Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2751 | - | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
||
| 3 | |||
| 4 | #include "main.h" |
||
| 5 | |||
| 6 | volatile unsigned char twi_state = 0; |
||
| 7 | unsigned char motor = 0; |
||
| 8 | unsigned char motorread = 0,MissingMotor = 0; |
||
| 9 | unsigned char motor_rx[16],motor_rx2[16]; |
||
| 10 | unsigned char MotorPresent[MAX_MOTORS]; |
||
| 11 | unsigned char MotorError[MAX_MOTORS]; |
||
| 12 | unsigned int I2CError = 0; |
||
| 13 | |||
| 14 | //############################################################################ |
||
| 15 | //Initzialisieren der I2C (TWI) Schnittstelle |
||
| 16 | void i2c_init(void) |
||
| 17 | //############################################################################ |
||
| 18 | { |
||
| 19 | TWSR = 0; |
||
| 20 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
||
| 21 | } |
||
| 22 | |||
| 23 | //############################################################################ |
||
| 24 | //Start I2C |
||
| 25 | void i2c_start(void) |
||
| 26 | //############################################################################ |
||
| 27 | { |
||
| 28 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
||
| 29 | } |
||
| 30 | |||
| 31 | //############################################################################ |
||
| 32 | void i2c_stop(void) |
||
| 33 | //############################################################################ |
||
| 34 | { |
||
| 35 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
||
| 36 | } |
||
| 37 | |||
| 38 | void i2c_reset(void) |
||
| 39 | //############################################################################ |
||
| 40 | { |
||
| 41 | i2c_stop(); |
||
| 42 | twi_state = 0; |
||
| 43 | motor = TWDR; |
||
| 44 | motor = 0; |
||
| 45 | TWCR = 0x80; |
||
| 46 | TWAMR = 0; |
||
| 47 | TWAR = 0; |
||
| 48 | TWDR = 0; |
||
| 49 | TWSR = 0; |
||
| 50 | TWBR = 0; |
||
| 51 | i2c_init(); |
||
| 52 | i2c_start(); |
||
| 53 | i2c_write_byte(0); |
||
| 54 | } |
||
| 55 | |||
| 56 | //############################################################################ |
||
| 57 | void i2c_write_byte(char byte) |
||
| 58 | //############################################################################ |
||
| 59 | { |
||
| 60 | TWSR = 0x00; |
||
| 61 | TWDR = byte; |
||
| 62 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
||
| 63 | } |
||
| 64 | |||
| 65 | /****************************************/ |
||
| 66 | /* Write to I2C */ |
||
| 67 | /****************************************/ |
||
| 68 | void I2C_WriteByte(int8_t byte) |
||
| 69 | { |
||
| 70 | // move byte to send into TWI Data Register |
||
| 71 | TWDR = byte; |
||
| 72 | // clear interrupt flag (TWINT = 1) |
||
| 73 | // enable i2c bus (TWEN = 1) |
||
| 74 | // enable interrupt (TWIE = 1) |
||
| 75 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
||
| 76 | } |
||
| 77 | |||
| 78 | /****************************************/ |
||
| 79 | /* Receive byte and send ACK */ |
||
| 80 | /****************************************/ |
||
| 81 | void I2C_ReceiveByte(void) |
||
| 82 | { |
||
| 83 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
||
| 84 | } |
||
| 85 | |||
| 86 | /****************************************/ |
||
| 87 | /* I2C receive last byte and send no ACK*/ |
||
| 88 | /****************************************/ |
||
| 89 | void I2C_ReceiveLastByte(void) |
||
| 90 | { |
||
| 91 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
||
| 92 | } |
||
| 93 | |||
| 94 | |||
| 95 | |||
| 96 | //############################################################################ |
||
| 97 | SIGNAL (TWI_vect) |
||
| 98 | //############################################################################ |
||
| 99 | { |
||
| 100 | static unsigned char missing_motor; |
||
| 101 | switch(twi_state++) |
||
| 102 | { |
||
| 103 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 104 | // Writing the Data |
||
| 105 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 106 | case 0: |
||
| 107 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
||
| 108 | if(motor == MAX_MOTORS) // writing finished -> now read |
||
| 109 | { |
||
| 110 | motor = 0; |
||
| 111 | twi_state = 3; |
||
| 112 | i2c_write_byte(0x53+(motorread*2)); |
||
| 113 | } |
||
| 114 | else i2c_write_byte(0x52+(motor*2)); |
||
| 115 | break; |
||
| 116 | case 1: |
||
| 117 | i2c_write_byte(Motor[motor++]); |
||
| 118 | break; |
||
| 119 | case 2: |
||
| 120 | if(TWSR == 0x30) |
||
| 121 | { |
||
| 122 | if(!missing_motor) missing_motor = motor; |
||
| 123 | if(++MotorError[motor-1] == 0) MotorError[motor-1] = 255; |
||
| 124 | } |
||
| 125 | i2c_stop(); |
||
| 126 | I2CTimeout = 10; |
||
| 127 | twi_state = 0; |
||
| 128 | i2c_start(); |
||
| 129 | break; |
||
| 130 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 131 | // Reading Data |
||
| 132 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 133 | case 3: |
||
| 134 | //Transmit 1st byte for reading |
||
| 135 | if(TWSR != 0x40) // Error? |
||
| 136 | { |
||
| 137 | MotorPresent[motorread] = 0; |
||
| 138 | motorread++; |
||
| 139 | if(motorread >= MAX_MOTORS) motorread = 0; |
||
| 140 | i2c_stop(); |
||
| 141 | twi_state = 0; |
||
| 142 | } |
||
| 143 | else |
||
| 144 | { |
||
| 145 | MotorPresent[motorread] = ('1' - '-') + motorread; |
||
| 146 | I2C_ReceiveByte(); |
||
| 147 | } |
||
| 148 | MissingMotor = missing_motor; |
||
| 149 | missing_motor = 0; |
||
| 150 | break; |
||
| 151 | case 4: //Read 1st byte and transmit 2nd Byte |
||
| 152 | motor_rx[motorread] = TWDR; |
||
| 153 | I2C_ReceiveLastByte(); //nack |
||
| 154 | break; |
||
| 155 | case 5: |
||
| 156 | //Read 2nd byte |
||
| 157 | motor_rx2[motorread++] = TWDR; |
||
| 158 | if(motorread >= MAX_MOTORS) motorread = 0; |
||
| 159 | i2c_stop(); |
||
| 160 | twi_state = 0; |
||
| 161 | break; |
||
| 162 | |||
| 163 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 164 | // writing Gyro-Offset |
||
| 165 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 166 | case 8: |
||
| 167 | i2c_write_byte(0x98); // Address of the DAC |
||
| 168 | break; |
||
| 169 | case 9: |
||
| 170 | i2c_write_byte(0x10); // Update Channel A |
||
| 171 | break; |
||
| 172 | case 10: |
||
| 173 | i2c_write_byte(AnalogOffsetNick); // Value |
||
| 174 | break; |
||
| 175 | case 11: |
||
| 176 | i2c_write_byte(0x80); // Value |
||
| 177 | break; |
||
| 178 | case 12: |
||
| 179 | i2c_stop(); |
||
| 180 | I2CTimeout = 10; |
||
| 181 | i2c_start(); |
||
| 182 | break; |
||
| 183 | case 13: |
||
| 184 | i2c_write_byte(0x98); // Address of the DAC |
||
| 185 | break; |
||
| 186 | case 14: |
||
| 187 | i2c_write_byte(0x12); // Update Channel B |
||
| 188 | break; |
||
| 189 | case 15: |
||
| 190 | i2c_write_byte(AnalogOffsetRoll); // Value |
||
| 191 | break; |
||
| 192 | case 16: |
||
| 193 | i2c_write_byte(0x80); // Value |
||
| 194 | break; |
||
| 195 | case 17: |
||
| 196 | i2c_stop(); |
||
| 197 | I2CTimeout = 10; |
||
| 198 | i2c_start(); |
||
| 199 | break; |
||
| 200 | case 18: |
||
| 201 | i2c_write_byte(0x98); // Address of the DAC |
||
| 202 | break; |
||
| 203 | case 19: |
||
| 204 | i2c_write_byte(0x14); // Update Channel C |
||
| 205 | break; |
||
| 206 | case 20: |
||
| 207 | i2c_write_byte(AnalogOffsetGier); // Value |
||
| 208 | break; |
||
| 209 | case 21: |
||
| 210 | i2c_write_byte(0x80); // Value |
||
| 211 | break; |
||
| 212 | case 22: |
||
| 213 | i2c_stop(); |
||
| 214 | I2CTimeout = 10; |
||
| 215 | twi_state = 0; |
||
| 216 | break; |
||
| 217 | default: twi_state = 0; |
||
| 218 | break; |
||
| 219 | } |
||
| 220 | TWCR |= 0x80; |
||
| 221 | } |