WebSVN - FlightCtrl - Blame - Rev 1111 - /branches/V0.74d-Arthur P/twimaster.c

Rev	Author	Line No.	Line
1	ingob	1	/*############################################################################
		2	############################################################################*/
		3
		4	#include "main.h"
		5
918	hbuss	6	volatile unsigned char twi_state = 0;
1	ingob	7	unsigned char motor = 0;
		8	unsigned char motorread = 0;
1111	hbuss	9	unsigned char motor_rx[16];
1	ingob	10
		11	//############################################################################
		12	//Initzialisieren der I2C (TWI) Schnittstelle
		13	void i2c_init(void)
		14	//############################################################################
		15	{
		16	TWSR = 0;
		17	TWBR = ((SYSCLK/SCL_CLOCK)-16)/2;
		18	}
		19
		20	//############################################################################
		21	//Start I2C
		22	char i2c_start(void)
		23	//############################################################################
		24	{
		25	TWCR = (1<<TWSTA) \| (1<<TWEN) \| (1<<TWINT) \| (1<<TWIE);
		26	return(0);
		27	}
		28
		29	//############################################################################
		30	//Start I2C
		31	void i2c_stop(void)
		32	//############################################################################
		33	{
		34	TWCR = (1<<TWEN) \| (1<<TWSTO) \| (1<<TWINT);
		35	}
		36
173	holgerb	37	void i2c_reset(void)
1	ingob	38	//############################################################################
173	holgerb	39	{
		40	i2c_stop();
		41	twi_state = 0;
		42	motor = TWDR;
		43	motor = 0;
		44	TWCR = 0x80;
		45	TWAMR = 0;
		46	TWAR = 0;
		47	TWDR = 0;
		48	TWSR = 0;
		49	TWBR = 0;
		50	i2c_init();
		51	i2c_start();
		52	i2c_write_byte(0);
		53	}
		54
		55	//############################################################################
1	ingob	56	//Start I2C
		57	char i2c_write_byte(char byte)
		58	//############################################################################
		59	{
		60	TWSR = 0x00;
		61	TWDR = byte;
		62	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);
		63
		64	return(0);
		65
		66	}
		67
1111	hbuss	68	#ifdef OCTO
1	ingob	69	//############################################################################
		70	//Start I2C
		71	SIGNAL (TWI_vect)
		72	//############################################################################
		73	{
		74	switch (twi_state++)
		75	{
		76	case 0:
		77	i2c_write_byte(0x52+(motor*2));
		78	break;
		79	case 1:
		80	switch(motor++)
		81	{
		82	case 0:
1111	hbuss	83	i2c_write_byte(Motor1);
		84	break;
		85	case 1:
		86	i2c_write_byte(Motor2);
		87	break;
		88	case 2:
		89	i2c_write_byte(Motor3);
		90	break;
		91	case 3:
		92	i2c_write_byte(Motor4);
		93	break;
		94	case 4:
		95	i2c_write_byte(Motor5);
		96	break;
		97	case 5:
		98	i2c_write_byte(Motor6);
		99	break;
		100	case 6:
		101	i2c_write_byte(Motor7);
		102	break;
		103	case 7:
		104	i2c_write_byte(Motor8);
		105	break;
		106	}
		107	break;
		108	case 2:
		109	i2c_stop();
		110	if (motor<8) twi_state = 0;
		111	else motor = 0;
		112	i2c_start();
		113	break;
		114
		115	//Liest Daten von Motor
		116	case 3:
		117	i2c_write_byte(0x53+(motorread*2));
		118	break;
		119	case 4:
		120	switch(motorread)
		121	{
		122	case 0:
		123	i2c_write_byte(Motor1);
		124	break;
		125	case 1:
		126	i2c_write_byte(Motor2);
		127	break;
		128	case 2:
		129	i2c_write_byte(Motor3);
		130	break;
		131	case 3:
		132	i2c_write_byte(Motor4);
		133	break;
		134	case 4:
		135	i2c_write_byte(Motor5);
		136	break;
		137	case 5:
		138	i2c_write_byte(Motor6);
		139	break;
		140	case 6:
		141	i2c_write_byte(Motor7);
		142	break;
		143	case 7:
		144	i2c_write_byte(Motor8);
		145	break;
		146	}
		147	break;
		148	case 5: //1 Byte vom Motor lesen
		149	motor_rx[motorread] = TWDR;
		150
		151	case 6:
		152	switch(motorread)
		153	{
		154	case 0:
		155	i2c_write_byte(Motor1);
		156	break;
		157	case 1:
		158	i2c_write_byte(Motor2);
		159	break;
		160	case 2:
		161	i2c_write_byte(Motor3);
		162	break;
		163	case 3:
		164	i2c_write_byte(Motor4);
		165	break;
		166	case 4:
		167	i2c_write_byte(Motor5);
		168	break;
		169	case 5:
		170	i2c_write_byte(Motor6);
		171	break;
		172	case 6:
		173	i2c_write_byte(Motor7);
		174	break;
		175	case 7:
		176	i2c_write_byte(Motor8);
		177	break;
		178	}
		179	break;
		180	case 7: //2 Byte vom Motor lesen
		181	motor_rx[motorread+4] = TWDR;
		182	motorread++;
		183	if (motorread>7) motorread=0;
		184	i2c_stop();
		185	I2CTimeout = 10;
		186	twi_state = 0;
		187	break;
		188	case 8: // Gyro-Offset
		189	i2c_write_byte(0x98); // Address of the DAC
		190	break;
		191	case 9:
		192	i2c_write_byte(0x10); // Update Channel A
		193	break;
		194	case 10:
		195	i2c_write_byte(AnalogOffsetNick); // Value
		196	break;
		197	case 11:
		198	i2c_write_byte(0x80); // Value
		199	break;
		200	case 12:
		201	i2c_stop();
		202	I2CTimeout = 10;
		203	i2c_start();
		204	break;
		205	case 13:
		206	i2c_write_byte(0x98); // Address of the DAC
		207	break;
		208	case 14:
		209	i2c_write_byte(0x12); // Update Channel B
		210	break;
		211	case 15:
		212	i2c_write_byte(AnalogOffsetRoll); // Value
		213	break;
		214	case 16:
		215	i2c_write_byte(0x80); // Value
		216	break;
		217	case 17:
		218	i2c_stop();
		219	I2CTimeout = 10;
		220	i2c_start();
		221	break;
		222	case 18:
		223	i2c_write_byte(0x98); // Address of the DAC
		224	break;
		225	case 19:
		226	i2c_write_byte(0x14); // Update Channel C
		227	break;
		228	case 20:
		229	i2c_write_byte(AnalogOffsetGier); // Value
		230	break;
		231	case 21:
		232	i2c_write_byte(0x80); // Value
		233	break;
		234	case 22:
		235	i2c_stop();
		236	I2CTimeout = 10;
		237	twi_state = 0;
		238	break;
		239	}
		240	TWCR \|= 0x80;
		241	}
		242	#else
		243	//############################################################################
		244	//Start I2C
		245	SIGNAL (TWI_vect)
		246	//############################################################################
		247	{
		248	switch (twi_state++)
		249	{
		250	case 0:
		251	i2c_write_byte(0x52+(motor*2));
		252	break;
		253	case 1:
		254	switch(motor++)
		255	{
		256	case 0:
1	ingob	257	i2c_write_byte(Motor_Vorne);
		258	break;
		259	case 1:
		260	i2c_write_byte(Motor_Hinten);
		261	break;
		262	case 2:
		263	i2c_write_byte(Motor_Rechts);
		264	break;
		265	case 3:
		266	i2c_write_byte(Motor_Links);
		267	break;
		268	}
		269	break;
		270	case 2:
		271	i2c_stop();
		272	if (motor<4) twi_state = 0;
		273	else motor = 0;
		274	i2c_start();
		275	break;
		276
		277	//Liest Daten von Motor
		278	case 3:
		279	i2c_write_byte(0x53+(motorread*2));
		280	break;
		281	case 4:
		282	switch(motorread)
		283	{
		284	case 0:
		285	i2c_write_byte(Motor_Vorne);
		286	break;
		287	case 1:
		288	i2c_write_byte(Motor_Hinten);
		289	break;
		290	case 2:
		291	i2c_write_byte(Motor_Rechts);
		292	break;
		293	case 3:
		294	i2c_write_byte(Motor_Links);
		295	break;
		296	}
		297	break;
		298	case 5: //1 Byte vom Motor lesen
		299	motor_rx[motorread] = TWDR;
173	holgerb	300
1	ingob	301	case 6:
		302	switch(motorread)
		303	{
		304	case 0:
		305	i2c_write_byte(Motor_Vorne);
		306	break;
		307	case 1:
		308	i2c_write_byte(Motor_Hinten);
		309	break;
		310	case 2:
		311	i2c_write_byte(Motor_Rechts);
		312	break;
		313	case 3:
		314	i2c_write_byte(Motor_Links);
		315	break;
		316	}
		317	break;
		318	case 7: //2 Byte vom Motor lesen
		319	motor_rx[motorread+4] = TWDR;
		320	motorread++;
		321	if (motorread>3) motorread=0;
		322	i2c_stop();
173	holgerb	323	I2CTimeout = 10;
1	ingob	324	twi_state = 0;
918	hbuss	325	break;
		326	case 8: // Gyro-Offset
		327	i2c_write_byte(0x98); // Address of the DAC
		328	break;
		329	case 9:
		330	i2c_write_byte(0x10); // Update Channel A
		331	break;
		332	case 10:
		333	i2c_write_byte(AnalogOffsetNick); // Value
		334	break;
		335	case 11:
		336	i2c_write_byte(0x80); // Value
		337	break;
		338	case 12:
		339	i2c_stop();
		340	I2CTimeout = 10;
		341	i2c_start();
		342	break;
		343	case 13:
		344	i2c_write_byte(0x98); // Address of the DAC
		345	break;
		346	case 14:
		347	i2c_write_byte(0x12); // Update Channel B
		348	break;
		349	case 15:
		350	i2c_write_byte(AnalogOffsetRoll); // Value
		351	break;
		352	case 16:
		353	i2c_write_byte(0x80); // Value
		354	break;
		355	case 17:
		356	i2c_stop();
		357	I2CTimeout = 10;
		358	i2c_start();
		359	break;
		360	case 18:
		361	i2c_write_byte(0x98); // Address of the DAC
		362	break;
		363	case 19:
		364	i2c_write_byte(0x14); // Update Channel C
		365	break;
		366	case 20:
		367	i2c_write_byte(AnalogOffsetGier); // Value
		368	break;
		369	case 21:
		370	i2c_write_byte(0x80); // Value
		371	break;
		372	case 22:
		373	i2c_stop();
		374	I2CTimeout = 10;
		375	twi_state = 0;
		376	break;
1	ingob	377	}
173	holgerb	378	TWCR \|= 0x80;
1	ingob	379	}
1111	hbuss	380	#endif

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