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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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| 5 | |||
| 918 | hbuss | 6 | volatile unsigned char twi_state = 0; |
| 1643 | holgerb | 7 | unsigned char motor = 0,TransmitBlConfig = 1; |
| 1210 | hbuss | 8 | unsigned char motorread = 0,MissingMotor = 0; |
| 1643 | holgerb | 9 | unsigned char ReadTemperature = 0; |
| 1479 | killagreg | 10 | |
| 11 | MotorData_t Motor[MAX_MOTORS]; |
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| 12 | |||
| 1322 | hbuss | 13 | unsigned int I2CError = 0; |
| 1 | ingob | 14 | |
| 15 | //############################################################################ |
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| 16 | //Initzialisieren der I2C (TWI) Schnittstelle |
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| 17 | void i2c_init(void) |
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| 18 | //############################################################################ |
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| 19 | { |
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| 20 | TWSR = 0; |
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| 1479 | killagreg | 21 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| 1 | ingob | 22 | } |
| 23 | |||
| 173 | holgerb | 24 | void i2c_reset(void) |
| 1 | ingob | 25 | //############################################################################ |
| 173 | holgerb | 26 | { |
| 1639 | holgerb | 27 | I2C_Stop(); |
| 173 | holgerb | 28 | twi_state = 0; |
| 29 | motor = TWDR; |
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| 30 | motor = 0; |
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| 31 | TWCR = 0x80; |
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| 32 | TWAMR = 0; |
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| 33 | TWAR = 0; |
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| 34 | TWDR = 0; |
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| 35 | TWSR = 0; |
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| 36 | TWBR = 0; |
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| 37 | i2c_init(); |
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| 1639 | holgerb | 38 | I2C_Start(); |
| 173 | holgerb | 39 | i2c_write_byte(0); |
| 40 | } |
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| 1 | ingob | 41 | |
| 1639 | holgerb | 42 | /* |
| 1 | ingob | 43 | //############################################################################ |
| 44 | SIGNAL (TWI_vect) |
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| 45 | //############################################################################ |
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| 46 | { |
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| 1211 | hbuss | 47 | static unsigned char missing_motor; |
| 1210 | hbuss | 48 | switch(twi_state++) |
| 1 | ingob | 49 | { |
| 1210 | hbuss | 50 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 51 | // Writing the Data |
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| 52 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1 | ingob | 53 | case 0: |
| 1210 | hbuss | 54 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
| 1479 | killagreg | 55 | if(motor == MAX_MOTORS) // writing finished -> now read |
| 56 | { |
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| 57 | motor = 0; |
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| 58 | twi_state = 3; |
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| 1210 | hbuss | 59 | i2c_write_byte(0x53+(motorread*2)); |
| 1479 | killagreg | 60 | } |
| 1209 | hbuss | 61 | else i2c_write_byte(0x52+(motor*2)); |
| 1 | ingob | 62 | break; |
| 63 | case 1: |
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| 1479 | killagreg | 64 | i2c_write_byte(Motor[motor++].SetPoint); |
| 1111 | hbuss | 65 | break; |
| 66 | case 2: |
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| 1479 | killagreg | 67 | if(TWSR == 0x30) |
| 68 | { |
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| 69 | if(!missing_motor) missing_motor = motor; |
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| 70 | if((Motor[motor-1].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor-1].State++; // increment error counter and handle overflow |
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| 1322 | hbuss | 71 | } |
| 1639 | holgerb | 72 | I2C_Stop(); |
| 1210 | hbuss | 73 | I2CTimeout = 10; |
| 1209 | hbuss | 74 | twi_state = 0; |
| 1639 | holgerb | 75 | I2C_Start(); |
| 1479 | killagreg | 76 | break; |
| 1210 | hbuss | 77 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 78 | // Reading Data |
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| 79 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1111 | hbuss | 80 | case 3: |
| 1211 | hbuss | 81 | //Transmit 1st byte for reading |
| 1210 | hbuss | 82 | if(TWSR != 0x40) // Error? |
| 1479 | killagreg | 83 | { |
| 84 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
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| 85 | motorread++; |
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| 1211 | hbuss | 86 | if(motorread >= MAX_MOTORS) motorread = 0; |
| 1639 | holgerb | 87 | I2C_Stop(); |
| 1210 | hbuss | 88 | twi_state = 0; |
| 89 | } |
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| 1479 | killagreg | 90 | else |
| 1211 | hbuss | 91 | { |
| 1479 | killagreg | 92 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
| 1211 | hbuss | 93 | I2C_ReceiveByte(); |
| 94 | } |
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| 1210 | hbuss | 95 | MissingMotor = missing_motor; |
| 1211 | hbuss | 96 | missing_motor = 0; |
| 1111 | hbuss | 97 | break; |
| 1210 | hbuss | 98 | case 4: //Read 1st byte and transmit 2nd Byte |
| 1479 | killagreg | 99 | Motor[motorread].Current = TWDR; |
| 1209 | hbuss | 100 | I2C_ReceiveLastByte(); //nack |
| 101 | break; |
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| 1210 | hbuss | 102 | case 5: |
| 1209 | hbuss | 103 | //Read 2nd byte |
| 1479 | killagreg | 104 | Motor[motorread].MaxPWM = TWDR; |
| 105 | motorread++; // next motor |
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| 1211 | hbuss | 106 | if(motorread >= MAX_MOTORS) motorread = 0; |
| 1639 | holgerb | 107 | I2C_Stop(); |
| 1209 | hbuss | 108 | twi_state = 0; |
| 1111 | hbuss | 109 | break; |
| 1479 | killagreg | 110 | |
| 1210 | hbuss | 111 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 112 | // writing Gyro-Offset |
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| 113 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1479 | killagreg | 114 | case 8: |
| 1111 | hbuss | 115 | i2c_write_byte(0x98); // Address of the DAC |
| 116 | break; |
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| 1479 | killagreg | 117 | case 9: |
| 1111 | hbuss | 118 | i2c_write_byte(0x10); // Update Channel A |
| 119 | break; |
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| 1479 | killagreg | 120 | case 10: |
| 1111 | hbuss | 121 | i2c_write_byte(AnalogOffsetNick); // Value |
| 122 | break; |
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| 1479 | killagreg | 123 | case 11: |
| 1111 | hbuss | 124 | i2c_write_byte(0x80); // Value |
| 125 | break; |
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| 1479 | killagreg | 126 | case 12: |
| 1639 | holgerb | 127 | I2C_Stop(); |
| 1111 | hbuss | 128 | I2CTimeout = 10; |
| 1639 | holgerb | 129 | I2C_Start(); |
| 1111 | hbuss | 130 | break; |
| 1479 | killagreg | 131 | case 13: |
| 1111 | hbuss | 132 | i2c_write_byte(0x98); // Address of the DAC |
| 133 | break; |
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| 1479 | killagreg | 134 | case 14: |
| 1111 | hbuss | 135 | i2c_write_byte(0x12); // Update Channel B |
| 136 | break; |
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| 1479 | killagreg | 137 | case 15: |
| 1111 | hbuss | 138 | i2c_write_byte(AnalogOffsetRoll); // Value |
| 139 | break; |
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| 1479 | killagreg | 140 | case 16: |
| 1111 | hbuss | 141 | i2c_write_byte(0x80); // Value |
| 142 | break; |
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| 1479 | killagreg | 143 | case 17: |
| 1639 | holgerb | 144 | I2C_Stop(); |
| 1111 | hbuss | 145 | I2CTimeout = 10; |
| 1639 | holgerb | 146 | I2C_Start(); |
| 1111 | hbuss | 147 | break; |
| 1479 | killagreg | 148 | case 18: |
| 1111 | hbuss | 149 | i2c_write_byte(0x98); // Address of the DAC |
| 150 | break; |
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| 1479 | killagreg | 151 | case 19: |
| 1111 | hbuss | 152 | i2c_write_byte(0x14); // Update Channel C |
| 153 | break; |
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| 1479 | killagreg | 154 | case 20: |
| 1111 | hbuss | 155 | i2c_write_byte(AnalogOffsetGier); // Value |
| 156 | break; |
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| 1479 | killagreg | 157 | case 21: |
| 1111 | hbuss | 158 | i2c_write_byte(0x80); // Value |
| 159 | break; |
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| 1479 | killagreg | 160 | case 22: |
| 1639 | holgerb | 161 | I2C_Stop(); |
| 1111 | hbuss | 162 | I2CTimeout = 10; |
| 163 | twi_state = 0; |
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| 164 | break; |
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| 1209 | hbuss | 165 | default: twi_state = 0; |
| 1479 | killagreg | 166 | break; |
| 1209 | hbuss | 167 | } |
| 1111 | hbuss | 168 | TWCR |= 0x80; |
| 169 | } |
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| 1638 | holgerb | 170 | */ |
| 171 | |||
| 172 | /* |
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| 173 | if(DataArray[3] & 0x01) Parameter.PwmScaling = DataArray[4]; |
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| 174 | if(DataArray[3] & 0x02) Parameter.MaxStrom = DataArray[5]; |
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| 175 | if(DataArray[3] & 0x04) Parameter.TemperaturLimiter = DataArray[6]; |
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| 176 | if(DataArray[3] & 0x08) Parameter.SkaliereStrom = DataArray[7]; |
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| 177 | if(DataArray[3] & 0x10) Parameter.Bitconfig = DataArray[8]; |
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| 178 | */ |
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| 179 | |||
| 180 | //############################################################################ |
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| 181 | SIGNAL (TWI_vect) |
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| 182 | //############################################################################ |
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| 183 | { // 2 3 4 5 6 7 8 9 |
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| 1643 | holgerb | 184 | unsigned char test[] = {0,0,'#',0x1F,255,30,99,49,0x00,7,8,9,10}; |
| 185 | static unsigned char missing_motor,send = 0,crc = 0,read_more = 0; |
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| 1639 | holgerb | 186 | |
| 1638 | holgerb | 187 | switch(twi_state++) |
| 188 | { |
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| 189 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 190 | // Writing the Data |
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| 191 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 192 | case 0: |
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| 193 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
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| 194 | if(motor == MAX_MOTORS) // writing finished -> now read |
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| 195 | { |
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| 196 | motor = 0; |
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| 197 | twi_state = 4; |
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| 198 | i2c_write_byte(0x53+(motorread*2)); |
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| 199 | } |
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| 200 | else i2c_write_byte(0x52+(motor*2)); |
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| 201 | send = 0; |
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| 202 | break; |
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| 203 | case 1: |
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| 204 | i2c_write_byte(Motor[motor].SetPoint); |
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| 1643 | holgerb | 205 | // if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) /*|| !Motor[motor].SetPointLowerBits*/) |
| 206 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) || !Motor[motor].SetPointLowerBits && !TransmitBlConfig) |
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| 207 | twi_state++; // skip |
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| 1638 | holgerb | 208 | break; |
| 209 | case 2: |
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| 1642 | killagreg | 210 | if(!send++) |
| 1638 | holgerb | 211 | { |
| 1643 | holgerb | 212 | i2c_write_byte((Motor[motor].SetPointLowerBits << 1) & 0x07); |
| 1638 | holgerb | 213 | crc = 0xAA; |
| 214 | } |
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| 215 | else |
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| 1639 | holgerb | 216 | if(send == 9) i2c_write_byte(crc) |
| 1642 | killagreg | 217 | else |
| 1638 | holgerb | 218 | { |
| 219 | crc += test[send]; |
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| 220 | i2c_write_byte(test[send]); |
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| 1642 | killagreg | 221 | } |
| 222 | if(TransmitBlConfig && !MotorenEin && motor == motorread && (Motor[motorread].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
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| 1639 | holgerb | 223 | { |
| 224 | if(send <= 10) twi_state--; |
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| 1642 | killagreg | 225 | } |
| 1639 | holgerb | 226 | |
| 1638 | holgerb | 227 | break; |
| 228 | case 3: |
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| 1642 | killagreg | 229 | motor++; |
| 1638 | holgerb | 230 | if(TWSR == 0x30) |
| 231 | { |
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| 232 | if(!missing_motor) missing_motor = motor; |
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| 233 | if((Motor[motor-1].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor-1].State++; // increment error counter and handle overflow |
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| 234 | } |
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| 1639 | holgerb | 235 | I2C_Stop(); |
| 1638 | holgerb | 236 | I2CTimeout = 10; |
| 237 | twi_state = 0; |
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| 1639 | holgerb | 238 | I2C_Start(); |
| 1638 | holgerb | 239 | break; |
| 240 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 241 | // Reading Data |
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| 242 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 243 | case 4: |
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| 244 | //Transmit 1st byte for reading |
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| 245 | if(TWSR != 0x40) // Error? |
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| 246 | { |
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| 247 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
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| 248 | motorread++; |
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| 1643 | holgerb | 249 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; ReadTemperature = ++ReadTemperature & 0x0f;} |
| 1639 | holgerb | 250 | I2C_Stop(); |
| 1638 | holgerb | 251 | twi_state = 0; |
| 252 | } |
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| 253 | else |
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| 254 | { |
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| 255 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
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| 1643 | holgerb | 256 | if(motorread == ReadTemperature || TransmitBlConfig) |
| 257 | { |
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| 258 | read_more = 1; |
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| 259 | I2C_ReceiveByte(); |
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| 260 | } |
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| 261 | else |
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| 262 | { |
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| 263 | I2C_ReceiveLastByte(); |
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| 264 | read_more = 0; |
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| 265 | } |
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| 1638 | holgerb | 266 | } |
| 267 | MissingMotor = missing_motor; |
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| 268 | missing_motor = 0; |
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| 269 | break; |
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| 270 | case 5: //Read 1st byte and transmit 2nd Byte |
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| 271 | Motor[motorread].Current = TWDR; |
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| 1643 | holgerb | 272 | if(read_more) I2C_ReceiveByte() //nack |
| 273 | else |
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| 274 | { |
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| 275 | motorread++; // next motor |
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| 276 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; ReadTemperature = ++ReadTemperature & 0x0f;} |
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| 277 | I2C_Stop(); |
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| 278 | twi_state = 0; |
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| 279 | } |
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| 1638 | holgerb | 280 | break; |
| 1642 | killagreg | 281 | case 6: |
| 1638 | holgerb | 282 | //Read 2nd byte and transmit 3rd Byte |
| 283 | Motor[motorread].MaxPWM = TWDR; |
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| 1642 | killagreg | 284 | if(TWDR == 250) |
| 1638 | holgerb | 285 | { |
| 1643 | holgerb | 286 | if(!MotorenEin) Motor[motorread].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
| 1642 | killagreg | 287 | } |
| 288 | else if(TransmitBlConfig) Motor[motorread].Version = 0; |
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| 1638 | holgerb | 289 | I2C_ReceiveLastByte(); //nack |
| 290 | break; |
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| 1642 | killagreg | 291 | case 7: // read next |
| 1638 | holgerb | 292 | Motor[motorread].Temperature = TWDR; |
| 293 | motorread++; // next motor |
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| 1639 | holgerb | 294 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; } |
| 295 | I2C_Stop(); |
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| 1638 | holgerb | 296 | twi_state = 0; |
| 1643 | holgerb | 297 | break; |
| 1638 | holgerb | 298 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 299 | // writing Gyro-Offset |
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| 300 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 301 | case 18: |
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| 302 | i2c_write_byte(0x98); // Address of the DAC |
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| 303 | break; |
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| 304 | case 19: |
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| 305 | i2c_write_byte(0x10); // Update Channel A |
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| 306 | break; |
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| 307 | case 20: |
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| 308 | i2c_write_byte(AnalogOffsetNick); // Value |
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| 309 | break; |
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| 310 | case 21: |
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| 311 | i2c_write_byte(0x80); // Value |
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| 312 | break; |
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| 313 | case 22: |
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| 1639 | holgerb | 314 | I2C_Stop(); |
| 1638 | holgerb | 315 | I2CTimeout = 10; |
| 1639 | holgerb | 316 | I2C_Start(); |
| 1638 | holgerb | 317 | break; |
| 318 | case 23: |
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| 319 | i2c_write_byte(0x98); // Address of the DAC |
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| 320 | break; |
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| 321 | case 24: |
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| 322 | i2c_write_byte(0x12); // Update Channel B |
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| 323 | break; |
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| 324 | case 25: |
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| 325 | i2c_write_byte(AnalogOffsetRoll); // Value |
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| 326 | break; |
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| 327 | case 26: |
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| 328 | i2c_write_byte(0x80); // Value |
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| 329 | break; |
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| 330 | case 27: |
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| 1639 | holgerb | 331 | I2C_Stop(); |
| 1638 | holgerb | 332 | I2CTimeout = 10; |
| 1639 | holgerb | 333 | I2C_Start(); |
| 1638 | holgerb | 334 | break; |
| 335 | case 28: |
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| 336 | i2c_write_byte(0x98); // Address of the DAC |
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| 337 | break; |
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| 338 | case 29: |
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| 339 | i2c_write_byte(0x14); // Update Channel C |
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| 340 | break; |
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| 341 | case 30: |
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| 342 | i2c_write_byte(AnalogOffsetGier); // Value |
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| 343 | break; |
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| 344 | case 31: |
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| 345 | i2c_write_byte(0x80); // Value |
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| 346 | break; |
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| 347 | case 32: |
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| 1639 | holgerb | 348 | I2C_Stop(); |
| 1638 | holgerb | 349 | I2CTimeout = 10; |
| 350 | twi_state = 0; |
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| 351 | break; |
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| 352 | default: twi_state = 0; |
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| 353 | break; |
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| 354 | } |
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| 355 | TWCR |= 0x80; |
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| 356 | } |
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| 1639 | holgerb | 357 |