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1 | #ifndef _I2C_MASTER_H |
1 | #ifndef _I2C_MASTER_H |
2 | #define _I2C_MASTER_H |
2 | #define _I2C_MASTER_H |
3 | 3 | ||
4 | #include <inttypes.h> |
4 | #include <inttypes.h> |
5 | 5 | ||
6 | #define TWI_STATE_MOTOR_TX 0 |
6 | #define TWI_STATE_MOTOR_TX 0 |
7 | #define TWI_STATE_MOTOR_RX 3 |
7 | #define TWI_STATE_MOTOR_RX 3 |
8 | #define TWI_STATE_GYRO_OFFSET_TX 7 |
8 | #define TWI_STATE_GYRO_OFFSET_TX 7 |
9 | 9 | ||
10 | extern volatile uint8_t twi_state; |
10 | extern volatile uint8_t twi_state; |
11 | 11 | ||
12 | extern uint8_t missingMotor; |
12 | extern uint8_t missingMotor; |
13 | 13 | ||
14 | volatile extern uint8_t DACValues[4]; |
14 | volatile extern uint8_t DACValues[4]; |
15 | 15 | ||
16 | typedef struct { |
16 | typedef struct { |
17 | uint8_t SetPoint; // written by attitude controller |
17 | uint8_t SetPoint; // written by attitude controller |
18 | uint8_t Present; // 0 if BL was found |
18 | uint8_t Present; // 0 if BL was found |
19 | uint8_t Error; // I2C error counter |
19 | uint8_t Error; // I2C error counter |
20 | uint8_t Current; // read byck from BL |
20 | uint8_t Current; // read byck from BL |
21 | uint8_t MaxPWM; // read back from BL |
21 | uint8_t MaxPWM; // read back from BL |
22 | } __attribute__((packed)) MotorData_t; |
22 | }__attribute__((packed)) MotorData_t; |
23 | 23 | ||
24 | #define MAX_MOTORS 12 |
24 | #define MAX_MOTORS 12 |
25 | extern MotorData_t motor[MAX_MOTORS]; |
25 | extern MotorData_t motor[MAX_MOTORS]; |
26 | 26 | ||
27 | extern volatile uint16_t I2CTimeout; |
27 | extern volatile uint16_t I2CTimeout; |
28 | 28 | ||
29 | extern void I2C_init (void); // Initialize I2C |
29 | extern void I2C_init(void); // Initialize I2C |
30 | extern void I2C_Start(uint8_t start_state); // Start I2C |
30 | extern void I2C_Start(uint8_t start_state); // Start I2C |
31 | extern void I2C_Stop (uint8_t start_state); // Stop I2C |
31 | extern void I2C_Stop(uint8_t start_state); // Stop I2C |
32 | extern void I2C_Reset(void); // Reset I2C |
32 | extern void I2C_Reset(void); // Reset I2C |
33 | extern void twi_diagnostics(void); |
33 | extern void twi_diagnostics(void); |
34 | 34 | ||
35 | #endif |
35 | #endif |
36 | 36 |