Subversion Repositories FlightCtrl

Rev

Rev 1994 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1994 Rev 1995
Line 1... Line 1...
1 
#ifndef _I2C_MASTER_H
 1 
#ifndef _I2C_MASTER_H
2 
#define _I2C_MASTER_H
 2 
#define _I2C_MASTER_H
- 
 
 3 
 
3 
 
 4 
 
4 
 
 5 
#include <inttypes.h>
5 
#include <inttypes.h>
 6 
 
6 
 
 7 
#define TWI_STATE_MOTOR_TX                      0
7 
#define TWI_STATE_MOTOR_TX                      0
 8 
#define TWI_STATE_MOTOR_RX                      5
8 
#define TWI_STATE_MOTOR_RX                      5
 9 
#define TWI_STATE_GYRO_OFFSET_TX        18
9 
#define TWI_STATE_GYRO_OFFSET_TX        18
 10 
 
10 
 
 11 
extern volatile uint8_t twi_state;
11 
extern volatile uint8_t twi_state;
 12 
extern volatile uint8_t motor_write;
12 
extern volatile uint8_t motor_write;
 13 
extern volatile uint8_t motor_read;
13 
extern volatile uint8_t motor_read;
 14 
extern volatile uint8_t I2C_TransferActive;
14 
extern volatile uint8_t I2C_TransferActive;
 15 
 
15 
 
 16 
extern uint8_t MissingMotor;
16 
extern uint8_t MissingMotor;
 17 
 
17 
 
 18 
#define MAX_MOTORS      12
18 
#define MAX_MOTORS      12
 19 
#define MOTOR_STATE_PRESENT_MASK                0x80
19 
#define MOTOR_STATE_PRESENT_MASK                0x80
 20 
#define MOTOR_STATE_ERROR_MASK                  0x7F
20 
#define MOTOR_STATE_ERROR_MASK                  0x7F
 21 
 
21 
 
 22 
#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
22 
#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
 23 
 
23 
 
 24 
#define BLFLAG_TX_COMPLETE              0x01
24 
#define BLFLAG_TX_COMPLETE              0x01
 25 
#define BLFLAG_READ_VERSION     0x02
25 
#define BLFLAG_READ_VERSION     0x02
 26 
 
26 
 
 27 
extern volatile uint8_t BLFlags;
27 
extern volatile uint8_t BLFlags;
 28 
 
28 
 
 29 
 
29 
 
 30 
#define BL_READMODE_STATUS  0
30 
#define BL_READMODE_STATUS  0
 31 
#define BL_READMODE_CONFIG      16
31 
#define BL_READMODE_CONFIG      16
 32 
 
32 
 
 33 
typedef struct
33 
typedef struct
 34 
{
34 
{
 35 
        uint8_t Version;                        // the version of the BL (0 = old)
35 
        uint8_t Version;                        // the version of the BL (0 = old)
 36 
        uint8_t SetPoint;                       // written by attitude controller
36 
        uint8_t SetPoint;                       // written by attitude controller
 37 
        uint8_t SetPointLowerBits;      // for higher Resolution of new BLs
37 
        uint8_t SetPointLowerBits;      // for higher Resolution of new BLs
 38 
        uint8_t State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
38 
        uint8_t State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
 39 
        uint8_t ReadMode;                       // select data to read
39 
        uint8_t ReadMode;                       // select data to read
 40 
        // the following bytes must be exactly in that order!
40 
        // the following bytes must be exactly in that order!
 41 
        uint8_t Current;                        // in 0.1 A steps, read back from BL
41 
        uint8_t Current;                        // in 0.1 A steps, read back from BL
 42 
        uint8_t MaxPWM;                         // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40)
42 
        uint8_t MaxPWM;                         // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40)
 43 
        int8_t  Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in °C
43 
        int8_t  Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in °C
 44 
} __attribute__((packed)) MotorData_t;
44 
} __attribute__((packed)) MotorData_t;
 45 
 
45 
 
 46 
extern MotorData_t Motor[MAX_MOTORS];
46 
extern MotorData_t Motor[MAX_MOTORS];
 47 
 
47 
 
 48 
#define BLCONFIG_REVISION 2
48 
#define BLCONFIG_REVISION 2
 49 
 
49 
 
 50 
#define MASK_SET_PWM_SCALING            0x01
50 
#define MASK_SET_PWM_SCALING            0x01
 51 
#define MASK_SET_CURRENT_LIMIT          0x02
51 
#define MASK_SET_CURRENT_LIMIT          0x02
 52 
#define MASK_SET_TEMP_LIMIT                     0x04
52 
#define MASK_SET_TEMP_LIMIT                     0x04
 53 
#define MASK_SET_CURRENT_SCALING        0x08
53 
#define MASK_SET_CURRENT_SCALING        0x08
 54 
#define MASK_SET_BITCONFIG                      0x10
54 
#define MASK_SET_BITCONFIG                      0x10
 55 
#define MASK_RESET_CAPCOUNTER           0x20
55 
#define MASK_RESET_CAPCOUNTER           0x20
 56 
#define MASK_SET_DEFAULT_PARAMS         0x40
56 
#define MASK_SET_DEFAULT_PARAMS         0x40
 57 
#define MASK_SET_SAVE_EEPROM            0x80
57 
#define MASK_SET_SAVE_EEPROM            0x80
 58 
 
58 
 
 59 
#define BITCONF_REVERSE_ROTATION 0x01
59 
#define BITCONF_REVERSE_ROTATION 0x01
 60 
#define BITCONF_RES1 0x02
60 
#define BITCONF_RES1 0x02
 61 
#define BITCONF_RES2 0x04
61 
#define BITCONF_RES2 0x04
 62 
#define BITCONF_RES3 0x08
62 
#define BITCONF_RES3 0x08
 63 
#define BITCONF_RES4 0x10
63 
#define BITCONF_RES4 0x10
 64 
#define BITCONF_RES5 0x20
64 
#define BITCONF_RES5 0x20
 65 
#define BITCONF_RES6 0x40
65 
#define BITCONF_RES6 0x40
 66 
#define BITCONF_RES7 0x80
66 
#define BITCONF_RES7 0x80
 67 
 
67 
 
 68 
typedef struct
68 
typedef struct
 69 
{
69 
{
 70 
        uint8_t Revision;                       // must be BL_REVISION
70 
        uint8_t Revision;                       // must be BL_REVISION
 71 
        uint8_t SetMask;                        // settings mask
71 
        uint8_t SetMask;                        // settings mask
 72 
        uint8_t PwmScaling;                     // maximum value of control pwm, acts like a thrust limit
72 
        uint8_t PwmScaling;                     // maximum value of control pwm, acts like a thrust limit
 73 
        uint8_t CurrentLimit;           // current limit in A
73 
        uint8_t CurrentLimit;           // current limit in A
 74 
        uint8_t TempLimit;                      // in °C
74 
        uint8_t TempLimit;                      // in °C
 75 
        uint8_t CurrentScaling;         // scaling factor for current measurement
75 
        uint8_t CurrentScaling;         // scaling factor for current measurement
 76 
        uint8_t BitConfig;                      // see defines above
76 
        uint8_t BitConfig;                      // see defines above
 77 
        uint8_t crc;                            // checksum
77 
        uint8_t crc;                            // checksum
 78 
}  __attribute__((packed)) BLConfig_t;
78 
}  __attribute__((packed)) BLConfig_t;
 79 
 
79 
 
 80 
extern BLConfig_t BLConfig;
80 
extern BLConfig_t BLConfig;
 81 
 
81 
 
 82 
extern volatile uint16_t I2CTimeout;
82 
extern volatile uint16_t I2CTimeout;
 83 
 
83 
 
 84 
void I2C_Init(char); // Initialize I2C
84 
void I2C_Init(char); // Initialize I2C
 85 
#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);}
85 
#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);}
 86 
#define I2C_Stop(start_state)  {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);}
86 
#define I2C_Stop(start_state)  {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);}
 87 
void I2C_Reset(void); // Reset I2C
87 
void I2C_Reset(void); // Reset I2C
 88 
 
88 
 
 89 
#define BLCONFIG_SUCCESS                             0
89 
#define BLCONFIG_SUCCESS                             0
 90 
#define BLCONFIG_ERR_MOTOR_RUNNING       1
90 
#define BLCONFIG_ERR_MOTOR_RUNNING       1
 91 
#define BLCONFIG_ERR_MOTOR_NOT_EXIST     2
91 
#define BLCONFIG_ERR_MOTOR_NOT_EXIST     2
 92 
#define BLCONFIG_ERR_HW_NOT_COMPATIBLE   3
92 
#define BLCONFIG_ERR_HW_NOT_COMPATIBLE   3
 93 
#define BLCONFIG_ERR_SW_NOT_COMPATIBLE   4
93 
#define BLCONFIG_ERR_SW_NOT_COMPATIBLE   4
 94 
#define BLCONFIG_ERR_CHECKSUM            5
94 
#define BLCONFIG_ERR_CHECKSUM            5
 95 
#define BLCONFIG_ERR_READ_NOT_POSSIBLE   6
95 
#define BLCONFIG_ERR_READ_NOT_POSSIBLE   6
 96 
 
96 
 
 97 
uint8_t I2C_WriteBLConfig(uint8_t motor);
97 
uint8_t I2C_WriteBLConfig(uint8_t motor);
 98 
uint8_t I2C_ReadBLConfig(uint8_t motor);
98 
uint8_t I2C_ReadBLConfig(uint8_t motor);
 99 
 
99 
 
 100 
#endif