Rev 1452 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1400 | acid | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
||
| 3 | |||
| 4 | #include "main.h" |
||
| 1568 | acid | 5 | #include "heli.h" |
| 1400 | acid | 6 | |
| 7 | volatile unsigned char twi_state = 0; |
||
| 8 | unsigned char motor = 0; |
||
| 9 | unsigned char motorread = 0,MissingMotor = 0; |
||
| 10 | unsigned char motor_rx[16],motor_rx2[16]; |
||
| 11 | unsigned char MotorPresent[MAX_MOTORS]; |
||
| 12 | unsigned char MotorError[MAX_MOTORS]; |
||
| 13 | unsigned int I2CError = 0; |
||
| 14 | |||
| 15 | //############################################################################ |
||
| 16 | //Initzialisieren der I2C (TWI) Schnittstelle |
||
| 17 | void i2c_init(void) |
||
| 18 | //############################################################################ |
||
| 19 | { |
||
| 20 | TWSR = 0; |
||
| 1452 | acid | 21 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| 1400 | acid | 22 | } |
| 23 | |||
| 24 | //############################################################################ |
||
| 25 | //Start I2C |
||
| 1452 | acid | 26 | void i2c_start(void) |
| 1400 | acid | 27 | //############################################################################ |
| 28 | { |
||
| 29 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
||
| 30 | } |
||
| 31 | |||
| 32 | //############################################################################ |
||
| 33 | void i2c_stop(void) |
||
| 34 | //############################################################################ |
||
| 35 | { |
||
| 36 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
||
| 37 | } |
||
| 38 | |||
| 39 | void i2c_reset(void) |
||
| 40 | //############################################################################ |
||
| 41 | { |
||
| 1452 | acid | 42 | i2c_stop(); |
| 1400 | acid | 43 | twi_state = 0; |
| 44 | motor = TWDR; |
||
| 45 | motor = 0; |
||
| 46 | TWCR = 0x80; |
||
| 47 | TWAMR = 0; |
||
| 48 | TWAR = 0; |
||
| 49 | TWDR = 0; |
||
| 50 | TWSR = 0; |
||
| 51 | TWBR = 0; |
||
| 52 | i2c_init(); |
||
| 53 | i2c_start(); |
||
| 54 | i2c_write_byte(0); |
||
| 55 | } |
||
| 56 | |||
| 57 | //############################################################################ |
||
| 58 | void i2c_write_byte(char byte) |
||
| 59 | //############################################################################ |
||
| 1452 | acid | 60 | { |
| 1400 | acid | 61 | TWSR = 0x00; |
| 62 | TWDR = byte; |
||
| 63 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
||
| 64 | } |
||
| 65 | |||
| 66 | /****************************************/ |
||
| 67 | /* Write to I2C */ |
||
| 68 | /****************************************/ |
||
| 69 | void I2C_WriteByte(int8_t byte) |
||
| 70 | { |
||
| 71 | // move byte to send into TWI Data Register |
||
| 72 | TWDR = byte; |
||
| 73 | // clear interrupt flag (TWINT = 1) |
||
| 74 | // enable i2c bus (TWEN = 1) |
||
| 75 | // enable interrupt (TWIE = 1) |
||
| 76 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
||
| 77 | } |
||
| 78 | |||
| 79 | /****************************************/ |
||
| 80 | /* Receive byte and send ACK */ |
||
| 81 | /****************************************/ |
||
| 82 | void I2C_ReceiveByte(void) |
||
| 83 | { |
||
| 84 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
||
| 85 | } |
||
| 86 | |||
| 87 | /****************************************/ |
||
| 88 | /* I2C receive last byte and send no ACK*/ |
||
| 89 | /****************************************/ |
||
| 90 | void I2C_ReceiveLastByte(void) |
||
| 91 | { |
||
| 92 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
||
| 93 | } |
||
| 94 | |||
| 1452 | acid | 95 | uint8_t calc_crc(uint8_t *buffer, uint8_t l) { |
| 96 | uint8_t crc = 0xff; |
||
| 97 | uint8_t i; |
||
| 98 | for(i = 0; i < l; i++) { |
||
| 99 | crc = crc ^ buffer[i]; |
||
| 100 | } |
||
| 101 | return crc; |
||
| 102 | } |
||
| 1400 | acid | 103 | |
| 104 | //############################################################################ |
||
| 105 | SIGNAL (TWI_vect) |
||
| 106 | //############################################################################ |
||
| 107 | { |
||
| 108 | static unsigned char missing_motor; |
||
| 109 | switch(twi_state++) |
||
| 110 | { |
||
| 111 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 112 | // writing Gyro-Offset |
||
| 113 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1452 | acid | 114 | case 8: |
| 1400 | acid | 115 | i2c_write_byte(0x98); // Address of the DAC |
| 116 | break; |
||
| 1452 | acid | 117 | case 9: |
| 1400 | acid | 118 | i2c_write_byte(0x10); // Update Channel A |
| 119 | break; |
||
| 1452 | acid | 120 | case 10: |
| 1400 | acid | 121 | i2c_write_byte(AnalogOffsetNick); // Value |
| 122 | break; |
||
| 1452 | acid | 123 | case 11: |
| 1400 | acid | 124 | i2c_write_byte(0x80); // Value |
| 125 | break; |
||
| 1452 | acid | 126 | case 12: |
| 127 | i2c_stop(); |
||
| 1400 | acid | 128 | I2CTimeout = 10; |
| 1452 | acid | 129 | i2c_start(); |
| 1400 | acid | 130 | break; |
| 1452 | acid | 131 | case 13: |
| 1400 | acid | 132 | i2c_write_byte(0x98); // Address of the DAC |
| 133 | break; |
||
| 1452 | acid | 134 | case 14: |
| 1400 | acid | 135 | i2c_write_byte(0x12); // Update Channel B |
| 136 | break; |
||
| 1452 | acid | 137 | case 15: |
| 1400 | acid | 138 | i2c_write_byte(AnalogOffsetRoll); // Value |
| 139 | break; |
||
| 1452 | acid | 140 | case 16: |
| 1400 | acid | 141 | i2c_write_byte(0x80); // Value |
| 142 | break; |
||
| 1452 | acid | 143 | case 17: |
| 144 | i2c_stop(); |
||
| 1400 | acid | 145 | I2CTimeout = 10; |
| 1452 | acid | 146 | i2c_start(); |
| 1400 | acid | 147 | break; |
| 1452 | acid | 148 | case 18: |
| 1400 | acid | 149 | i2c_write_byte(0x98); // Address of the DAC |
| 150 | break; |
||
| 1452 | acid | 151 | case 19: |
| 1400 | acid | 152 | i2c_write_byte(0x14); // Update Channel C |
| 153 | break; |
||
| 1452 | acid | 154 | case 20: |
| 1400 | acid | 155 | i2c_write_byte(AnalogOffsetGier); // Value |
| 156 | break; |
||
| 1452 | acid | 157 | case 21: |
| 1400 | acid | 158 | i2c_write_byte(0x80); // Value |
| 159 | break; |
||
| 1452 | acid | 160 | case 22: |
| 161 | i2c_stop(); |
||
| 1400 | acid | 162 | I2CTimeout = 10; |
| 163 | twi_state = 0; |
||
| 164 | break; |
||
| 1452 | acid | 165 | |
| 166 | case 0: |
||
| 167 | i2c_stop(); |
||
| 168 | I2CTimeout = 10; |
||
| 169 | twi_state = 0; |
||
| 170 | break; |
||
| 1400 | acid | 171 | default: twi_state = 0; |
| 1452 | acid | 172 | break; |
| 1400 | acid | 173 | } |
| 174 | TWCR |= 0x80; |
||
| 175 | } |