Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1068 | thjac | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
||
| 3 | |||
| 4 | #include "main.h" |
||
| 5 | |||
| 6 | volatile unsigned char twi_state = 0; |
||
| 7 | unsigned char motor = 0; |
||
| 8 | unsigned char motorread = 0; |
||
| 9 | unsigned char motor_rx[8]; |
||
| 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 |
||
| 22 | char i2c_start(void) |
||
| 23 | //############################################################################ |
||
| 24 | { |
||
| 25 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
||
| 26 | return(0); |
||
| 27 | } |
||
| 28 | |||
| 29 | //############################################################################ |
||
| 30 | //Start I2C |
||
| 31 | void i2c_stop(void) |
||
| 32 | //############################################################################ |
||
| 33 | { |
||
| 34 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
||
| 35 | } |
||
| 36 | |||
| 37 | void i2c_reset(void) |
||
| 38 | //############################################################################ |
||
| 39 | { |
||
| 40 | i2c_stop(); |
||
| 41 | twi_state = 0; |
||
| 42 | motor = TWDR; |
||
| 43 | motor = 0; |
||
| 44 | TWCR = 0x80; |
||
| 45 | TWAMR = 0; |
||
| 46 | TWAR = 0; |
||
| 47 | TWDR = 0; |
||
| 48 | TWSR = 0; |
||
| 49 | TWBR = 0; |
||
| 50 | i2c_init(); |
||
| 51 | i2c_start(); |
||
| 52 | i2c_write_byte(0); |
||
| 53 | } |
||
| 54 | |||
| 55 | //############################################################################ |
||
| 56 | //Start I2C |
||
| 57 | char i2c_write_byte(char byte) |
||
| 58 | //############################################################################ |
||
| 59 | { |
||
| 60 | TWSR = 0x00; |
||
| 61 | TWDR = byte; |
||
| 62 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
||
| 63 | |||
| 64 | return(0); |
||
| 65 | |||
| 66 | } |
||
| 67 | |||
| 68 | //############################################################################ |
||
| 69 | //Start I2C |
||
| 70 | SIGNAL (TWI_vect) |
||
| 71 | //############################################################################ |
||
| 72 | { |
||
| 73 | switch (twi_state++) |
||
| 74 | { |
||
| 75 | case 0: |
||
| 76 | i2c_write_byte(0x52+(motor*2)); |
||
| 77 | break; |
||
| 78 | case 1: |
||
| 79 | switch(motor++) |
||
| 80 | { |
||
| 81 | case 0: |
||
| 82 | i2c_write_byte(Motor_Vorne); |
||
| 83 | break; |
||
| 84 | case 1: |
||
| 85 | i2c_write_byte(Motor_Hinten); |
||
| 86 | break; |
||
| 87 | case 2: |
||
| 88 | i2c_write_byte(Motor_Rechts); |
||
| 89 | break; |
||
| 90 | case 3: |
||
| 91 | i2c_write_byte(Motor_Links); |
||
| 92 | break; |
||
| 93 | } |
||
| 94 | break; |
||
| 95 | case 2: |
||
| 96 | i2c_stop(); |
||
| 97 | if (motor<4) twi_state = 0; |
||
| 98 | else motor = 0; |
||
| 99 | i2c_start(); |
||
| 100 | break; |
||
| 101 | |||
| 102 | //Liest Daten von Motor |
||
| 103 | case 3: |
||
| 104 | i2c_write_byte(0x53+(motorread*2)); |
||
| 105 | break; |
||
| 106 | case 4: |
||
| 107 | switch(motorread) |
||
| 108 | { |
||
| 109 | case 0: |
||
| 110 | i2c_write_byte(Motor_Vorne); |
||
| 111 | break; |
||
| 112 | case 1: |
||
| 113 | i2c_write_byte(Motor_Hinten); |
||
| 114 | break; |
||
| 115 | case 2: |
||
| 116 | i2c_write_byte(Motor_Rechts); |
||
| 117 | break; |
||
| 118 | case 3: |
||
| 119 | i2c_write_byte(Motor_Links); |
||
| 120 | break; |
||
| 121 | } |
||
| 122 | break; |
||
| 123 | case 5: //1 Byte vom Motor lesen |
||
| 124 | motor_rx[motorread] = TWDR; |
||
| 125 | |||
| 126 | case 6: |
||
| 127 | switch(motorread) |
||
| 128 | { |
||
| 129 | case 0: |
||
| 130 | i2c_write_byte(Motor_Vorne); |
||
| 131 | break; |
||
| 132 | case 1: |
||
| 133 | i2c_write_byte(Motor_Hinten); |
||
| 134 | break; |
||
| 135 | case 2: |
||
| 136 | i2c_write_byte(Motor_Rechts); |
||
| 137 | break; |
||
| 138 | case 3: |
||
| 139 | i2c_write_byte(Motor_Links); |
||
| 140 | break; |
||
| 141 | } |
||
| 142 | break; |
||
| 143 | case 7: //2 Byte vom Motor lesen |
||
| 144 | motor_rx[motorread+4] = TWDR; |
||
| 145 | motorread++; |
||
| 146 | if (motorread>3) motorread=0; |
||
| 147 | i2c_stop(); |
||
| 148 | I2CTimeout = 10; |
||
| 149 | twi_state = 0; |
||
| 150 | break; |
||
| 151 | case 8: // Gyro-Offset |
||
| 152 | i2c_write_byte(0x98); // Address of the DAC |
||
| 153 | break; |
||
| 154 | case 9: |
||
| 155 | i2c_write_byte(0x10); // Update Channel A |
||
| 156 | break; |
||
| 157 | case 10: |
||
| 158 | i2c_write_byte(AnalogOffsetNick); // Value |
||
| 159 | break; |
||
| 160 | case 11: |
||
| 161 | i2c_write_byte(0x80); // Value |
||
| 162 | break; |
||
| 163 | case 12: |
||
| 164 | i2c_stop(); |
||
| 165 | I2CTimeout = 10; |
||
| 166 | i2c_start(); |
||
| 167 | break; |
||
| 168 | case 13: |
||
| 169 | i2c_write_byte(0x98); // Address of the DAC |
||
| 170 | break; |
||
| 171 | case 14: |
||
| 172 | i2c_write_byte(0x12); // Update Channel B |
||
| 173 | break; |
||
| 174 | case 15: |
||
| 175 | i2c_write_byte(AnalogOffsetRoll); // Value |
||
| 176 | break; |
||
| 177 | case 16: |
||
| 178 | i2c_write_byte(0x80); // Value |
||
| 179 | break; |
||
| 180 | case 17: |
||
| 181 | i2c_stop(); |
||
| 182 | I2CTimeout = 10; |
||
| 183 | i2c_start(); |
||
| 184 | break; |
||
| 185 | case 18: |
||
| 186 | i2c_write_byte(0x98); // Address of the DAC |
||
| 187 | break; |
||
| 188 | case 19: |
||
| 189 | i2c_write_byte(0x14); // Update Channel C |
||
| 190 | break; |
||
| 191 | case 20: |
||
| 192 | i2c_write_byte(AnalogOffsetGier); // Value |
||
| 193 | break; |
||
| 194 | case 21: |
||
| 195 | i2c_write_byte(0x80); // Value |
||
| 196 | break; |
||
| 197 | case 22: |
||
| 198 | i2c_stop(); |
||
| 199 | I2CTimeout = 10; |
||
| 200 | twi_state = 0; |
||
| 201 | break; |
||
| 202 | } |
||
| 203 | TWCR |= 0x80; |
||
| 204 | } |