Rev 976 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 976 | Rev 977 | ||
|---|---|---|---|
| Line 4... | Line 4... | ||
| 4 | #include "main.h" |
4 | #include "main.h" |
| Line 5... | Line 5... | ||
| 5 | 5 | ||
| 6 | volatile unsigned char twi_state = 0; |
6 | volatile unsigned char twi_state = 0; |
| 7 | unsigned char motor = 0; |
7 | unsigned char motor = 0; |
| 8 | unsigned char motorread = 0; |
8 | unsigned char motorread = 0; |
| Line 9... | Line 9... | ||
| 9 | unsigned char motor_rx[8]; |
9 | unsigned char motor_rx[MOTOR_COUNT*2]; |
| 10 | 10 | ||
| 11 | //############################################################################ |
11 | //############################################################################ |
| 12 | //Initzialisieren der I2C (TWI) Schnittstelle |
12 | //Initzialisieren der I2C (TWI) Schnittstelle |
| Line 74... | Line 74... | ||
| 74 | { |
74 | { |
| 75 | case 0: |
75 | case 0: |
| 76 | i2c_write_byte(0x52+(motor*2)); |
76 | i2c_write_byte(0x52+(motor*2)); |
| 77 | break; |
77 | break; |
| 78 | case 1: |
78 | case 1: |
| - | 79 | #ifdef HEXAKOPTER |
|
| - | 80 | switch(motor++) |
|
| - | 81 | { |
|
| - | 82 | case 0: |
|
| - | 83 | i2c_write_byte(Motor_VorneLinks); |
|
| - | 84 | break; |
|
| - | 85 | case 1: |
|
| - | 86 | i2c_write_byte(Motor_HintenRechts); |
|
| - | 87 | break; |
|
| - | 88 | case 2: |
|
| - | 89 | i2c_write_byte(Motor_VorneRechts); |
|
| - | 90 | break; |
|
| - | 91 | case 3: |
|
| - | 92 | i2c_write_byte(Motor_HintenLinks); |
|
| - | 93 | break; |
|
| - | 94 | case 4: |
|
| - | 95 | i2c_write_byte(Motor_Rechts); |
|
| - | 96 | break; |
|
| - | 97 | case 5: |
|
| - | 98 | i2c_write_byte(Motor_Links); |
|
| - | 99 | break; |
|
| - | 100 | } |
|
| - | 101 | #else |
|
| 79 | switch(motor++) |
102 | switch(motor++) |
| 80 | { |
103 | { |
| 81 | case 0: |
104 | case 0: |
| 82 | i2c_write_byte(Motor_Vorne); |
105 | i2c_write_byte(Motor_Vorne); |
| 83 | break; |
106 | break; |
| Line 89... | Line 112... | ||
| 89 | break; |
112 | break; |
| 90 | case 3: |
113 | case 3: |
| 91 | i2c_write_byte(Motor_Links); |
114 | i2c_write_byte(Motor_Links); |
| 92 | break; |
115 | break; |
| 93 | } |
116 | } |
| - | 117 | #endif |
|
| 94 | break; |
118 | break; |
| 95 | case 2: |
119 | case 2: |
| 96 | i2c_stop(); |
120 | i2c_stop(); |
| 97 | if (motor<4) twi_state = 0; |
121 | if (motor<MOTOR_COUNT) twi_state = 0; |
| 98 | else motor = 0; |
122 | else motor = 0; |
| 99 | i2c_start(); |
123 | i2c_start(); |
| 100 | break; |
124 | break; |
| Line 101... | Line 125... | ||
| 101 | 125 | ||
| 102 | //Liest Daten von Motor |
126 | //Liest Daten von Motor |
| 103 | case 3: |
127 | case 3: |
| 104 | i2c_write_byte(0x53+(motorread*2)); |
128 | i2c_write_byte(0x53+(motorread*2)); |
| 105 | break; |
129 | break; |
| 106 | case 4: |
- | |
| 107 | switch(motorread) |
- | |
| 108 | { |
- | |
| 109 | case 0: |
- | |
| 110 | i2c_write_byte(Motor_Vorne); |
- | |
| 111 | break; |
- | |
| 112 | case 1: |
130 | case 4: |
| 113 | i2c_write_byte(Motor_Hinten); |
- | |
| 114 | break; |
- | |
| 115 | case 2: |
- | |
| 116 | i2c_write_byte(Motor_Rechts); |
- | |
| 117 | break; |
- | |
| 118 | case 3: |
- | |
| 119 | i2c_write_byte(Motor_Links); |
- | |
| 120 | break; |
- | |
| 121 | } |
131 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| 122 | break; |
132 | break; |
| 123 | case 5: //1 Byte vom Motor lesen |
133 | case 5: //1 Byte vom Motor lesen |
| Line 124... | Line 134... | ||
| 124 | motor_rx[motorread] = TWDR; |
134 | motor_rx[motorread] = TWDR; |
| 125 | - | ||
| 126 | case 6: |
- | |
| 127 | switch(motorread) |
- | |
| 128 | { |
- | |
| 129 | case 0: |
- | |
| 130 | i2c_write_byte(Motor_Vorne); |
- | |
| 131 | break; |
135 | |
| 132 | case 1: |
- | |
| 133 | i2c_write_byte(Motor_Hinten); |
- | |
| 134 | break; |
- | |
| 135 | case 2: |
- | |
| 136 | i2c_write_byte(Motor_Rechts); |
- | |
| 137 | break; |
- | |
| 138 | case 3: |
- | |
| 139 | i2c_write_byte(Motor_Links); |
- | |
| 140 | break; |
136 | case 6: |
| 141 | } |
137 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| 142 | break; |
138 | break; |
| 143 | case 7: //2 Byte vom Motor lesen |
139 | case 7: //2 Byte vom Motor lesen |
| 144 | motor_rx[motorread+4] = TWDR; |
140 | motor_rx[motorread+MOTOR_COUNT] = TWDR; |
| 145 | motorread++; |
141 | motorread++; |
| 146 | if (motorread>3) motorread=0; |
142 | if (motorread>=MOTOR_COUNT) motorread=0; |
| 147 | i2c_stop(); |
143 | i2c_stop(); |
| 148 | I2CTimeout = 10; |
144 | I2CTimeout = 10; |
| 149 | twi_state = 0; |
145 | twi_state = 0; |