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1 | - | ||
2 | #ifndef _I2C_MASTER_H |
1 | #ifndef _I2C_MASTER_H |
3 | #define _I2C_MASTER_H |
2 | #define _I2C_MASTER_H |
4 | 3 | ||
5 | 4 | ||
6 | #include <inttypes.h> |
5 | #include <inttypes.h> |
7 | 6 | ||
- | 7 | #define TWI_STATE_MOTOR_TX 0 |
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8 | #define TWI_STATE_MOTOR_TX 0 |
8 | #define TWI_STATE_MOTOR_RX 3 |
9 | #define TWI_STATE_GYRO_OFFSET_TX 7 |
9 | #define TWI_STATE_GYRO_OFFSET_TX 7 |
10 | 10 | ||
- | 11 | extern volatile uint8_t twi_state; |
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- | 12 | extern volatile uint8_t motor_write; |
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- | 13 | extern volatile uint8_t motor_read; |
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- | 14 | ||
- | 15 | extern uint8_t MissingMotor; |
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- | 16 | ||
- | 17 | #define MAX_MOTORS 12 |
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- | 18 | ||
- | 19 | typedef struct |
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- | 20 | { |
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- | 21 | uint8_t SetPoint; // written by attitude controller |
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- | 22 | uint8_t Present; // 0 if BL was found |
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- | 23 | uint8_t Error; // I2C error counter |
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- | 24 | uint8_t Current; // read byck from BL |
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- | 25 | uint8_t MaxPWM; // read back from BL |
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11 | extern volatile uint8_t twi_state; |
- | |
12 | - | ||
13 | #ifdef USE_QUADRO |
- | |
14 | extern uint8_t motor_rx[8]; |
26 | } __attribute__((packed)) MotorData_t; |
15 | #else |
- | |
16 | extern uint8_t motor_rx[16]; |
27 | |
17 | #endif |
28 | extern MotorData_t Motor[MAX_MOTORS]; |
18 | 29 | ||
19 | extern volatile uint16_t I2CTimeout; |
30 | extern volatile uint16_t I2CTimeout; |
20 | 31 | ||
21 | extern void I2C_Init (void); // Initialize I2C |
32 | extern void I2C_Init (void); // Initialize I2C |
22 | extern void I2C_Start(void); // Start I2C |
33 | extern void I2C_Start(uint8_t start_state); // Start I2C |
23 | extern void I2C_Stop (void); // Stop I2C |
34 | extern void I2C_Stop (uint8_t start_state); // Stop I2C |
24 | extern void I2C_Reset(void); // Reset I2C |
35 | extern void I2C_Reset(void); // Reset I2C |
25 | 36 | ||
26 | #endif |
37 | #endif |
27 | 38 |