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| 2 | ############################################################################*/ |
2 | ############################################################################*/ |
| Line 3... | Line 3... | ||
| 3 | 3 | ||
| Line 4... | Line 4... | ||
| 4 | #include "main.h" |
4 | #include "main.h" |
| 5 | 5 | ||
| 6 | volatile unsigned char twi_state = 0; |
6 | volatile unsigned char twi_state = 0; |
| - | 7 | unsigned char motor = 0,TransmitBlConfig = 1; |
|
| Line 7... | Line 8... | ||
| 7 | unsigned char motor = 0,TransmitBlConfig = 0; |
8 | unsigned char motorread = 0,MissingMotor = 0; |
| Line 8... | Line 9... | ||
| 8 | unsigned char motorread = 0,MissingMotor = 0; |
9 | unsigned char ReadTemperature = 0; |
| Line 35... | Line 36... | ||
| 35 | TWBR = 0; |
36 | TWBR = 0; |
| 36 | i2c_init(); |
37 | i2c_init(); |
| 37 | I2C_Start(); |
38 | I2C_Start(); |
| 38 | i2c_write_byte(0); |
39 | i2c_write_byte(0); |
| 39 | } |
40 | } |
| 40 | /* |
- | |
| 41 | //############################################################################ |
- | |
| 42 | void i2c_write_byte(char byte) |
- | |
| 43 | //############################################################################ |
- | |
| 44 | { |
- | |
| 45 | TWSR = 0x00; |
- | |
| 46 | TWDR = byte; |
- | |
| 47 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
- | |
| 48 | } |
- | |
| 49 | */ |
- | |
| 50 | - | ||
| 51 | /* |
- | |
| 52 | void I2C_WriteByte(int8_t byte) |
- | |
| 53 | { |
- | |
| 54 | // move byte to send into TWI Data Register |
- | |
| 55 | TWDR = byte; |
- | |
| 56 | // clear interrupt flag (TWINT = 1) |
- | |
| 57 | // enable i2c bus (TWEN = 1) |
- | |
| 58 | // enable interrupt (TWIE = 1) |
- | |
| 59 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
- | |
| 60 | } |
- | |
| 61 | */ |
- | |
| Line 62... | Line 41... | ||
| 62 | 41 | ||
| 63 | /* |
42 | /* |
| 64 | //############################################################################ |
43 | //############################################################################ |
| 65 | SIGNAL (TWI_vect) |
44 | SIGNAL (TWI_vect) |
| Line 200... | Line 179... | ||
| 200 | 179 | ||
| 201 | //############################################################################ |
180 | //############################################################################ |
| 202 | SIGNAL (TWI_vect) |
181 | SIGNAL (TWI_vect) |
| 203 | //############################################################################ |
182 | //############################################################################ |
| 204 | { // 2 3 4 5 6 7 8 9 |
183 | { // 2 3 4 5 6 7 8 9 |
| 205 | unsigned char test[] = {0,0,'#',0x1F,255,30,100,64,0x00,7,8,9,10}; |
184 | unsigned char test[] = {0,0,'#',0x1F,255,30,99,49,0x00,7,8,9,10}; |
| Line 206... | Line 185... | ||
| 206 | static unsigned char missing_motor,send = 0,crc = 0; |
185 | static unsigned char missing_motor,send = 0,crc = 0,read_more = 0; |
| 207 | 186 | ||
| 208 | switch(twi_state++) |
187 | switch(twi_state++) |
| 209 | { |
188 | { |
| Line 221... | Line 200... | ||
| 221 | else i2c_write_byte(0x52+(motor*2)); |
200 | else i2c_write_byte(0x52+(motor*2)); |
| 222 | send = 0; |
201 | send = 0; |
| 223 | break; |
202 | break; |
| 224 | case 1: |
203 | case 1: |
| 225 | i2c_write_byte(Motor[motor].SetPoint); |
204 | i2c_write_byte(Motor[motor].SetPoint); |
| 226 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)/* || !Motor[motor].SetPointLowerBits*/) |
205 | // if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) /*|| !Motor[motor].SetPointLowerBits*/) |
| - | 206 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) || !Motor[motor].SetPointLowerBits && !TransmitBlConfig) |
|
| 227 | twi_state++; |
207 | twi_state++; // skip |
| 228 | break; |
208 | break; |
| 229 | case 2: |
209 | case 2: |
| 230 | if(!send++) |
210 | if(!send++) |
| 231 | { |
211 | { |
| 232 | i2c_write_byte((Motor[motor].SetPointLowerBits << 1));// + (7 << 0)); |
212 | i2c_write_byte((Motor[motor].SetPointLowerBits << 1) & 0x07); |
| 233 | crc = 0xAA; |
213 | crc = 0xAA; |
| 234 | } |
214 | } |
| 235 | else |
215 | else |
| 236 | if(send == 9) i2c_write_byte(crc) |
216 | if(send == 9) i2c_write_byte(crc) |
| 237 | else |
217 | else |
| Line 264... | Line 244... | ||
| 264 | //Transmit 1st byte for reading |
244 | //Transmit 1st byte for reading |
| 265 | if(TWSR != 0x40) // Error? |
245 | if(TWSR != 0x40) // Error? |
| 266 | { |
246 | { |
| 267 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
247 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
| 268 | motorread++; |
248 | motorread++; |
| 269 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; } |
249 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; ReadTemperature = ++ReadTemperature & 0x0f;} |
| 270 | I2C_Stop(); |
250 | I2C_Stop(); |
| 271 | twi_state = 0; |
251 | twi_state = 0; |
| 272 | } |
252 | } |
| 273 | else |
253 | else |
| 274 | { |
254 | { |
| 275 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
255 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
| - | 256 | if(motorread == ReadTemperature || TransmitBlConfig) |
|
| - | 257 | { |
|
| - | 258 | read_more = 1; |
|
| 276 | I2C_ReceiveByte(); |
259 | I2C_ReceiveByte(); |
| - | 260 | } |
|
| - | 261 | else |
|
| - | 262 | { |
|
| - | 263 | I2C_ReceiveLastByte(); |
|
| - | 264 | read_more = 0; |
|
| - | 265 | } |
|
| 277 | } |
266 | } |
| 278 | MissingMotor = missing_motor; |
267 | MissingMotor = missing_motor; |
| 279 | missing_motor = 0; |
268 | missing_motor = 0; |
| 280 | break; |
269 | break; |
| 281 | case 5: //Read 1st byte and transmit 2nd Byte |
270 | case 5: //Read 1st byte and transmit 2nd Byte |
| 282 | Motor[motorread].Current = TWDR; |
271 | Motor[motorread].Current = TWDR; |
| 283 | I2C_ReceiveByte(); //nack |
272 | if(read_more) I2C_ReceiveByte() //nack |
| - | 273 | else |
|
| - | 274 | { |
|
| - | 275 | motorread++; // next motor |
|
| - | 276 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; ReadTemperature = ++ReadTemperature & 0x0f;} |
|
| - | 277 | I2C_Stop(); |
|
| - | 278 | twi_state = 0; |
|
| - | 279 | } |
|
| 284 | break; |
280 | break; |
| 285 | case 6: |
281 | case 6: |
| 286 | //Read 2nd byte and transmit 3rd Byte |
282 | //Read 2nd byte and transmit 3rd Byte |
| 287 | Motor[motorread].MaxPWM = TWDR; |
283 | Motor[motorread].MaxPWM = TWDR; |
| 288 | if(TWDR == 250) |
284 | if(TWDR == 250) |
| 289 | { |
285 | { |
| 290 | Motor[motorread].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
286 | if(!MotorenEin) Motor[motorread].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
| 291 | } |
287 | } |
| 292 | else if(TransmitBlConfig) Motor[motorread].Version = 0; |
288 | else if(TransmitBlConfig) Motor[motorread].Version = 0; |
| 293 | I2C_ReceiveLastByte(); //nack |
289 | I2C_ReceiveLastByte(); //nack |
| 294 | break; |
290 | break; |
| 295 | case 7: // read next |
291 | case 7: // read next |
| 296 | Motor[motorread].Temperature = TWDR; |
292 | Motor[motorread].Temperature = TWDR; |
| 297 | motorread++; // next motor |
293 | motorread++; // next motor |
| 298 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; } |
294 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; } |
| 299 | I2C_Stop(); |
295 | I2C_Stop(); |
| 300 | twi_state = 0; |
296 | twi_state = 0; |
| 301 | break; |
297 | break; |
| 302 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
298 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 303 | // writing Gyro-Offset |
299 | // writing Gyro-Offset |
| 304 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
300 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 305 | case 18: |
301 | case 18: |
| 306 | i2c_write_byte(0x98); // Address of the DAC |
302 | i2c_write_byte(0x98); // Address of the DAC |