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Rev | Author | Line No. | Line |
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308 | osiair | 1 | /*############################################################################ |
2 | ############################################################################*/ |
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3 | |||
4 | #include "main.h" |
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5 | |||
6 | unsigned char twi_state = 0; |
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7 | unsigned char motor = 0; |
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8 | unsigned char motorread = 0; |
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9 | unsigned char motor_rx[8]; |
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10 | |||
11 | //############################################################################ |
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12 | //Initzialisieren der I2C (TWI) Schnittstelle |
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13 | void i2c_init(void) |
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14 | //############################################################################ |
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15 | { |
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16 | TWSR = 0; |
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17 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
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18 | } |
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19 | |||
20 | //############################################################################ |
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21 | //Start I2C |
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22 | char i2c_start(void) |
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23 | //############################################################################ |
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24 | { |
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25 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
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26 | return(0); |
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27 | } |
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28 | |||
29 | //############################################################################ |
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30 | //Start I2C |
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31 | void i2c_stop(void) |
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32 | //############################################################################ |
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33 | { |
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34 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
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35 | } |
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36 | |||
37 | void i2c_reset(void) |
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38 | //############################################################################ |
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39 | { |
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40 | i2c_stop(); |
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41 | twi_state = 0; |
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42 | motor = TWDR; |
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43 | motor = 0; |
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44 | TWCR = 0x80; |
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45 | TWAMR = 0; |
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46 | TWAR = 0; |
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47 | TWDR = 0; |
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48 | TWSR = 0; |
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49 | TWBR = 0; |
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50 | i2c_init(); |
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51 | i2c_start(); |
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52 | i2c_write_byte(0); |
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53 | } |
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54 | |||
55 | //############################################################################ |
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56 | //Start I2C |
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57 | char i2c_write_byte(char byte) |
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58 | //############################################################################ |
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59 | { |
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60 | TWSR = 0x00; |
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61 | TWDR = byte; |
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62 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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63 | |||
64 | return(0); |
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65 | |||
66 | } |
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67 | |||
68 | //############################################################################ |
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69 | //Start I2C |
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70 | SIGNAL (TWI_vect) |
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71 | //############################################################################ |
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72 | { |
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73 | switch (twi_state++) |
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74 | { |
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75 | case 0: |
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76 | i2c_write_byte(0x52+(motor*2)); |
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77 | break; |
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78 | case 1: |
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79 | switch(motor++) |
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80 | { |
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81 | case 0: |
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82 | i2c_write_byte(Motor_Vorne); |
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83 | break; |
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84 | case 1: |
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85 | i2c_write_byte(Motor_Hinten); |
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86 | break; |
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87 | case 2: |
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88 | i2c_write_byte(Motor_Rechts); |
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89 | break; |
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90 | case 3: |
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91 | i2c_write_byte(Motor_Links); |
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92 | break; |
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93 | } |
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94 | break; |
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95 | case 2: |
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96 | i2c_stop(); |
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97 | if (motor<4) twi_state = 0; |
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98 | else motor = 0; |
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99 | i2c_start(); |
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100 | break; |
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101 | |||
102 | //Liest Daten von Motor |
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103 | case 3: |
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104 | i2c_write_byte(0x53+(motorread*2)); |
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105 | break; |
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106 | case 4: |
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107 | switch(motorread) |
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108 | { |
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109 | case 0: |
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110 | i2c_write_byte(Motor_Vorne); |
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111 | break; |
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112 | case 1: |
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113 | i2c_write_byte(Motor_Hinten); |
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114 | break; |
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115 | case 2: |
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116 | i2c_write_byte(Motor_Rechts); |
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117 | break; |
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118 | case 3: |
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119 | i2c_write_byte(Motor_Links); |
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120 | break; |
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121 | } |
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122 | break; |
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123 | case 5: //1 Byte vom Motor lesen |
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124 | motor_rx[motorread] = TWDR; |
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125 | |||
126 | case 6: |
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127 | switch(motorread) |
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128 | { |
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129 | case 0: |
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130 | i2c_write_byte(Motor_Vorne); |
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131 | break; |
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132 | case 1: |
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133 | i2c_write_byte(Motor_Hinten); |
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134 | break; |
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135 | case 2: |
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136 | i2c_write_byte(Motor_Rechts); |
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137 | break; |
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138 | case 3: |
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139 | i2c_write_byte(Motor_Links); |
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140 | break; |
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141 | } |
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142 | break; |
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143 | case 7: //2 Byte vom Motor lesen |
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144 | motor_rx[motorread+4] = TWDR; |
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145 | motorread++; |
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146 | if (motorread>3) motorread=0; |
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147 | i2c_stop(); |
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148 | I2CTimeout = 10; |
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149 | twi_state = 0; |
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150 | } |
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151 | TWCR |= 0x80; |
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152 | } |