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Rev | Author | Line No. | Line |
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1 | ingob | 1 | /*############################################################################ |
2 | ############################################################################*/ |
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3 | |||
4 | #include "main.h" |
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5 | |||
918 | hbuss | 6 | volatile unsigned char twi_state = 0; |
1 | ingob | 7 | unsigned char motor = 0; |
1210 | hbuss | 8 | unsigned char motorread = 0,MissingMotor = 0; |
1209 | hbuss | 9 | unsigned char motor_rx[16],motor_rx2[16]; |
1210 | hbuss | 10 | unsigned char MotorPresent[MAX_MOTORS]; |
1211 | hbuss | 11 | unsigned char MotorError[MAX_MOTORS]; |
1322 | hbuss | 12 | unsigned int I2CError = 0; |
1 | ingob | 13 | |
14 | //############################################################################ |
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15 | //Initzialisieren der I2C (TWI) Schnittstelle |
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16 | void i2c_init(void) |
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17 | //############################################################################ |
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18 | { |
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19 | TWSR = 0; |
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20 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
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21 | } |
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22 | |||
23 | //############################################################################ |
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24 | //Start I2C |
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1209 | hbuss | 25 | void i2c_start(void) |
1 | ingob | 26 | //############################################################################ |
27 | { |
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28 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
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29 | } |
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30 | |||
31 | //############################################################################ |
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32 | void i2c_stop(void) |
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33 | //############################################################################ |
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34 | { |
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35 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
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36 | } |
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37 | |||
173 | holgerb | 38 | void i2c_reset(void) |
1 | ingob | 39 | //############################################################################ |
173 | holgerb | 40 | { |
41 | i2c_stop(); |
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42 | twi_state = 0; |
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43 | motor = TWDR; |
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44 | motor = 0; |
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45 | TWCR = 0x80; |
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46 | TWAMR = 0; |
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47 | TWAR = 0; |
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48 | TWDR = 0; |
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49 | TWSR = 0; |
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50 | TWBR = 0; |
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51 | i2c_init(); |
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52 | i2c_start(); |
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53 | i2c_write_byte(0); |
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54 | } |
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55 | |||
56 | //############################################################################ |
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1209 | hbuss | 57 | void i2c_write_byte(char byte) |
1 | ingob | 58 | //############################################################################ |
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 | } |
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64 | |||
1209 | hbuss | 65 | /****************************************/ |
66 | /* Write to I2C */ |
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67 | /****************************************/ |
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68 | void I2C_WriteByte(int8_t byte) |
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69 | { |
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70 | // move byte to send into TWI Data Register |
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71 | TWDR = byte; |
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72 | // clear interrupt flag (TWINT = 1) |
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73 | // enable i2c bus (TWEN = 1) |
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74 | // enable interrupt (TWIE = 1) |
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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 | /* Receive byte and send ACK */ |
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80 | /****************************************/ |
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81 | void I2C_ReceiveByte(void) |
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82 | { |
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83 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
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84 | } |
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85 | |||
86 | /****************************************/ |
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87 | /* I2C receive last byte and send no ACK*/ |
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88 | /****************************************/ |
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89 | void I2C_ReceiveLastByte(void) |
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90 | { |
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91 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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92 | } |
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93 | |||
94 | |||
95 | |||
1 | ingob | 96 | //############################################################################ |
97 | SIGNAL (TWI_vect) |
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98 | //############################################################################ |
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99 | { |
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1211 | hbuss | 100 | static unsigned char missing_motor; |
1210 | hbuss | 101 | switch(twi_state++) |
1 | ingob | 102 | { |
1210 | hbuss | 103 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
104 | // Writing the Data |
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105 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1 | ingob | 106 | case 0: |
1210 | hbuss | 107 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
108 | if(motor == MAX_MOTORS) // writing finished -> now read |
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109 | { |
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110 | motor = 0; |
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111 | twi_state = 3; |
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112 | i2c_write_byte(0x53+(motorread*2)); |
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113 | } |
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1209 | hbuss | 114 | else i2c_write_byte(0x52+(motor*2)); |
1 | ingob | 115 | break; |
116 | case 1: |
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1209 | hbuss | 117 | i2c_write_byte(Motor[motor++]); |
1111 | hbuss | 118 | break; |
119 | case 2: |
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1322 | hbuss | 120 | if(TWSR == 0x30) |
121 | { |
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122 | if(!missing_motor) missing_motor = motor; |
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123 | if(++MotorError[motor-1] == 0) MotorError[motor-1] = 255; |
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124 | } |
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1111 | hbuss | 125 | i2c_stop(); |
1210 | hbuss | 126 | I2CTimeout = 10; |
1209 | hbuss | 127 | twi_state = 0; |
1111 | hbuss | 128 | i2c_start(); |
129 | break; |
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1210 | hbuss | 130 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
131 | // Reading Data |
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132 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1111 | hbuss | 133 | case 3: |
1211 | hbuss | 134 | //Transmit 1st byte for reading |
1210 | hbuss | 135 | if(TWSR != 0x40) // Error? |
1211 | hbuss | 136 | { |
137 | MotorPresent[motorread] = 0; |
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138 | motorread++; |
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139 | if(motorread >= MAX_MOTORS) motorread = 0; |
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140 | i2c_stop(); |
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1210 | hbuss | 141 | twi_state = 0; |
142 | } |
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1211 | hbuss | 143 | else |
144 | { |
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1210 | hbuss | 145 | MotorPresent[motorread] = ('1' - '-') + motorread; |
1211 | hbuss | 146 | I2C_ReceiveByte(); |
147 | } |
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1210 | hbuss | 148 | MissingMotor = missing_motor; |
1211 | hbuss | 149 | missing_motor = 0; |
1111 | hbuss | 150 | break; |
1210 | hbuss | 151 | case 4: //Read 1st byte and transmit 2nd Byte |
1111 | hbuss | 152 | motor_rx[motorread] = TWDR; |
1209 | hbuss | 153 | I2C_ReceiveLastByte(); //nack |
154 | break; |
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1210 | hbuss | 155 | case 5: |
1209 | hbuss | 156 | //Read 2nd byte |
157 | motor_rx2[motorread++] = TWDR; |
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1211 | hbuss | 158 | if(motorread >= MAX_MOTORS) motorread = 0; |
1111 | hbuss | 159 | i2c_stop(); |
1209 | hbuss | 160 | twi_state = 0; |
1111 | hbuss | 161 | break; |
1211 | hbuss | 162 | |
1210 | hbuss | 163 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
164 | // writing Gyro-Offset |
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165 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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166 | case 8: |
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1111 | hbuss | 167 | i2c_write_byte(0x98); // Address of the DAC |
168 | break; |
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169 | case 9: |
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170 | i2c_write_byte(0x10); // Update Channel A |
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171 | break; |
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172 | case 10: |
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173 | i2c_write_byte(AnalogOffsetNick); // Value |
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174 | break; |
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175 | case 11: |
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176 | i2c_write_byte(0x80); // Value |
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177 | break; |
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178 | case 12: |
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179 | i2c_stop(); |
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180 | I2CTimeout = 10; |
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181 | i2c_start(); |
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182 | break; |
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183 | case 13: |
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184 | i2c_write_byte(0x98); // Address of the DAC |
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185 | break; |
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186 | case 14: |
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187 | i2c_write_byte(0x12); // Update Channel B |
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188 | break; |
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189 | case 15: |
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190 | i2c_write_byte(AnalogOffsetRoll); // Value |
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191 | break; |
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192 | case 16: |
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193 | i2c_write_byte(0x80); // Value |
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194 | break; |
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195 | case 17: |
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196 | i2c_stop(); |
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197 | I2CTimeout = 10; |
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198 | i2c_start(); |
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199 | break; |
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200 | case 18: |
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201 | i2c_write_byte(0x98); // Address of the DAC |
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202 | break; |
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203 | case 19: |
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204 | i2c_write_byte(0x14); // Update Channel C |
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205 | break; |
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206 | case 20: |
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207 | i2c_write_byte(AnalogOffsetGier); // Value |
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208 | break; |
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209 | case 21: |
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210 | i2c_write_byte(0x80); // Value |
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211 | break; |
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212 | case 22: |
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213 | i2c_stop(); |
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214 | I2CTimeout = 10; |
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215 | twi_state = 0; |
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216 | break; |
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1209 | hbuss | 217 | default: twi_state = 0; |
218 | break; |
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219 | } |
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1111 | hbuss | 220 | TWCR |= 0x80; |
221 | } |