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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 | extern uint8_t missingMotor; |
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| 13 | |||
| 14 | typedef struct { |
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| 1821 | - | 15 | uint8_t SetPoint; // written by attitude controller |
| 16 | uint8_t Present; // 0 if BL was found |
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| 17 | uint8_t Error; // I2C error counter |
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| 18 | uint8_t Current; // read byck from BL |
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| 19 | uint8_t MaxPWM; // read back from BL |
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| 1965 | - | 20 | }__attribute__((packed)) motorData_t; |
| 1612 | dongfang | 21 | |
| 1965 | - | 22 | extern motorData_t motor[MAX_MOTORS]; |
| 1612 | dongfang | 23 | |
| 24 | extern volatile uint16_t I2CTimeout; |
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| 25 | |||
| 1821 | - | 26 | extern void I2C_init(void); // Initialize I2C |
| 1612 | dongfang | 27 | extern void I2C_Start(uint8_t start_state); // Start I2C |
| 1821 | - | 28 | extern void I2C_Stop(uint8_t start_state); // Stop I2C |
| 1612 | dongfang | 29 | extern void I2C_Reset(void); // Reset I2C |
| 30 | extern void twi_diagnostics(void); |
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| 31 | |||
| 32 | #endif |