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Ignore whitespace Rev 725 → Rev 726

/branches/V0.68d Code Redesign killagreg/twimaster.c
15,7 → 15,7
/**************************************************/
/* Initialize I2C (TWI) */
/**************************************************/
void i2c_init(void)
void I2C_Init(void)
{
uint8_t sreg = SREG;
cli();
40,7 → 40,7
/****************************************/
/* Start I2C */
/****************************************/
void i2c_start(void)
void I2C_Start(void)
{
// TWI Control Register
// clear TWI interrupt flag (TWINT=1)
56,7 → 56,7
/****************************************/
/* Stop I2C */
/****************************************/
void i2c_stop(void)
void I2C_Stop(void)
{
// TWI Control Register
// clear TWI interrupt flag (TWINT=1)
72,10 → 72,10
/****************************************/
/* Reset I2C */
/****************************************/
void i2c_reset(void)
void I2C_Reset(void)
{
// stop i2c bus
i2c_stop();
I2C_Stop();
twi_state = 0;
motor = TWDR; // ??
motor = 0;
85,15 → 85,15
TWDR = 0;
TWSR = 0;
TWBR = 0;
i2c_init();
i2c_start();
i2c_write_byte(0);
I2C_Init();
I2C_Start();
I2C_WriteByte(0);
}
 
/****************************************/
/* Write to I2C */
/****************************************/
void i2c_write_byte(int8_t byte)
void I2C_WriteByte(int8_t byte)
{
// move byte to send into TWI Data Register
TWDR = byte;
107,7 → 107,7
/****************************************/
/* Receive byte and send ACK */
/****************************************/
void i2c_receive_byte(void)
void I2C_ReceiveByte(void)
{
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);
}
115,7 → 115,7
/****************************************/
/* I2C receive last byte and send no ACK*/
/****************************************/
void i2c_receive_last_byte(void)
void I2C_ReceiveLastByte(void)
{
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);
}
133,41 → 133,41
{
// Master Transmit
case 0: // Send SLA-W
i2c_write_byte(0x52+(motor*2));
I2C_WriteByte(0x52+(motor*2));
break;
case 1: // Send Data to Salve
switch(motor++)
{
case 0:
i2c_write_byte(Motor_Front);
I2C_WriteByte(Motor_Front);
break;
case 1:
i2c_write_byte(Motor_Rear);
I2C_WriteByte(Motor_Rear);
break;
case 2:
i2c_write_byte(Motor_Right);
I2C_WriteByte(Motor_Right);
break;
case 3:
i2c_write_byte(Motor_Left);
I2C_WriteByte(Motor_Left);
break;
}
break;
case 2: // repeat case 0+1 for all Slaves
if (motor<4) twi_state = 0;
i2c_start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive
I2C_Start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive
break;
 
// Master Receive
case 3: // Send SLA-R
i2c_write_byte(0x53+(motorread*2));
I2C_WriteByte(0x53+(motorread*2));
break;
case 4:
//Transmit 1st byte
i2c_receive_byte();
I2C_ReceiveByte();
break;
case 5: //Read 1st byte and transmit 2nd Byte
motor_rx[motorread] = TWDR;
i2c_receive_last_byte();
I2C_ReceiveLastByte();
break;
case 6:
//Read 2nd byte
176,7 → 176,7
if (motorread > 3) motorread=0;
 
default:
i2c_stop();
I2C_Stop();
twi_state = 0;
I2CTimeout = 10;
motor = 0;