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Rev 1378 | Rev 1550 | ||
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19 | //############################################################################ |
19 | //############################################################################ |
Line 20... | Line 20... | ||
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; |
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- | 24 | ||
23 | extern unsigned char motorread; |
25 | #define MAX_MOTORS 12 |
- | 26 | #define MOTOR_STATE_PRESENT_MASK 0x80 |
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- | 27 | #define MOTOR_STATE_ERROR_MASK 0x7F |
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- | 28 | ||
- | 29 | typedef struct |
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- | 30 | { |
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- | 31 | unsigned char SetPoint; // written by attitude controller |
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- | 32 | unsigned char State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
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- | 33 | unsigned char Current; // in 0.1 A steps, read back from BL |
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24 | extern unsigned char motor_rx[]; |
34 | unsigned char MaxPWM; // read back from BL is less than 255 if BL is in current limit |
- | 35 | } __attribute__((packed)) MotorData_t; |
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25 | extern unsigned char MotorPresent[]; |
36 | |
Line 26... | Line 37... | ||
26 | extern unsigned char MotorError[]; |
37 | extern MotorData_t Motor[MAX_MOTORS]; |
27 | 38 | ||
28 | void i2c_reset(void); |
39 | void i2c_reset(void); |
29 | extern void i2c_init (void); // I2C initialisieren |
40 | extern void i2c_init (void); // I2C initialisieren |