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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
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| 3 | |||
| 4 | #include "main.h" |
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| 685 | killagreg | 5 | #include "twimaster.h" |
| 6 | #include "fc.h" |
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| 1 | ingob | 7 | |
| 8 | unsigned char twi_state = 0; |
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| 9 | unsigned char motor = 0; |
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| 10 | unsigned char motorread = 0; |
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| 11 | unsigned char motor_rx[8]; |
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| 12 | |||
| 13 | //############################################################################ |
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| 14 | //Initzialisieren der I2C (TWI) Schnittstelle |
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| 15 | void i2c_init(void) |
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| 16 | //############################################################################ |
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| 17 | { |
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| 18 | TWSR = 0; |
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| 685 | killagreg | 19 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| 1 | ingob | 20 | } |
| 21 | |||
| 22 | //############################################################################ |
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| 23 | //Start I2C |
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| 685 | killagreg | 24 | char i2c_start(void) |
| 1 | ingob | 25 | //############################################################################ |
| 26 | { |
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| 27 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
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| 28 | return(0); |
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| 29 | } |
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| 30 | |||
| 31 | //############################################################################ |
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| 32 | //Start I2C |
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| 33 | void i2c_stop(void) |
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| 34 | //############################################################################ |
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| 35 | { |
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| 36 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
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| 37 | } |
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| 38 | |||
| 173 | holgerb | 39 | void i2c_reset(void) |
| 1 | ingob | 40 | //############################################################################ |
| 173 | holgerb | 41 | { |
| 685 | killagreg | 42 | i2c_stop(); |
| 173 | holgerb | 43 | twi_state = 0; |
| 44 | motor = TWDR; |
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| 45 | motor = 0; |
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| 46 | TWCR = 0x80; |
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| 47 | TWAMR = 0; |
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| 48 | TWAR = 0; |
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| 49 | TWDR = 0; |
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| 50 | TWSR = 0; |
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| 51 | TWBR = 0; |
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| 52 | i2c_init(); |
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| 53 | i2c_start(); |
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| 54 | i2c_write_byte(0); |
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| 55 | } |
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| 56 | |||
| 57 | //############################################################################ |
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| 1 | ingob | 58 | //Start I2C |
| 59 | char i2c_write_byte(char byte) |
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| 60 | //############################################################################ |
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| 685 | killagreg | 61 | { |
| 1 | ingob | 62 | TWSR = 0x00; |
| 63 | TWDR = byte; |
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| 64 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 685 | killagreg | 65 | |
| 1 | ingob | 66 | return(0); |
| 685 | killagreg | 67 | |
| 1 | ingob | 68 | } |
| 69 | |||
| 70 | //############################################################################ |
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| 71 | //Start I2C |
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| 72 | SIGNAL (TWI_vect) |
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| 73 | //############################################################################ |
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| 74 | { |
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| 75 | switch (twi_state++) |
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| 76 | { |
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| 77 | case 0: |
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| 78 | i2c_write_byte(0x52+(motor*2)); |
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| 79 | break; |
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| 80 | case 1: |
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| 81 | switch(motor++) |
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| 82 | { |
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| 83 | case 0: |
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| 84 | i2c_write_byte(Motor_Vorne); |
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| 85 | break; |
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| 685 | killagreg | 86 | case 1: |
| 1 | ingob | 87 | i2c_write_byte(Motor_Hinten); |
| 88 | break; |
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| 89 | case 2: |
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| 90 | i2c_write_byte(Motor_Rechts); |
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| 91 | break; |
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| 92 | case 3: |
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| 93 | i2c_write_byte(Motor_Links); |
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| 94 | break; |
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| 95 | } |
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| 96 | break; |
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| 97 | case 2: |
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| 98 | i2c_stop(); |
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| 99 | if (motor<4) twi_state = 0; |
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| 100 | else motor = 0; |
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| 685 | killagreg | 101 | i2c_start(); |
| 102 | break; |
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| 103 | |||
| 1 | ingob | 104 | //Liest Daten von Motor |
| 105 | case 3: |
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| 106 | i2c_write_byte(0x53+(motorread*2)); |
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| 107 | break; |
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| 108 | case 4: |
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| 109 | switch(motorread) |
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| 110 | { |
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| 111 | case 0: |
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| 112 | i2c_write_byte(Motor_Vorne); |
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| 113 | break; |
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| 114 | case 1: |
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| 115 | i2c_write_byte(Motor_Hinten); |
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| 116 | break; |
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| 117 | case 2: |
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| 118 | i2c_write_byte(Motor_Rechts); |
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| 119 | break; |
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| 120 | case 3: |
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| 121 | i2c_write_byte(Motor_Links); |
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| 122 | break; |
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| 123 | } |
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| 124 | break; |
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| 685 | killagreg | 125 | case 5: //1 Byte vom Motor lesen |
| 1 | ingob | 126 | motor_rx[motorread] = TWDR; |
| 173 | holgerb | 127 | |
| 1 | ingob | 128 | case 6: |
| 129 | switch(motorread) |
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| 130 | { |
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| 131 | case 0: |
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| 132 | i2c_write_byte(Motor_Vorne); |
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| 133 | break; |
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| 134 | case 1: |
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| 135 | i2c_write_byte(Motor_Hinten); |
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| 136 | break; |
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| 137 | case 2: |
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| 138 | i2c_write_byte(Motor_Rechts); |
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| 139 | break; |
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| 140 | case 3: |
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| 141 | i2c_write_byte(Motor_Links); |
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| 142 | break; |
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| 143 | } |
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| 685 | killagreg | 144 | break; |
| 145 | case 7: //2 Byte vom Motor lesen |
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| 1 | ingob | 146 | motor_rx[motorread+4] = TWDR; |
| 147 | motorread++; |
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| 148 | if (motorread>3) motorread=0; |
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| 149 | i2c_stop(); |
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| 173 | holgerb | 150 | I2CTimeout = 10; |
| 1 | ingob | 151 | twi_state = 0; |
| 152 | } |
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| 173 | holgerb | 153 | TWCR |= 0x80; |
| 1 | ingob | 154 | } |