| 9,14 → 9,14 |
|---|
| uint8_t twiTroubleSpot; |
| uint8_t twiGotStatus; |
| |
| volatile uint16_t IMU3200SensorInputs[4]; |
| volatile int16_t ITG3200SensorInputs[4]; |
| |
| void twimaster_init(void) { |
| // Set pullups |
| // Set pullups OFF |
| uint8_t sreg = SREG; |
| cli(); |
| DDRC = 0; |
| PORTC = ((1 << 4) | (1 << 5)); |
| PORTC &= ~((1<<4) | (1<<5)); |
| TWBR = ((F_CPU / SCL_CLOCK) - 16) / 2; |
| twiState = TWI_STATE_INIT_0; |
| SREG = sreg; |
| 140,14 → 140,14 |
|---|
| I2CReceiveByte(); |
| break; |
| default: // data bytes |
| ((uint8_t*) IMU3200SensorInputs)[dataIndex] = TWDR; |
| if (twiState < TWI_STATE_LOOP_0 + 5 + sizeof(IMU3200SensorInputs) - 1) |
| ((uint8_t*) ITG3200SensorInputs)[dataIndex] = TWDR; |
| if (twiState < TWI_STATE_LOOP_0 + 5 + sizeof(ITG3200SensorInputs) - 1) |
| I2CReceiveByte(); |
| else |
| I2CReceiveLastByte(); |
| break; |
| case TWI_STATE_LOOP_0 + 5 + sizeof(IMU3200SensorInputs) - 1: // last data byte |
| ((uint8_t*) IMU3200SensorInputs)[dataIndex] = TWDR; |
| case TWI_STATE_LOOP_0 + 5 + sizeof(ITG3200SensorInputs) - 1: // last data byte |
| ((uint8_t*) ITG3200SensorInputs)[dataIndex] = TWDR; |
| // Dont re-init the gyro but just restart the loop. |
| I2CStop(); |
| sensorDataReady |= TWI_DATA_READY; |