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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | |
| 2 | #include <avr/io.h> |
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| 3 | #include <util/twi.h> |
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| 4 | #include "main.h" |
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| 5 | |||
| 3 | ingob | 6 | unsigned char I2C_RxBufferSize, I2C_TxBufferSize; |
| 7 | unsigned char *I2C_TxBuffer, *I2C_RxBuffer; |
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| 8 | unsigned char Tx_Idx=0, Rx_Idx=0, I2C_Direction; |
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| 9 | unsigned char I2C_Command; |
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| 10 | unsigned char Tx_Idx, Rx_Idx; |
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| 1 | ingob | 11 | |
| 3 | ingob | 12 | struct str_I2C_Heading I2C_Heading; |
| 13 | struct str_I2C_WriteNickRoll I2C_WriteNickRoll; |
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| 14 | struct str_I2C_Mag I2C_Mag; |
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| 15 | struct str_I2C_EEPROM I2C_ReadEEPROM, I2C_WriteEEPROM; |
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| 16 | struct str_I2C_Version I2C_Version; |
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| 17 | |||
| 18 | |||
| 19 | |||
| 1 | ingob | 20 | //############################################################################ |
| 21 | //I2C (TWI) Interface Init |
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| 3 | ingob | 22 | void InitIC2_Slave(void) |
| 1 | ingob | 23 | //############################################################################ |
| 24 | { |
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| 3 | ingob | 25 | TWAR = I2C_SLAVE_ADDRESS; // Eigene Adresse setzen |
| 1 | ingob | 26 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| 3 | ingob | 27 | |
| 28 | |||
| 29 | I2C_Version.Hauptversion = VersionInfo.Hauptversion; |
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| 30 | I2C_Version.Nebenversion = VersionInfo.Nebenversion; |
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| 31 | I2C_Version.Comp = 1; |
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| 32 | |||
| 1 | ingob | 33 | } |
| 3 | ingob | 34 | #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| 1 | ingob | 35 | //############################################################################ |
| 36 | //ISR, die bei einem Ereignis auf dem Bus ausgelöst wird. Im Register TWSR befindet |
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| 37 | //sich dann ein Statuscode, anhand dessen die Situation festgestellt werden kann. |
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| 38 | ISR (TWI_vect) |
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| 39 | //############################################################################ |
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| 40 | { |
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| 41 | switch (TWSR & 0xF8) |
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| 42 | { |
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| 43 | case SR_SLA_ACK: |
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| 3 | ingob | 44 | //TWCR |= (1<<TWINT); |
| 45 | Rx_Idx = 0; |
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| 46 | |||
| 47 | TWCR_ACK; |
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| 1 | ingob | 48 | return; |
| 49 | // Daten Empfangen |
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| 50 | case SR_PREV_ACK: |
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| 3 | ingob | 51 | |
| 52 | if (Rx_Idx == 0) |
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| 53 | { I2C_Command = TWDR; |
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| 54 | |||
| 55 | switch(I2C_Command) |
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| 56 | { |
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| 57 | case I2C_CMD_VERSION: |
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| 58 | I2C_TxBuffer = (unsigned char *)&I2C_Version; |
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| 59 | I2C_TxBufferSize = sizeof(I2C_Version); |
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| 60 | I2C_RxBufferSize = 0; |
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| 61 | break; |
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| 62 | case I2C_CMD_WRITE_EEPROM: |
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| 63 | I2C_TxBufferSize = 0; |
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| 64 | I2C_RxBuffer = (unsigned char *)&I2C_WriteEEPROM; |
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| 65 | I2C_RxBufferSize = sizeof(I2C_WriteEEPROM); |
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| 66 | break; |
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| 67 | case I2C_CMD_READ_EEPROM: |
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| 68 | I2C_TxBuffer = (unsigned char *)&I2C_ReadEEPROM.Inhalt; |
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| 69 | I2C_TxBufferSize = 2; |
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| 70 | I2C_RxBuffer = (unsigned char *)&I2C_ReadEEPROM; |
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| 71 | I2C_RxBufferSize = 1; |
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| 72 | break; |
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| 73 | case I2C_CMD_READ_MAG: |
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| 74 | I2C_TxBuffer = (unsigned char *)&I2C_Mag; |
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| 75 | I2C_TxBufferSize = sizeof(I2C_Mag); |
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| 76 | I2C_RxBufferSize = 0; |
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| 77 | |||
| 78 | I2C_Mag.MagX = MagnetN; |
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| 79 | I2C_Mag.MagY = MagnetR; |
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| 80 | I2C_Mag.MagZ = MagnetZ; |
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| 81 | |||
| 82 | break; |
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| 83 | case I2C_CMD_READ_HEADING: |
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| 84 | I2C_TxBuffer = (unsigned char *)&I2C_Heading; |
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| 85 | I2C_TxBufferSize = sizeof(I2C_Heading); |
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| 86 | I2C_RxBuffer = (unsigned char *)&I2C_WriteNickRoll; |
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| 87 | I2C_RxBufferSize = sizeof(I2C_WriteNickRoll); |
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| 88 | |||
| 89 | I2C_Heading.Heading = Heading; |
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| 90 | WinkelOut.Winkel[NICK] = I2C_WriteNickRoll.Nick; |
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| 91 | WinkelOut.Winkel[ROLL] = I2C_WriteNickRoll.Roll; |
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| 92 | break; |
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| 93 | } |
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| 94 | } |
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| 95 | else |
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| 96 | { |
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| 97 | if (Rx_Idx < I2C_RxBufferSize) I2C_RxBuffer[Rx_Idx] = TWDR; |
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| 98 | } |
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| 99 | |||
| 100 | Rx_Idx++; |
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| 101 | |||
| 102 | |||
| 1 | ingob | 103 | I2C_Timeout = 500; |
| 3 | ingob | 104 | //TWCR |= (1<<TWINT); |
| 105 | TWCR_ACK; |
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| 1 | ingob | 106 | return; |
| 107 | // Daten Senden |
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| 3 | ingob | 108 | |
| 1 | ingob | 109 | case SW_SLA_ACK: |
| 3 | ingob | 110 | Tx_Idx = 0; |
| 111 | |||
| 112 | if (I2C_TxBufferSize > 0) TWDR = I2C_TxBuffer[Tx_Idx++]; |
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| 113 | |||
| 114 | // TWCR |= (1<<TWINT) | (1<< TWEA); |
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| 115 | TWCR_ACK; |
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| 1 | ingob | 116 | return; |
| 117 | // Daten Senden |
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| 3 | ingob | 118 | case SW_DATA_ACK: |
| 119 | if (Tx_Idx < I2C_TxBufferSize) TWDR = I2C_TxBuffer[Tx_Idx++]; |
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| 120 | else TWDR = 0x00; |
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| 121 | //TWCR |= (1<<TWINT) | (1<< TWEA); |
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| 122 | TWCR_ACK; |
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| 1 | ingob | 123 | return; |
| 124 | // Bus-Fehler zurücksetzen |
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| 125 | case TWI_BUS_ERR_2: |
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| 126 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
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| 127 | // Bus-Fehler zurücksetzen |
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| 128 | case TWI_BUS_ERR_1: |
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| 129 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
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| 130 | } |
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| 131 | TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset |
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| 132 | } |
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| 133 | |||
| 134 |