Rev 1221 | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1221 | Rev 1222 | ||
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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 | ||