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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
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| 3 | |||
| 4 | #include "main.h" |
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| 5 | |||
| 918 | hbuss | 6 | volatile unsigned char twi_state = 0; |
| 1 | ingob | 7 | unsigned char motor = 0; |
| 1210 | hbuss | 8 | unsigned char motorread = 0,MissingMotor = 0; |
| 1209 | hbuss | 9 | unsigned char motor_rx[16],motor_rx2[16]; |
| 1210 | hbuss | 10 | unsigned char MotorPresent[MAX_MOTORS]; |
| 1211 | hbuss | 11 | unsigned char MotorError[MAX_MOTORS]; |
| 1322 | hbuss | 12 | unsigned int I2CError = 0; |
| 1 | ingob | 13 | |
| 14 | //############################################################################ |
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| 15 | //Initzialisieren der I2C (TWI) Schnittstelle |
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| 16 | void i2c_init(void) |
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| 17 | //############################################################################ |
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| 18 | { |
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| 19 | TWSR = 0; |
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| 20 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
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| 21 | } |
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| 22 | |||
| 23 | //############################################################################ |
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| 24 | //Start I2C |
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| 1209 | hbuss | 25 | void i2c_start(void) |
| 1 | ingob | 26 | //############################################################################ |
| 27 | { |
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| 28 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
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| 29 | } |
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| 30 | |||
| 31 | //############################################################################ |
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| 32 | void i2c_stop(void) |
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| 33 | //############################################################################ |
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| 34 | { |
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| 35 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
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| 36 | } |
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| 37 | |||
| 173 | holgerb | 38 | void i2c_reset(void) |
| 1 | ingob | 39 | //############################################################################ |
| 173 | holgerb | 40 | { |
| 41 | i2c_stop(); |
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| 42 | twi_state = 0; |
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| 43 | motor = TWDR; |
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| 44 | motor = 0; |
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| 45 | TWCR = 0x80; |
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| 46 | TWAMR = 0; |
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| 47 | TWAR = 0; |
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| 48 | TWDR = 0; |
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| 49 | TWSR = 0; |
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| 50 | TWBR = 0; |
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| 51 | i2c_init(); |
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| 52 | i2c_start(); |
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| 53 | i2c_write_byte(0); |
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| 54 | } |
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| 55 | |||
| 56 | //############################################################################ |
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| 1209 | hbuss | 57 | void i2c_write_byte(char byte) |
| 1 | ingob | 58 | //############################################################################ |
| 59 | { |
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| 60 | TWSR = 0x00; |
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| 61 | TWDR = byte; |
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| 62 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 63 | } |
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| 64 | |||
| 1209 | hbuss | 65 | /****************************************/ |
| 66 | /* Write to I2C */ |
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| 67 | /****************************************/ |
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| 68 | void I2C_WriteByte(int8_t byte) |
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| 69 | { |
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| 70 | // move byte to send into TWI Data Register |
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| 71 | TWDR = byte; |
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| 72 | // clear interrupt flag (TWINT = 1) |
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| 73 | // enable i2c bus (TWEN = 1) |
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| 74 | // enable interrupt (TWIE = 1) |
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| 75 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 76 | } |
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| 77 | |||
| 78 | /****************************************/ |
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| 79 | /* Receive byte and send ACK */ |
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| 80 | /****************************************/ |
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| 81 | void I2C_ReceiveByte(void) |
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| 82 | { |
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| 83 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
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| 84 | } |
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| 85 | |||
| 86 | /****************************************/ |
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| 87 | /* I2C receive last byte and send no ACK*/ |
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| 88 | /****************************************/ |
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| 89 | void I2C_ReceiveLastByte(void) |
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| 90 | { |
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| 91 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 92 | } |
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| 93 | |||
| 94 | |||
| 95 | |||
| 1 | ingob | 96 | //############################################################################ |
| 97 | SIGNAL (TWI_vect) |
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| 98 | //############################################################################ |
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| 99 | { |
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| 1211 | hbuss | 100 | static unsigned char missing_motor; |
| 1210 | hbuss | 101 | switch(twi_state++) |
| 1 | ingob | 102 | { |
| 1210 | hbuss | 103 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 104 | // Writing the Data |
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| 105 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1 | ingob | 106 | case 0: |
| 1210 | hbuss | 107 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
| 108 | if(motor == MAX_MOTORS) // writing finished -> now read |
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| 109 | { |
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| 110 | motor = 0; |
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| 111 | twi_state = 3; |
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| 112 | i2c_write_byte(0x53+(motorread*2)); |
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| 113 | } |
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| 1209 | hbuss | 114 | else i2c_write_byte(0x52+(motor*2)); |
| 1 | ingob | 115 | break; |
| 116 | case 1: |
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| 1209 | hbuss | 117 | i2c_write_byte(Motor[motor++]); |
| 1111 | hbuss | 118 | break; |
| 119 | case 2: |
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| 1322 | hbuss | 120 | if(TWSR == 0x30) |
| 121 | { |
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| 122 | if(!missing_motor) missing_motor = motor; |
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| 123 | if(++MotorError[motor-1] == 0) MotorError[motor-1] = 255; |
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| 124 | } |
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| 1111 | hbuss | 125 | i2c_stop(); |
| 1210 | hbuss | 126 | I2CTimeout = 10; |
| 1209 | hbuss | 127 | twi_state = 0; |
| 1111 | hbuss | 128 | i2c_start(); |
| 129 | break; |
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| 1210 | hbuss | 130 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 131 | // Reading Data |
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| 132 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1111 | hbuss | 133 | case 3: |
| 1211 | hbuss | 134 | //Transmit 1st byte for reading |
| 1210 | hbuss | 135 | if(TWSR != 0x40) // Error? |
| 1211 | hbuss | 136 | { |
| 137 | MotorPresent[motorread] = 0; |
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| 138 | motorread++; |
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| 139 | if(motorread >= MAX_MOTORS) motorread = 0; |
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| 140 | i2c_stop(); |
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| 1210 | hbuss | 141 | twi_state = 0; |
| 142 | } |
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| 1211 | hbuss | 143 | else |
| 144 | { |
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| 1210 | hbuss | 145 | MotorPresent[motorread] = ('1' - '-') + motorread; |
| 1211 | hbuss | 146 | I2C_ReceiveByte(); |
| 147 | } |
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| 1210 | hbuss | 148 | MissingMotor = missing_motor; |
| 1211 | hbuss | 149 | missing_motor = 0; |
| 1111 | hbuss | 150 | break; |
| 1210 | hbuss | 151 | case 4: //Read 1st byte and transmit 2nd Byte |
| 1111 | hbuss | 152 | motor_rx[motorread] = TWDR; |
| 1209 | hbuss | 153 | I2C_ReceiveLastByte(); //nack |
| 154 | break; |
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| 1210 | hbuss | 155 | case 5: |
| 1209 | hbuss | 156 | //Read 2nd byte |
| 157 | motor_rx2[motorread++] = TWDR; |
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| 1211 | hbuss | 158 | if(motorread >= MAX_MOTORS) motorread = 0; |
| 1111 | hbuss | 159 | i2c_stop(); |
| 1209 | hbuss | 160 | twi_state = 0; |
| 1111 | hbuss | 161 | break; |
| 1211 | hbuss | 162 | |
| 1210 | hbuss | 163 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 164 | // writing Gyro-Offset |
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| 165 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 166 | case 8: |
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| 1111 | hbuss | 167 | i2c_write_byte(0x98); // Address of the DAC |
| 168 | break; |
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| 169 | case 9: |
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| 170 | i2c_write_byte(0x10); // Update Channel A |
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| 171 | break; |
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| 172 | case 10: |
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| 173 | i2c_write_byte(AnalogOffsetNick); // Value |
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| 174 | break; |
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| 175 | case 11: |
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| 176 | i2c_write_byte(0x80); // Value |
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| 177 | break; |
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| 178 | case 12: |
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| 179 | i2c_stop(); |
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| 180 | I2CTimeout = 10; |
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| 181 | i2c_start(); |
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| 182 | break; |
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| 183 | case 13: |
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| 184 | i2c_write_byte(0x98); // Address of the DAC |
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| 185 | break; |
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| 186 | case 14: |
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| 187 | i2c_write_byte(0x12); // Update Channel B |
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| 188 | break; |
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| 189 | case 15: |
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| 190 | i2c_write_byte(AnalogOffsetRoll); // Value |
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| 191 | break; |
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| 192 | case 16: |
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| 193 | i2c_write_byte(0x80); // Value |
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| 194 | break; |
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| 195 | case 17: |
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| 196 | i2c_stop(); |
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| 197 | I2CTimeout = 10; |
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| 198 | i2c_start(); |
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| 199 | break; |
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| 200 | case 18: |
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| 201 | i2c_write_byte(0x98); // Address of the DAC |
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| 202 | break; |
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| 203 | case 19: |
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| 204 | i2c_write_byte(0x14); // Update Channel C |
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| 205 | break; |
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| 206 | case 20: |
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| 207 | i2c_write_byte(AnalogOffsetGier); // Value |
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| 208 | break; |
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| 209 | case 21: |
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| 210 | i2c_write_byte(0x80); // Value |
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| 211 | break; |
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| 212 | case 22: |
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| 213 | i2c_stop(); |
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| 214 | I2CTimeout = 10; |
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| 215 | twi_state = 0; |
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| 216 | break; |
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| 1209 | hbuss | 217 | default: twi_state = 0; |
| 218 | break; |
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| 219 | } |
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| 1111 | hbuss | 220 | TWCR |= 0x80; |
| 221 | } |