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; |