Go to most recent revision | Details | 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; |
||
1744 | holgerb | 14 | extern volatile uint8_t I2C_TransferActive; |
1 | ingob | 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 | |
2380 | holgerb | 22 | //Motor[x].Version |
1638 | holgerb | 23 | #define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
2380 | holgerb | 24 | #define MOTOR_STATE_FAST_MODE 0x02 |
2386 | holgerb | 25 | #define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
1638 | holgerb | 26 | |
1662 | killagreg | 27 | #define BLFLAG_TX_COMPLETE 0x01 |
28 | #define BLFLAG_READ_VERSION 0x02 |
||
1648 | killagreg | 29 | |
1662 | killagreg | 30 | extern volatile uint8_t BLFlags; |
1648 | killagreg | 31 | |
1666 | killagreg | 32 | #define BL_READMODE_STATUS 0 |
33 | #define BL_READMODE_CONFIG 16 |
||
34 | |||
1479 | killagreg | 35 | typedef struct |
36 | { |
||
1662 | killagreg | 37 | uint8_t Version; // the version of the BL (0 = old) |
38 | uint8_t SetPoint; // written by attitude controller |
||
39 | uint8_t SetPointLowerBits; // for higher Resolution of new BLs |
||
40 | uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
||
1666 | killagreg | 41 | uint8_t ReadMode; // select data to read |
1662 | killagreg | 42 | // the following bytes must be exactly in that order! |
43 | uint8_t Current; // in 0.1 A steps, read back from BL |
||
1948 | holgerb | 44 | uint8_t MaxPWM; // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40) |
1662 | killagreg | 45 | int8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in °C |
1479 | killagreg | 46 | } __attribute__((packed)) MotorData_t; |
47 | |||
48 | extern MotorData_t Motor[MAX_MOTORS]; |
||
49 | |||
1680 | holgerb | 50 | #define BLCONFIG_REVISION 2 |
1 | ingob | 51 | |
1662 | killagreg | 52 | #define MASK_SET_PWM_SCALING 0x01 |
53 | #define MASK_SET_CURRENT_LIMIT 0x02 |
||
54 | #define MASK_SET_TEMP_LIMIT 0x04 |
||
55 | #define MASK_SET_CURRENT_SCALING 0x08 |
||
56 | #define MASK_SET_BITCONFIG 0x10 |
||
2369 | holgerb | 57 | #define MASK_SET_STARTPWM 0x20 |
1662 | killagreg | 58 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
59 | #define MASK_SET_SAVE_EEPROM 0x80 |
||
1639 | holgerb | 60 | |
1662 | killagreg | 61 | #define BITCONF_REVERSE_ROTATION 0x01 |
2369 | holgerb | 62 | #define BITCONF_STARTGAS1 0x02 |
63 | #define BITCONF_STARTGAS2 0x04 |
||
64 | #define BITCONF_STARTGAS3 0x08 |
||
1662 | killagreg | 65 | #define BITCONF_RES4 0x10 |
66 | #define BITCONF_RES5 0x20 |
||
67 | #define BITCONF_RES6 0x40 |
||
68 | #define BITCONF_RES7 0x80 |
||
69 | |||
70 | typedef struct |
||
71 | { |
||
72 | uint8_t Revision; // must be BL_REVISION |
||
73 | uint8_t SetMask; // settings mask |
||
74 | uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit |
||
75 | uint8_t CurrentLimit; // current limit in A |
||
76 | uint8_t TempLimit; // in °C |
||
77 | uint8_t CurrentScaling; // scaling factor for current measurement |
||
78 | uint8_t BitConfig; // see defines above |
||
79 | uint8_t crc; // checksum |
||
80 | } __attribute__((packed)) BLConfig_t; |
||
81 | |||
82 | extern BLConfig_t BLConfig; |
||
83 | |||
84 | extern volatile uint16_t I2CTimeout; |
||
85 | |||
1743 | holgerb | 86 | void I2C_Init(char); // Initialize I2C |
1662 | killagreg | 87 | #define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);} |
88 | #define I2C_Stop(start_state) {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);} |
||
89 | void I2C_Reset(void); // Reset I2C |
||
1665 | killagreg | 90 | |
91 | #define BLCONFIG_SUCCESS 0 |
||
92 | #define BLCONFIG_ERR_MOTOR_RUNNING 1 |
||
93 | #define BLCONFIG_ERR_MOTOR_NOT_EXIST 2 |
||
94 | #define BLCONFIG_ERR_HW_NOT_COMPATIBLE 3 |
||
95 | #define BLCONFIG_ERR_SW_NOT_COMPATIBLE 4 |
||
96 | #define BLCONFIG_ERR_CHECKSUM 5 |
||
1673 | killagreg | 97 | #define BLCONFIG_ERR_READ_NOT_POSSIBLE 6 |
1665 | killagreg | 98 | |
1662 | killagreg | 99 | uint8_t I2C_WriteBLConfig(uint8_t motor); |
100 | uint8_t I2C_ReadBLConfig(uint8_t motor); |
||
101 | |||
1 | ingob | 102 | #endif |