Subversion Repositories FlightCtrl

#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