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extern volatile unsigned char twi_state;
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extern volatile unsigned char twi_state;
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extern unsigned char motor,MissingMotor;
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extern unsigned char motor,MissingMotor;
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extern unsigned char motorread;
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extern unsigned char motorread;
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#define MAX_MOTORS      12
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#define MAX_MOTORS      12
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#define MOTOR_STATE_PRESENT_MASK        0x80
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#define MOTOR_STATE_PRESENT_MASK                0x80
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#define MOTOR_STATE_ERROR_MASK                  0x7F
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#define MOTOR_STATE_ERROR_MASK          0x7F
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#define MOTOR_STATE_NEW_PROTOCOL_MASK   0x01
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typedef struct
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typedef struct
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{
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{
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        unsigned char SetPoint; // written by attitude controller
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        unsigned char SetPoint; // written by attitude controller
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        unsigned char State;    // 7 bit for I2C error counter, highest bit indicates if motor is present
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        unsigned char State;    // 7 bit for I2C error counter, highest bit indicates if motor is present
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        unsigned char Current;  // in 0.1 A steps, read back from BL
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        unsigned char MaxPWM;   // read back from BL is less than 255 if BL is in current limit
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          signed char Temperature; // old BL-Ctrl will return a 255 here
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        unsigned char Current;  // in 0.1 A steps, read back from BL
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        unsigned char SetPointLowerBits; // for higher Resolution
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        unsigned char MaxPWM;   // read back from BL is less than 255 if BL is in current limit
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    unsigned char Version;
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} __attribute__((packed)) MotorData_t;
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} __attribute__((packed)) MotorData_t;