCONF_RES5 0x20 |
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| 53 | #define BITCONF_RES6 0x40 |
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| 54 | #define BITCONF_RES7 0x80 |
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| 55 | |||
| 1479 | killagreg | 56 | typedef struct |
| 57 | { |
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| 1486 | killagreg | 58 | unsigned char SetPoint; // written by attitude controller |
| 59 | unsigned char State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
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| 60 | unsigned char Current; // in 0.1 A steps, read back from BL |
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| 61 | unsigned char MaxPWM; // read back from BL is less than 255 if BL is in current limit |
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| 1648 | killagreg | 62 | unsigned char Temperature; // old BL-Ctrl will return a 255 here |
| 1638 | holgerb | 63 | unsigned char SetPointLowerBits; // for higher Resolution |
| 64 | unsigned char Version; |
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| 1479 | killagreg | 65 | } __attribute__((packed)) MotorData_t; |
| 66 | |||
| 67 | extern MotorData_t Motor[MAX_MOTORS]; |
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| 68 | |||
| 1648 | killagreg | 69 | typedef struct |
| 70 | { |
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| 71 | unsigned char SetMask; // settings mask |
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| 72 | unsigned char PwmScaling; // maximum value of control pwm, acts like a thrust limit |
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| 73 | unsigned char CurrentLimit; // current limit in A |
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| 74 | unsigned char TempLimit; // in °C |
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| 75 | unsigned char CurrentScaling; // scaling factor for current measurement |
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| 76 | unsigned char BitConfig; // see defines below |
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| 77 | } __attribute__((packed)) BLConfig_t; |
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| 78 | |||
| 79 | extern BLConfig_t BLConfig[MAX_MOTORS]; |
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| 80 | |||
| 304 | ingob | 81 | void i2c_reset(void); |
| 395 | hbuss | 82 | extern void i2c_init (void); // I2C initialisieren |
| 1209 | hbuss | 83 | extern void i2c_write_byte (char byte); // 1 Byte schreiben |
| 395 | hbuss | 84 | extern void i2c_reset(void); |
| 1648 | killagreg | 85 | extern void I2C_SendBLConfig(void); |
| 1 | ingob | 86 | |
| 1639 | holgerb | 87 | #define I2C_Start() {TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);} |
| 88 | #define I2C_Stop() {TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);} |
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| 89 | #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
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| 90 | #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
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| 91 | #define i2c_write_byte(byte) {TWSR = 0x00; TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
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| 92 | |||
| 1 | ingob | 93 | #endif |