69,7 → 69,10 |
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volatile uint8_t I2C_RxBufferSize = 0, I2C_TxBufferSize = 0; |
volatile uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0; |
volatile uint8_t Tx_Idx = 0, Rx_Idx = 0; |
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volatile uint8_t I2C_PrimRxBuffer[10]; |
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uint8_t NC_Connected = 0; |
I2C_Heading_t I2C_Heading; |
I2C_WriteAttitude_t I2C_WriteAttitude; |
107,8 → 110,10 |
PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
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I2C_TxBuffer = 0; |
Tx_Idx = 0; |
I2C_TxBufferSize = 0; |
I2C_RxBuffer = 0; |
Rx_Idx = 0; |
I2C_RxBufferSize = 0; |
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TWCR = ~(1<<TWSTA)|(1<<TWSTO); |
138,8 → 143,7 |
ISR (TWI_vect) |
{ |
uint8_t data; |
static uint8_t crc, Tx_Idx = 0, Rx_Idx = 0; |
static uint8_t I2C_PrimRxBuffer[10]; |
static uint8_t crc; |
// check event |
switch (TW_STATUS) |
{ |