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#ifndef _TWI_SLAVE_H_
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#ifndef _TWI_SLAVE_H_
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#define _TWI_SLAVE_H_
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#define _TWI_SLAVE_H_
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#define I2C_SLAVE_ADDRESS 0x50
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#include <inttypes.h>
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#define I2C_CMD_VERSION   0x01
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struct str_I2C_Version
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{
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  unsigned char Hauptversion;
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  unsigned char Nebenversion;
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#define I2C_SLAVE_ADDRESS               0x50
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  unsigned char Comp;
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#define I2C_PROTOCOL_COMP               1
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} ;
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#define I2C_CMD_VERSION                 0x01
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#define I2C_CMD_WRITE_EEPROM   0x0A
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#define I2C_CMD_READ_EEPROM    0x0B
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#define I2C_CMD_READ_MAG        0x02
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struct str_I2C_EEPROM
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#define I2C_CMD_READ_HEADING    0x03
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{
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  unsigned char Adresse;
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#define I2C_CMD_WRITE_CAL       0x04
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  unsigned int Inhalt;
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#define I2C_CMD_WRITE_EEPROM    0x0A
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} ;
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#define I2C_CMD_READ_EEPROM     0x0B
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#define I2C_CMD_READ_MAG     0x02
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struct str_I2C_Mag
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typedef struct
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{
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{
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        uint8_t Major;
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  int MagX;
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  int MagY;
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        uint8_t Minor;
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  int MagZ;
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        uint8_t Compatible;
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} ;
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} I2C_Version_t;
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#define I2C_CMD_READ_HEADING     0x03
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struct str_I2C_WriteNickRoll
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typedef struct
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{
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{
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  int Nick;
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        uint8_t Adress;
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  int Roll;
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        uint16_t Content;
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} ;
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} I2C_EEPROM_t;
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#define I2C_CMD_WRITE_CAL     0x04
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typedef struct
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struct str_I2C_WriteCal
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{
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{
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        int16_t MagX;
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  unsigned char CalByte;
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        int16_t MagY;
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  unsigned char Dummy1;
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        int16_t MagZ;
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} I2C_Mag_t;
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  unsigned char Dummy2;
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typedef struct
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{
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        int16_t Nick;
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        int16_t Roll;
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} ;
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struct str_I2C_Heading
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} I2C_WriteAttitude_t;
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{
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  unsigned int Heading;
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} ;
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typedef struct
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{
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  uint8_t CalByte;
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  uint8_t Dummy1;
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  uint8_t Dummy2;
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extern unsigned char Tx_Idx, Rx_Idx, I2C_Direction;
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} I2C_WriteCal_t;
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extern struct str_I2C_Heading       I2C_Heading;
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extern struct str_I2C_WriteNickRoll I2C_WriteNickRoll;
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extern struct str_I2C_Mag           I2C_Mag;
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extern struct str_I2C_EEPROM        I2C_ReadEEPROM, I2C_WriteEEPROM;
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extern struct str_I2C_Version       I2C_Version;
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extern struct str_I2C_WriteCal      I2C_WriteCal;
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extern void InitIC2_Slave (void);
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typedef struct
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#define TWI_BUS_ERR_1   0x00
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#define TWI_BUS_ERR_2   0xF8
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// Status Slave RX Mode
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#define SR_SLA_ACK      0x60
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#define SR_LOST_ACK     0x68
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#define SR_GEN_CALL_ACK 0x70
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{