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| Rev 1455 | Rev 1456 | ||
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| Line 4... | Line 4... | ||
| 4 | #include <util/twi.h> |
4 | #include <util/twi.h> |
| 5 | #include <avr/interrupt.h> |
5 | #include <avr/interrupt.h> |
| 6 | #include "servoboard.h" |
6 | #include "servoboard.h" |
| 7 | #include "twislave.h" |
7 | #include "twislave.h" |
| Line 8... | Line 8... | ||
| 8 | 8 | ||
| 9 | unsigned char I2C_RXBuffer[32]; |
9 | uint8_t I2C_RXBuffer[32]; |
| 10 | unsigned char Byte_Counter = 0; |
- | |
| Line 11... | Line 10... | ||
| 11 | unsigned char I2C_Timeout = 0; |
10 | uint8_t Byte_Counter = 0; |
| 12 | 11 | ||
| 13 | void InitIC2_Slave(uint8_t adr) |
12 | void InitIC2_Slave(uint8_t adr) |
| 14 | { |
13 | { |
| Line 25... | Line 24... | ||
| 25 | return crc; |
24 | return crc; |
| 26 | } |
25 | } |
| Line 27... | Line 26... | ||
| 27 | 26 | ||
| Line 28... | Line -... | ||
| 28 | ISR (TWI_vect) { |
- | |
| 29 | 27 | ISR (TWI_vect) { |
|
| 30 | #if 1 |
28 | |
| 31 | static char cnt=0; |
29 | static char cnt = 0; |
| 32 | if (pwm_neutral_programming_mode == 0 && cnt++ == 0) { |
30 | if (pwm_neutral_programming_mode == 0 && cnt++ == 0) { |
| 33 | if (PORTD&0x80) PORTD&=~0x80; else PORTD|=0x80; |
- | |
| Line 34... | Line 31... | ||
| 34 | } |
31 | if (PORTD & 0x80) PORTD &= ~0x80; else PORTD |= 0x80; |
| 35 | #endif |
- | |
| 36 | 32 | } |
|
| 37 | switch (TWSR & 0xF8) |
33 | |
| 38 | { |
34 | switch (TWSR & 0xF8) { |
| 39 | case SR_SLA_ACK: |
35 | case SR_SLA_ACK: |
| 40 | TWCR |= (1<<TWINT); |
36 | TWCR |= (1<<TWINT); |
| 41 | Byte_Counter = 0; |
- | |
| 42 | return; |
37 | Byte_Counter = 0; |
| 43 | case SR_PREV_ACK: |
38 | return; |
| 44 | I2C_Timeout = 250; |
39 | case SR_PREV_ACK: |
| 45 | if (Byte_Counter < 32) { |
40 | if (Byte_Counter < 32) { |
| 46 | I2C_RXBuffer[Byte_Counter++] = TWDR; |
41 | I2C_RXBuffer[Byte_Counter++] = TWDR; |
| Line 54... | Line 49... | ||
| 54 | return; |
49 | return; |
| 55 | case TWI_BUS_ERR_2: |
50 | case TWI_BUS_ERR_2: |
| 56 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
51 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
| 57 | case TWI_BUS_ERR_1: |
52 | case TWI_BUS_ERR_1: |
| 58 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
53 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
| 59 | } |
54 | } |
| 60 | TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset |
55 | TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| - | 56 | ||
| 61 | } |
57 | } |