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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*############################################################################ |
| 2 | Slaveadr = 0x52 = Vorne, 0x54 = Hinten, 0x56 = Rechts, 0x58 = Links |
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| 3 | ############################################################################*/ |
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| 4 | |||
| 5 | #include <avr/io.h> |
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| 6 | #include <util/twi.h> |
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| 7 | #include "main.h" |
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| 8 | |||
| 9 | unsigned char I2C_RXBuffer; |
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| 10 | unsigned char Byte_Counter=0; |
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| 11 | |||
| 12 | //############################################################################ |
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| 13 | //I2C (TWI) Interface Init |
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| 14 | void InitIC2_Slave(uint8_t adr) |
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| 15 | //############################################################################ |
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| 16 | { |
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| 17 | TWAR = adr + (2*MOTORADRESSE); // Eigene Adresse setzen |
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| 18 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
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| 19 | } |
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| 20 | |||
| 21 | //############################################################################ |
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| 22 | //ISR, die bei einem Ereignis auf dem Bus ausgelöst wird. Im Register TWSR befindet |
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| 23 | //sich dann ein Statuscode, anhand dessen die Situation festgestellt werden kann. |
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| 24 | ISR (TWI_vect) |
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| 25 | //############################################################################ |
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| 26 | { |
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| 27 | switch (TWSR & 0xF8) |
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| 28 | { |
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| 29 | case SR_SLA_ACK: |
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| 30 | TWCR |= (1<<TWINT); |
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| 31 | Byte_Counter=0; |
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| 32 | return; |
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| 33 | // Daten Empfangen |
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| 34 | case SR_PREV_ACK: |
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| 35 | I2C_RXBuffer = TWDR; |
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| 36 | I2C_Timeout = 500; |
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| 37 | TWCR |= (1<<TWINT); |
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| 38 | return; |
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| 39 | // Daten Senden |
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| 40 | case SW_SLA_ACK: |
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| 41 | if (Byte_Counter==0) |
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| 42 | { |
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| 43 | TWDR = Mittelstrom; |
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| 44 | Byte_Counter++; |
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| 45 | } |
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| 46 | else |
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| 47 | { |
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| 48 | TWDR = MaxPWM; |
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| 49 | } |
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| 50 | TWCR |= (1<<TWINT); |
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| 51 | return; |
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| 52 | // Daten Senden |
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| 53 | case SW_DATA_ACK: |
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| 54 | if (Byte_Counter==0) |
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| 55 | { |
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| 56 | TWDR = Mittelstrom; |
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| 57 | Byte_Counter++; |
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| 58 | } |
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| 59 | else |
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| 60 | { |
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| 61 | TWDR = MaxPWM; |
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| 62 | } |
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| 63 | TWCR |= (1<<TWINT); |
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| 64 | return; |
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| 65 | // Bus-Fehler zurücksetzen |
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| 66 | case TWI_BUS_ERR_2: |
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| 67 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
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| 68 | // Bus-Fehler zurücksetzen |
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| 69 | case TWI_BUS_ERR_1: |
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| 70 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
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| 71 | } |
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| 72 | TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset |
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| 73 | } |
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| 74 | |||
| 75 |