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| Rev 683 | Rev 685 | ||
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| Line 1... | Line 1... | ||
| 1 | /*############################################################################ |
1 | /*############################################################################ |
| 2 | ############################################################################*/ |
2 | ############################################################################*/ |
| Line 3... | Line 3... | ||
| 3 | 3 | ||
| - | 4 | #include "main.h" |
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| - | 5 | #include "twimaster.h" |
|
| Line 4... | Line 6... | ||
| 4 | #include "main.h" |
6 | #include "fc.h" |
| 5 | 7 | ||
| 6 | unsigned char twi_state = 0; |
8 | unsigned char twi_state = 0; |
| 7 | unsigned char motor = 0; |
9 | unsigned char motor = 0; |
| Line 12... | Line 14... | ||
| 12 | //Initzialisieren der I2C (TWI) Schnittstelle |
14 | //Initzialisieren der I2C (TWI) Schnittstelle |
| 13 | void i2c_init(void) |
15 | void i2c_init(void) |
| 14 | //############################################################################ |
16 | //############################################################################ |
| 15 | { |
17 | { |
| 16 | TWSR = 0; |
18 | TWSR = 0; |
| 17 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
19 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| 18 | } |
20 | } |
| Line 19... | Line 21... | ||
| 19 | 21 | ||
| 20 | //############################################################################ |
22 | //############################################################################ |
| 21 | //Start I2C |
23 | //Start I2C |
| 22 | char i2c_start(void) |
24 | char i2c_start(void) |
| 23 | //############################################################################ |
25 | //############################################################################ |
| 24 | { |
26 | { |
| 25 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
27 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| 26 | return(0); |
28 | return(0); |
| Line 35... | Line 37... | ||
| 35 | } |
37 | } |
| Line 36... | Line 38... | ||
| 36 | 38 | ||
| 37 | void i2c_reset(void) |
39 | void i2c_reset(void) |
| 38 | //############################################################################ |
40 | //############################################################################ |
| 39 | { |
41 | { |
| 40 | i2c_stop(); |
42 | i2c_stop(); |
| 41 | twi_state = 0; |
43 | twi_state = 0; |
| 42 | motor = TWDR; |
44 | motor = TWDR; |
| 43 | motor = 0; |
45 | motor = 0; |
| 44 | TWCR = 0x80; |
46 | TWCR = 0x80; |
| Line 54... | Line 56... | ||
| 54 | 56 | ||
| 55 | //############################################################################ |
57 | //############################################################################ |
| 56 | //Start I2C |
58 | //Start I2C |
| 57 | char i2c_write_byte(char byte) |
59 | char i2c_write_byte(char byte) |
| 58 | //############################################################################ |
60 | //############################################################################ |
| 59 | { |
61 | { |
| 60 | TWSR = 0x00; |
62 | TWSR = 0x00; |
| 61 | TWDR = byte; |
63 | TWDR = byte; |
| 62 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
64 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| 63 | 65 | ||
| 64 | return(0); |
66 | return(0); |
| 65 | 67 | ||
| Line 66... | Line 68... | ||
| 66 | } |
68 | } |
| 67 | 69 | ||
| 68 | //############################################################################ |
70 | //############################################################################ |
| Line 79... | Line 81... | ||
| 79 | switch(motor++) |
81 | switch(motor++) |
| 80 | { |
82 | { |
| 81 | case 0: |
83 | case 0: |
| 82 | i2c_write_byte(Motor_Vorne); |
84 | i2c_write_byte(Motor_Vorne); |
| 83 | break; |
85 | break; |
| 84 | case 1: |
86 | case 1: |
| 85 | i2c_write_byte(Motor_Hinten); |
87 | i2c_write_byte(Motor_Hinten); |
| 86 | break; |
88 | break; |
| 87 | case 2: |
89 | case 2: |
| 88 | i2c_write_byte(Motor_Rechts); |
90 | i2c_write_byte(Motor_Rechts); |
| 89 | break; |
91 | break; |
| Line 94... | Line 96... | ||
| 94 | break; |
96 | break; |
| 95 | case 2: |
97 | case 2: |
| 96 | i2c_stop(); |
98 | i2c_stop(); |
| 97 | if (motor<4) twi_state = 0; |
99 | if (motor<4) twi_state = 0; |
| 98 | else motor = 0; |
100 | else motor = 0; |
| 99 | i2c_start(); |
101 | i2c_start(); |
| 100 | break; |
102 | break; |
| 101 | 103 | ||
| 102 | //Liest Daten von Motor |
104 | //Liest Daten von Motor |
| 103 | case 3: |
105 | case 3: |
| 104 | i2c_write_byte(0x53+(motorread*2)); |
106 | i2c_write_byte(0x53+(motorread*2)); |
| 105 | break; |
107 | break; |
| 106 | case 4: |
108 | case 4: |
| Line 118... | Line 120... | ||
| 118 | case 3: |
120 | case 3: |
| 119 | i2c_write_byte(Motor_Links); |
121 | i2c_write_byte(Motor_Links); |
| 120 | break; |
122 | break; |
| 121 | } |
123 | } |
| 122 | break; |
124 | break; |
| 123 | case 5: //1 Byte vom Motor lesen |
125 | case 5: //1 Byte vom Motor lesen |
| 124 | motor_rx[motorread] = TWDR; |
126 | motor_rx[motorread] = TWDR; |
| Line 125... | Line 127... | ||
| 125 | 127 | ||
| 126 | case 6: |
128 | case 6: |
| 127 | switch(motorread) |
129 | switch(motorread) |
| Line 137... | Line 139... | ||
| 137 | break; |
139 | break; |
| 138 | case 3: |
140 | case 3: |
| 139 | i2c_write_byte(Motor_Links); |
141 | i2c_write_byte(Motor_Links); |
| 140 | break; |
142 | break; |
| 141 | } |
143 | } |
| 142 | break; |
144 | break; |
| 143 | case 7: //2 Byte vom Motor lesen |
145 | case 7: //2 Byte vom Motor lesen |
| 144 | motor_rx[motorread+4] = TWDR; |
146 | motor_rx[motorread+4] = TWDR; |
| 145 | motorread++; |
147 | motorread++; |
| 146 | if (motorread>3) motorread=0; |
148 | if (motorread>3) motorread=0; |
| 147 | i2c_stop(); |
149 | i2c_stop(); |
| 148 | I2CTimeout = 10; |
150 | I2CTimeout = 10; |