WebSVN - FlightCtrl - Blame - Rev 1209 - /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;
1209	hbuss	9	unsigned char motor_rx[16],motor_rx2[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
1209	hbuss	22	void i2c_start(void)
1	ingob	23	//############################################################################
		24	{
		25	TWCR = (1<<TWSTA) \| (1<<TWEN) \| (1<<TWINT) \| (1<<TWIE);
		26	}
		27
		28	//############################################################################
		29	void i2c_stop(void)
		30	//############################################################################
		31	{
		32	TWCR = (1<<TWEN) \| (1<<TWSTO) \| (1<<TWINT);
		33	}
		34
173	holgerb	35	void i2c_reset(void)
1	ingob	36	//############################################################################
173	holgerb	37	{
		38	i2c_stop();
		39	twi_state = 0;
		40	motor = TWDR;
		41	motor = 0;
		42	TWCR = 0x80;
		43	TWAMR = 0;
		44	TWAR = 0;
		45	TWDR = 0;
		46	TWSR = 0;
		47	TWBR = 0;
		48	i2c_init();
		49	i2c_start();
		50	i2c_write_byte(0);
		51	}
		52
		53	//############################################################################
1209	hbuss	54	void i2c_write_byte(char byte)
1	ingob	55	//############################################################################
		56	{
		57	TWSR = 0x00;
		58	TWDR = byte;
		59	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);
		60	}
		61
1209	hbuss	62	/****************************************/
		63	/* Write to I2C */
		64	/****************************************/
		65	void I2C_WriteByte(int8_t byte)
		66	{
		67	// move byte to send into TWI Data Register
		68	TWDR = byte;
		69	// clear interrupt flag (TWINT = 1)
		70	// enable i2c bus (TWEN = 1)
		71	// enable interrupt (TWIE = 1)
		72	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);
		73	}
		74
		75	/****************************************/
		76	/* Receive byte and send ACK */
		77	/****************************************/
		78	void I2C_ReceiveByte(void)
		79	{
		80	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE) \| (1<<TWEA);
		81	}
		82
		83	/****************************************/
		84	/* I2C receive last byte and send no ACK*/
		85	/****************************************/
		86	void I2C_ReceiveLastByte(void)
		87	{
		88	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);
		89	}
		90
		91
		92
1	ingob	93	//############################################################################
		94	SIGNAL (TWI_vect)
		95	//############################################################################
		96	{
		97	switch (twi_state++)
		98	{
		99	case 0:
1209	hbuss	100	J3High;
		101	while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS-1) motor++; // skip if not used
		102	if(motor == MAX_MOTORS) { motor = 0; twi_state = 3; i2c_start(); } // writing finished -> now read
		103	else i2c_write_byte(0x52+(motor*2));
1	ingob	104	break;
		105	case 1:
1209	hbuss	106	i2c_write_byte(Motor[motor++]);
1111	hbuss	107	break;
		108	case 2:
		109	i2c_stop();
1209	hbuss	110	twi_state = 0;
1111	hbuss	111	i2c_start();
		112	break;
		113	//Liest Daten von Motor
		114	case 3:
1209	hbuss	115	J5High;
		116	while(Mixer.Motor[motorread][0] <= 0 && MAX_MOTORS-1) motorread++;
		117	if(motorread >= MAX_MOTORS) {motorread = 0;J4High;}
		118	else i2c_write_byte(0x53+(motorread*2));
1111	hbuss	119	break;
		120	case 4:
1209	hbuss	121	//Transmit 1st byte for reading
		122	I2C_ReceiveByte();
1111	hbuss	123	break;
1209	hbuss	124	case 5: //Read 1st byte and transmit 2nd Byte
1111	hbuss	125	motor_rx[motorread] = TWDR;
1209	hbuss	126	I2C_ReceiveLastByte(); //nack
		127	break;
1111	hbuss	128	case 6:
1209	hbuss	129	//Read 2nd byte
		130	motor_rx2[motorread++] = TWDR;
1111	hbuss	131	i2c_stop();
1209	hbuss	132	twi_state = 0;
1111	hbuss	133	I2CTimeout = 10;
		134	break;
		135	case 8: // Gyro-Offset
		136	i2c_write_byte(0x98); // Address of the DAC
		137	break;
		138	case 9:
		139	i2c_write_byte(0x10); // Update Channel A
		140	break;
		141	case 10:
		142	i2c_write_byte(AnalogOffsetNick); // Value
		143	break;
		144	case 11:
		145	i2c_write_byte(0x80); // Value
		146	break;
		147	case 12:
		148	i2c_stop();
		149	I2CTimeout = 10;
		150	i2c_start();
		151	break;
		152	case 13:
		153	i2c_write_byte(0x98); // Address of the DAC
		154	break;
		155	case 14:
		156	i2c_write_byte(0x12); // Update Channel B
		157	break;
		158	case 15:
		159	i2c_write_byte(AnalogOffsetRoll); // Value
		160	break;
		161	case 16:
		162	i2c_write_byte(0x80); // Value
		163	break;
		164	case 17:
		165	i2c_stop();
		166	I2CTimeout = 10;
		167	i2c_start();
		168	break;
		169	case 18:
		170	i2c_write_byte(0x98); // Address of the DAC
		171	break;
		172	case 19:
		173	i2c_write_byte(0x14); // Update Channel C
		174	break;
		175	case 20:
		176	i2c_write_byte(AnalogOffsetGier); // Value
		177	break;
		178	case 21:
		179	i2c_write_byte(0x80); // Value
		180	break;
		181	case 22:
		182	i2c_stop();
		183	I2CTimeout = 10;
		184	twi_state = 0;
		185	break;
1209	hbuss	186	default: twi_state = 0;
		187	break;
		188	}
1111	hbuss	189	TWCR \|= 0x80;
1209	hbuss	190	J3Low;
		191	J4Low;
		192	J5Low;
1111	hbuss	193	}
1209	hbuss	194	/*
1111	hbuss	195	//############################################################################
		196	SIGNAL (TWI_vect)
		197	//############################################################################
		198	{
		199	switch (twi_state++)
		200	{
		201	case 0:
		202	i2c_write_byte(0x52+(motor*2));
		203	break;
		204	case 1:
		205	switch(motor++)
		206	{
		207	case 0:
1	ingob	208	i2c_write_byte(Motor_Vorne);
		209	break;
		210	case 1:
		211	i2c_write_byte(Motor_Hinten);
		212	break;
		213	case 2:
		214	i2c_write_byte(Motor_Rechts);
		215	break;
		216	case 3:
		217	i2c_write_byte(Motor_Links);
		218	break;
		219	}
		220	break;
		221	case 2:
		222	i2c_stop();
		223	if (motor<4) twi_state = 0;
		224	else motor = 0;
		225	i2c_start();
		226	break;
		227
		228	//Liest Daten von Motor
		229	case 3:
		230	i2c_write_byte(0x53+(motorread*2));
		231	break;
		232	case 4:
		233	switch(motorread)
		234	{
		235	case 0:
		236	i2c_write_byte(Motor_Vorne);
		237	break;
		238	case 1:
		239	i2c_write_byte(Motor_Hinten);
		240	break;
		241	case 2:
		242	i2c_write_byte(Motor_Rechts);
		243	break;
		244	case 3:
		245	i2c_write_byte(Motor_Links);
		246	break;
		247	}
		248	break;
		249	case 5: //1 Byte vom Motor lesen
		250	motor_rx[motorread] = TWDR;
173	holgerb	251
1	ingob	252	case 6:
		253	switch(motorread)
		254	{
		255	case 0:
		256	i2c_write_byte(Motor_Vorne);
		257	break;
		258	case 1:
		259	i2c_write_byte(Motor_Hinten);
		260	break;
		261	case 2:
		262	i2c_write_byte(Motor_Rechts);
		263	break;
		264	case 3:
		265	i2c_write_byte(Motor_Links);
		266	break;
		267	}
		268	break;
		269	case 7: //2 Byte vom Motor lesen
		270	motor_rx[motorread+4] = TWDR;
		271	motorread++;
		272	if (motorread>3) motorread=0;
		273	i2c_stop();
173	holgerb	274	I2CTimeout = 10;
1	ingob	275	twi_state = 0;
918	hbuss	276	break;
		277	case 8: // Gyro-Offset
		278	i2c_write_byte(0x98); // Address of the DAC
		279	break;
		280	case 9:
		281	i2c_write_byte(0x10); // Update Channel A
		282	break;
		283	case 10:
		284	i2c_write_byte(AnalogOffsetNick); // Value
		285	break;
		286	case 11:
		287	i2c_write_byte(0x80); // Value
		288	break;
		289	case 12:
		290	i2c_stop();
		291	I2CTimeout = 10;
		292	i2c_start();
		293	break;
		294	case 13:
		295	i2c_write_byte(0x98); // Address of the DAC
		296	break;
		297	case 14:
		298	i2c_write_byte(0x12); // Update Channel B
		299	break;
		300	case 15:
		301	i2c_write_byte(AnalogOffsetRoll); // Value
		302	break;
		303	case 16:
		304	i2c_write_byte(0x80); // Value
		305	break;
		306	case 17:
		307	i2c_stop();
		308	I2CTimeout = 10;
		309	i2c_start();
		310	break;
		311	case 18:
		312	i2c_write_byte(0x98); // Address of the DAC
		313	break;
		314	case 19:
		315	i2c_write_byte(0x14); // Update Channel C
		316	break;
		317	case 20:
		318	i2c_write_byte(AnalogOffsetGier); // Value
		319	break;
		320	case 21:
		321	i2c_write_byte(0x80); // Value
		322	break;
		323	case 22:
		324	i2c_stop();
		325	I2CTimeout = 10;
		326	twi_state = 0;
		327	break;
1	ingob	328	}
173	holgerb	329	TWCR \|= 0x80;
1	ingob	330	}
1209	hbuss	331	*/

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