| /branches/V0.74d Code Redesign killagreg/twimaster.h |
|---|
| 0,0 → 1,37 |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| + |
| +#include <inttypes.h> |
| + |
| +#define TWI_STATE_MOTOR_TX 0 |
| +#define TWI_STATE_MOTOR_RX 3 |
| +#define TWI_STATE_GYRO_OFFSET_TX 7 |
| + |
| +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 |
| + |
| +typedef struct |
| +{ |
| + uint8_t SetPoint; // written by attitude controller |
| + uint8_t Present; // 0 if BL was found |
| + uint8_t Error; // I2C error counter |
| + uint8_t Current; // read byck from BL |
| + uint8_t MaxPWM; // read back from BL |
| +} __attribute__((packed)) MotorData_t; |
| + |
| +extern MotorData_t Motor[MAX_MOTORS]; |
| + |
| +extern volatile uint16_t I2CTimeout; |
| + |
| +extern void I2C_Init (void); // Initialize I2C |
| +extern void I2C_Start(uint8_t start_state); // Start I2C |
| +extern void I2C_Stop (uint8_t start_state); // Stop I2C |
| +extern void I2C_Reset(void); // Reset I2C |
| + |
| +#endif |