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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 |
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27 | #define MOTOR_STATE_ERROR_MASK 0x7F |
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28 | 27 | #define MOTOR_STATE_ERROR_MASK 0x7F |
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29 | 28 | ||
30 | #define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
29 | #define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
31 | 30 | ||
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32 | #define BLFLAG_READ_VERSION 0x01 |
31 | #define BLFLAG_READ_VERSION 0x01 |
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33 | #define BLFLAG_SEND_CONFIG 0x02 |
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34 | #define BLFLAG_TX_COMPLETE 0x04 |
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35 | - | ||
36 | extern volatile unsigned char BLFlags; |
- | |
37 | - | ||
38 | #define MASK_SET_PWM_SCALING 0x01 |
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39 | #define MASK_SET_CURRENT_LIMIT 0x02 |
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40 | #define MASK_SET_TEMP_LIMIT 0x04 |
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41 | #define MASK_SET_CURRENT_SCALING 0x08 |
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42 | #define MASK_SET_BITCONFIG 0x10 |
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43 | #define MASK_RESET_CAPCOUNTER 0x20 |
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44 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
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45 | #define MASK_SET_SAVE_EEPROM 0x80 |
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46 | - | ||
47 | #define BITCONF_REVERSE_ROTATION 0x01 |
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48 | #define BITCONF_RES1 0x02 |
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49 | #define BITCONF_RES2 0x04 |
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50 | #define BITCONF_RES3 0x08 |
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51 | #define BITCONF_RES4 0x10 |
32 | #define BLFLAG_SEND_CONFIG 0x02 |
52 | #define BITCONF_RES5 0x20 |
33 | #define BLFLAG_TX_COMPLETE 0x04 |
53 | #define BITCONF_RES6 0x40 |
34 | |
54 | #define BITCONF_RES7 0x80 |
35 | extern volatile unsigned char BLFlags; |
55 | 36 | ||
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64 | unsigned char Version; |
45 | unsigned char Version; |
65 | } __attribute__((packed)) MotorData_t; |
46 | } __attribute__((packed)) MotorData_t; |
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66 | 47 | ||
Line 67... | Line -... | ||
67 | extern MotorData_t Motor[MAX_MOTORS]; |
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68 | - | ||
69 | typedef struct |
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70 | { |
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71 | unsigned char SetMask; // settings mask |
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72 | unsigned char PwmScaling; // maximum value of control pwm, acts like a thrust limit |
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73 | unsigned char CurrentLimit; // current limit in A |
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74 | unsigned char TempLimit; // in °C |
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75 | unsigned char CurrentScaling; // scaling factor for current measurement |
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76 | unsigned char BitConfig; // see defines below |
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77 | } __attribute__((packed)) BLConfig_t; |
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78 | - | ||
79 | extern BLConfig_t BLConfig[MAX_MOTORS]; |
48 | extern MotorData_t Motor[MAX_MOTORS]; |
80 | 49 | ||
81 | void i2c_reset(void); |
50 | void i2c_reset(void); |
82 | extern void i2c_init (void); // I2C initialisieren |
51 | extern void i2c_init (void); // I2C initialisieren |
83 | extern void i2c_write_byte (char byte); // 1 Byte schreiben |
52 | extern void i2c_write_byte (char byte); // 1 Byte schreiben |