| 27,7 → 27,7 |
|---|
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| /// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 96,7 → 96,7 |
|---|
| |
| // backup status register |
| sreg = SREG; |
| // disable global interrupts |
| // disable global interrupts |
| cli(); |
| |
| // SCK/SCL and MISO/SDA are at put together on the same connector pin in the schematic |
| 121,7 → 121,7 |
|---|
| |
| // set own address |
| // set own address in the upper 7 bits |
| TWAR = I2C_SLAVE_ADDRESS; // set own address only the upper 7 bits are relevant |
| TWAR = I2C_SLAVE_ADDRESS; // set own address only the upper 7 bits are relevant |
| // TWI Control Register |
| // enable TWI Acknowledge Bit (TWEA = 1) |
| // disable TWI START Condition Bit (TWSTA = 0), SLAVE |
| 134,7 → 134,7 |
|---|
| I2C_Version.Minor = VERSION_MINOR; |
| I2C_Version.Patch = VERSION_PATCH; |
| I2C_Version.Compatible = NC_I2C_COMPATIBLE; |
| TWCR_RESET; |
| TWCR_RESET; |
| // resore status register |
| SREG = sreg; |
| } |
| 147,13 → 147,13 |
|---|
| // check event |
| switch (TW_STATUS) |
| { |
| case TW_SR_SLA_ACK: // slave addressed in receiver mode and ack has been returned |
| Rx_Idx = 0xFF; // reset rx buffer pointer |
| case TW_SR_SLA_ACK: // slave addressed in receiver mode and ack has been returned |
| Rx_Idx = 0xFF; // reset rx buffer pointer |
| TWCR_ACK; // trigger receiving of first data byte and send ack afterwards |
| return; |
| return; |
| |
| case TW_SR_DATA_ACK: // data has been received and ack has been returned |
| data = TWDR; |
| case TW_SR_DATA_ACK: // data has been received and ack has been returned |
| data = TWDR; |
| if (Rx_Idx == 0xFF) |
| { // if the first byte after slave addressing was received |
| switch(data) |
| 235,13 → 235,13 |
|---|
| Rx_Idx++; |
| } |
| TWCR_ACK; |
| return; |
| return; |
| |
| case TW_ST_SLA_ACK: // slave transmitter selected |
| // reset index to start of tx buffer |
| Tx_Idx = 0; |
| crc = 0; |
| // if tx buffer exist and there is at least one byte to transfer |
| case TW_ST_SLA_ACK: // slave transmitter selected |
| // reset index to start of tx buffer |
| Tx_Idx = 0; |
| crc = 0; |
| // if tx buffer exist and there is at least one byte to transfer |
| if((I2C_TxBuffer != 0) && (I2C_TxBufferSize > 1)) |
| { |
| data = I2C_TxBuffer[Tx_Idx]; |
| 255,14 → 255,14 |
|---|
| Tx_Idx++; |
| TWDR = data; |
| TWCR_ACK; |
| return; |
| return; |
| |
| case TW_ST_DATA_ACK: // data byte has been transmitted ack has been received |
| // put next byte from tx buffer to the data register |
| if((I2C_TxBuffer != 0) && (Tx_Idx < I2C_TxBufferSize)) |
| { |
| data = I2C_TxBuffer[Tx_Idx]; |
| crc += data; |
| data = I2C_TxBuffer[Tx_Idx]; |
| crc += data; |
| } |
| else if (Tx_Idx == I2C_TxBufferSize) |
| { // send crc byte at the end |
| 275,11 → 275,11 |
|---|
| Tx_Idx++; |
| TWDR = data; |
| TWCR_ACK; |
| return; |
| return; |
| |
| case TW_BUS_ERROR: // Bus-Error |
| TWCR_CLEARBUS; // free bus, reset to nonselected slave |
| return; |
| case TW_BUS_ERROR: // Bus-Error |
| TWCR_CLEARBUS; // free bus, reset to nonselected slave |
| return; |
| |
| case TW_ST_DATA_NACK: // data transmitted, NACK received |
| case TW_ST_LAST_DATA: // last data byte transmitted, ACK received |
| 286,7 → 286,7 |
|---|
| case TW_SR_STOP: // stop or repeated start condition received while selected |
| default: |
| TWCR_RESET; // switch to the not addressed slave mode, own SLA will be recognized |
| return; |
| return; |
| } |
| } |
| |