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1 | 1 | ||
2 | #ifndef _I2C_MASTER_H |
2 | #ifndef _I2C_MASTER_H |
3 | #define _I2C_MASTER_H |
3 | #define _I2C_MASTER_H |
4 | 4 | ||
5 | 5 | ||
6 | #include <inttypes.h> |
6 | #include <inttypes.h> |
7 | 7 | ||
8 | #define TWI_STATE_MOTOR_TX 0 |
8 | #define TWI_STATE_MOTOR_TX 0 |
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; |
11 | extern volatile uint8_t twi_state; |
12 | extern volatile uint8_t motor_rx[8]; |
12 | extern volatile uint8_t motor_rx[2*MOTOR_COUNT]; |
13 | extern volatile uint16_t I2CTimeout; |
13 | extern volatile uint16_t I2CTimeout; |
14 | 14 | ||
15 | extern void I2C_Init (void); // Initialize I2C |
15 | extern void I2C_Init (void); // Initialize I2C |
16 | extern void I2C_Start(void); // Start I2C |
16 | extern void I2C_Start(void); // Start I2C |
17 | extern void I2C_Stop (void); // Stop I2C |
17 | extern void I2C_Stop (void); // Stop I2C |
18 | extern void I2C_Reset(void); // Reset I2C |
18 | extern void I2C_Reset(void); // Reset I2C |
19 | 19 | ||
20 | #endif |
20 | #endif |
21 | 21 |