| 0,0 → 1,204 |
|---|
| /*############################################################################ |
| ############################################################################*/ |
| |
| #include "main.h" |
| |
| volatile unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| |
| void i2c_reset(void) |
| //############################################################################ |
| { |
| i2c_stop(); |
| twi_state = 0; |
| motor = TWDR; |
| motor = 0; |
| TWCR = 0x80; |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| i2c_init(); |
| i2c_start(); |
| i2c_write_byte(0); |
| } |
| |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| |
| return(0); |
| |
| } |
| |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| |
| case 6: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 7: //2 Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| I2CTimeout = 10; |
| twi_state = 0; |
| break; |
| case 8: // Gyro-Offset |
| i2c_write_byte(0x98); // Address of the DAC |
| break; |
| case 9: |
| i2c_write_byte(0x10); // Update Channel A |
| break; |
| case 10: |
| i2c_write_byte(AnalogOffsetNick); // Value |
| break; |
| case 11: |
| i2c_write_byte(0x80); // Value |
| break; |
| case 12: |
| i2c_stop(); |
| I2CTimeout = 10; |
| i2c_start(); |
| break; |
| case 13: |
| i2c_write_byte(0x98); // Address of the DAC |
| break; |
| case 14: |
| i2c_write_byte(0x12); // Update Channel B |
| break; |
| case 15: |
| i2c_write_byte(AnalogOffsetRoll); // Value |
| break; |
| case 16: |
| i2c_write_byte(0x80); // Value |
| break; |
| case 17: |
| i2c_stop(); |
| I2CTimeout = 10; |
| i2c_start(); |
| break; |
| case 18: |
| i2c_write_byte(0x98); // Address of the DAC |
| break; |
| case 19: |
| i2c_write_byte(0x14); // Update Channel C |
| break; |
| case 20: |
| i2c_write_byte(AnalogOffsetGier); // Value |
| break; |
| case 21: |
| i2c_write_byte(0x80); // Value |
| break; |
| case 22: |
| i2c_stop(); |
| I2CTimeout = 10; |
| twi_state = 0; |
| break; |
| } |
| TWCR |= 0x80; |
| } |