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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
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| 3 | |||
| 4 | #include "main.h" |
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| 5 | |||
| 918 | hbuss | 6 | volatile unsigned char twi_state = 0; |
| 1 | ingob | 7 | unsigned char motor = 0; |
| 1210 | hbuss | 8 | unsigned char motorread = 0,MissingMotor = 0; |
| 1209 | hbuss | 9 | unsigned char motor_rx[16],motor_rx2[16]; |
| 1210 | hbuss | 10 | unsigned char MotorPresent[MAX_MOTORS]; |
| 1 | ingob | 11 | |
| 12 | //############################################################################ |
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| 13 | //Initzialisieren der I2C (TWI) Schnittstelle |
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| 14 | void i2c_init(void) |
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| 15 | //############################################################################ |
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| 16 | { |
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| 17 | TWSR = 0; |
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| 18 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
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| 19 | } |
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| 20 | |||
| 21 | //############################################################################ |
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| 22 | //Start I2C |
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| 1209 | hbuss | 23 | void i2c_start(void) |
| 1 | ingob | 24 | //############################################################################ |
| 25 | { |
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| 26 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
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| 27 | } |
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| 28 | |||
| 29 | //############################################################################ |
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| 30 | void i2c_stop(void) |
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| 31 | //############################################################################ |
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| 32 | { |
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| 33 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
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| 34 | } |
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| 35 | |||
| 173 | holgerb | 36 | void i2c_reset(void) |
| 1 | ingob | 37 | //############################################################################ |
| 173 | holgerb | 38 | { |
| 39 | i2c_stop(); |
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| 40 | twi_state = 0; |
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| 41 | motor = TWDR; |
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| 42 | motor = 0; |
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| 43 | TWCR = 0x80; |
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| 44 | TWAMR = 0; |
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| 45 | TWAR = 0; |
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| 46 | TWDR = 0; |
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| 47 | TWSR = 0; |
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| 48 | TWBR = 0; |
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| 49 | i2c_init(); |
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| 50 | i2c_start(); |
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| 51 | i2c_write_byte(0); |
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| 52 | } |
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| 53 | |||
| 54 | //############################################################################ |
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| 1209 | hbuss | 55 | void i2c_write_byte(char byte) |
| 1 | ingob | 56 | //############################################################################ |
| 57 | { |
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| 58 | TWSR = 0x00; |
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| 59 | TWDR = byte; |
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| 60 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 61 | } |
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| 62 | |||
| 1209 | hbuss | 63 | /****************************************/ |
| 64 | /* Write to I2C */ |
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| 65 | /****************************************/ |
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| 66 | void I2C_WriteByte(int8_t byte) |
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| 67 | { |
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| 68 | // move byte to send into TWI Data Register |
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| 69 | TWDR = byte; |
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| 70 | // clear interrupt flag (TWINT = 1) |
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| 71 | // enable i2c bus (TWEN = 1) |
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| 72 | // enable interrupt (TWIE = 1) |
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| 73 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 74 | } |
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| 75 | |||
| 76 | /****************************************/ |
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| 77 | /* Receive byte and send ACK */ |
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| 78 | /****************************************/ |
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| 79 | void I2C_ReceiveByte(void) |
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| 80 | { |
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| 81 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
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| 82 | } |
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| 83 | |||
| 84 | /****************************************/ |
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| 85 | /* I2C receive last byte and send no ACK*/ |
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| 86 | /****************************************/ |
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| 87 | void I2C_ReceiveLastByte(void) |
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| 88 | { |
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| 89 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 90 | } |
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| 91 | |||
| 92 | |||
| 93 | |||
| 1 | ingob | 94 | //############################################################################ |
| 95 | SIGNAL (TWI_vect) |
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| 96 | //############################################################################ |
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| 97 | { |
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| 1210 | hbuss | 98 | static unsigned char missing_motor,cnt_motor; |
| 99 | switch(twi_state++) |
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| 1 | ingob | 100 | { |
| 1210 | hbuss | 101 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 102 | // Writing the Data |
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| 103 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1 | ingob | 104 | case 0: |
| 1210 | hbuss | 105 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
| 106 | if(motor == MAX_MOTORS) // writing finished -> now read |
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| 107 | { |
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| 108 | motor = 0; |
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| 109 | twi_state = 3; |
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| 110 | i2c_write_byte(0x53+(motorread*2)); |
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| 111 | } |
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| 1209 | hbuss | 112 | else i2c_write_byte(0x52+(motor*2)); |
| 1 | ingob | 113 | break; |
| 114 | case 1: |
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| 1209 | hbuss | 115 | i2c_write_byte(Motor[motor++]); |
| 1111 | hbuss | 116 | break; |
| 117 | case 2: |
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| 1210 | hbuss | 118 | if(TWSR == 0x30) { if(!missing_motor) missing_motor = motor; } |
| 1111 | hbuss | 119 | i2c_stop(); |
| 1210 | hbuss | 120 | I2CTimeout = 10; |
| 1209 | hbuss | 121 | twi_state = 0; |
| 1111 | hbuss | 122 | i2c_start(); |
| 123 | break; |
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| 1210 | hbuss | 124 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 125 | // Reading Data |
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| 126 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1111 | hbuss | 127 | case 3: |
| 1209 | hbuss | 128 | //Transmit 1st byte for reading |
| 1210 | hbuss | 129 | |
| 130 | if(TWSR != 0x40) // Error? |
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| 131 | { |
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| 132 | MotorPresent[motorread] = 0; |
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| 133 | motorread++; |
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| 134 | if(motorread >= MAX_MOTORS) motorread = 0; |
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| 135 | i2c_stop(); |
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| 136 | twi_state = 0; |
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| 137 | } |
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| 138 | else |
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| 139 | { |
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| 140 | MotorPresent[motorread] = ('1' - '-') + motorread; |
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| 141 | } |
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| 142 | MissingMotor = missing_motor; |
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| 1209 | hbuss | 143 | I2C_ReceiveByte(); |
| 1111 | hbuss | 144 | break; |
| 1210 | hbuss | 145 | case 4: //Read 1st byte and transmit 2nd Byte |
| 1111 | hbuss | 146 | motor_rx[motorread] = TWDR; |
| 1209 | hbuss | 147 | I2C_ReceiveLastByte(); //nack |
| 148 | break; |
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| 1210 | hbuss | 149 | case 5: |
| 1209 | hbuss | 150 | //Read 2nd byte |
| 151 | motor_rx2[motorread++] = TWDR; |
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| 1111 | hbuss | 152 | i2c_stop(); |
| 1209 | hbuss | 153 | twi_state = 0; |
| 1210 | hbuss | 154 | missing_motor = 0; |
| 1111 | hbuss | 155 | break; |
| 1210 | hbuss | 156 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 157 | // writing Gyro-Offset |
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| 158 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 159 | case 8: |
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| 1111 | hbuss | 160 | i2c_write_byte(0x98); // Address of the DAC |
| 161 | break; |
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| 162 | case 9: |
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| 163 | i2c_write_byte(0x10); // Update Channel A |
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| 164 | break; |
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| 165 | case 10: |
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| 166 | i2c_write_byte(AnalogOffsetNick); // Value |
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| 167 | break; |
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| 168 | case 11: |
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| 169 | i2c_write_byte(0x80); // Value |
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| 170 | break; |
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| 171 | case 12: |
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| 172 | i2c_stop(); |
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| 173 | I2CTimeout = 10; |
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| 174 | i2c_start(); |
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| 175 | break; |
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| 176 | case 13: |
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| 177 | i2c_write_byte(0x98); // Address of the DAC |
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| 178 | break; |
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| 179 | case 14: |
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| 180 | i2c_write_byte(0x12); // Update Channel B |
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| 181 | break; |
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| 182 | case 15: |
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| 183 | i2c_write_byte(AnalogOffsetRoll); // Value |
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| 184 | break; |
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| 185 | case 16: |
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| 186 | i2c_write_byte(0x80); // Value |
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| 187 | break; |
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| 188 | case 17: |
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| 189 | i2c_stop(); |
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| 190 | I2CTimeout = 10; |
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| 191 | i2c_start(); |
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| 192 | break; |
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| 193 | case 18: |
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| 194 | i2c_write_byte(0x98); // Address of the DAC |
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| 195 | break; |
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| 196 | case 19: |
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| 197 | i2c_write_byte(0x14); // Update Channel C |
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| 198 | break; |
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| 199 | case 20: |
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| 200 | i2c_write_byte(AnalogOffsetGier); // Value |
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| 201 | break; |
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| 202 | case 21: |
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| 203 | i2c_write_byte(0x80); // Value |
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| 204 | break; |
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| 205 | case 22: |
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| 206 | i2c_stop(); |
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| 207 | I2CTimeout = 10; |
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| 208 | twi_state = 0; |
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| 209 | break; |
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| 1209 | hbuss | 210 | default: twi_state = 0; |
| 211 | break; |
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| 212 | } |
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| 1111 | hbuss | 213 | TWCR |= 0x80; |
| 214 | } |
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| 1209 | hbuss | 215 | /* |
| 1111 | hbuss | 216 | //############################################################################ |
| 217 | SIGNAL (TWI_vect) |
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| 218 | //############################################################################ |
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| 219 | { |
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| 220 | switch (twi_state++) |
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| 221 | { |
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| 222 | case 0: |
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| 223 | i2c_write_byte(0x52+(motor*2)); |
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| 224 | break; |
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| 225 | case 1: |
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| 226 | switch(motor++) |
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| 227 | { |
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| 228 | case 0: |
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| 1 | ingob | 229 | i2c_write_byte(Motor_Vorne); |
| 230 | break; |
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| 231 | case 1: |
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| 232 | i2c_write_byte(Motor_Hinten); |
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| 233 | break; |
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| 234 | case 2: |
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| 235 | i2c_write_byte(Motor_Rechts); |
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| 236 | break; |
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| 237 | case 3: |
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| 238 | i2c_write_byte(Motor_Links); |
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| 239 | break; |
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| 240 | } |
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| 241 | break; |
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| 242 | case 2: |
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| 243 | i2c_stop(); |
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| 244 | if (motor<4) twi_state = 0; |
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| 245 | else motor = 0; |
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| 246 | i2c_start(); |
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| 247 | break; |
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| 248 | |||
| 249 | //Liest Daten von Motor |
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| 250 | case 3: |
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| 251 | i2c_write_byte(0x53+(motorread*2)); |
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| 252 | break; |
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| 253 | case 4: |
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| 254 | switch(motorread) |
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| 255 | { |
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| 256 | case 0: |
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| 257 | i2c_write_byte(Motor_Vorne); |
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| 258 | break; |
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| 259 | case 1: |
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| 260 | i2c_write_byte(Motor_Hinten); |
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| 261 | break; |
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| 262 | case 2: |
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| 263 | i2c_write_byte(Motor_Rechts); |
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| 264 | break; |
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| 265 | case 3: |
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| 266 | i2c_write_byte(Motor_Links); |
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| 267 | break; |
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| 268 | } |
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| 269 | break; |
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| 270 | case 5: //1 Byte vom Motor lesen |
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| 271 | motor_rx[motorread] = TWDR; |
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| 173 | holgerb | 272 | |
| 1 | ingob | 273 | case 6: |
| 274 | switch(motorread) |
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| 275 | { |
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| 276 | case 0: |
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| 277 | i2c_write_byte(Motor_Vorne); |
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| 278 | break; |
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| 279 | case 1: |
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| 280 | i2c_write_byte(Motor_Hinten); |
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| 281 | break; |
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| 282 | case 2: |
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| 283 | i2c_write_byte(Motor_Rechts); |
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| 284 | break; |
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| 285 | case 3: |
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| 286 | i2c_write_byte(Motor_Links); |
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| 287 | break; |
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| 288 | } |
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| 289 | break; |
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| 290 | case 7: //2 Byte vom Motor lesen |
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| 291 | motor_rx[motorread+4] = TWDR; |
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| 292 | motorread++; |
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| 293 | if (motorread>3) motorread=0; |
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| 294 | i2c_stop(); |
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| 173 | holgerb | 295 | I2CTimeout = 10; |
| 1 | ingob | 296 | twi_state = 0; |
| 918 | hbuss | 297 | break; |
| 298 | case 8: // Gyro-Offset |
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| 299 | i2c_write_byte(0x98); // Address of the DAC |
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| 300 | break; |
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| 301 | case 9: |
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| 302 | i2c_write_byte(0x10); // Update Channel A |
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| 303 | break; |
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| 304 | case 10: |
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| 305 | i2c_write_byte(AnalogOffsetNick); // Value |
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| 306 | break; |
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| 307 | case 11: |
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| 308 | i2c_write_byte(0x80); // Value |
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| 309 | break; |
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| 310 | case 12: |
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| 311 | i2c_stop(); |
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| 312 | I2CTimeout = 10; |
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| 313 | i2c_start(); |
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| 314 | break; |
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| 315 | case 13: |
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| 316 | i2c_write_byte(0x98); // Address of the DAC |
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| 317 | break; |
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| 318 | case 14: |
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| 319 | i2c_write_byte(0x12); // Update Channel B |
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| 320 | break; |
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| 321 | case 15: |
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| 322 | i2c_write_byte(AnalogOffsetRoll); // Value |
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| 323 | break; |
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| 324 | case 16: |
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| 325 | i2c_write_byte(0x80); // Value |
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| 326 | break; |
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| 327 | case 17: |
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| 328 | i2c_stop(); |
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| 329 | I2CTimeout = 10; |
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| 330 | i2c_start(); |
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| 331 | break; |
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| 332 | case 18: |
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| 333 | i2c_write_byte(0x98); // Address of the DAC |
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| 334 | break; |
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| 335 | case 19: |
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| 336 | i2c_write_byte(0x14); // Update Channel C |
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| 337 | break; |
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| 338 | case 20: |
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| 339 | i2c_write_byte(AnalogOffsetGier); // Value |
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| 340 | break; |
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| 341 | case 21: |
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| 342 | i2c_write_byte(0x80); // Value |
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| 343 | break; |
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| 344 | case 22: |
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| 345 | i2c_stop(); |
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| 346 | I2CTimeout = 10; |
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| 347 | twi_state = 0; |
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| 348 | break; |
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| 1 | ingob | 349 | } |
| 173 | holgerb | 350 | TWCR |= 0x80; |
| 1 | ingob | 351 | } |
| 1209 | hbuss | 352 | */ |