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12 hbuss 1
/*#######################################################################################
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MK3Mag 3D-Magnet sensor
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!!! THIS IS NOT FREE SOFTWARE !!!                                                      
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#######################################################################################*/
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 05.2008 Holger Buss
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// + Thanks to Ilja Fähnrich (P_Latzhalter)
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur 
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), 
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. 
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// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden
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// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, 
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice, 
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// + this list of conditions and the following disclaimer.
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// +   * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet 
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted 
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// +     with our written permission
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// +     Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems
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// +     In case of doubt please contact: info@MikroKopter.de
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// +   * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be 
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// +     clearly linked as origin 
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE. 
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 57
 
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#include <avr/io.h>
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#include <util/twi.h>
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#include "main.h"
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3 ingob 62
unsigned char I2C_RxBufferSize, I2C_TxBufferSize;
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unsigned char *I2C_TxBuffer, *I2C_RxBuffer;
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unsigned char Tx_Idx=0, Rx_Idx=0, I2C_Direction;
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unsigned char I2C_Command;
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unsigned char Tx_Idx, Rx_Idx;
1 ingob 67
 
3 ingob 68
struct str_I2C_Heading       I2C_Heading;
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struct str_I2C_WriteNickRoll I2C_WriteNickRoll;
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struct str_I2C_Mag           I2C_Mag;
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struct str_I2C_EEPROM        I2C_ReadEEPROM, I2C_WriteEEPROM;
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struct str_I2C_Version       I2C_Version;
7 hbuss 73
struct str_I2C_WriteCal      I2C_WriteCal;
3 ingob 74
 
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1 ingob 77
//############################################################################
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//I2C (TWI) Interface Init
3 ingob 79
void InitIC2_Slave(void)
1 ingob 80
//############################################################################
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{
3 ingob 82
    TWAR = I2C_SLAVE_ADDRESS; // Eigene Adresse setzen 
1 ingob 83
    TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);
3 ingob 84
 
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        I2C_Version.Hauptversion = VersionInfo.Hauptversion;
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        I2C_Version.Nebenversion = VersionInfo.Nebenversion;
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        I2C_Version.Comp = 1;
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1 ingob 90
}
3 ingob 91
#define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC)
1 ingob 92
//############################################################################
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//ISR, die bei einem Ereignis auf dem Bus ausgelöst wird. Im Register TWSR befindet
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//sich dann ein Statuscode, anhand dessen die Situation festgestellt werden kann.
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ISR (TWI_vect)
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//############################################################################
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{  
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    switch (TWSR & 0xF8)
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        {  
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        case SR_SLA_ACK:  
3 ingob 101
            //TWCR |= (1<<TWINT);
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            Rx_Idx = 0;
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                        TWCR_ACK;
1 ingob 105
            return;
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        // Daten Empfangen
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        case SR_PREV_ACK:
3 ingob 108
 
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                        if (Rx_Idx  == 0)
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                        { I2C_Command = TWDR;
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                          switch(I2C_Command)
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                          {
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                             case I2C_CMD_VERSION:
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                                                I2C_TxBuffer = (unsigned char *)&I2C_Version;
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                                                I2C_TxBufferSize = sizeof(I2C_Version);
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                                                I2C_RxBufferSize = 0;
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                                break;
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                                case I2C_CMD_WRITE_EEPROM:
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                                                I2C_TxBufferSize = 0;
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                                                I2C_RxBuffer = (unsigned char *)&I2C_WriteEEPROM;
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                                                I2C_RxBufferSize = sizeof(I2C_WriteEEPROM);
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                                break;
7 hbuss 124
 
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                                case I2C_CMD_WRITE_CAL:
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                                                I2C_TxBufferSize = 0;
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                                                I2C_RxBuffer = (unsigned char *)&I2C_WriteCal;
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                                                I2C_RxBufferSize = sizeof(I2C_WriteCal);
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                                break;
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3 ingob 131
                                case I2C_CMD_READ_EEPROM:
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                                                I2C_TxBuffer = (unsigned char *)&I2C_ReadEEPROM.Inhalt;
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                                                I2C_TxBufferSize = 2;
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                                                I2C_RxBuffer = (unsigned char *)&I2C_ReadEEPROM;
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                                                I2C_RxBufferSize = 1;
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                                break;
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                                case I2C_CMD_READ_MAG:
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                                                I2C_TxBuffer = (unsigned char *)&I2C_Mag;
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                                                I2C_TxBufferSize = sizeof(I2C_Mag);
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                                                I2C_RxBufferSize = 0;
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                                                I2C_Mag.MagX = MagnetN;
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                                                I2C_Mag.MagY = MagnetR;
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                                                I2C_Mag.MagZ = MagnetZ;
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                                break;
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                                case I2C_CMD_READ_HEADING:
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                                                I2C_TxBuffer = (unsigned char *)&I2C_Heading;
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                                                I2C_TxBufferSize = sizeof(I2C_Heading);
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                                                I2C_RxBuffer =  (unsigned char *)&I2C_WriteNickRoll;
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                                                I2C_RxBufferSize = sizeof(I2C_WriteNickRoll);
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                                                I2C_Heading.Heading = Heading;
7 hbuss 154
                                                ExternData.Winkel[NICK] = I2C_WriteNickRoll.Nick;
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                                                ExternData.Winkel[ROLL] = I2C_WriteNickRoll.Roll;
3 ingob 156
                                break;
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                          }
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                        }
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                        else
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                        {
4 ingob 161
                          if ((Rx_Idx-1) < I2C_RxBufferSize) I2C_RxBuffer[Rx_Idx-1] = TWDR;
3 ingob 162
                        }
163
 
164
                        Rx_Idx++;
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166
 
1 ingob 167
            I2C_Timeout = 500;
3 ingob 168
            //TWCR |= (1<<TWINT);
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                        TWCR_ACK;
1 ingob 170
            return;
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        // Daten Senden
3 ingob 172
 
1 ingob 173
        case SW_SLA_ACK:  
3 ingob 174
            Tx_Idx = 0;
175
 
176
                        if (I2C_TxBufferSize > 0) TWDR = I2C_TxBuffer[Tx_Idx++];
177
 
178
//            TWCR |= (1<<TWINT) | (1<< TWEA);
179
             TWCR_ACK;
1 ingob 180
            return;
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        // Daten Senden
3 ingob 182
                case SW_DATA_ACK:
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            if (Tx_Idx < I2C_TxBufferSize) TWDR = I2C_TxBuffer[Tx_Idx++];
184
                         else TWDR = 0x00;
185
                        //TWCR |= (1<<TWINT) | (1<< TWEA);
186
                        TWCR_ACK;
1 ingob 187
            return;
188
        // Bus-Fehler zurücksetzen
189
        case TWI_BUS_ERR_2:
190
            TWCR |=(1<<TWSTO) | (1<<TWINT);
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        // Bus-Fehler zurücksetzen   
192
        case TWI_BUS_ERR_1:
193
            TWCR |=(1<<TWSTO) | (1<<TWINT);
194
        }
195
    TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset
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}
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