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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> |
- | |
| 7 | - | ||
| 8 | //############################################################################ |
- | |
| 9 | - | ||
| 10 | // I2C Konstanten |
- | |
| 11 | #define SCL_CLOCK 200000L |
- | |
| 12 | #define I2C_TIMEOUT 30000 |
6 | #include <inttypes.h> |
| 13 | #define I2C_START 0x08 |
- | |
| 14 | #define I2C_REPEATED_START 0x10 |
7 | |
| 15 | #define I2C_TX_SLA_ACK 0x18 |
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| 16 | #define I2C_TX_DATA_ACK 0x28 |
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| 17 | #define I2C_RX_SLA_ACK 0x40 |
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| 18 | #define I2C_RX_DATA_ACK 0x50 |
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| 19 | 8 | #define TWI_STATE_MOTOR_TX 0 |
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| 20 | //############################################################################ |
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| 21 | - | ||
| 22 | extern volatile uint8_t twi_state; |
9 | #define TWI_STATE_GYRO_OFFSET_TX 7 |
| - | 10 | ||
| 23 | extern volatile uint8_t motor; |
11 | extern volatile uint8_t twi_state; |
| 24 | extern volatile uint8_t motorread; |
12 | extern volatile uint8_t motor_rx[8]; |
| 25 | extern volatile uint8_t motor_rx[8]; |
13 | extern volatile uint16_t I2CTimeout; |
| 26 | - | ||
| 27 | extern void I2C_Init (void); // Initialize I2C |
14 | |
| 28 | extern void I2C_Start (void); // Start I2C |
15 | extern void I2C_Init (void); // Initialize I2C |
| 29 | extern void I2C_Stop (void); // Stop I2C |
16 | extern void I2C_Start(void); // Start I2C |
| 30 | extern void I2C_WriteByte (int8_t byte); // Write 1 Byte |
17 | extern void I2C_Stop (void); // Stop I2C |
| 31 | extern void I2C_Reset(void); // Reset I2C |
18 | extern void I2C_Reset(void); // Reset I2C |
| 32 | 19 | ||
| 33 | #endif |
20 | #endif |
| 34 | 21 | ||