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#include "twimaster.h"
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#include "twimaster.h"
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#include "analog.h"
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#include "analog.h"
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#include "output.h"
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#include <inttypes.h>
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#include <inttypes.h>
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#include <util/twi.h>
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#include <util/twi.h>
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#include <avr/interrupt.h>
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#include <avr/interrupt.h>
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void I2CReceiveLastByte(void) {
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void I2CReceiveLastByte(void) {
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        TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWIE);
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        TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWIE);
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}
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}
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void I2CReset(void) {
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void I2CReset(void) {
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  debugOut.analog[29]++;
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        I2CStop();
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        I2CStop();
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        TWCR = (1 << TWINT); // reset to original state incl. interrupt flag reset
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        TWCR = (1 << TWINT); // reset to original state incl. interrupt flag reset
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        TWAMR = 0;
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        TWAMR = 0;
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        TWAR = 0;
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        TWAR = 0;
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        twiState = TWI_STATE_INIT_0;
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        twiState = TWI_STATE_INIT_0;
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        I2CStart();
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        I2CStart();
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}
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}
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void twimaster_startCycle(void) {
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void twimaster_startCycle(void) {
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        if (sensorDataReady & TWI_DATA_READY) { // if OK last time
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        twiState = TWI_STATE_LOOP_0;
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          twiState = TWI_STATE_LOOP_0;
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          I2CStart();
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        } else {                                // go get em.
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          I2CReset();
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        I2CStart();
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        }
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}
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}
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const uint8_t EXPECTED_STATUS[] = { START, MT_SLA_ACK, MT_DATA_ACK,
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const uint8_t EXPECTED_STATUS[] = { START, MT_SLA_ACK, MT_DATA_ACK,
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        case TWI_STATE_LOOP_0 + 5 + sizeof(IMU3200SensorInputs) - 1: // last data byte
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        case TWI_STATE_LOOP_0 + 5 + sizeof(IMU3200SensorInputs) - 1: // last data byte
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                ((uint8_t*) IMU3200SensorInputs)[dataIndex] = TWDR;
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                ((uint8_t*) IMU3200SensorInputs)[dataIndex] = TWDR;
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                // Dont re-init the gyro but just restart the loop.
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                // Dont re-init the gyro but just restart the loop.
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                I2CStop();
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                I2CStop();
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                sensorDataReady |= TWI_DATA_READY;
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                sensorDataReady |= TWI_DATA_READY;
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                debugOut.analog[28]++;
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                break;
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                break;
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        }
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        }
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}
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}