| 34,7 → 34,25 |
|---|
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| |
| void i2c_reset(void) |
| //############################################################################ |
| { |
| i2c_stop(); |
| twi_state = 0; |
| motor = TWDR; |
| motor = 0; |
| TWCR = 0x80; |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| i2c_init(); |
| i2c_start(); |
| i2c_write_byte(0); |
| } |
| |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| 104,6 → 122,7 |
|---|
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| |
| case 6: |
| switch(motorread) |
| { |
| 126,6 → 145,8 |
|---|
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| I2CTimeout = 10; |
| twi_state = 0; |
| } |
| TWCR |= 0x80; |
| } |