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| 1 | #ifndef _TWI_SLAVE_H_ |
1 | #ifndef _TWI_SLAVE_H_ |
| 2 | #define _TWI_SLAVE_H_ |
2 | #define _TWI_SLAVE_H_ |
| 3 | 3 | ||
| 4 | #include <inttypes.h> |
4 | #include <inttypes.h> |
| 5 | 5 | ||
| 6 | #define I2C_SLAVE_ADDRESS 0x50 |
6 | #define I2C_SLAVE_ADDRESS 0x50 |
| 7 | #define I2C_PROTOCOL_COMP 1 |
7 | #define I2C_PROTOCOL_COMP 1 |
| 8 | 8 | ||
| 9 | #define I2C_CMD_VERSION 0x01 |
9 | #define I2C_CMD_VERSION 0x01 |
| 10 | #define I2C_CMD_READ_MAG 0x02 |
10 | #define I2C_CMD_READ_MAG 0x02 |
| 11 | #define I2C_CMD_READ_HEADING 0x03 |
11 | #define I2C_CMD_READ_HEADING 0x03 |
| 12 | #define I2C_CMD_WRITE_CAL 0x04 |
12 | #define I2C_CMD_WRITE_CAL 0x04 |
| 13 | #define I2C_CMD_WRITE_EEPROM 0x0A |
13 | #define I2C_CMD_WRITE_EEPROM 0x0A |
| 14 | #define I2C_CMD_READ_EEPROM 0x0B |
14 | #define I2C_CMD_READ_EEPROM 0x0B |
| 15 | 15 | ||
| 16 | 16 | ||
| 17 | struct I2C_Version_t |
17 | typedef struct |
| 18 | { |
18 | { |
| 19 | uint8_t Major; |
19 | uint8_t Major; |
| 20 | uint8_t Minor; |
20 | uint8_t Minor; |
| 21 | uint8_t Compatible; |
21 | uint8_t Compatible; |
| 22 | } ; |
22 | } I2C_Version_t; |
| 23 | 23 | ||
| 24 | struct I2C_Mag_t |
24 | typedef struct |
| 25 | { |
25 | { |
| 26 | int16_t MagX; |
26 | int16_t MagX; |
| 27 | int16_t MagY; |
27 | int16_t MagY; |
| 28 | int16_t MagZ; |
28 | int16_t MagZ; |
| 29 | } ; |
29 | } I2C_Mag_t; |
| 30 | 30 | ||
| 31 | 31 | ||
| 32 | struct I2C_WriteAttitude_t |
32 | typedef struct |
| 33 | { |
33 | { |
| 34 | int16_t Nick; |
34 | int16_t Nick; |
| 35 | int16_t Roll; |
35 | int16_t Roll; |
| 36 | } ; |
36 | } I2C_WriteAttitude_t; |
| 37 | 37 | ||
| 38 | 38 | ||
| 39 | struct I2C_WriteCal_t |
39 | typedef struct |
| 40 | { |
40 | { |
| 41 | uint8_t CalByte; |
41 | uint8_t CalByte; |
| 42 | uint8_t Dummy1; |
42 | uint8_t Dummy1; |
| 43 | uint8_t Dummy2; |
43 | uint8_t Dummy2; |
| 44 | } ; |
44 | } I2C_WriteCal_t; |
| 45 | 45 | ||
| 46 | struct I2C_Heading_t |
46 | typedef struct |
| 47 | { |
47 | { |
| 48 | int16_t Heading; |
48 | int16_t Heading; |
| 49 | } ; |
49 | } I2C_Heading_t; |
| 50 | 50 | ||
| 51 | extern uint8_t NC_Connected; |
51 | extern uint8_t NC_Connected; |
| 52 | extern struct I2C_Heading_t I2C_Heading; |
52 | extern I2C_Heading_t I2C_Heading; |
| 53 | extern struct I2C_WriteAttitude_t I2C_WriteAttitude; |
53 | extern I2C_WriteAttitude_t I2C_WriteAttitude; |
| 54 | extern struct I2C_Mag_t I2C_Mag; |
54 | extern I2C_Mag_t I2C_Mag; |
| 55 | extern struct I2C_Version_t I2C_Version; |
55 | extern I2C_Version_t I2C_Version; |
| 56 | extern struct I2C_WriteCal_t I2C_WriteCal; |
56 | extern I2C_WriteCal_t I2C_WriteCal; |
| 57 | 57 | ||
| 58 | 58 | ||
| 59 | void I2C_Init(void); |
59 | void I2C_Init(void); |
| 60 | 60 | ||
| 61 | 61 | ||
| 62 | #endif // _TWI_SLAVE_H_ |
62 | #endif // _TWI_SLAVE_H_ |
| 63 | 63 | ||
| 64 | 64 | ||