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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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| 1960 | - | 5 | #include "configuration.h" |
| 1612 | dongfang | 6 | |
| 7 | #define TWI_STATE_MOTOR_TX 0 |
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| 8 | #define TWI_STATE_MOTOR_RX 3 |
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| 1947 | - | 9 | #define TWI_STATE_GYRO_OFFSET_TX 7 |
| 1612 | dongfang | 10 | |
| 11 | extern volatile uint8_t twi_state; |
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| 12 | |||
| 13 | extern uint8_t missingMotor; |
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| 14 | |||
| 15 | volatile extern uint8_t DACValues[4]; |
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| 16 | |||
| 17 | typedef struct { |
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| 1821 | - | 18 | uint8_t SetPoint; // written by attitude controller |
| 19 | uint8_t Present; // 0 if BL was found |
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| 20 | uint8_t Error; // I2C error counter |
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| 21 | uint8_t Current; // read byck from BL |
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| 22 | uint8_t MaxPWM; // read back from BL |
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| 23 | }__attribute__((packed)) MotorData_t; |
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| 1612 | dongfang | 24 | |
| 1775 | - | 25 | extern MotorData_t motor[MAX_MOTORS]; |
| 1612 | dongfang | 26 | |
| 27 | extern volatile uint16_t I2CTimeout; |
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| 28 | |||
| 1821 | - | 29 | extern void I2C_init(void); // Initialize I2C |
| 1612 | dongfang | 30 | extern void I2C_Start(uint8_t start_state); // Start I2C |
| 1821 | - | 31 | extern void I2C_Stop(uint8_t start_state); // Stop I2C |
| 1612 | dongfang | 32 | extern void I2C_Reset(void); // Reset I2C |
| 33 | extern void twi_diagnostics(void); |
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| 34 | |||
| 35 | #endif |