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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 838 | MikeW | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
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| 3 | |||
| 4 | #include "main.h" |
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| 5 | #include "kafi.h" |
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| 6 | |||
| 7 | unsigned char twi_state = 0; |
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| 8 | unsigned char motor = 0; |
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| 9 | unsigned char motorread = 0; |
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| 10 | unsigned char motor_rx[8]; |
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| 11 | |||
| 12 | unsigned int TriggerMagneticHeading = 0; |
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| 13 | unsigned int TriggerSonicReading = 0; |
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| 14 | |||
| 15 | |||
| 16 | //############################################################################ |
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| 17 | //Initzialisieren der I2C (TWI) Schnittstelle |
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| 18 | void i2c_init(void) |
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| 19 | //############################################################################ |
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| 20 | { |
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| 839 | MikeW | 21 | TWSR = 0; |
| 22 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
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| 838 | MikeW | 23 | } |
| 24 | |||
| 25 | //############################################################################ |
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| 26 | //Start I2C |
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| 27 | char i2c_start(void) |
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| 28 | //############################################################################ |
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| 29 | { |
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| 30 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
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| 31 | return(0); |
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| 32 | } |
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| 33 | |||
| 34 | //############################################################################ |
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| 35 | //Start I2C |
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| 36 | void i2c_stop(void) |
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| 37 | //############################################################################ |
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| 38 | { |
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| 39 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
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| 40 | } |
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| 41 | |||
| 42 | void i2c_reset(void) |
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| 43 | //############################################################################ |
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| 44 | { |
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| 839 | MikeW | 45 | i2c_stop(); |
| 46 | twi_state = 0; |
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| 47 | motor = TWDR; |
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| 48 | motor = 0; |
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| 49 | TWCR = 0x80; |
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| 50 | TWAMR = 0; |
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| 51 | TWAR = 0; |
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| 52 | TWDR = 0; |
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| 53 | TWSR = 0; |
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| 54 | TWBR = 0; |
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| 55 | i2c_init(); |
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| 56 | i2c_start(); |
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| 57 | i2c_write_byte(0); |
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| 838 | MikeW | 58 | } |
| 59 | |||
| 60 | //############################################################################ |
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| 61 | //Start I2C |
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| 62 | char i2c_write_byte(char byte) |
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| 63 | //############################################################################ |
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| 64 | { |
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| 65 | TWSR = 0x00; |
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| 66 | TWDR = byte; |
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| 67 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 68 | |||
| 69 | return(0); |
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| 70 | } |
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| 71 | |||
| 72 | //############################################################################ |
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| 73 | //Start I2C |
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| 74 | SIGNAL (TWI_vect) |
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| 75 | //############################################################################ |
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| 76 | { |
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| 77 | #if 0 |
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| 78 | int motorwert = 0; |
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| 79 | int scale_p = (int) (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 170)) / 4.F) / 6; |
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| 80 | int scale_d = (int) (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 170)) / 4.F) / 6; |
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| 81 | #endif |
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| 839 | MikeW | 82 | |
| 838 | MikeW | 83 | switch (twi_state++) |
| 839 | MikeW | 84 | { |
| 85 | case 0: |
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| 86 | i2c_write_byte(0x52+(motor*2)); |
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| 87 | break; |
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| 88 | case 1: |
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| 89 | switch(motor++) |
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| 90 | { |
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| 91 | case 0: |
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| 838 | MikeW | 92 | #if 0 |
| 839 | MikeW | 93 | pd_ergebnis = (int) (scale_p* DiffNick + scale_d * (AdWertNick - AdNeutralNick - Roll_Y_Off)) / 10; |
| 94 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
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| 95 | { |
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| 96 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
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| 97 | } |
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| 98 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
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| 99 | { |
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| 100 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
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| 101 | } |
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| 102 | /* M o t o r V o r n */ |
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| 103 | motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; |
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| 104 | if ((motorwert < 0)) |
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| 105 | { |
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| 106 | motorwert = 0; |
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| 107 | } |
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| 108 | else if(motorwert > MAX_GAS) |
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| 109 | { |
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| 110 | motorwert = MAX_GAS; |
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| 111 | } |
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| 112 | if (motorwert < MIN_GAS) |
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| 113 | { |
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| 114 | motorwert = MIN_GAS; |
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| 115 | } |
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| 116 | Motor_Vorne = motorwert; |
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| 117 | if(!MotorenEin) |
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| 118 | { |
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| 119 | Motor_Vorne = 0; |
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| 120 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
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| 121 | } |
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| 838 | MikeW | 122 | #endif |
| 839 | MikeW | 123 | i2c_write_byte(Motor_Vorne); |
| 124 | break; |
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| 125 | case 1: |
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| 838 | MikeW | 126 | #if 0 |
| 839 | MikeW | 127 | pd_ergebnis = (scale_p * DiffNick + scale_d * (AdWertNick - AdNeutralNick - Roll_Y_Off)) / 10; |
| 128 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
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| 129 | { |
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| 130 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
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| 131 | } |
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| 132 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
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| 133 | { |
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| 134 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
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| 135 | } |
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| 136 | /* M o t o r H e c k */ |
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| 137 | motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
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| 138 | if ((motorwert < 0)) |
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| 139 | { |
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| 140 | motorwert = 0; |
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| 141 | } |
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| 142 | else if(motorwert > MAX_GAS) |
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| 143 | { |
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| 144 | motorwert = MAX_GAS; |
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| 145 | } |
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| 146 | if (motorwert < MIN_GAS) |
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| 147 | { |
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| 148 | motorwert = MIN_GAS; |
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| 149 | } |
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| 150 | Motor_Hinten = motorwert; |
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| 151 | |||
| 152 | if(!MotorenEin) |
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| 153 | { |
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| 154 | Motor_Hinten = 0; |
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| 155 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
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| 156 | } |
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| 838 | MikeW | 157 | #endif |
| 839 | MikeW | 158 | i2c_write_byte(Motor_Hinten); |
| 159 | break; |
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| 160 | case 2: |
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| 838 | MikeW | 161 | #if 0 |
| 839 | MikeW | 162 | pd_ergebnis = (scale_p * DiffRoll + scale_d * (AdWertRoll - AdNeutralRoll - Roll_X_Off)) / 10; |
| 163 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
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| 164 | { |
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| 165 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
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| 166 | } |
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| 167 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
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| 168 | { |
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| 169 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
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| 170 | } |
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| 171 | /* M o t o r R e c h t s */ |
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| 172 | motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
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| 173 | if (motorwert < 0) |
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| 174 | { |
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| 175 | motorwert = 0; |
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| 176 | } |
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| 177 | else if(motorwert > MAX_GAS) |
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| 178 | { |
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| 179 | motorwert = MAX_GAS; |
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| 180 | } |
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| 181 | if (motorwert < MIN_GAS) |
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| 182 | { |
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| 183 | motorwert = MIN_GAS; |
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| 184 | } |
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| 185 | Motor_Rechts = motorwert; |
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| 186 | if(!MotorenEin) |
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| 187 | { |
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| 188 | Motor_Rechts = 0; |
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| 189 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
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| 190 | } |
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| 838 | MikeW | 191 | #endif |
| 839 | MikeW | 192 | i2c_write_byte(Motor_Rechts); |
| 193 | break; |
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| 194 | case 3: |
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| 838 | MikeW | 195 | #if 0 |
| 839 | MikeW | 196 | pd_ergebnis = (scale_p* DiffRoll + scale_d * (AdWertRoll - AdNeutralRoll - Roll_X_Off)) / 10; |
| 197 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
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| 198 | { |
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| 199 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
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| 200 | } |
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| 201 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
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| 202 | { |
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| 203 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
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| 204 | } |
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| 205 | /* M o t o r L i n k s */ |
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| 206 | motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
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| 207 | if (motorwert < 0) |
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| 208 | { |
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| 209 | motorwert = 0; |
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| 210 | } |
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| 211 | else if(motorwert > MAX_GAS) |
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| 212 | { |
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| 213 | motorwert = MAX_GAS; |
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| 214 | } |
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| 215 | if (motorwert < MIN_GAS) |
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| 216 | { |
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| 217 | motorwert = MIN_GAS; |
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| 218 | } |
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| 219 | Motor_Links = motorwert; |
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| 220 | if(!MotorenEin) |
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| 221 | { |
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| 222 | Motor_Links = 0; |
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| 223 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
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| 224 | } |
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| 838 | MikeW | 225 | #endif |
| 839 | MikeW | 226 | i2c_write_byte(Motor_Links); |
| 227 | break; |
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| 838 | MikeW | 228 | } |
| 839 | MikeW | 229 | break; |
| 838 | MikeW | 230 | case 2: |
| 839 | MikeW | 231 | i2c_stop(); |
| 232 | if (motor<4) twi_state = 0; |
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| 233 | else motor = 0; |
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| 234 | i2c_start(); |
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| 235 | break; |
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| 236 | |||
| 237 | //Liest Daten von Motor |
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| 838 | MikeW | 238 | case 3: |
| 839 | MikeW | 239 | i2c_write_byte(0x53+(motorread*2)); |
| 240 | break; |
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| 838 | MikeW | 241 | case 4: |
| 839 | MikeW | 242 | switch(motorread) |
| 243 | { |
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| 244 | case 0: |
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| 245 | i2c_write_byte(Motor_Vorne); |
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| 246 | break; |
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| 247 | case 1: |
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| 248 | i2c_write_byte(Motor_Hinten); |
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| 249 | break; |
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| 250 | case 2: |
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| 251 | i2c_write_byte(Motor_Rechts); |
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| 252 | break; |
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| 253 | case 3: |
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| 254 | i2c_write_byte(Motor_Links); |
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| 255 | break; |
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| 256 | } |
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| 257 | break; |
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| 258 | case 5: //1 Byte vom Motor lesen |
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| 838 | MikeW | 259 | motor_rx[motorread] = TWDR; |
| 839 | MikeW | 260 | |
| 261 | case 6: |
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| 838 | MikeW | 262 | switch(motorread) |
| 839 | MikeW | 263 | { |
| 264 | case 0: |
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| 265 | i2c_write_byte(Motor_Vorne); |
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| 266 | break; |
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| 267 | case 1: |
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| 268 | i2c_write_byte(Motor_Hinten); |
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| 269 | break; |
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| 270 | case 2: |
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| 271 | i2c_write_byte(Motor_Rechts); |
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| 272 | break; |
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| 273 | case 3: |
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| 274 | i2c_write_byte(Motor_Links); |
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| 275 | break; |
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| 276 | } |
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| 838 | MikeW | 277 | break; |
| 839 | MikeW | 278 | case 7: //2 Byte vom Motor lesen |
| 279 | motor_rx[motorread+4] = TWDR; |
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| 280 | motorread++; |
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| 281 | if (motorread>3) motorread=0; |
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| 282 | i2c_stop(); |
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| 283 | I2CTimeout = 10; |
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| 284 | twi_state = 0; |
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| 838 | MikeW | 285 | } |
| 839 | MikeW | 286 | #if 0 |
| 287 | break; |
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| 288 | TriggerMagneticHeading++; |
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| 289 | TriggerMagneticHeading %= 50; |
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| 290 | TriggerSonicReading++; |
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| 291 | TriggerSonicReading %= 200; |
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| 292 | |||
| 293 | if (TriggerMagneticHeading == 1) |
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| 294 | { |
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| 295 | // Get Magnetic Heading |
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| 296 | i2c_start(); |
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| 838 | MikeW | 297 | twi_state = 8; |
| 298 | break; |
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| 839 | MikeW | 299 | } |
| 300 | |||
| 301 | if (TriggerSonicReading == 1) |
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| 302 | { |
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| 303 | // Get Ultrasonic Reading |
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| 304 | i2c_start(); |
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| 838 | MikeW | 305 | twi_state = 20; |
| 306 | break; |
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| 839 | MikeW | 307 | } |
| 308 | else if (TriggerSonicReading == 190) |
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| 309 | { |
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| 310 | // Get Ultrasonic Reading |
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| 311 | i2c_start(); |
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| 838 | MikeW | 312 | twi_state = 30; |
| 313 | break; |
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| 839 | MikeW | 314 | } |
| 315 | else |
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| 316 | { |
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| 317 | I2CTimeout = 10; |
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| 318 | twi_state = 0; |
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| 319 | break; |
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| 320 | } |
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| 838 | MikeW | 321 | |
| 839 | MikeW | 322 | case 8: |
| 323 | i2c_write_byte(0xC0); |
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| 324 | break; |
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| 325 | case 9: |
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| 326 | i2c_write_byte(0x02); |
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| 327 | break; |
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| 328 | case 10: |
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| 329 | i2c_start(); |
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| 330 | break; |
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| 331 | case 11: |
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| 332 | i2c_write_byte(0xC1); |
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| 333 | break; |
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| 334 | case 12: |
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| 335 | i2c_write_byte(MagneticHeading); |
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| 336 | break; |
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| 337 | case 13: |
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| 338 | MagneticHeading = (0x0F & TWDR) << 8; |
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| 339 | i2c_stop(); |
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| 340 | i2c_start(); |
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| 341 | break; |
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| 342 | case 14: |
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| 343 | i2c_write_byte(0xC0); |
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| 344 | break; |
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| 345 | case 15: |
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| 346 | i2c_write_byte(0x03); |
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| 347 | break; |
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| 348 | case 16: |
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| 349 | i2c_start(); |
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| 350 | break; |
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| 351 | case 17: |
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| 352 | i2c_write_byte(0xC1); |
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| 353 | break; |
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| 354 | case 18: |
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| 355 | i2c_write_byte(MagneticHeading); |
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| 356 | break; |
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| 357 | case 19: |
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| 358 | MagneticHeading += TWDR; |
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| 359 | i2c_stop(); |
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| 360 | I2CTimeout = 22; |
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| 361 | twi_state = 0; |
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| 362 | break; |
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| 363 | |||
| 364 | /* Trigger Ultrasonic Ping */ |
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| 365 | case 20: /* Ping */ |
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| 366 | i2c_write_byte(0xE0); /* Send I2C Adress */ |
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| 367 | break; |
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| 368 | case 21: |
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| 369 | i2c_write_byte(0x00); /* Send I2C Register */ |
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| 370 | break; |
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| 371 | case 22: |
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| 372 | i2c_write_byte(82); /* Send I2C Value */ |
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| 373 | break; |
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| 374 | case 24: |
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| 375 | VersionID = TWDR; |
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| 376 | i2c_stop(); |
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| 377 | I2CTimeout = 22; |
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| 378 | twi_state = 0; |
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| 379 | UltrasonicPingCnt++; |
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| 380 | break; |
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| 381 | case 30: |
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| 382 | i2c_write_byte(0xE0);/* Send I2C Adress */ |
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| 383 | break; |
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| 384 | case 31: |
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| 385 | i2c_write_byte(0x02); /* Send I2C Register */ |
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| 386 | break; |
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| 387 | case 32: |
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| 388 | i2c_start(); |
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| 389 | break; |
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| 390 | case 33: |
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| 391 | i2c_write_byte(0xE1); |
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| 392 | break; |
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| 393 | case 34: |
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| 394 | i2c_write_byte(255); |
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| 395 | break; |
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| 396 | case 35: |
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| 397 | UltrasonicRange = TWDR << 8;/* Read I2C Value */ |
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| 398 | UltrasonicRangeHigh = TWDR; |
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| 399 | i2c_stop(); |
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| 400 | i2c_start(); |
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| 401 | break; |
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| 402 | case 36: |
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| 403 | i2c_write_byte(0xE0); |
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| 404 | break; |
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| 405 | case 37: |
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| 406 | i2c_write_byte(0x03); |
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| 407 | break; |
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| 408 | case 38: |
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| 409 | i2c_start(); |
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| 410 | break; |
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| 411 | case 39: |
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| 412 | i2c_write_byte(0xE1); |
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| 413 | break; |
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| 414 | case 40: |
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| 415 | i2c_write_byte(UltrasonicRangeLow); |
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| 416 | break; |
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| 417 | case 41: |
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| 418 | UltrasonicRange += TWDR; |
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| 419 | UltrasonicRangeLow = TWDR; |
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| 420 | i2c_stop(); |
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| 421 | I2CTimeout = 22; |
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| 422 | twi_state = 0; |
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| 423 | break; |
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| 838 | MikeW | 424 | } |
| 425 | #endif |
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| 839 | MikeW | 426 | TWCR |= 0x80; |
| 838 | MikeW | 427 | } |