cf934cf6b7
- Add callback_task with ISR-based UART command parser (@command\n protocol) - Add log_printf with mutex protection to prevent printf interleaving - Add per-motor enable/disable (motor enable yaw|pitch) - Add PID tuning via UART (pid roll kp 15) - Add cmd_parser module (registration + tokenize + dispatch) - Add UART layer architecture (interface → HAL → BSP) - Add filter modules (lowpass, moving_average, notch, rate_limiter) - Rewrite I2C bus and UART bus modules - Rewrite PID controller and MF4010V2 motor driver - Fix soft I2C driver Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
18 lines
659 B
C
18 lines
659 B
C
#ifndef I2C_BUS_H
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#define I2C_BUS_H
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#include <stdint.h>
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#include <stdbool.h>
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typedef struct {
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int ch;
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bool initialized;
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} i2c_t;
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int i2c_init(i2c_t* obj, int ch);
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int i2c_mem_write(i2c_t* obj, uint16_t dev_addr, uint16_t mem_addr, uint16_t mem_add_size, const uint8_t *data, uint16_t size, uint32_t timeout);
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int i2c_mem_read(i2c_t* obj, uint16_t dev_addr, uint16_t mem_addr, uint16_t mem_add_size, uint8_t *data, uint16_t size, uint32_t timeout);
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int i2c_write(i2c_t* obj, uint16_t dev_addr, const uint8_t *data, uint16_t size, uint32_t timeout);
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int i2c_read(i2c_t* obj, uint16_t dev_addr, uint8_t *data, uint16_t size, uint32_t timeout);
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#endif
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