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Rev 1744 | Rev 1948 | ||
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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 |
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 |
Line 44... | Line 44... | ||
44 | } __attribute__((packed)) MotorData_t; |
44 | } __attribute__((packed)) MotorData_t; |