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2 | #ifndef _I2C_MASTER_H |
2 | #ifndef _I2C_MASTER_H |
3 | #define _I2C_MASTER_H |
3 | #define _I2C_MASTER_H |
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4 | 4 | ||
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5 | - | ||
6 | #include <inttypes.h> |
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7 | - | ||
8 | //############################################################################ |
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9 | - | ||
10 | // I2C Konstanten |
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11 | #define SCL_CLOCK 200000L |
5 | |
12 | #define I2C_TIMEOUT 30000 |
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13 | #define I2C_START 0x08 |
6 | #include <inttypes.h> |
14 | #define I2C_REPEATED_START 0x10 |
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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 |
7 | |
19 | - | ||
20 | //############################################################################ |
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21 | 8 | #define TWI_STATE_MOTOR_TX 0 |
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- | 9 | #define TWI_STATE_GYRO_OFFSET_TX 7 |
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22 | extern volatile uint8_t twi_state; |
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]; |
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26 | 13 | extern volatile uint16_t I2CTimeout; |
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27 | extern void I2C_Init (void); // Initialize I2C |
14 |