WebSVN - FlightCtrl - Rev 1184 - /branches/V0.72p HexaLotte/twimaster.c

/*############################################################################
############################################################################*/

#include "main.h"

volatile unsigned char twi_state = 0;
unsigned char motor = 0;
unsigned char motorread = 0;
unsigned char motor_rx[16];

//############################################################################
//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);
}

//############################################################################
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);
}

//############################################################################
char i2c_write_byte(char byte)
//############################################################################
{
TWSR = 0x00;
TWDR = byte;
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);

return(0);

}

#ifdef QUADRO
//############################################################################
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;
}
#endif
#if defined(HEXA1) || defined(HEXA2)
//############################################################################
SIGNAL (TWI_vect)
//############################################################################
{
switch (twi_state++)
{
case 0:
i2c_write_byte(0x52+(motor*2));
break;
case 1:
switch(motor++)
{
case 0:
i2c_write_byte(Motor1);
break;
case 1:
i2c_write_byte(Motor2);
break;
case 2:
i2c_write_byte(Motor3);
break;
case 3:
i2c_write_byte(Motor4);
break;
case 4:
i2c_write_byte(Motor5);
break;
case 5:
i2c_write_byte(Motor6);
break;
}
break;
case 2:
i2c_stop();
if (motor<6) 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(Motor1);
break;
case 1:
i2c_write_byte(Motor2);
break;
case 2:
i2c_write_byte(Motor3);
break;
case 3:
i2c_write_byte(Motor4);
break;
case 4:
i2c_write_byte(Motor5);
break;
case 5:
i2c_write_byte(Motor6);
break;
}
break;
case 5: //1 Byte vom Motor lesen
motor_rx[motorread] = TWDR;

case 6:
switch(motorread)
{
case 0:
i2c_write_byte(Motor1);
break;
case 1:
i2c_write_byte(Motor2);
break;
case 2:
i2c_write_byte(Motor3);
break;
case 3:
i2c_write_byte(Motor4);
break;
case 4:
i2c_write_byte(Motor5);
break;
case 5:
i2c_write_byte(Motor6);
break;
}
break;
case 7: //2 Byte vom Motor lesen
motor_rx[motorread+6] = TWDR;
motorread++;
if (motorread>5) 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;
}

#endif

#if defined(OCTO) || defined(OCTO2) || defined (OCTO3)
//############################################################################
SIGNAL (TWI_vect)
//############################################################################
{
switch (twi_state++)
{
case 0:
i2c_write_byte(0x52+(motor*2));
break;
case 1:
switch(motor++)
{
case 0:
i2c_write_byte(Motor1);
break;
case 1:
i2c_write_byte(Motor2);
break;
case 2:
i2c_write_byte(Motor3);
break;
case 3:
i2c_write_byte(Motor4);
break;
case 4:
i2c_write_byte(Motor5);
break;
case 5:
i2c_write_byte(Motor6);
break;
case 6:
i2c_write_byte(Motor7);
break;
case 7:
i2c_write_byte(Motor8);
break;
}
break;
case 2:
i2c_stop();
if (motor<8) 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(Motor1);
break;
case 1:
i2c_write_byte(Motor2);
break;
case 2:
i2c_write_byte(Motor3);
break;
case 3:
i2c_write_byte(Motor4);
break;
case 4:
i2c_write_byte(Motor5);
break;
case 5:
i2c_write_byte(Motor6);
break;
case 6:
i2c_write_byte(Motor7);
break;
case 7:
i2c_write_byte(Motor8);
break;
}
break;
case 5: //1 Byte vom Motor lesen
motor_rx[motorread] = TWDR;

case 6:
switch(motorread)
{
case 0:
i2c_write_byte(Motor1);
break;
case 1:
i2c_write_byte(Motor2);
break;
case 2:
i2c_write_byte(Motor3);
break;
case 3:
i2c_write_byte(Motor4);
break;
case 4:
i2c_write_byte(Motor5);
break;
case 5:
i2c_write_byte(Motor6);
break;
case 6:
i2c_write_byte(Motor7);
break;
case 7:
i2c_write_byte(Motor8);
break;
}
break;
case 7: //2 Byte vom Motor lesen
motor_rx[motorread+8] = TWDR;
motorread++;
if (motorread>7) 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;
}

#endif

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