kopia lustrzana https://github.com/ozarchie/EQMOD-ETX
Delete HBXComms.ino
ozarchie
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/*
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* Copyright 2017, 2018 John Archbold
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*/
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#include <Arduino.h>
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/********************************************************
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HBX Comms related functions
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===========================
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*********************************************************/
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// HBX transmission functions
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// ==========================
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// HBX Send a command
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// ------------------
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bool HBXSendCommand(unsigned char Command, unsigned char Motor) {
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unsigned long i;
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axis[Motor].Command = Command;
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// Send the start sequence
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// -----------------------
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if (HBXStartSequence(Motor)) {
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// Send the command byte
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// ---------------------
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HBXSendByte(Command, Motor);
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return(true);
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}
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else return(false);
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}
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// HBX Initiate start sequence
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// ---------------------------
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bool HBXStartSequence(unsigned char Motor) {
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HDAListen(); // HDA as input
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// Set clock low
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if (Motor == MotorAz) digitalWrite(HCL1, LOW);
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else digitalWrite(HCL2, LOW);
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TimerDelayuS(HBXBitTime >> 1); // Wait for answer
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// Wait for data low by MC, or timeout
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H2XStart = micros(); // Get the start microseconds
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do { // Wait for MC to answer with HDA1 = 0
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H2XTimer = micros() - H2XStart;
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} while ((digitalRead(HDA1) == 1) && (H2XTimer < (HBXBitTime << 3)));
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TimerDelayuS((HBXBitTime >> 5)); // Just in case of data line glitch
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// Re-read data line, check if (data low transition) or (MC timeout)
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if ((digitalRead(HDA1) == 1) || (H2XTimer >= (HBXBitTime << 3))) {
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if (Motor == MotorAz) digitalWrite(HCL1, HIGH);
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else digitalWrite(HCL2, HIGH);
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return(false); // Error Exit if no response from Motor
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}
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// Set clock high if data low transition (i.e. MC acknowledged clock)
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if (Motor == MotorAz) digitalWrite(HCL1, HIGH);
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else digitalWrite(HCL2, HIGH);
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TimerDelayuS(HBXBitTime >> 1);
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// Wait for data line release by MC, or timeout
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H2XStart = micros(); // Get the start microseconds
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do { // Wait for MC to answer
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H2XTimer = micros() - H2XStart;
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} while ((digitalRead(HDA1) == 0) && (H2XTimer < (HBXBitTime << 3)));
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TimerDelayuS(HBXBitTime);
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// Check timeout for data line released
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if (H2XTimer >= (HBXBitTime << 3)) {
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return(false); // Error Exit if no response from Motor
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}
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return(true); // Success
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}
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// HBX Send a single byte
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// ----------------------
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void HBXSendByte(unsigned char databyte, unsigned char Motor) {
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unsigned char b, mask;
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HDATalk(); // HDA as output
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axis[Motor].HBXBitCount = 8; // 8bits to go
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mask = 0x80; // MSB first
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// Clock was set high before entry
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TimerDelayuS(HIGHTIME);
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do {
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axis[Motor].HBXBitCount -= 1;
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// Set data bit
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if (databyte & mask) digitalWrite(HDA1, HIGH);
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else digitalWrite(HDA1, LOW);
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TimerDelayuS(HBXBitTime >> 1); // Let data stabilise
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mask = mask >> 1; // Next data bit
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// Set clock low
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if (Motor == MotorAz) digitalWrite(HCL1, LOW);
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else digitalWrite(HCL2, LOW);
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TimerDelayuS(HBXBitTime);
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if (!(axis[Motor].HBXBitCount)) { // Last bit -> force float on data
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digitalWrite(HDA1, LOW);
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HDAListen();
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}
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// Set clock high
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if (Motor == MotorAz) digitalWrite(HCL1, HIGH);
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else digitalWrite(HCL2, HIGH);
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TimerDelayuS(HBXBitTime-(HBXBitTime >> 1)); // Data is written DSTABLE before clock low
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// for 8 bits
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} while (axis[Motor].HBXBitCount);
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TimerDelayuS(HBXBitTime >> 1); // Last high clock
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}
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// HBX Send two bytes in sequence
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// ------------------------------
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void HBXSend2Bytes(unsigned char Motor) {
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HBXSendByte(axis[Motor].HBXP1, Motor);
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HBXSendByte(axis[Motor].HBXP2, Motor);
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}
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// HBX Send three bytes in sequence
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// --------------------------------
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void HBXSend3Bytes(unsigned char Motor) {
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HBXSendByte(axis[Motor].HBXP1, Motor);
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HBXSendByte(axis[Motor].HBXP2, Motor);
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HBXSendByte(axis[Motor].HBXP3, Motor);
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}
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// HBX Get a single byte
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// ----------------------
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unsigned char HBXGetByte(unsigned char Motor) {
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unsigned long i;
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unsigned char b;
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HDAListen(); // HDA as input
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axis[Motor].HBXBitCount = 8;
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axis[Motor].HBXData = 0;
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// Clock was set high before entry
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while (axis[Motor].HBXBitCount) {
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// Set clock low
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if (Motor == MotorAz) digitalWrite(HCL1, LOW);
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else digitalWrite(HCL2, LOW);
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TimerDelayuS(HBXBitTime >> 1);
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// Read data bit
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axis[Motor].HBXData = axis[Motor].HBXData << 1; // Shift previous bit
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if (digitalRead(HDA1)) axis[Motor].HBXData |= 0x01; // Read next bit
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axis[Motor].HBXBitCount--; // Need eight bits
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TimerDelayuS(HBXBitTime-(HBXBitTime >> 1)); // Wait for low time
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// Set clock high
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if (Motor == MotorAz) digitalWrite(HCL1, HIGH);
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else digitalWrite(HCL2, HIGH);
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TimerDelayuS(HBXBitTime);
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}
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// Return data byte
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axis[Motor].HBXCount = 1;
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return (axis[Motor].HBXData);
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}
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// HBX Get the status bytes (25 bits)
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// ----------------------------------
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void HBXGet3Bytes(unsigned char Motor) {
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unsigned char b;
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axis[Motor].HBXP1 = HBXGetByte(Motor);
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TimerDelayuS(HBXBitTime);
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axis[Motor].HBXP2 = HBXGetByte(Motor);
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TimerDelayuS(HBXBitTime);
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axis[Motor].HBXP3 = HBXGetByte(Motor);
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TimerDelayuS(HBXBitTime);
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axis[Motor].HBXP4 = 0;
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// Read 'byte4' = error bit
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// ------------------------
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if (Motor == MotorAz) digitalWrite(HCL1, LOW);
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else digitalWrite(HCL2, LOW);
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TimerDelayuS(HBXBitTime >> 1);
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axis[Motor].HBXP4 |= digitalRead(HDA1); // Read the error bit
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TimerDelayuS(HBXBitTime-(HBXBitTime >> 1));
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if (Motor == MotorAz)digitalWrite(HCL1, HIGH);
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else digitalWrite(HCL2, HIGH);
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TimerDelayuS(HBXBitTime);
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axis[Motor].HBXCount = 4;
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}
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// H2X Low level Functions
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// -----------------------
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void HDAListen() {
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pinMode(HDA1, H2X_INPUT);
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// digitalWrite(HDA1, HIGH);
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}
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void HDAFloat() {
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pinMode(HDA1, H2X_INPUT);
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}
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void HDATalk() {
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digitalWrite(HDA1, HIGH);
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pinMode(HDA1, H2X_OUTPUT);
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}
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void HCL1Listen() {
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pinMode(HCL1, H2X_INPUT);
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}
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void HCL1Talk() {
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digitalWrite(HCL1, HIGH);
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pinMode(HCL1, H2X_OUTPUT);
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}
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void HCL2Listen() {
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pinMode(HCL2, H2X_INPUT);
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}
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void HCL2Talk() {
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digitalWrite(HCL2, HIGH);
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pinMode(HCL2, H2X_OUTPUT);
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}
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void H2XReset() {
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HCL1Talk();
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HCL2Talk();
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HDATalk();
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digitalWrite(HDA1, LOW);
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TimerDelayuS(H2XRESETTIME);
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digitalWrite(HDA1, HIGH);
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TimerDelayuS(H2XRESETTIME);
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HDAListen();
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}
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long TwosComplement(long p) { // Calculate 2s complement
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long q;
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q = ~p; // Bitwise invert
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q = q + 1; // +1
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return q;
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}
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