| 1,5 → 1,6 |
|---|
| #include "twimaster.h" |
| #include "analog.h" |
| #include "output.h" |
| #include <inttypes.h> |
| #include <util/twi.h> |
| #include <avr/interrupt.h> |
| 43,6 → 44,7 |
|---|
| } |
| |
| void I2CReset(void) { |
| debugOut.analog[29]++; |
| I2CStop(); |
| TWCR = (1 << TWINT); // reset to original state incl. interrupt flag reset |
| TWAMR = 0; |
| 61,8 → 63,12 |
|---|
| } |
| |
| void twimaster_startCycle(void) { |
| twiState = TWI_STATE_LOOP_0; |
| I2CStart(); |
| if (sensorDataReady & TWI_DATA_READY) { // if OK last time |
| twiState = TWI_STATE_LOOP_0; |
| I2CStart(); |
| } else { // go get em. |
| I2CReset(); |
| } |
| } |
| |
| const uint8_t EXPECTED_STATUS[] = { START, MT_SLA_ACK, MT_DATA_ACK, |
| 145,6 → 151,7 |
|---|
| // Dont re-init the gyro but just restart the loop. |
| I2CStop(); |
| sensorDataReady |= TWI_DATA_READY; |
| debugOut.analog[28]++; |
| break; |
| } |
| } |