| 13,7 → 13,7 |
|---|
| volatile uint8_t motor_write = 0; |
| volatile uint8_t motor_read = 0; |
| volatile uint8_t dac_channel = 0; |
| volatile uint8_t motor_rx[8]; |
| volatile uint8_t motor_rx[MOTOR_COUNT*2]; |
| volatile uint16_t I2CTimeout = 100; |
| |
| |
| 161,9 → 161,33 |
|---|
| I2C_WriteByte(0x52 + (motor_write * 2) ); |
| break; |
| case 1: // Send Data to Slave |
| #ifdef HEXAKOPTER |
| switch(motor_write) |
| { |
| { |
| case 0: |
| I2C_WriteByte(Motor_FrontLeft); |
| break; |
| case 1: |
| I2C_WriteByte(Motor_RearRight); |
| break; |
| case 2: |
| I2C_WriteByte(Motor_FrontRight); |
| break; |
| case 3: |
| I2C_WriteByte(Motor_RearLeft); |
| break; |
| case 4: |
| I2C_WriteByte(Motor_Right); |
| break; |
| case 5: |
| I2C_WriteByte(Motor_Left); |
| break; |
| } |
| |
| #else |
| switch(motor_write++) |
| { |
| case 0: |
| I2C_WriteByte(Motor_Front); |
| break; |
| case 1: |
| 176,10 → 200,11 |
|---|
| I2C_WriteByte(Motor_Left); |
| break; |
| } |
| #endif |
| break; |
| case 2: // repeat case 0+1 for all motors |
| I2C_Stop(); |
| if (motor_write < 3) |
| I2C_Stop(); |
| if (motor_write < (MOTOR_COUNT-1)) |
| { |
| motor_write++; // jump to next motor |
| twi_state = 0; // and repeat from state 0 |
| 190,7 → 215,6 |
|---|
| } |
| I2C_Start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive |
| break; |
| |
| // Master Receive |
| case 3: // Send SLA-R |
| I2C_WriteByte(0x53 + (motor_read * 2) ); |
| 207,7 → 231,7 |
|---|
| //Read 2nd byte |
| motor_rx[motor_read + 4] = TWDR; |
| motor_read++; |
| if (motor_read > 3) motor_read = 0; |
| if (motor_read > (MOTOR_COUNT-1)) motor_read = 0; |
| I2C_Stop(); |
| twi_state = 0; |
| I2CTimeout = 10; |