| 0,0 → 1,35 |
|---|
| #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 uint8_t missingMotor; |
| |
| volatile extern uint8_t DACValues[4]; |
| |
| 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; |
| |
| #define MAX_MOTORS 12 |
| 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 |
| extern void twi_diagnostics(void); |
| |
| #endif |