Rev 1652 | Rev 1657 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1652 | Rev 1654 | ||
---|---|---|---|
Line 84... | Line 84... | ||
84 | } |
84 | } |
85 | else i2c_write_byte(0x52+(motor*2)); |
85 | else i2c_write_byte(0x52+(motor*2)); |
86 | break; |
86 | break; |
87 | case 1: |
87 | case 1: |
88 | i2c_write_byte(Motor[motor].SetPoint); |
88 | i2c_write_byte(Motor[motor].SetPoint); |
89 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) || RequiredMotors > 6) |
89 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
90 | { |
90 | { |
91 | twi_state = 4; //jump over sending more data |
91 | twi_state = 4; //jump over sending more data |
92 | } |
92 | } |
93 | else if(!(Motor[motor].SetPointLowerBits || (BLFlags & BLFLAG_SEND_CONFIG))) |
93 | else if(!( (Motor[motor].SetPointLowerBits && RequiredMotors < 7) || (BLFlags & BLFLAG_SEND_CONFIG))) |
94 | { |
94 | { |
95 | twi_state = 4; // skip state |
95 | twi_state = 4; // skip state |
96 | } |
96 | } |
97 | break; |
97 | break; |
98 | case 2: // lower bits of setpoint (higher resolution) |
98 | case 2: // lower bits of setpoint (higher resolution) |
Line 170... | Line 170... | ||
170 | BLFlags |= BLFLAG_TX_COMPLETE; |
170 | BLFlags |= BLFLAG_TX_COMPLETE; |
171 | } |
171 | } |
172 | else |
172 | else |
173 | { |
173 | { |
174 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
174 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
175 | if(motorread == motorread_temperature) |
175 | if( (motorread == motorread_temperature) || (BLFlags & BLFLAG_READ_VERSION) ) |
176 | { |
176 | { |
177 | read_more = 1; |
177 | read_more = 1; |
178 | I2C_ReceiveByte(); |
178 | I2C_ReceiveByte(); |
179 | } |
179 | } |
180 | else |
180 | else |