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Rev 1821 Rev 1947
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#ifndef _I2C_MASTER_H
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#ifndef _I2C_MASTER_H
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#define _I2C_MASTER_H
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#define _I2C_MASTER_H
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#include <inttypes.h>
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#include <inttypes.h>
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#define TWI_STATE_MOTOR_TX                      0
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#define TWI_STATE_MOTOR_TX                      0
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#define TWI_STATE_MOTOR_RX                      3
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#define TWI_STATE_MOTOR_RX                      3
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#define TWI_STATE_GYRO_OFFSET_TX                7
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#define TWI_STATE_GYRO_OFFSET_TX        7
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extern volatile uint8_t twi_state;
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extern volatile uint8_t twi_state;
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extern uint8_t missingMotor;
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extern uint8_t missingMotor;
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volatile extern uint8_t DACValues[4];
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volatile extern uint8_t DACValues[4];
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typedef struct {
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typedef struct {
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        uint8_t SetPoint; // written by attitude controller
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        uint8_t SetPoint; // written by attitude controller
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        uint8_t Present; // 0 if BL was found
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        uint8_t Present; // 0 if BL was found
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        uint8_t Error; // I2C error counter
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        uint8_t Error; // I2C error counter
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        uint8_t Current; // read byck from BL
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        uint8_t Current; // read byck from BL
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        uint8_t MaxPWM; // read back from BL
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        uint8_t MaxPWM; // read back from BL
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}__attribute__((packed)) MotorData_t;
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}__attribute__((packed)) MotorData_t;
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#define MAX_MOTORS      12
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#define MAX_MOTORS      12
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extern MotorData_t motor[MAX_MOTORS];
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extern MotorData_t motor[MAX_MOTORS];
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extern volatile uint16_t I2CTimeout;
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extern volatile uint16_t I2CTimeout;
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extern void I2C_init(void); // Initialize I2C
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extern void I2C_init(void); // Initialize I2C
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extern void I2C_Start(uint8_t start_state); // Start I2C
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extern void I2C_Start(uint8_t start_state); // Start I2C
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extern void I2C_Stop(uint8_t start_state); // Stop I2C
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extern void I2C_Stop(uint8_t start_state); // Stop I2C
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extern void I2C_Reset(void); // Reset I2C
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extern void I2C_Reset(void); // Reset I2C
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extern void twi_diagnostics(void);
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extern void twi_diagnostics(void);
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#endif
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#endif
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