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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2751 | - | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
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| 3 | |||
| 4 | #include "main.h" |
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| 5 | |||
| 6 | volatile unsigned char twi_state = 0; |
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| 7 | unsigned char motor = 0; |
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| 8 | unsigned char motorread = 0,MissingMotor = 0; |
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| 9 | |||
| 10 | MotorData_t Motor[MAX_MOTORS]; |
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| 11 | |||
| 12 | unsigned int I2CError = 0; |
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| 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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| 25 | void i2c_start(void) |
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| 26 | //############################################################################ |
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| 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 | |||
| 38 | void i2c_reset(void) |
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| 39 | //############################################################################ |
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| 40 | { |
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| 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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| 57 | void i2c_write_byte(char byte) |
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| 58 | //############################################################################ |
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| 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 | |||
| 65 | /****************************************/ |
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| 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 | |||
| 96 | //############################################################################ |
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| 97 | SIGNAL (TWI_vect) |
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| 98 | //############################################################################ |
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| 99 | { |
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| 100 | static unsigned char missing_motor; |
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| 101 | switch(twi_state++) |
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| 102 | { |
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| 103 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 104 | // Writing the Data |
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| 105 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 106 | case 0: |
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| 107 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
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| 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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| 114 | else i2c_write_byte(0x52+(motor*2)); |
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| 115 | break; |
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| 116 | case 1: |
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| 117 | i2c_write_byte(Motor[motor++].SetPoint); |
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| 118 | break; |
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| 119 | case 2: |
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| 120 | if(TWSR == 0x30) |
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| 121 | { |
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| 122 | if(!missing_motor) missing_motor = motor; |
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| 123 | 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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| 124 | } |
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| 125 | i2c_stop(); |
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| 126 | I2CTimeout = 10; |
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| 127 | twi_state = 0; |
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| 128 | i2c_start(); |
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| 129 | break; |
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| 130 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 131 | // Reading Data |
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| 132 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 133 | case 3: |
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| 134 | //Transmit 1st byte for reading |
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| 135 | if(TWSR != 0x40) // Error? |
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| 136 | { |
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| 137 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
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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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| 141 | twi_state = 0; |
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| 142 | } |
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| 143 | else |
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| 144 | { |
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| 145 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
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| 146 | I2C_ReceiveByte(); |
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| 147 | } |
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| 148 | MissingMotor = missing_motor; |
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| 149 | missing_motor = 0; |
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| 150 | break; |
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| 151 | case 4: //Read 1st byte and transmit 2nd Byte |
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| 152 | Motor[motorread].Current = TWDR; |
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| 153 | I2C_ReceiveLastByte(); //nack |
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| 154 | break; |
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| 155 | case 5: |
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| 156 | //Read 2nd byte |
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| 157 | Motor[motorread].MaxPWM = TWDR; |
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| 158 | motorread++; // next motor |
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| 159 | if(motorread >= MAX_MOTORS) motorread = 0; |
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| 160 | i2c_stop(); |
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| 161 | twi_state = 0; |
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| 162 | break; |
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| 163 | |||
| 164 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 165 | // writing Gyro-Offset |
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| 166 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 167 | case 8: |
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| 168 | i2c_write_byte(0x98); // Address of the DAC |
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| 169 | break; |
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| 170 | case 9: |
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| 171 | i2c_write_byte(0x10); // Update Channel A |
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| 172 | break; |
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| 173 | case 10: |
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| 174 | i2c_write_byte(AnalogOffsetNick); // Value |
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| 175 | break; |
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| 176 | case 11: |
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| 177 | i2c_write_byte(0x80); // Value |
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| 178 | break; |
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| 179 | case 12: |
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| 180 | i2c_stop(); |
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| 181 | I2CTimeout = 10; |
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| 182 | i2c_start(); |
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| 183 | break; |
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| 184 | case 13: |
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| 185 | i2c_write_byte(0x98); // Address of the DAC |
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| 186 | break; |
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| 187 | case 14: |
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| 188 | i2c_write_byte(0x12); // Update Channel B |
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| 189 | break; |
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| 190 | case 15: |
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| 191 | i2c_write_byte(AnalogOffsetRoll); // Value |
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| 192 | break; |
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| 193 | case 16: |
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| 194 | i2c_write_byte(0x80); // Value |
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| 195 | break; |
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| 196 | case 17: |
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| 197 | i2c_stop(); |
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| 198 | I2CTimeout = 10; |
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| 199 | i2c_start(); |
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| 200 | break; |
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| 201 | case 18: |
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| 202 | i2c_write_byte(0x98); // Address of the DAC |
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| 203 | break; |
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| 204 | case 19: |
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| 205 | i2c_write_byte(0x14); // Update Channel C |
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| 206 | break; |
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| 207 | case 20: |
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| 208 | i2c_write_byte(AnalogOffsetGier); // Value |
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| 209 | break; |
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| 210 | case 21: |
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| 211 | i2c_write_byte(0x80); // Value |
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| 212 | break; |
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| 213 | case 22: |
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| 214 | i2c_stop(); |
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| 215 | I2CTimeout = 10; |
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| 216 | twi_state = 0; |
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| 217 | break; |
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| 218 | default: twi_state = 0; |
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| 219 | break; |
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| 220 | } |
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| 221 | TWCR |= 0x80; |
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| 222 | } |