Subversion Repositories FlightCtrl

Rev

Rev 1662 | Rev 1666 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1 ingob 1
#ifndef _I2C_MASTER_H
2
#define _I2C_MASTER_H
1662 killagreg 3
 
1 ingob 4
 
1662 killagreg 5
#include <inttypes.h>
1 ingob 6
 
1662 killagreg 7
#define TWI_STATE_MOTOR_TX                      0
8
#define TWI_STATE_MOTOR_RX                      5
9
#define TWI_STATE_GYRO_OFFSET_TX        18
1 ingob 10
 
1662 killagreg 11
extern volatile uint8_t twi_state;
12
extern volatile uint8_t motor_write;
13
extern volatile uint8_t motor_read;
1 ingob 14
 
15
 
1662 killagreg 16
extern uint8_t MissingMotor;
17
 
1479 killagreg 18
#define MAX_MOTORS      12
1638 holgerb 19
#define MOTOR_STATE_PRESENT_MASK                0x80
20
#define MOTOR_STATE_ERROR_MASK                  0x7F
1479 killagreg 21
 
1638 holgerb 22
#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
23
 
1662 killagreg 24
#define BLFLAG_TX_COMPLETE              0x01
25
#define BLFLAG_READ_VERSION     0x02
1648 killagreg 26
 
1662 killagreg 27
extern volatile uint8_t BLFlags;
1648 killagreg 28
 
1479 killagreg 29
typedef struct
30
{
1662 killagreg 31
        uint8_t Version;                        // the version of the BL (0 = old)
32
        uint8_t SetPoint;                       // written by attitude controller
33
        uint8_t SetPointLowerBits;      // for higher Resolution of new BLs
34
        uint8_t State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
35
        // the following bytes must be exactly in that order!
36
        uint8_t Current;                        // in 0.1 A steps, read back from BL
37
        uint8_t MaxPWM;                         // read back from BL is less than 255 if BL is in current limit
38
        int8_t  Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in °C
1479 killagreg 39
} __attribute__((packed)) MotorData_t;
40
 
41
extern MotorData_t Motor[MAX_MOTORS];
42
 
1662 killagreg 43
#define BLCONFIG_REVISION 1
1 ingob 44
 
1662 killagreg 45
#define MASK_SET_PWM_SCALING            0x01
46
#define MASK_SET_CURRENT_LIMIT          0x02
47
#define MASK_SET_TEMP_LIMIT                     0x04
48
#define MASK_SET_CURRENT_SCALING        0x08
49
#define MASK_SET_BITCONFIG                      0x10
50
#define MASK_RESET_CAPCOUNTER           0x20
51
#define MASK_SET_DEFAULT_PARAMS         0x40
52
#define MASK_SET_SAVE_EEPROM            0x80
1639 holgerb 53
 
1662 killagreg 54
#define BITCONF_REVERSE_ROTATION 0x01
55
#define BITCONF_RES1 0x02
56
#define BITCONF_RES2 0x04
57
#define BITCONF_RES3 0x08
58
#define BITCONF_RES4 0x10
59
#define BITCONF_RES5 0x20
60
#define BITCONF_RES6 0x40
61
#define BITCONF_RES7 0x80
62
 
63
typedef struct
64
{
65
        uint8_t Revision;                       // must be BL_REVISION
66
        uint8_t SetMask;                        // settings mask
67
        uint8_t PwmScaling;                     // maximum value of control pwm, acts like a thrust limit
68
        uint8_t CurrentLimit;           // current limit in A
69
        uint8_t TempLimit;                      // in °C
70
        uint8_t CurrentScaling;         // scaling factor for current measurement
71
        uint8_t BitConfig;                      // see defines above
72
        uint8_t crc;                            // checksum
73
}  __attribute__((packed)) BLConfig_t;
74
 
75
extern BLConfig_t BLConfig;
76
 
77
extern volatile uint16_t I2CTimeout;
78
 
79
void I2C_Init (void); // Initialize I2C
80
#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);}
81
#define I2C_Stop(start_state)  {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);}
82
void I2C_Reset(void); // Reset I2C
1665 killagreg 83
 
84
#define BLCONFIG_SUCCESS                             0
85
#define BLCONFIG_ERR_MOTOR_RUNNING       1
86
#define BLCONFIG_ERR_MOTOR_NOT_EXIST     2
87
#define BLCONFIG_ERR_HW_NOT_COMPATIBLE   3
88
#define BLCONFIG_ERR_SW_NOT_COMPATIBLE   4
89
#define BLCONFIG_ERR_CHECKSUM            5
90
 
1662 killagreg 91
uint8_t I2C_WriteBLConfig(uint8_t motor);
92
uint8_t I2C_ReadBLConfig(uint8_t motor);
93
 
1 ingob 94
#endif