| 47,12 → 47,13 |
|---|
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| switch (twi_state++) // First i2c_start from SendMotorData() |
| { |
| case 0: |
| // Master Transmit |
| case 0: // Address Slave SL+W |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| case 1: // Send Data |
| switch(motor++) |
| { |
| case 0: |
| 69,26 → 70,23 |
|---|
| break; |
| } |
| break; |
| case 2: |
| if (motor<4) twi_state = 0; |
| i2c_start(); |
| break; |
| |
| //Liest Daten von Motor |
| case 3: |
| case 2: // Repeat case 0+1 for all Slaves |
| if (motor < 4) twi_state = 0; |
| i2c_start(); // Repeated start -> switch salve and switch Master Transmit <-> Master Receive respectively |
| break; |
| |
| // Master Receive |
| case 3: // Address Slave SL+R |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| i2c_write_byte(0xFF); |
| break; |
| case 5: //1. Byte vom Motor lesen |
| case 4: //1. Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| i2c_write_byte(0xFF); |
| TWCR |= (1<<TWINT); |
| break; |
| case 6: //2. Byte vom Motor lesen |
| case 5: //2. Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| if (motorread > 3) motorread=0; |
| default: |
| i2c_stop(); |
| twi_state = 0; |