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| Rev 1643 | Rev 1644 | ||
|---|---|---|---|
| Line 179... | Line 179... | ||
| 179 | 179 | ||
| 180 | //############################################################################ |
180 | //############################################################################ |
| 181 | SIGNAL (TWI_vect) |
181 | SIGNAL (TWI_vect) |
| 182 | //############################################################################ |
182 | //############################################################################ |
| 183 | { // 2 3 4 5 6 7 8 9 |
183 | { // 2 3 4 5 6 7 8 9 |
| 184 | unsigned char test[] = {0,0,'#',0x1F,255,30,99,49,0x00,7,8,9,10}; |
184 | unsigned char test[] = {0,0,'#',0x1F,255,30,99,64,0x00,7,8,9,10}; |
| 185 | static unsigned char missing_motor,send = 0,crc = 0,read_more = 0; |
185 | static unsigned char missing_motor,send = 0,crc = 0,read_more = 0; |
| 186 | 186 | J4High; |
|
| 187 | switch(twi_state++) |
187 | switch(twi_state++) |
| 188 | { |
188 | { |
| 189 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
189 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 190 | // Writing the Data |
190 | // Writing the Data |
| Line 201... | Line 201... | ||
| 201 | send = 0; |
201 | send = 0; |
| 202 | break; |
202 | break; |
| 203 | case 1: |
203 | case 1: |
| 204 | i2c_write_byte(Motor[motor].SetPoint); |
204 | i2c_write_byte(Motor[motor].SetPoint); |
| 205 | // if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) /*|| !Motor[motor].SetPointLowerBits*/) |
205 | // if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) /*|| !Motor[motor].SetPointLowerBits*/) |
| 206 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) || !Motor[motor].SetPointLowerBits && !TransmitBlConfig) |
206 | if((!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) || !Motor[motor].SetPointLowerBits) && !TransmitBlConfig) |
| 207 | twi_state++; // skip |
207 | twi_state++; // skip |
| 208 | break; |
208 | break; |
| 209 | case 2: |
209 | case 2: |
| 210 | if(!send++) |
210 | if(!send++) |
| 211 | { |
211 | { |
| Line 221... | Line 221... | ||
| 221 | } |
221 | } |
| 222 | if(TransmitBlConfig && !MotorenEin && motor == motorread && (Motor[motorread].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
222 | if(TransmitBlConfig && !MotorenEin && motor == motorread && (Motor[motorread].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
| 223 | { |
223 | { |
| 224 | if(send <= 10) twi_state--; |
224 | if(send <= 10) twi_state--; |
| 225 | } |
225 | } |
| 226 | - | ||
| 227 | break; |
226 | break; |
| 228 | case 3: |
227 | case 3: |
| 229 | motor++; |
228 | motor++; |
| 230 | if(TWSR == 0x30) |
229 | if(TWSR == 0x30) |
| 231 | { |
230 | { |
| Line 351... | Line 350... | ||
| 351 | break; |
350 | break; |
| 352 | default: twi_state = 0; |
351 | default: twi_state = 0; |
| 353 | break; |
352 | break; |
| 354 | } |
353 | } |
| 355 | TWCR |= 0x80; |
354 | TWCR |= 0x80; |
| - | 355 | J4Low; |
|
| 356 | } |
356 | } |