/* this function sends the byte in data over motorport A using Lepomux v2.0 protocol */
/* 28.2.2003 <lemm@lepomux.org> */

void senddata(char data)
    {
    int stream;
    int bit=0, lastbit=0;
    int bitcnt;    
    do {
	stream = data << 1;
        for (bitcnt=8; bitcnt>=0; bitcnt--) 
    	    {
	    bit = (stream & (0x0001 << bitcnt)) >> bitcnt;
	    if (bitcnt==8) stream |= bit;
	    else stream ^= bit;
	    if ((bit == lastbit) && (bitcnt<8))
		{
		motor_a_dir(rev);
		lastbit = 2;
		}
	    else
		{
		if (bit) motor_a_dir(fwd);
		else motor_a_dir(off);
		lastbit = bit;
		}
	    msleep(1);			/* this important for the timing! */
	    }
	motor_a_dir(rev);
	msleep(5);			/* wait 5ms between databytes (just for debugging on the scope) */
	}
    while ((SENSOR_1>>6) < 0x1d0);	/* wait for ack on sensor 1 */
    }