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#ifndef _I2C_MASTER_H
#define _I2C_MASTER_H
#include <inttypes.h>
#define TWI_STATE_MOTOR_TX 0
#define TWI_STATE_MOTOR_RX 5
#define TWI_STATE_GYRO_OFFSET_TX 18
extern volatile uint8_t twi_state;
extern volatile uint8_t motor_write;
extern volatile uint8_t motor_read;
extern uint8_t MissingMotor;
#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_TX_COMPLETE 0x01
#define BLFLAG_READ_VERSION 0x02
extern volatile uint8_t BLFlags;
#define BL_READMODE_STATUS 0
#define BL_READMODE_CONFIG 16
typedef struct
{
uint8_t Version; // the version of the BL (0 = old)
uint8_t SetPoint; // written by attitude controller
uint8_t SetPointLowerBits; // for higher Resolution of new BLs
uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present
uint8_t ReadMode; // select data to read
// the following bytes must be exactly in that order!
uint8_t Current; // in 0.1 A steps, read back from BL
uint8_t MaxPWM; // read back from BL is less than 255 if BL is in current limit
int8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in °C
} __attribute__((packed)) MotorData_t;
extern MotorData_t Motor[MAX_MOTORS];
#define BLCONFIG_REVISION 1
#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
{
uint8_t Revision; // must be BL_REVISION
uint8_t SetMask; // settings mask
uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit
uint8_t CurrentLimit; // current limit in A
uint8_t TempLimit; // in °C
uint8_t CurrentScaling; // scaling factor for current measurement
uint8_t BitConfig; // see defines above
uint8_t crc; // checksum
} __attribute__((packed)) BLConfig_t;
extern BLConfig_t BLConfig;
extern volatile uint16_t I2CTimeout;
void I2C_Init (void); // Initialize I2C
#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);}
#define I2C_Stop(start_state) {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);}
void I2C_Reset(void); // Reset I2C
#define BLCONFIG_SUCCESS 0
#define BLCONFIG_ERR_MOTOR_RUNNING 1
#define BLCONFIG_ERR_MOTOR_NOT_EXIST 2
#define BLCONFIG_ERR_HW_NOT_COMPATIBLE 3
#define BLCONFIG_ERR_SW_NOT_COMPATIBLE 4
#define BLCONFIG_ERR_CHECKSUM 5
#define BLCONFIG_ERR_READ_NOT_POSSIBLE 6
uint8_t I2C_WriteBLConfig(uint8_t motor);
uint8_t I2C_ReadBLConfig(uint8_t motor);
#endif