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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1455 | acid | 1 | |
| 2 | #include <string.h> |
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| 3 | #include <avr/io.h> |
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| 4 | #include <util/twi.h> |
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| 5 | #include <avr/interrupt.h> |
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| 6 | #include "servoboard.h" |
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| 7 | #include "twislave.h" |
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| 8 | |||
| 1456 | acid | 9 | uint8_t I2C_RXBuffer[32]; |
| 10 | uint8_t Byte_Counter = 0; |
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| 1455 | acid | 11 | |
| 12 | void InitIC2_Slave(uint8_t adr) |
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| 13 | { |
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| 14 | TWAR = adr; |
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| 15 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
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| 16 | } |
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| 17 | |||
| 18 | uint8_t calc_crc(uint8_t *buffer, uint8_t l) { |
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| 19 | uint8_t crc = 0xff; |
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| 20 | uint8_t i; |
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| 21 | for(i = 0; i < l; i++) { |
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| 22 | crc = crc ^ buffer[i]; |
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| 23 | } |
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| 24 | return crc; |
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| 25 | } |
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| 26 | |||
| 27 | ISR (TWI_vect) { |
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| 28 | |||
| 1456 | acid | 29 | static char cnt = 0; |
| 1455 | acid | 30 | if (pwm_neutral_programming_mode == 0 && cnt++ == 0) { |
| 1456 | acid | 31 | if (PORTD & 0x80) PORTD &= ~0x80; else PORTD |= 0x80; |
| 1455 | acid | 32 | } |
| 33 | |||
| 1456 | acid | 34 | switch (TWSR & 0xF8) { |
| 1455 | acid | 35 | case SR_SLA_ACK: |
| 36 | TWCR |= (1<<TWINT); |
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| 37 | Byte_Counter = 0; |
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| 38 | return; |
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| 39 | case SR_PREV_ACK: |
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| 40 | if (Byte_Counter < 32) { |
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| 41 | I2C_RXBuffer[Byte_Counter++] = TWDR; |
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| 42 | } |
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| 43 | if (Byte_Counter == 7 && pwm_neutral_programming_mode == 0) { |
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| 44 | if (calc_crc(&I2C_RXBuffer, 6) == I2C_RXBuffer[6]) { |
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| 45 | memcpy(pwm_position, I2C_RXBuffer, 6); |
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| 46 | } |
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| 47 | } |
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| 48 | TWCR |= (1<<TWINT); |
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| 49 | return; |
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| 50 | case TWI_BUS_ERR_2: |
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| 51 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
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| 52 | case TWI_BUS_ERR_1: |
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| 53 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
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| 1456 | acid | 54 | } |
| 55 | TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 56 | |||
| 1455 | acid | 57 | } |
| 58 | |||
| 59 |