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Line 66... | Line 66... | ||
66 | SIGNAL (TWI_vect) |
66 | SIGNAL (TWI_vect) |
67 | //############################################################################ |
67 | //############################################################################ |
68 | { |
68 | { |
69 | static unsigned char missing_motor = 0, byte_counter = 0, crc = 0, read_more = 0, motorread_temperature = 0; |
69 | static unsigned char missing_motor = 0, byte_counter = 0, crc = 0, read_more = 0, motorread_temperature = 0; |
70 | static unsigned char *pTxBuff; |
70 | static unsigned char *pTxBuff; |
71 | - | ||
72 | J4High; |
71 | J4High; |
73 | switch(twi_state++) |
72 | switch(twi_state++) |
74 | { |
73 | { |
75 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
74 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
76 | // Writing the Data |
75 | // Writing the Data |
Line 85... | Line 84... | ||
85 | } |
84 | } |
86 | else i2c_write_byte(0x52+(motor*2)); |
85 | else i2c_write_byte(0x52+(motor*2)); |
87 | break; |
86 | break; |
88 | case 1: |
87 | case 1: |
89 | i2c_write_byte(Motor[motor].SetPoint); |
88 | i2c_write_byte(Motor[motor].SetPoint); |
90 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) ) |
89 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) || RequiredMotors > 6) |
91 | { |
90 | { |
92 | twi_state = 4; //jump over sending more data |
91 | twi_state = 4; //jump over sending more data |
93 | } |
92 | } |
94 | else if(!(Motor[motor].SetPointLowerBits || (BLFlags & BLFLAG_SEND_CONFIG))) |
93 | else if(!(Motor[motor].SetPointLowerBits || (BLFlags & BLFLAG_SEND_CONFIG))) |
95 | { |
94 | { |