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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1400 | acid | 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,MissingMotor = 0; |
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| 9 | unsigned char motor_rx[16],motor_rx2[16]; |
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| 10 | unsigned char MotorPresent[MAX_MOTORS]; |
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| 11 | unsigned char MotorError[MAX_MOTORS]; |
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| 12 | unsigned int I2CError = 0; |
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| 13 | |||
| 14 | //############################################################################ |
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| 15 | //Initzialisieren der I2C (TWI) Schnittstelle |
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| 16 | void i2c_init(void) |
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| 17 | //############################################################################ |
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| 18 | { |
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| 19 | TWSR = 0; |
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| 1452 | acid | 20 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| 1400 | acid | 21 | } |
| 22 | |||
| 23 | //############################################################################ |
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| 24 | //Start I2C |
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| 1452 | acid | 25 | void i2c_start(void) |
| 1400 | acid | 26 | //############################################################################ |
| 27 | { |
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| 28 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
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| 29 | } |
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| 30 | |||
| 31 | //############################################################################ |
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| 32 | void i2c_stop(void) |
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| 33 | //############################################################################ |
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| 34 | { |
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| 35 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
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| 36 | } |
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| 37 | |||
| 38 | void i2c_reset(void) |
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| 39 | //############################################################################ |
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| 40 | { |
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| 1452 | acid | 41 | i2c_stop(); |
| 1400 | acid | 42 | twi_state = 0; |
| 43 | motor = TWDR; |
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| 44 | motor = 0; |
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| 45 | TWCR = 0x80; |
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| 46 | TWAMR = 0; |
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| 47 | TWAR = 0; |
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| 48 | TWDR = 0; |
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| 49 | TWSR = 0; |
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| 50 | TWBR = 0; |
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| 51 | i2c_init(); |
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| 52 | i2c_start(); |
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| 53 | i2c_write_byte(0); |
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| 54 | } |
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| 55 | |||
| 56 | //############################################################################ |
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| 57 | void i2c_write_byte(char byte) |
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| 58 | //############################################################################ |
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| 1452 | acid | 59 | { |
| 1400 | acid | 60 | TWSR = 0x00; |
| 61 | TWDR = byte; |
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| 62 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 63 | } |
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| 64 | |||
| 65 | /****************************************/ |
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| 66 | /* Write to I2C */ |
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| 67 | /****************************************/ |
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| 68 | void I2C_WriteByte(int8_t byte) |
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| 69 | { |
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| 70 | // move byte to send into TWI Data Register |
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| 71 | TWDR = byte; |
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| 72 | // clear interrupt flag (TWINT = 1) |
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| 73 | // enable i2c bus (TWEN = 1) |
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| 74 | // enable interrupt (TWIE = 1) |
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| 75 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 76 | } |
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| 77 | |||
| 78 | /****************************************/ |
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| 79 | /* Receive byte and send ACK */ |
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| 80 | /****************************************/ |
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| 81 | void I2C_ReceiveByte(void) |
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| 82 | { |
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| 83 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
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| 84 | } |
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| 85 | |||
| 86 | /****************************************/ |
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| 87 | /* I2C receive last byte and send no ACK*/ |
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| 88 | /****************************************/ |
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| 89 | void I2C_ReceiveLastByte(void) |
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| 90 | { |
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| 91 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 92 | } |
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| 93 | |||
| 1452 | acid | 94 | uint8_t calc_crc(uint8_t *buffer, uint8_t l) { |
| 95 | uint8_t crc = 0xff; |
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| 96 | uint8_t i; |
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| 97 | for(i = 0; i < l; i++) { |
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| 98 | crc = crc ^ buffer[i]; |
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| 99 | } |
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| 100 | return crc; |
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| 101 | } |
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| 1400 | acid | 102 | |
| 103 | //############################################################################ |
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| 104 | SIGNAL (TWI_vect) |
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| 105 | //############################################################################ |
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| 106 | { |
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| 107 | static unsigned char missing_motor; |
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| 108 | switch(twi_state++) |
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| 109 | { |
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| 110 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 111 | // writing Gyro-Offset |
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| 112 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1452 | acid | 113 | case 8: |
| 1400 | acid | 114 | i2c_write_byte(0x98); // Address of the DAC |
| 115 | break; |
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| 1452 | acid | 116 | case 9: |
| 1400 | acid | 117 | i2c_write_byte(0x10); // Update Channel A |
| 118 | break; |
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| 1452 | acid | 119 | case 10: |
| 1400 | acid | 120 | i2c_write_byte(AnalogOffsetNick); // Value |
| 121 | break; |
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| 1452 | acid | 122 | case 11: |
| 1400 | acid | 123 | i2c_write_byte(0x80); // Value |
| 124 | break; |
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| 1452 | acid | 125 | case 12: |
| 126 | i2c_stop(); |
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| 1400 | acid | 127 | I2CTimeout = 10; |
| 1452 | acid | 128 | i2c_start(); |
| 1400 | acid | 129 | break; |
| 1452 | acid | 130 | case 13: |
| 1400 | acid | 131 | i2c_write_byte(0x98); // Address of the DAC |
| 132 | break; |
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| 1452 | acid | 133 | case 14: |
| 1400 | acid | 134 | i2c_write_byte(0x12); // Update Channel B |
| 135 | break; |
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| 1452 | acid | 136 | case 15: |
| 1400 | acid | 137 | i2c_write_byte(AnalogOffsetRoll); // Value |
| 138 | break; |
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| 1452 | acid | 139 | case 16: |
| 1400 | acid | 140 | i2c_write_byte(0x80); // Value |
| 141 | break; |
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| 1452 | acid | 142 | case 17: |
| 143 | i2c_stop(); |
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| 1400 | acid | 144 | I2CTimeout = 10; |
| 1452 | acid | 145 | i2c_start(); |
| 1400 | acid | 146 | break; |
| 1452 | acid | 147 | case 18: |
| 1400 | acid | 148 | i2c_write_byte(0x98); // Address of the DAC |
| 149 | break; |
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| 1452 | acid | 150 | case 19: |
| 1400 | acid | 151 | i2c_write_byte(0x14); // Update Channel C |
| 152 | break; |
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| 1452 | acid | 153 | case 20: |
| 1400 | acid | 154 | i2c_write_byte(AnalogOffsetGier); // Value |
| 155 | break; |
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| 1452 | acid | 156 | case 21: |
| 1400 | acid | 157 | i2c_write_byte(0x80); // Value |
| 158 | break; |
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| 1452 | acid | 159 | case 22: |
| 160 | i2c_stop(); |
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| 1400 | acid | 161 | I2CTimeout = 10; |
| 162 | twi_state = 0; |
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| 163 | break; |
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| 1452 | acid | 164 | |
| 165 | case 0: |
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| 166 | i2c_write_byte(0x82); // servo board |
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| 167 | twi_state = 100; |
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| 168 | break; |
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| 169 | case 100: // servo 1 |
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| 170 | i2c_write_byte(servoValues[0]); |
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| 171 | break; |
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| 172 | case 101: // servo 2 |
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| 173 | i2c_write_byte(servoValues[1]); |
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| 174 | break; |
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| 175 | case 102: // servo 3 |
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| 176 | i2c_write_byte(servoValues[2]); |
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| 177 | break; |
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| 178 | case 103: // servo 4 |
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| 179 | i2c_write_byte(servoValues[3]); |
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| 180 | break; |
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| 181 | case 104: // servo 5 |
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| 182 | i2c_write_byte(servoValues[4]); |
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| 183 | break; |
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| 184 | case 105: // servo 6 |
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| 185 | i2c_write_byte(servoValues[5]); |
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| 186 | break; |
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| 187 | case 106: |
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| 188 | i2c_write_byte(calc_crc(&servoValues, 6)); |
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| 189 | break; |
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| 190 | case 107: |
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| 191 | i2c_stop(); |
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| 192 | I2CTimeout = 10; |
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| 193 | twi_state = 0; |
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| 194 | break; |
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| 1400 | acid | 195 | default: twi_state = 0; |
| 1452 | acid | 196 | break; |
| 1400 | acid | 197 | } |
| 198 | TWCR |= 0x80; |
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| 199 | } |