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/*############################################################################
############################################################################*/
#ifndef _I2C_MASTER_H
#define _I2C_MASTER_H
//############################################################################
// I2C Konstanten
#define SCL_CLOCK 200000L
#define I2C_TIMEOUT 30000
#define I2C_START 0x08
#define I2C_REPEATED_START 0x10
#define I2C_TX_SLA_ACK 0x18
#define I2C_TX_DATA_ACK 0x28
#define I2C_RX_SLA_ACK 0x40
#define I2C_RX_DATA_ACK 0x50
//############################################################################
extern volatile unsigned char twi_state;
extern volatile unsigned char motor,MissingMotor;
extern volatile unsigned char motorread;
#define MAX_MOTORS 12
#define MOTOR_STATE_PRESENT_MASK 0x80
#define MOTOR_STATE_ERROR_MASK 0x7F
#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01
#define BLFLAG_READ_VERSION 0x01
#define BLFLAG_SEND_CONFIG 0x02
#define BLFLAG_TX_COMPLETE 0x04
extern volatile unsigned char BLFlags;
#define MASK_SET_PWM_SCALING 0x01
#define MASK_SET_CURRENT_LIMIT 0x02
#define MASK_SET_TEMP_LIMIT 0x04
#define MASK_SET_CURRENT_SCALING 0x08
#define MASK_SET_BITCONFIG 0x10
#define MASK_RESET_CAPCOUNTER 0x20
#define MASK_SET_DEFAULT_PARAMS 0x40
#define MASK_SET_SAVE_EEPROM 0x80
#define BITCONF_REVERSE_ROTATION 0x01
#define BITCONF_RES1 0x02
#define BITCONF_RES2 0x04
#define BITCONF_RES3 0x08
#define BITCONF_RES4 0x10
#define BITCONF_RES5 0x20
#define BITCONF_RES6 0x40
#define BITCONF_RES7 0x80
typedef struct
{
unsigned char SetPoint; // written by attitude controller
unsigned char State; // 7 bit for I2C error counter, highest bit indicates if motor is present
unsigned char Current; // in 0.1 A steps, read back from BL
unsigned char MaxPWM; // read back from BL is less than 255 if BL is in current limit
unsigned char Temperature; // old BL-Ctrl will return a 255 here
unsigned char SetPointLowerBits; // for higher Resolution
unsigned char Version;
} __attribute__((packed)) MotorData_t;
extern MotorData_t Motor[MAX_MOTORS];
typedef struct
{
unsigned char SetMask; // settings mask
unsigned char PwmScaling; // maximum value of control pwm, acts like a thrust limit
unsigned char CurrentLimit; // current limit in A
unsigned char TempLimit; // in °C
unsigned char CurrentScaling; // scaling factor for current measurement
unsigned char BitConfig; // see defines below
} __attribute__((packed)) BLConfig_t;
extern BLConfig_t BLConfig[MAX_MOTORS];
void i2c_reset(void);
extern void i2c_init (void); // I2C initialisieren
extern void i2c_write_byte (char byte); // 1 Byte schreiben
extern void i2c_reset(void);
extern void I2C_SendBLConfig(void);
#define I2C_Start() {BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);}
#define I2C_Stop() {TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);}
#define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);}
#define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
#define i2c_write_byte(byte) {TWSR = 0x00; TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);}
#endif