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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | #ifndef _I2C_MASTER_H |
| 2 | #define _I2C_MASTER_H |
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| 886 | killagreg | 3 | |
| 1 | ingob | 4 | |
| 886 | killagreg | 5 | #include <inttypes.h> |
| 1 | ingob | 6 | |
| 936 | killagreg | 7 | #define TWI_STATE_MOTOR_TX 0 |
| 1222 | killagreg | 8 | #define TWI_STATE_MOTOR_RX 3 |
| 936 | killagreg | 9 | #define TWI_STATE_GYRO_OFFSET_TX 7 |
| 1 | ingob | 10 | |
| 886 | killagreg | 11 | extern volatile uint8_t twi_state; |
| 1222 | killagreg | 12 | extern volatile uint8_t motor_write; |
| 13 | extern volatile uint8_t motor_read; |
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| 1180 | killagreg | 14 | |
| 1222 | killagreg | 15 | extern uint8_t MissingMotor; |
| 1180 | killagreg | 16 | |
| 1222 | killagreg | 17 | #define MAX_MOTORS 12 |
| 18 | |||
| 19 | typedef struct |
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| 20 | { |
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| 21 | uint8_t SetPoint; // written by attitude controller |
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| 22 | uint8_t Present; // 0 if BL was found |
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| 23 | uint8_t Error; // I2C error counter |
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| 24 | uint8_t Current; // read byck from BL |
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| 25 | uint8_t MaxPWM; // read back from BL |
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| 26 | } __attribute__((packed)) MotorData_t; |
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| 27 | |||
| 28 | extern MotorData_t Motor[MAX_MOTORS]; |
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| 29 | |||
| 936 | killagreg | 30 | extern volatile uint16_t I2CTimeout; |
| 1 | ingob | 31 | |
| 936 | killagreg | 32 | extern void I2C_Init (void); // Initialize I2C |
| 1222 | killagreg | 33 | extern void I2C_Start(uint8_t start_state); // Start I2C |
| 34 | extern void I2C_Stop (uint8_t start_state); // Stop I2C |
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| 886 | killagreg | 35 | extern void I2C_Reset(void); // Reset I2C |
| 1 | ingob | 36 | |
| 37 | #endif |