Rev 685 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
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| 3 | |||
| 687 | killagreg | 4 | #include <avr/io.h> |
| 5 | #include <avr/interrupt.h> |
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| 6 | |||
| 1 | ingob | 7 | #include "main.h" |
| 685 | killagreg | 8 | #include "twimaster.h" |
| 9 | #include "fc.h" |
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| 1 | ingob | 10 | |
| 11 | unsigned char twi_state = 0; |
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| 12 | unsigned char motor = 0; |
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| 13 | unsigned char motorread = 0; |
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| 14 | unsigned char motor_rx[8]; |
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| 15 | |||
| 16 | //############################################################################ |
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| 17 | //Initzialisieren der I2C (TWI) Schnittstelle |
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| 18 | void i2c_init(void) |
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| 19 | //############################################################################ |
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| 20 | { |
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| 21 | TWSR = 0; |
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| 685 | killagreg | 22 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| 1 | ingob | 23 | } |
| 24 | |||
| 25 | //############################################################################ |
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| 26 | //Start I2C |
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| 685 | killagreg | 27 | char i2c_start(void) |
| 1 | ingob | 28 | //############################################################################ |
| 29 | { |
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| 30 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
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| 31 | return(0); |
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| 32 | } |
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| 33 | |||
| 34 | //############################################################################ |
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| 35 | //Start I2C |
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| 36 | void i2c_stop(void) |
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| 37 | //############################################################################ |
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| 38 | { |
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| 39 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
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| 40 | } |
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| 41 | |||
| 173 | holgerb | 42 | void i2c_reset(void) |
| 1 | ingob | 43 | //############################################################################ |
| 173 | holgerb | 44 | { |
| 685 | killagreg | 45 | i2c_stop(); |
| 173 | holgerb | 46 | twi_state = 0; |
| 47 | motor = TWDR; |
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| 48 | motor = 0; |
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| 49 | TWCR = 0x80; |
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| 50 | TWAMR = 0; |
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| 51 | TWAR = 0; |
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| 52 | TWDR = 0; |
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| 53 | TWSR = 0; |
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| 54 | TWBR = 0; |
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| 55 | i2c_init(); |
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| 56 | i2c_start(); |
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| 57 | i2c_write_byte(0); |
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| 58 | } |
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| 59 | |||
| 60 | //############################################################################ |
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| 1 | ingob | 61 | //Start I2C |
| 687 | killagreg | 62 | int8_t i2c_write_byte(int8_t byte) |
| 1 | ingob | 63 | //############################################################################ |
| 685 | killagreg | 64 | { |
| 1 | ingob | 65 | TWSR = 0x00; |
| 66 | TWDR = byte; |
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| 67 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 685 | killagreg | 68 | |
| 1 | ingob | 69 | return(0); |
| 685 | killagreg | 70 | |
| 1 | ingob | 71 | } |
| 72 | |||
| 73 | //############################################################################ |
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| 74 | //Start I2C |
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| 75 | SIGNAL (TWI_vect) |
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| 76 | //############################################################################ |
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| 77 | { |
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| 78 | switch (twi_state++) |
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| 79 | { |
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| 80 | case 0: |
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| 81 | i2c_write_byte(0x52+(motor*2)); |
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| 82 | break; |
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| 83 | case 1: |
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| 84 | switch(motor++) |
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| 85 | { |
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| 86 | case 0: |
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| 87 | i2c_write_byte(Motor_Vorne); |
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| 88 | break; |
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| 685 | killagreg | 89 | case 1: |
| 1 | ingob | 90 | i2c_write_byte(Motor_Hinten); |
| 91 | break; |
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| 92 | case 2: |
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| 93 | i2c_write_byte(Motor_Rechts); |
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| 94 | break; |
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| 95 | case 3: |
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| 96 | i2c_write_byte(Motor_Links); |
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| 97 | break; |
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| 98 | } |
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| 99 | break; |
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| 100 | case 2: |
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| 101 | i2c_stop(); |
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| 102 | if (motor<4) twi_state = 0; |
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| 103 | else motor = 0; |
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| 685 | killagreg | 104 | i2c_start(); |
| 105 | break; |
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| 106 | |||
| 1 | ingob | 107 | //Liest Daten von Motor |
| 108 | case 3: |
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| 109 | i2c_write_byte(0x53+(motorread*2)); |
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| 110 | break; |
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| 111 | case 4: |
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| 112 | switch(motorread) |
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| 113 | { |
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| 114 | case 0: |
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| 115 | i2c_write_byte(Motor_Vorne); |
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| 116 | break; |
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| 117 | case 1: |
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| 118 | i2c_write_byte(Motor_Hinten); |
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| 119 | break; |
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| 120 | case 2: |
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| 121 | i2c_write_byte(Motor_Rechts); |
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| 122 | break; |
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| 123 | case 3: |
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| 124 | i2c_write_byte(Motor_Links); |
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| 125 | break; |
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| 126 | } |
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| 127 | break; |
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| 685 | killagreg | 128 | case 5: //1 Byte vom Motor lesen |
| 1 | ingob | 129 | motor_rx[motorread] = TWDR; |
| 173 | holgerb | 130 | |
| 1 | ingob | 131 | case 6: |
| 132 | switch(motorread) |
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| 133 | { |
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| 134 | case 0: |
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| 135 | i2c_write_byte(Motor_Vorne); |
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| 136 | break; |
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| 137 | case 1: |
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| 138 | i2c_write_byte(Motor_Hinten); |
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| 139 | break; |
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| 140 | case 2: |
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| 141 | i2c_write_byte(Motor_Rechts); |
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| 142 | break; |
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| 143 | case 3: |
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| 144 | i2c_write_byte(Motor_Links); |
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| 145 | break; |
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| 146 | } |
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| 685 | killagreg | 147 | break; |
| 148 | case 7: //2 Byte vom Motor lesen |
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| 1 | ingob | 149 | motor_rx[motorread+4] = TWDR; |
| 150 | motorread++; |
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| 151 | if (motorread>3) motorread=0; |
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| 152 | i2c_stop(); |
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| 173 | holgerb | 153 | I2CTimeout = 10; |
| 1 | ingob | 154 | twi_state = 0; |
| 155 | } |
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| 173 | holgerb | 156 | TWCR |= 0x80; |
| 1 | ingob | 157 | } |