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Rev | Author | Line No. | Line |
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1227 | killagreg | 1 | #ifndef _I2C_MASTER_H |
2 | #define _I2C_MASTER_H |
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3 | |||
4 | |||
5 | #include <inttypes.h> |
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6 | |||
7 | #define TWI_STATE_MOTOR_TX 0 |
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8 | #define TWI_STATE_MOTOR_RX 3 |
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9 | #define TWI_STATE_GYRO_OFFSET_TX 7 |
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10 | |||
11 | extern volatile uint8_t twi_state; |
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12 | extern volatile uint8_t motor_write; |
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13 | extern volatile uint8_t motor_read; |
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14 | |||
15 | extern uint8_t MissingMotor; |
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16 | |||
17 | #define MAX_MOTORS 12 |
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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 | |||
30 | extern volatile uint16_t I2CTimeout; |
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31 | |||
32 | extern void I2C_Init (void); // Initialize I2C |
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33 | extern void I2C_Start(uint8_t start_state); // Start I2C |
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34 | extern void I2C_Stop (uint8_t start_state); // Stop I2C |
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35 | extern void I2C_Reset(void); // Reset I2C |
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36 | |||
37 | #endif |