WebSVN - FlightCtrl - Diff - Rev 1638 and 1639


/*############################################################################
############################################################################*/
 
#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,TransmitBlConfig;
 
#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);
 
#define I2C_Start()  {TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);}
#define I2C_Stop() {TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);}
#define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);}
#define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
#define i2c_write_byte(byte) {TWSR = 0x00; TWDR = byte;  TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
 
#endif
 

Rev 1638	Rev 1639
1	/*############################################################################	1	/*############################################################################
2	############################################################################*/	2	############################################################################*/
3		3
4	#ifndef _I2C_MASTER_H	4	#ifndef _I2C_MASTER_H
5	#define _I2C_MASTER_H	5	#define _I2C_MASTER_H
6		6
7	//############################################################################	7	//############################################################################
8		8
9	// I2C Konstanten	9	// I2C Konstanten
10	#define SCL_CLOCK 200000L	10	#define SCL_CLOCK 200000L
11	#define I2C_TIMEOUT 30000	11	#define I2C_TIMEOUT 30000
12	#define I2C_START 0x08	12	#define I2C_START 0x08
13	#define I2C_REPEATED_START 0x10	13	#define I2C_REPEATED_START 0x10
14	#define I2C_TX_SLA_ACK 0x18	14	#define I2C_TX_SLA_ACK 0x18
15	#define I2C_TX_DATA_ACK 0x28	15	#define I2C_TX_DATA_ACK 0x28
16	#define I2C_RX_SLA_ACK 0x40	16	#define I2C_RX_SLA_ACK 0x40
17	#define I2C_RX_DATA_ACK 0x50	17	#define I2C_RX_DATA_ACK 0x50
18		18
19	//############################################################################	19	//############################################################################
20		20
21	extern volatile unsigned char twi_state;	21	extern volatile unsigned char twi_state;
22	extern unsigned char motor,MissingMotor;	22	extern unsigned char motor,MissingMotor;
23	extern unsigned char motorread;	23	extern unsigned char motorread,TransmitBlConfig;
24		24
25	#define MAX_MOTORS 12	25	#define MAX_MOTORS 12
26	#define MOTOR_STATE_PRESENT_MASK 0x80	26	#define MOTOR_STATE_PRESENT_MASK 0x80
27	#define MOTOR_STATE_ERROR_MASK 0x7F	27	#define MOTOR_STATE_ERROR_MASK 0x7F
28		28
29		29
30	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01	30	#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01
31		31
32	typedef struct	32	typedef struct
33	{	33	{
34	unsigned char SetPoint; // written by attitude controller	34	unsigned char SetPoint; // written by attitude controller
35	unsigned char State; // 7 bit for I2C error counter, highest bit indicates if motor is present	35	unsigned char State; // 7 bit for I2C error counter, highest bit indicates if motor is present
36	unsigned char Current; // in 0.1 A steps, read back from BL	36	unsigned char Current; // in 0.1 A steps, read back from BL
37	unsigned char MaxPWM; // read back from BL is less than 255 if BL is in current limit	37	unsigned char MaxPWM; // read back from BL is less than 255 if BL is in current limit
38	signed char Temperature; // old BL-Ctrl will return a 255 here	38	signed char Temperature; // old BL-Ctrl will return a 255 here
39	unsigned char SetPointLowerBits; // for higher Resolution	39	unsigned char SetPointLowerBits; // for higher Resolution
40	unsigned char Version;	40	unsigned char Version;
41	} __attribute__((packed)) MotorData_t;	41	} __attribute__((packed)) MotorData_t;
42		42
43	extern MotorData_t Motor[MAX_MOTORS];	43	extern MotorData_t Motor[MAX_MOTORS];
44		44
45	void i2c_reset(void);	45	void i2c_reset(void);
46	extern void i2c_init (void); // I2C initialisieren	46	extern void i2c_init (void); // I2C initialisieren
47	extern void i2c_start (void); // Start I2C	47	//extern void i2c_start (void); // Start I2C
48	extern void i2c_stop (void); // Stop I2C	48	//extern void i2c_stop (void); // Stop I2C
49	extern void i2c_write_byte (char byte); // 1 Byte schreiben	49	extern void i2c_write_byte (char byte); // 1 Byte schreiben
50	extern void i2c_reset(void);	50	extern void i2c_reset(void);
-		51
-		52	#define I2C_Start() {TWCR = (1<<TWSTA) \| (1<<TWEN) \| (1<<TWINT) \| (1<<TWIE);}
-		53	#define I2C_Stop() {TWCR = (1<<TWEN) \| (1<<TWSTO) \| (1<<TWINT);}
-		54	#define I2C_ReceiveByte() {TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE) \| (1<<TWEA);}
-		55	#define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);}
-		56	#define i2c_write_byte(byte) {TWSR = 0x00; TWDR = byte; TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);}
51		57
52	#endif	58	#endif
53		59

Subversion Repositories FlightCtrl

(root)/tags/V0.86d/twimaster.h @ 2736 - Rev 1638 → 1639