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#ifndef _TWIMASTER_H
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#ifndef _TWIMASTER_H
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#define _TWIMASTER_H
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#define _TWIMASTER_H
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#include <inttypes.h>
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#include <inttypes.h>
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// Cold start, (re)write configuration.
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// Cold start, (re)write configuration.
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#define TWI_STATE_INIT_0 0
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#define TWI_STATE_INIT_0 0
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// Start the read-data loop.
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// Start the read-data loop.
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#define TWI_STATE_LOOP_0 5
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#define TWI_STATE_LOOP_0 5
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#define SCL_CLOCK 400000L
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#define SCL_CLOCK 400000L
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// This is for the IMU3200 sensor.
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// This is for the ITG3200 sensor.
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#define SLA 0b1101001
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#define SLA 0b1101001
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#define TWSR_FILTER (TWSR & 0b11111100)
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#define TWSR_FILTER (TWSR & 0b11111100)
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#define  GYRO_CONFIGURATION_START 0x15
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#define  GYRO_CONFIGURATION_START 0x15
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#define  GYRO_DATA_START 0x1B
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#define  GYRO_DATA_START 0x1B
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#define START           0x08
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#define START           0x08
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#define REPEATED_START  0x10
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#define REPEATED_START  0x10
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#define MT_SLA_ACK      0x18
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#define MT_SLA_ACK      0x18
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#define MT_SLA_NACK     0x20
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#define MT_SLA_NACK     0x20
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#define MT_DATA_ACK     0x28
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#define MT_DATA_ACK     0x28
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#define MR_SLA_ACK      0x40
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#define MR_SLA_ACK      0x40
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#define MR_DATA_ACK     0x50
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#define MR_DATA_ACK     0x50
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#define MR_DATA_NACK    0x58
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#define MR_DATA_NACK    0x58
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/*
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/*
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 * We take the temperature measurement as well as gyro.
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 * We take the temperature measurement as well as gyro.
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 */
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 */
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extern volatile uint16_t IMU3200SensorInputs[4];
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extern volatile int16_t ITG3200SensorInputs[4];
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void twimaster_init(void);
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void twimaster_setNeutral(void);
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void twimaster_setNeutral(void);
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void twimaster_startCycle(void);
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void twimaster_startCycle(void);
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#endif
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#endif
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