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