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23 | 23 | ||
24 | #define BLFLAG_TX_COMPLETE 0x01 |
24 | #define BLFLAG_TX_COMPLETE 0x01 |
Line 25... | Line 25... | ||
25 | #define BLFLAG_READ_VERSION 0x02 |
25 | #define BLFLAG_READ_VERSION 0x02 |
Line -... | Line 26... | ||
- | 26 | ||
- | 27 | extern volatile uint8_t BLFlags; |
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- | 28 | ||
- | 29 | ||
26 | 30 | #define BL_READMODE_STATUS 0 |
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27 | extern volatile uint8_t BLFlags; |
31 | #define BL_READMODE_CONFIG 16 |
28 | 32 | ||
29 | typedef struct |
33 | typedef struct |
30 | { |
34 | { |
31 | 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 |
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32 | uint8_t SetPoint; // written by attitude controller |
37 | uint8_t SetPointLowerBits; // for higher Resolution of new BLs |
33 | 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 |
34 | uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
39 | uint8_t ReadMode; // select data to read |
35 | // the following bytes must be exactly in that order! |
40 | // the following bytes must be exactly in that order! |
36 | 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 |