| 0,0 → 1,37 |
|---|
| #ifndef _TWIMASTER_H |
| #define _TWIMASTER_H |
| #include <inttypes.h> |
| |
| // Cold start, (re)write configuration. |
| #define TWI_STATE_INIT_0 0 |
| // Start the read-data loop. |
| #define TWI_STATE_LOOP_0 5 |
| |
| #define SCL_CLOCK 400000L |
| |
| // This is for the IMU3200 sensor. |
| #define SLA 0b1101001 |
| #define TWSR_FILTER (TWSR & 0b11111100) |
| |
| #define GYRO_CONFIGURATION_START 0x15 |
| #define GYRO_DATA_START 0x1B |
| |
| #define START 0x08 |
| #define REPEATED_START 0x10 |
| #define MT_SLA_ACK 0x18 |
| #define MT_SLA_NACK 0x20 |
| #define MT_DATA_ACK 0x28 |
| #define MR_SLA_ACK 0x40 |
| #define MR_DATA_ACK 0x50 |
| #define MR_DATA_NACK 0x58 |
| |
| /* |
| * We take the temperature measurement as well as gyro. |
| */ |
| extern volatile uint16_t IMU3200SensorInputs[4]; |
| |
| void twimaster_setNeutral(void); |
| |
| void twimaster_startCycle(void); |
| |
| #endif |