Fixing "stuck in jogging" bug.

2022-08-31 15:56:33 +00:00
parent 2f97bdd4aa
commit ed1e4e6511
3 changed files with 20 additions and 9 deletions
--- a/src/avr/src/config.h
+++ b/src/avr/src/config.h
@@ -201,7 +201,7 @@ enum {
 #define I2C_DEV                  TWIC
 #define I2C_ISR                  TWIC_TWIS_vect
 #define I2C_ADDR                 0x2b
-#define I2C_MAX_DATA             8
+#define I2C_MAX_DATA             16


 // Motor
--- a/src/avr/src/i2c.c
+++ b/src/avr/src/i2c.c
@@ -62,7 +62,9 @@ static void _i2c_end_command() {


 static void _i2c_command_byte(uint8_t byte) {
-  i2c.data[i2c.length++] = byte;
+  if (i2c.length < I2C_MAX_DATA) {
+    i2c.data[i2c.length++] = byte;
+  }
 }