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/*############################################################################
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/*############################################################################
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############################################################################*/
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############################################################################*/
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#ifndef _I2C_MASTER_H
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#ifndef _I2C_MASTER_H
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#define _I2C_MASTER_H
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#define _I2C_MASTER_H
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//############################################################################
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//############################################################################
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// I2C Konstanten
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// I2C Konstanten
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#define SCL_CLOCK  200000L
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#define SCL_CLOCK  200000L
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#define I2C_TIMEOUT 30000
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#define I2C_TIMEOUT 30000
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#define I2C_START          0x08
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#define I2C_START          0x08
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#define I2C_REPEATED_START 0x10
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#define I2C_REPEATED_START 0x10
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#define I2C_TX_SLA_ACK     0x18
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#define I2C_TX_SLA_ACK     0x18
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#define I2C_TX_DATA_ACK    0x28
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#define I2C_TX_DATA_ACK    0x28
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#define I2C_RX_SLA_ACK     0x40
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#define I2C_RX_SLA_ACK     0x40
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#define I2C_RX_DATA_ACK    0x50
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#define I2C_RX_DATA_ACK    0x50
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//############################################################################
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//############################################################################
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extern volatile unsigned char twi_state;
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extern volatile unsigned char twi_state;
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extern volatile unsigned char motor,MissingMotor;
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extern volatile unsigned char motor,MissingMotor;
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extern volatile unsigned char motorread;
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extern volatile unsigned char motorread;
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#define MAX_MOTORS      12
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#define MAX_MOTORS      12
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#define MOTOR_STATE_PRESENT_MASK                0x80
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#define MOTOR_STATE_PRESENT_MASK                0x80
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#define MOTOR_STATE_ERROR_MASK                  0x7F
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#define MOTOR_STATE_ERROR_MASK                  0x7F
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#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
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#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
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#define BLFLAG_READ_VERSION     0x01
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#define BLFLAG_READ_VERSION     0x01
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#define BLFLAG_SEND_CONFIG              0x02
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#define BLFLAG_SEND_CONFIG              0x02
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#define BLFLAG_TX_COMPLETE              0x04
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#define BLFLAG_TX_COMPLETE              0x04
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extern volatile unsigned char BLFlags;
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extern volatile unsigned char BLFlags;
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#define MASK_SET_PWM_SCALING            0x01
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#define MASK_SET_CURRENT_LIMIT          0x02
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#define MASK_SET_TEMP_LIMIT                     0x04
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#define MASK_SET_CURRENT_SCALING        0x08
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#define MASK_SET_BITCONFIG                      0x10
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#define MASK_RESET_CAPCOUNTER           0x20
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#define MASK_SET_DEFAULT_PARAMS         0x40
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#define MASK_SET_SAVE_EEPROM            0x80
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#define BITCONF_REVERSE_ROTATION 0x01
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#define BITCONF_RES1 0x02
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#define BITCONF_RES2 0x04
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#define BITCONF_RES3 0x08
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#define BITCONF_RES4 0x10
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#define BITCONF_RES5 0x20
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#define BITCONF_RES6 0x40
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#define BITCONF_RES7 0x80
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typedef struct
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typedef struct
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{
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{
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        unsigned char SetPoint; // written by attitude controller
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        unsigned char SetPoint; // written by attitude controller
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        unsigned char State;    // 7 bit for I2C error counter, highest bit indicates if motor is present
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        unsigned char State;    // 7 bit for I2C error counter, highest bit indicates if motor is present
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        unsigned char Current;  // in 0.1 A steps, read back from BL
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        unsigned char Current;  // in 0.1 A steps, read back from BL
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        unsigned char MaxPWM;   // read back from BL is less than 255 if BL is in current limit
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        unsigned char MaxPWM;   // read back from BL is less than 255 if BL is in current limit
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        unsigned char Temperature; // old BL-Ctrl will return a 255 here
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        unsigned char Temperature; // old BL-Ctrl will return a 255 here
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        unsigned char SetPointLowerBits; // for higher Resolution
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        unsigned char SetPointLowerBits; // for higher Resolution
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    unsigned char Version;
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    unsigned char Version;
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} __attribute__((packed)) MotorData_t;
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} __attribute__((packed)) MotorData_t;
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extern MotorData_t Motor[MAX_MOTORS];
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extern MotorData_t Motor[MAX_MOTORS];
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typedef struct
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{
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        unsigned char SetMask;                  // settings mask
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        unsigned char PwmScaling;               // maximum value of control pwm, acts like a thrust limit
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        unsigned char CurrentLimit;             // current limit in A
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        unsigned char TempLimit;                // in °C
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        unsigned char CurrentScaling;   // scaling factor for current measurement
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        unsigned char BitConfig;                // see defines below
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}  __attribute__((packed)) BLConfig_t;
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extern BLConfig_t BLConfig[MAX_MOTORS];
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void i2c_reset(void);
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void i2c_reset(void);
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extern void i2c_init (void); // I2C initialisieren
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extern void i2c_init (void); // I2C initialisieren
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extern void i2c_write_byte (char byte); // 1 Byte schreiben
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extern void i2c_write_byte (char byte); // 1 Byte schreiben
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extern void i2c_reset(void);
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extern void i2c_reset(void);
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extern void I2C_SendBLConfig(void);
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extern void I2C_SendBLConfig(void);
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#define I2C_Start() {BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);}
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#define I2C_Start() {BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);}
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#define I2C_Stop() {TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);}
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#define I2C_Stop() {TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);}
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#define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);}
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#define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);}
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#define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
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#define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
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#define i2c_write_byte(byte) {TWSR = 0x00; TWDR = byte;  TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
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#define i2c_write_byte(byte) {TWSR = 0x00; TWDR = byte;  TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
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#endif
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#endif
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