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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_RX                      3
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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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#define TWI_STATE_MOTOR_TX                      0
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extern volatile uint8_t motor_write;
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extern volatile uint8_t motor_read;
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#define TWI_STATE_GYRO_OFFSET_TX        7
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extern uint8_t MissingMotor;
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#define MAX_MOTORS      12
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typedef struct
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{
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extern volatile uint8_t twi_state;
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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 Error;    // I2C error counter
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#ifdef USE_QUADRO
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        uint8_t Current;  // read byck from BL
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extern uint8_t motor_rx[8];
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        uint8_t MaxPWM;   // read back from BL
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#else
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} __attribute__((packed)) MotorData_t;
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extern uint8_t motor_rx[16];
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#endif
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extern MotorData_t Motor[MAX_MOTORS];
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