/tags/V2.06c/twimaster.h |
---|
0,0 → 1,120 |
#ifndef _I2C_MASTER_H |
#define _I2C_MASTER_H |
+ |
+#include <inttypes.h> |
+ |
+#define TWI_STATE_MOTOR_TX 0 |
+#define TWI_STATE_MOTOR_RX 5 |
+//#define TWI_STATE_GYRO_OFFSET_TX 18 |
+ |
+extern volatile uint8_t twi_state; |
+extern volatile uint8_t motor_write; |
+extern volatile uint8_t motor_read; |
+extern volatile uint8_t I2C_TransferActive; |
+extern uint8_t Max_I2C_Packets; |
+extern uint8_t MissingMotor; |
+ |
+#define MAX_MOTORS 12 |
+#define MOTOR_STATE_PRESENT_MASK 0x80 |
+#define MOTOR_STATE_ERROR_MASK 0x7F |
+ |
+//Motor[x].Version |
+#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
+#define MOTOR_STATE_FAST_MODE 0x02 |
+#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
+ |
+#define BLFLAG_TX_COMPLETE 0x01 |
+#define BLFLAG_READ_VERSION 0x02 |
+ |
+extern volatile uint8_t BLFlags; |
+ |
+#define BL_READMODE_STATUS 0 |
+#define BL_READMODE_CONFIG 16 |
+ |
+typedef struct |
+{ |
+ uint8_t Version; // the version of the BL (0 = old) |
+ uint8_t SetPoint; // written by attitude controller |
+ uint8_t SetPointLowerBits; // for higher Resolution of new BLs |
+ uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
+ uint8_t ReadMode; // select data to read |
+ // the following bytes must be exactly in that order! |
+ uint8_t Current; // in 0.1 A steps, read back from BL |
+ uint8_t MaxPWM; // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40) |
+ int8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in °C |
+ uint8_t NotReadyCnt; // Counts up is the Motor is not ready during flight -> MotorRestart etc. |
+} __attribute__((packed)) MotorData_t; |
+ |
+extern MotorData_t Motor[MAX_MOTORS]; |
+ |
+// BitSate |
+#define BL_BIT_STATE_I2C_OK 0x01 |
+#define BL_BIT_STATE_I2C_VALUE 0x02 |
+#define BL_BIT_STATE_I2C_BAD 0x04 |
+#define BL_BIT_STATE_PPM_OK 0x08 |
+#define BL_BIT_STATE_MOTOR_RUN 0x10 |
+ |
+typedef struct |
+{ |
+ unsigned char BitSate; |
+ unsigned char Current; |
+ unsigned char State; |
+ unsigned char TemperatureInDeg; |
+ unsigned char Voltage80; |
+} __attribute__((packed)) RedundantBl_t; |
+extern RedundantBl_t RedundantMotor[MAX_MOTORS]; |
+ |
+#define BLCONFIG_REVISION 2 |
+ |
+#define MASK_SET_PWM_SCALING 0x01 |
+#define MASK_SET_CURRENT_LIMIT 0x02 |
+#define MASK_SET_TEMP_LIMIT 0x04 |
+#define MASK_SET_CURRENT_SCALING 0x08 |
+#define MASK_SET_BITCONFIG 0x10 |
+#define MASK_SET_STARTPWM 0x20 |
+#define MASK_SET_DEFAULT_PARAMS 0x40 |
+#define MASK_SET_SAVE_EEPROM 0x80 |
+ |
+#define BITCONF_REVERSE_ROTATION 0x01 |
+#define BITCONF_STARTGAS1 0x02 |
+#define BITCONF_STARTGAS2 0x04 |
+#define BITCONF_STARTGAS3 0x08 |
+#define BITCONF_RES4 0x10 |
+#define BITCONF_RES5 0x20 |
+#define BITCONF_RES6 0x40 |
+#define BITCONF_RES7 0x80 |
+ |
+typedef struct |
+{ |
+ uint8_t Revision; // must be BL_REVISION |
+ uint8_t SetMask; // settings mask |
+ uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit |
+ uint8_t CurrentLimit; // current limit in A |
+ uint8_t TempLimit; // in °C |
+ uint8_t CurrentScaling; // scaling factor for current measurement |
+ uint8_t BitConfig; // see defines above |
+ uint8_t crc; // checksum |
+} __attribute__((packed)) BLConfig_t; |
+ |
+extern BLConfig_t BLConfig; |
+ |
+extern volatile uint16_t I2CTimeout; |
+ |
+void I2C_Init(char); // Initialize I2C |
+#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);} |
+#define I2C_Stop(start_state) {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);} |
+void I2C_Reset(void); // Reset I2C |
+ |
+#define BLCONFIG_SUCCESS 0 |
+#define BLCONFIG_ERR_MOTOR_RUNNING 1 |
+#define BLCONFIG_ERR_MOTOR_NOT_EXIST 2 |
+#define BLCONFIG_ERR_HW_NOT_COMPATIBLE 3 |
+#define BLCONFIG_ERR_SW_NOT_COMPATIBLE 4 |
+#define BLCONFIG_ERR_CHECKSUM 5 |
+#define BLCONFIG_ERR_READ_NOT_POSSIBLE 6 |
+ |
+uint8_t I2C_WriteBLConfig(uint8_t motor); |
+uint8_t I2C_ReadBLConfig(uint8_t motor); |
+ |
+#endif |