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| Rev 1744 | Rev 1760 | ||
|---|---|---|---|
| Line 173... | Line 173... | ||
| 173 | } |
173 | } |
| 174 | else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
174 | else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
| 175 | break; |
175 | break; |
| 176 | case 1: // Send Data to Slave |
176 | case 1: // Send Data to Slave |
| 177 | I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
177 | I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
| 178 | if(Motor[motor_write].SetPoint == 0) if(MotorenEin) DebugOut.Analog[17]++; |
- | |
| 179 | // if old version has been detected |
178 | // if old version has been detected |
| 180 | if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
179 | if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
| 181 | { |
180 | { |
| 182 | twi_state = 4; //jump over sending more data |
181 | twi_state = 4; //jump over sending more data |
| 183 | } |
182 | } |