Subversion Repositories FlightCtrl

/*############################################################################

############################################################################*/

#ifndef _I2C_MASTER_H

#define _I2C_MASTER_H

//############################################################################

// I2C Konstanten

#define SCL_CLOCK  200000L

#define I2C_TIMEOUT 30000

#define I2C_START          0x08

#define I2C_REPEATED_START 0x10

#define I2C_TX_SLA_ACK     0x18

#define I2C_TX_DATA_ACK    0x28

#define I2C_RX_SLA_ACK     0x40

#define I2C_RX_DATA_ACK    0x50

//############################################################################

extern volatile unsigned char twi_state;

extern unsigned char motor,MissingMotor;

extern unsigned char motorread;

#define MAX_MOTORS      12

#define MOTOR_STATE_PRESENT_MASK                0x80

#define MOTOR_STATE_ERROR_MASK                  0x7F

#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01

typedef struct

{

        unsigned char SetPoint; // written by attitude controller

        unsigned char State;    // 7 bit for I2C error counter, highest bit indicates if motor is present

        unsigned char Current;  // in 0.1 A steps, read back from BL

        unsigned char MaxPWM;   // read back from BL is less than 255 if BL is in current limit

          signed char Temperature; // old BL-Ctrl will return a 255 here 

        unsigned char SetPointLowerBits; // for higher Resolution

    unsigned char Version;

} __attribute__((packed)) MotorData_t;

extern MotorData_t Motor[MAX_MOTORS];

void i2c_reset(void);

extern void i2c_init (void); // I2C initialisieren

extern void i2c_start (void); // Start I2C

extern void i2c_stop (void); // Stop I2C

extern void i2c_write_byte (char byte); // 1 Byte schreiben

extern void i2c_reset(void);

#endif