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| Rev 1775 | Rev 1821 | ||
|---|---|---|---|
| Line 12... | Line 12... | ||
| 12 | extern uint8_t missingMotor; |
12 | extern uint8_t missingMotor; |
| Line 13... | Line 13... | ||
| 13 | 13 | ||
| Line 14... | Line 14... | ||
| 14 | volatile extern uint8_t DACValues[4]; |
14 | volatile extern uint8_t DACValues[4]; |
| 15 | 15 | ||
| 16 | typedef struct { |
16 | typedef struct { |
| 17 | uint8_t SetPoint; // written by attitude controller |
17 | uint8_t SetPoint; // written by attitude controller |
| 18 | uint8_t Present; // 0 if BL was found |
18 | uint8_t Present; // 0 if BL was found |
| 19 | uint8_t Error; // I2C error counter |
19 | uint8_t Error; // I2C error counter |
| 20 | uint8_t Current; // read byck from BL |
20 | uint8_t Current; // read byck from BL |
| Line 21... | Line 21... | ||
| 21 | uint8_t MaxPWM; // read back from BL |
21 | uint8_t MaxPWM; // read back from BL |
| 22 | } __attribute__((packed)) MotorData_t; |
22 | }__attribute__((packed)) MotorData_t; |
| Line 23... | Line 23... | ||
| 23 | 23 | ||
| Line 24... | Line 24... | ||
| 24 | #define MAX_MOTORS 12 |
24 | #define MAX_MOTORS 12 |
| 25 | extern MotorData_t motor[MAX_MOTORS]; |
25 | extern MotorData_t motor[MAX_MOTORS]; |
| 26 | 26 | ||
| 27 | extern volatile uint16_t I2CTimeout; |
27 | extern volatile uint16_t I2CTimeout; |
| 28 | 28 | ||
| Line 29... | Line 29... | ||
| 29 | extern void I2C_init (void); // Initialize I2C |
29 | extern void I2C_init(void); // Initialize I2C |