Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 13 | user | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
||
| 3 | |||
| 4 | #include "main.h" |
||
| 5 | |||
| 6 | unsigned char twi_state = 0; |
||
| 7 | unsigned char motor = 0; |
||
| 8 | unsigned char motorread = 0; |
||
| 9 | unsigned char motor_rx[8]; |
||
| 10 | |||
| 11 | //############################################################################ |
||
| 12 | //Initzialisieren der I2C (TWI) Schnittstelle |
||
| 13 | void i2c_init(void) |
||
| 14 | //############################################################################ |
||
| 15 | { |
||
| 16 | TWSR = 0; |
||
| 17 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
||
| 18 | } |
||
| 19 | |||
| 20 | //############################################################################ |
||
| 21 | //Start I2C |
||
| 22 | char i2c_start(void) |
||
| 23 | //############################################################################ |
||
| 24 | { |
||
| 25 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
||
| 26 | return(0); |
||
| 27 | } |
||
| 28 | |||
| 29 | //############################################################################ |
||
| 30 | //Start I2C |
||
| 31 | void i2c_stop(void) |
||
| 32 | //############################################################################ |
||
| 33 | { |
||
| 34 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
||
| 35 | } |
||
| 36 | |||
| 37 | //############################################################################ |
||
| 38 | //Start I2C |
||
| 39 | char i2c_write_byte(char byte) |
||
| 40 | //############################################################################ |
||
| 41 | { |
||
| 42 | TWSR = 0x00; |
||
| 43 | TWDR = byte; |
||
| 44 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
||
| 45 | |||
| 46 | return(0); |
||
| 47 | |||
| 48 | } |
||
| 49 | |||
| 50 | //############################################################################ |
||
| 51 | //Start I2C |
||
| 52 | SIGNAL (TWI_vect) |
||
| 53 | //############################################################################ |
||
| 54 | { |
||
| 55 | switch (twi_state++) |
||
| 56 | { |
||
| 57 | case 0: |
||
| 58 | i2c_write_byte(0x52+(motor*2)); |
||
| 59 | break; |
||
| 60 | case 1: |
||
| 61 | switch(motor++) |
||
| 62 | { |
||
| 63 | case 0: |
||
| 64 | i2c_write_byte(Motor_Vorne); |
||
| 65 | break; |
||
| 66 | case 1: |
||
| 67 | i2c_write_byte(Motor_Hinten); |
||
| 68 | break; |
||
| 69 | case 2: |
||
| 70 | i2c_write_byte(Motor_Rechts); |
||
| 71 | break; |
||
| 72 | case 3: |
||
| 73 | i2c_write_byte(Motor_Links); |
||
| 74 | break; |
||
| 75 | } |
||
| 76 | break; |
||
| 77 | case 2: |
||
| 78 | i2c_stop(); |
||
| 79 | if (motor<4) twi_state = 0; |
||
| 80 | else motor = 0; |
||
| 81 | i2c_start(); |
||
| 82 | break; |
||
| 83 | |||
| 84 | //Liest Daten von Motor |
||
| 85 | case 3: |
||
| 86 | i2c_write_byte(0x53+(motorread*2)); |
||
| 87 | break; |
||
| 88 | case 4: |
||
| 89 | switch(motorread) |
||
| 90 | { |
||
| 91 | case 0: |
||
| 92 | i2c_write_byte(Motor_Vorne); |
||
| 93 | break; |
||
| 94 | case 1: |
||
| 95 | i2c_write_byte(Motor_Hinten); |
||
| 96 | break; |
||
| 97 | case 2: |
||
| 98 | i2c_write_byte(Motor_Rechts); |
||
| 99 | break; |
||
| 100 | case 3: |
||
| 101 | i2c_write_byte(Motor_Links); |
||
| 102 | break; |
||
| 103 | } |
||
| 104 | break; |
||
| 105 | case 5: //1 Byte vom Motor lesen |
||
| 106 | motor_rx[motorread] = TWDR; |
||
| 107 | case 6: |
||
| 108 | switch(motorread) |
||
| 109 | { |
||
| 110 | case 0: |
||
| 111 | i2c_write_byte(Motor_Vorne); |
||
| 112 | break; |
||
| 113 | case 1: |
||
| 114 | i2c_write_byte(Motor_Hinten); |
||
| 115 | break; |
||
| 116 | case 2: |
||
| 117 | i2c_write_byte(Motor_Rechts); |
||
| 118 | break; |
||
| 119 | case 3: |
||
| 120 | i2c_write_byte(Motor_Links); |
||
| 121 | break; |
||
| 122 | } |
||
| 123 | break; |
||
| 124 | case 7: //2 Byte vom Motor lesen |
||
| 125 | motor_rx[motorread+4] = TWDR; |
||
| 126 | motorread++; |
||
| 127 | if (motorread>3) motorread=0; |
||
| 128 | i2c_stop(); |
||
| 129 | twi_state = 0; |
||
| 130 | } |
||
| 131 | } |