From 66133e1fb38af4db9256a0aef0efae4dd1114df2 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Fri, 5 Jun 2015 19:23:37 +0200 Subject: [PATCH] avr/motor_ctrl: fix angle reading --- avr/motor_ctrl/main.c | 8 +- avr/motor_ctrl/main.hex | 1169 ++++++++++++++++++++------------------- 2 files changed, 590 insertions(+), 587 deletions(-) diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index f8a5c34..9ca7b85 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -545,19 +545,19 @@ ISR(TWI_vect) TWI_ACK; break; case 0x48: // Position angle MSB - TWDR = pos_y.i>>24; + TWDR = angle.i>>24; TWI_ACK; break; case 0x49: // Position angle - TWDR = pos_y.i>>16; + TWDR = angle.i>>16; TWI_ACK; break; case 0x4A: // Position angle - TWDR = pos_y.i>>8; + TWDR = angle.i>>8; TWI_ACK; break; case 0x4B: // Position angle LSB - TWDR = pos_y.i; + TWDR = angle.i; TWI_ACK; break; case 0xA0: // Reset reason diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index 89e9c4d..00d0253 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