WebSVN - FlightCtrl - Diff - Rev 701 and 726 - /branches/V0.68d Code Redesign killagreg/twimaster.c



volatile uint8_t motor_rx[8];

 
/**************************************************/
/*   Initialize I2C (TWI)                         */
/**************************************************/
void I2C_Init(void)
{
        uint8_t sreg = SREG;

        cli();

}

 
/****************************************/
/*   Start I2C                          */
/****************************************/
void I2C_Start(void)
{
        // TWI Control Register
        // clear TWI interrupt flag (TWINT=1)
        // disable TWI Acknowledge Bit (TWEA = 0)

}

 
/****************************************/
/*    Stop I2C                          */
/****************************************/
void I2C_Stop(void)
{
        // TWI Control Register
        // clear TWI interrupt flag (TWINT=1)
        // disable TWI Acknowledge Bit (TWEA = 0)

}

 
/****************************************/
/*    Reset I2C                         */
/****************************************/
void I2C_Reset(void)
{
        // stop i2c bus
        I2C_Stop();
        twi_state = 0;
        motor = TWDR; // ??
        motor = 0;
        TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset
        TWAMR = 0;
        TWAR = 0;
        TWDR = 0;
        TWSR = 0;
        TWBR = 0;
        I2C_Init();
        I2C_Start();
        I2C_WriteByte(0);

}
 
/****************************************/
/*    Write to I2C                      */
/****************************************/
void I2C_WriteByte(int8_t byte)
{
    // move byte to send into TWI Data Register
    TWDR = byte;

 
 
/****************************************/
/*    Receive byte and send ACK         */
/****************************************/
void I2C_ReceiveByte(void)
{

   TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);
}
 
/****************************************/
/* I2C receive last byte and send no ACK*/
/****************************************/
void I2C_ReceiveLastByte(void)

 
    switch (twi_state++) // First i2s_start from SendMotorData()
        {
                // Master Transmit
        case 0: // Send SLA-W
                I2C_WriteByte(0x52+(motor*2));
                break;
        case 1: // Send Data to Salve
                switch(motor++)
                    {
                    case 0:
                            I2C_WriteByte(Motor_Front);
                            break;
                    case 1:
                            I2C_WriteByte(Motor_Rear);
                            break;
                    case 2:
                            I2C_WriteByte(Motor_Right);
                            break;
                    case 3:
                            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

                break;
 
        // Master Receive
        case 3: // Send SLA-R
                I2C_WriteByte(0x53+(motorread*2));
                break;
        case 4:
                //Transmit 1st byte
                                I2C_ReceiveByte();
                break;
        case 5: //Read 1st byte and transmit 2nd Byte
                motor_rx[motorread] = TWDR;
                                I2C_ReceiveLastByte();
                                break;
        case 6:
                //Read 2nd byte
                                motor_rx[motorread+4] = TWDR;

                                motorread++;
                if (motorread > 3) motorread=0;
 
        default:
                I2C_Stop();
                twi_state = 0;
                I2CTimeout = 10;

Rev 701	Rev 726
Line 13...	Line 13...
13	volatile uint8_t motor_rx[8];	13	volatile uint8_t motor_rx[8];
Line 14...	Line 14...
14		14
15	/**************************************************/	15	/**************************************************/
16	/* Initialize I2C (TWI) */	16	/* Initialize I2C (TWI) */
17	/**************************************************/	17	/**************************************************/
18	void i2c_init(void)	18	void I2C_Init(void)
19	{	19	{
20	uint8_t sreg = SREG;	20	uint8_t sreg = SREG;
Line 21...	Line 21...
21	cli();	21	cli();
Line 38...	Line 38...
38	}	38	}
Line 39...	Line 39...
39		39
40	/****************************************/	40	/****************************************/
41	/* Start I2C */	41	/* Start I2C */
42	/****************************************/	42	/****************************************/
43	void i2c_start(void)	43	void I2C_Start(void)
44	{	44	{
45	// TWI Control Register	45	// TWI Control Register
46	// clear TWI interrupt flag (TWINT=1)	46	// clear TWI interrupt flag (TWINT=1)
47	// disable TWI Acknowledge Bit (TWEA = 0)	47	// disable TWI Acknowledge Bit (TWEA = 0)
Line 54...	Line 54...
54	}	54	}
Line 55...	Line 55...
55		55
56	/****************************************/	56	/****************************************/
57	/* Stop I2C */	57	/* Stop I2C */
58	/****************************************/	58	/****************************************/
59	void i2c_stop(void)	59	void I2C_Stop(void)
60	{	60	{
61	// TWI Control Register	61	// TWI Control Register
62	// clear TWI interrupt flag (TWINT=1)	62	// clear TWI interrupt flag (TWINT=1)
63	// disable TWI Acknowledge Bit (TWEA = 0)	63	// disable TWI Acknowledge Bit (TWEA = 0)
Line 70...	Line 70...
70	}	70	}
Line 71...	Line 71...
71		71
72	/****************************************/	72	/****************************************/
73	/* Reset I2C */	73	/* Reset I2C */
74	/****************************************/	74	/****************************************/
75	void i2c_reset(void)	75	void I2C_Reset(void)
76	{	76	{
77	// stop i2c bus	77	// stop i2c bus
78	i2c_stop();	78	I2C_Stop();
79	twi_state = 0;	79	twi_state = 0;
80	motor = TWDR; // ??	80	motor = TWDR; // ??
81	motor = 0;	81	motor = 0;
82	TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset	82	TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset
83	TWAMR = 0;	83	TWAMR = 0;
84	TWAR = 0;	84	TWAR = 0;
85	TWDR = 0;	85	TWDR = 0;
86	TWSR = 0;	86	TWSR = 0;
87	TWBR = 0;	87	TWBR = 0;
88	i2c_init();	88	I2C_Init();
89	i2c_start();	89	I2C_Start();
90	i2c_write_byte(0);	90	I2C_WriteByte(0);
Line 91...	Line 91...
91	}	91	}
92		92
93	/****************************************/	93	/****************************************/
94	/* Write to I2C */	94	/* Write to I2C */
95	/****************************************/	95	/****************************************/
96	void i2c_write_byte(int8_t byte)	96	void I2C_WriteByte(int8_t byte)
97	{	97	{
98	// move byte to send into TWI Data Register	98	// move byte to send into TWI Data Register
99	TWDR = byte;	99	TWDR = byte;
Line 105...	Line 105...
105		105
106		106
107	/****************************************/	107	/****************************************/
108	/* Receive byte and send ACK */	108	/* Receive byte and send ACK */
109	/****************************************/	109	/****************************************/
110	void i2c_receive_byte(void)	110	void I2C_ReceiveByte(void)
111	{	111	{
Line 112...	Line 112...
112	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE) \| (1<<TWEA);	112	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE) \| (1<<TWEA);
113	}	113	}
114		114
115	/****************************************/	115	/****************************************/
116	/* I2C receive last byte and send no ACK*/	116	/* I2C receive last byte and send no ACK*/
117	/****************************************/	117	/****************************************/
118	void i2c_receive_last_byte(void)	118	void I2C_ReceiveLastByte(void)
Line 131...	Line 131...
131		131
132	switch (twi_state++) // First i2s_start from SendMotorData()	132	switch (twi_state++) // First i2s_start from SendMotorData()
133	{	133	{
134	// Master Transmit	134	// Master Transmit
135	case 0: // Send SLA-W	135	case 0: // Send SLA-W
136	i2c_write_byte(0x52+(motor*2));	136	I2C_WriteByte(0x52+(motor*2));
137	break;	137	break;
138	case 1: // Send Data to Salve	138	case 1: // Send Data to Salve
139	switch(motor++)	139	switch(motor++)
140	{	140	{
141	case 0:	141	case 0:
142	i2c_write_byte(Motor_Front);	142	I2C_WriteByte(Motor_Front);
143	break;	143	break;
144	case 1:	144	case 1:
145	i2c_write_byte(Motor_Rear);	145	I2C_WriteByte(Motor_Rear);
146	break;	146	break;
147	case 2:	147	case 2:
148	i2c_write_byte(Motor_Right);	148	I2C_WriteByte(Motor_Right);
149	break;	149	break;
150	case 3:	150	case 3:
151	i2c_write_byte(Motor_Left);	151	I2C_WriteByte(Motor_Left);
152	break;	152	break;
153	}	153	}
154	break;	154	break;
155	case 2: // repeat case 0+1 for all Slaves	155	case 2: // repeat case 0+1 for all Slaves
156	if (motor<4) twi_state = 0;	156	if (motor<4) twi_state = 0;
157	i2c_start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive	157	I2C_Start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive
Line 158...	Line 158...
158	break;	158	break;
159		159
160	// Master Receive	160	// Master Receive
161	case 3: // Send SLA-R	161	case 3: // Send SLA-R
162	i2c_write_byte(0x53+(motorread*2));	162	I2C_WriteByte(0x53+(motorread*2));
163	break;	163	break;
164	case 4:	164	case 4:
165	//Transmit 1st byte	165	//Transmit 1st byte
166	i2c_receive_byte();	166	I2C_ReceiveByte();
167	break;	167	break;
168	case 5: //Read 1st byte and transmit 2nd Byte	168	case 5: //Read 1st byte and transmit 2nd Byte
169	motor_rx[motorread] = TWDR;	169	motor_rx[motorread] = TWDR;
170	i2c_receive_last_byte();	170	I2C_ReceiveLastByte();
171	break;	171	break;
172	case 6:	172	case 6:
173	//Read 2nd byte	173	//Read 2nd byte
174	motor_rx[motorread+4] = TWDR;	174	motor_rx[motorread+4] = TWDR;
Line 175...	Line 175...
175	motorread++;	175	motorread++;
176	if (motorread > 3) motorread=0;	176	if (motorread > 3) motorread=0;
177		177
178	default:	178	default:
179	i2c_stop();	179	I2C_Stop();
180	twi_state = 0;	180	twi_state = 0;
181	I2CTimeout = 10;	181	I2CTimeout = 10;

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(root)/branches/V0.68d Code Redesign killagreg/twimaster.c - Rev 701 → 726