/branches/Nick666/V0.74d Code Redesign killagreg/twimaster.h |
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0,0 → 1,37 |
#ifndef _I2C_MASTER_H |
#define _I2C_MASTER_H |
+ |
+#include <inttypes.h> |
+ |
+#define TWI_STATE_MOTOR_TX 0 |
+#define TWI_STATE_MOTOR_RX 3 |
+#define TWI_STATE_GYRO_OFFSET_TX 7 |
+ |
+extern volatile uint8_t twi_state; |
+extern volatile uint8_t motor_write; |
+extern volatile uint8_t motor_read; |
+ |
+extern uint8_t MissingMotor; |
+ |
+#define MAX_MOTORS 12 |
+ |
+typedef struct |
+{ |
+ uint8_t SetPoint; // written by attitude controller |
+ uint8_t Present; // 0 if BL was found |
+ uint8_t Error; // I2C error counter |
+ uint8_t Current; // read byck from BL |
+ uint8_t MaxPWM; // read back from BL |
+} __attribute__((packed)) MotorData_t; |
+ |
+extern MotorData_t Motor[MAX_MOTORS]; |
+ |
+extern volatile uint16_t I2CTimeout; |
+ |
+extern void I2C_Init (void); // Initialize I2C |
+extern void I2C_Start(uint8_t start_state); // Start I2C |
+extern void I2C_Stop (uint8_t start_state); // Stop I2C |
+extern void I2C_Reset(void); // Reset I2C |
+ |
+#endif |