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| Rev 1651 | Rev 1652 | ||
|---|---|---|---|
| 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 | { |