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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 889 | Nick666 | 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 motor_rx[8]; |
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| 9 | |||
| 10 | //############################################################################ |
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| 11 | //Initzialisieren der I2C (TWI) Schnittstelle |
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| 12 | void i2c_init(void) |
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| 13 | //############################################################################ |
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| 14 | { |
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| 15 | TWSR = 0; |
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| 16 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
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| 17 | } |
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| 18 | |||
| 19 | //############################################################################ |
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| 20 | //Start I2C |
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| 21 | void i2c_start(void) |
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| 22 | //############################################################################ |
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| 23 | { |
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| 24 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
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| 25 | } |
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| 26 | |||
| 27 | //############################################################################ |
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| 28 | //Stop I2C |
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| 29 | void i2c_stop(void) |
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| 30 | //############################################################################ |
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| 31 | { |
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| 32 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
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| 33 | } |
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| 34 | |||
| 35 | void i2c_reset(void) |
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| 36 | //############################################################################ |
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| 37 | { |
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| 38 | i2c_stop(); |
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| 39 | twi_state = 0; |
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| 40 | motor = TWDR; |
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| 41 | motor = 0; |
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| 42 | TWCR = 0x80; |
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| 43 | TWAMR = 0; |
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| 44 | TWAR = 0; |
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| 45 | TWDR = 0; |
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| 46 | TWSR = 0; |
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| 47 | TWBR = 0; |
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| 48 | i2c_init(); |
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| 49 | i2c_start(); |
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| 50 | i2c_write_byte(0); |
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| 51 | } |
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| 52 | |||
| 53 | //############################################################################ |
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| 54 | //Write to I2C |
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| 55 | void i2c_write_byte(char byte) |
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| 56 | //############################################################################ |
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| 57 | { |
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| 58 | TWDR = byte; |
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| 59 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 60 | } |
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| 61 | |||
| 62 | //############################################################################ |
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| 63 | // I2C receive byte and send ACK |
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| 64 | void i2c_receive_byte(void) |
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| 65 | //############################################################################ |
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| 66 | { |
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| 67 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
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| 68 | } |
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| 69 | |||
| 70 | //############################################################################ |
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| 71 | // I2C receive last byte and send NOT ACK |
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| 72 | void i2c_receive_last_byte(void) |
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| 73 | //############################################################################ |
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| 74 | { |
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| 75 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 76 | } |
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| 77 | |||
| 78 | //############################################################################ |
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| 79 | //Start I2C |
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| 80 | SIGNAL (TWI_vect) |
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| 81 | //############################################################################ |
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| 82 | { |
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| 83 | static unsigned char motorread = 0; |
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| 84 | |||
| 85 | switch (twi_state++) // First i2c_start from SendMotorData() |
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| 86 | { |
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| 87 | // Master Transmit |
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| 88 | case 0: // Address Slave SL+W |
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| 89 | i2c_write_byte(0x52+(motor*2)); |
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| 90 | break; |
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| 91 | case 1: // Send Data |
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| 92 | switch(motor++) |
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| 93 | { |
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| 94 | case 0: |
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| 95 | i2c_write_byte(Motor_Vorne); |
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| 96 | break; |
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| 97 | case 1: |
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| 98 | i2c_write_byte(Motor_Hinten); |
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| 99 | break; |
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| 100 | case 2: |
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| 101 | i2c_write_byte(Motor_Rechts); |
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| 102 | break; |
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| 103 | case 3: |
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| 104 | i2c_write_byte(Motor_Links); |
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| 105 | break; |
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| 106 | } |
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| 107 | break; |
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| 108 | case 2: // Repeat case 0+1 for all Slaves |
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| 109 | if (motor < 4) twi_state = 0; |
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| 110 | i2c_start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive |
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| 111 | break; |
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| 112 | |||
| 113 | // Master Receive |
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| 114 | case 3: // Address Slave SL+R |
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| 115 | i2c_write_byte(0x53+(motorread*2)); |
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| 116 | break; |
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| 117 | case 4: //1. Byte vom Motor übertragen |
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| 118 | i2c_receive_byte(); |
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| 119 | break; |
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| 120 | case 5: // 1. Byte lesen und 2. Byte übertragen |
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| 121 | motor_rx[motorread] = TWDR; |
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| 122 | i2c_receive_last_byte(); |
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| 123 | break; |
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| 124 | case 6: //2. Byte lesen |
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| 125 | motor_rx[motorread+4] = TWDR; |
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| 126 | motorread++; |
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| 127 | if (motorread > 3) motorread=0; |
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| 128 | default: |
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| 129 | i2c_stop(); |
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| 130 | twi_state = 0; |
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| 131 | I2CTimeout = 10; |
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| 132 | motor = 0; |
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| 133 | } |
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| 134 | } |