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#ifndef _I2C_MASTER_H
#define _I2C_MASTER_H
#include <inttypes.h>
#define TWI_STATE_MOTOR_TX 0
#define TWI_STATE_MOTOR_RX 3
#define TWI_STATE_GYRO_OFFSET_TX 7
extern volatile uint8_t twi_state;
extern uint8_t missingMotor;
volatile extern uint8_t DACValues[4];
typedef struct {
uint8_t SetPoint; // written by attitude controller
uint8_t Present; // 0 if BL was found
uint8_t Error; // I2C error counter
uint8_t Current; // read byck from BL
uint8_t MaxPWM; // read back from BL
}__attribute__((packed)) MotorData_t;
#define MAX_MOTORS 12
extern MotorData_t motor[MAX_MOTORS];
extern volatile uint16_t I2CTimeout;
extern void I2C_init(void); // Initialize I2C
extern void I2C_Start(uint8_t start_state); // Start I2C
extern void I2C_Stop(uint8_t start_state); // Stop I2C
extern void I2C_Reset(void); // Reset I2C
extern void twi_diagnostics(void);
#endif