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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | #ifndef _I2C_MASTER_H |
| 2 | #define _I2C_MASTER_H |
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| 3 | |||
| 4 | #include <inttypes.h> |
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| 5 | |||
| 6 | #define TWI_STATE_MOTOR_TX 0 |
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| 7 | #define TWI_STATE_MOTOR_RX 3 |
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| 8 | #define TWI_STATE_GYRO_OFFSET_TX 7 |
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| 9 | |||
| 10 | extern volatile uint8_t twi_state; |
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| 11 | |||
| 12 | extern uint8_t missingMotor; |
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| 13 | |||
| 14 | volatile extern uint8_t DACValues[4]; |
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| 15 | |||
| 16 | typedef struct { |
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| 17 | uint8_t SetPoint; // written by attitude controller |
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| 18 | uint8_t Present; // 0 if BL was found |
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| 19 | uint8_t Error; // I2C error counter |
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| 20 | uint8_t Current; // read byck from BL |
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| 21 | uint8_t MaxPWM; // read back from BL |
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| 22 | } __attribute__((packed)) MotorData_t; |
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| 23 | |||
| 24 | #define MAX_MOTORS 12 |
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| 25 | extern MotorData_t Motor[MAX_MOTORS]; |
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| 26 | |||
| 27 | extern volatile uint16_t I2CTimeout; |
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| 28 | |||
| 29 | extern void I2C_init (void); // Initialize I2C |
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| 30 | extern void I2C_Start(uint8_t start_state); // Start I2C |
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| 31 | extern void I2C_Stop (uint8_t start_state); // Stop I2C |
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| 32 | extern void I2C_Reset(void); // Reset I2C |
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| 33 | extern void twi_diagnostics(void); |
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| 34 | |||
| 35 | #endif |