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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1106 | kilipet | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
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| 3 | |||
| 4 | #include "main.h" |
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| 5 | |||
| 6 | volatile 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 | void i2c_reset(void) |
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| 38 | //############################################################################ |
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| 39 | { |
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| 40 | i2c_stop(); |
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| 41 | twi_state = 0; |
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| 42 | motor = TWDR; |
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| 43 | motor = 0; |
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| 44 | TWCR = 0x80; |
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| 45 | TWAMR = 0; |
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| 46 | TWAR = 0; |
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| 47 | TWDR = 0; |
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| 48 | TWSR = 0; |
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| 49 | TWBR = 0; |
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| 50 | i2c_init(); |
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| 51 | i2c_start(); |
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| 52 | i2c_write_byte(0); |
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| 53 | } |
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| 54 | |||
| 55 | //############################################################################ |
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| 56 | //Start I2C |
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| 57 | char i2c_write_byte(char byte) |
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| 58 | //############################################################################ |
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| 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 | |||
| 64 | return(0); |
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| 65 | |||
| 66 | } |
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| 67 | |||
| 68 | //############################################################################ |
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| 69 | //Start I2C |
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| 70 | SIGNAL (TWI_vect) |
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| 71 | //############################################################################ |
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| 72 | { |
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| 73 | switch (twi_state++) |
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| 74 | { |
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| 75 | case 0: |
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| 76 | i2c_write_byte(0x52+(motor*2)); |
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| 77 | break; |
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| 78 | case 1: |
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| 79 | switch(motor++) |
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| 80 | { |
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| 81 | case 0: |
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| 82 | i2c_write_byte(Motor_Vorne); |
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| 83 | break; |
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| 84 | case 1: |
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| 85 | i2c_write_byte(Motor_Hinten); |
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| 86 | break; |
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| 87 | case 2: |
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| 88 | i2c_write_byte(Motor_Rechts); |
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| 89 | break; |
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| 90 | case 3: |
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| 91 | i2c_write_byte(Motor_Links); |
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| 92 | break; |
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| 93 | } |
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| 94 | break; |
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| 95 | case 2: |
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| 96 | i2c_stop(); |
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| 97 | if (motor<4) twi_state = 0; |
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| 98 | else motor = 0; |
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| 99 | i2c_start(); |
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| 100 | break; |
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| 101 | |||
| 102 | //Liest Daten von Motor |
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| 103 | case 3: |
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| 104 | i2c_write_byte(0x53+(motorread*2)); |
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| 105 | break; |
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| 106 | case 4: |
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| 107 | switch(motorread) |
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| 108 | { |
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| 109 | case 0: |
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| 110 | i2c_write_byte(Motor_Vorne); |
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| 111 | break; |
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| 112 | case 1: |
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| 113 | i2c_write_byte(Motor_Hinten); |
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| 114 | break; |
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| 115 | case 2: |
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| 116 | i2c_write_byte(Motor_Rechts); |
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| 117 | break; |
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| 118 | case 3: |
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| 119 | i2c_write_byte(Motor_Links); |
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| 120 | break; |
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| 121 | } |
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| 122 | break; |
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| 123 | case 5: //1 Byte vom Motor lesen |
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| 124 | motor_rx[motorread] = TWDR; |
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| 125 | |||
| 126 | case 6: |
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| 127 | switch(motorread) |
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| 128 | { |
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| 129 | case 0: |
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| 130 | i2c_write_byte(Motor_Vorne); |
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| 131 | break; |
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| 132 | case 1: |
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| 133 | i2c_write_byte(Motor_Hinten); |
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| 134 | break; |
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| 135 | case 2: |
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| 136 | i2c_write_byte(Motor_Rechts); |
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| 137 | break; |
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| 138 | case 3: |
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| 139 | i2c_write_byte(Motor_Links); |
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| 140 | break; |
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| 141 | } |
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| 142 | break; |
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| 143 | case 7: //2 Byte vom Motor lesen |
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| 144 | motor_rx[motorread+4] = TWDR; |
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| 145 | motorread++; |
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| 146 | if (motorread>3) motorread=0; |
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| 147 | i2c_stop(); |
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| 148 | I2CTimeout = 10; |
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| 149 | twi_state = 0; |
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| 150 | break; |
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| 151 | case 8: // Gyro-Offset |
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| 152 | i2c_write_byte(0x98); // Address of the DAC |
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| 153 | break; |
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| 154 | case 9: |
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| 155 | i2c_write_byte(0x10); // Update Channel A |
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| 156 | break; |
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| 157 | case 10: |
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| 158 | i2c_write_byte(AnalogOffsetNick); // Value |
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| 159 | break; |
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| 160 | case 11: |
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| 161 | i2c_write_byte(0x80); // Value |
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| 162 | break; |
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| 163 | case 12: |
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| 164 | i2c_stop(); |
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| 165 | I2CTimeout = 10; |
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| 166 | i2c_start(); |
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| 167 | break; |
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| 168 | case 13: |
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| 169 | i2c_write_byte(0x98); // Address of the DAC |
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| 170 | break; |
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| 171 | case 14: |
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| 172 | i2c_write_byte(0x12); // Update Channel B |
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| 173 | break; |
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| 174 | case 15: |
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| 175 | i2c_write_byte(AnalogOffsetRoll); // Value |
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| 176 | break; |
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| 177 | case 16: |
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| 178 | i2c_write_byte(0x80); // Value |
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| 179 | break; |
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| 180 | case 17: |
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| 181 | i2c_stop(); |
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| 182 | I2CTimeout = 10; |
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| 183 | i2c_start(); |
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| 184 | break; |
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| 185 | case 18: |
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| 186 | i2c_write_byte(0x98); // Address of the DAC |
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| 187 | break; |
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| 188 | case 19: |
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| 189 | i2c_write_byte(0x14); // Update Channel C |
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| 190 | break; |
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| 191 | case 20: |
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| 192 | i2c_write_byte(AnalogOffsetGier); // Value |
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| 193 | break; |
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| 194 | case 21: |
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| 195 | i2c_write_byte(0x80); // Value |
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| 196 | break; |
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| 197 | case 22: |
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| 198 | i2c_stop(); |
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| 199 | I2CTimeout = 10; |
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| 200 | twi_state = 0; |
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| 201 | break; |
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| 202 | } |
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| 203 | TWCR |= 0x80; |
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| 204 | } |