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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 440 | Nick666 | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
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| 3 | |||
| 4 | #include "main.h" |
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| 5 | |||
| 6 | unsigned char motor_rx[8]; |
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| 7 | |||
| 8 | //############################################################################ |
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| 9 | //Initzialisieren der I2C (TWI) Schnittstelle |
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| 10 | void i2c_init(void) |
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| 11 | //############################################################################ |
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| 12 | { |
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| 13 | TWSR = 0; |
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| 14 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
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| 15 | } |
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| 16 | |||
| 17 | //############################################################################ |
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| 18 | //Start I2C |
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| 441 | Nick666 | 19 | void i2c_start(void) |
| 440 | Nick666 | 20 | //############################################################################ |
| 21 | { |
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| 22 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
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| 23 | } |
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| 24 | |||
| 25 | //############################################################################ |
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| 441 | Nick666 | 26 | //Stop I2C |
| 440 | Nick666 | 27 | void i2c_stop(void) |
| 28 | //############################################################################ |
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| 29 | { |
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| 30 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
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| 31 | } |
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| 32 | |||
| 33 | //############################################################################ |
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| 441 | Nick666 | 34 | //Write to I2C |
| 35 | void i2c_write_byte(char byte) |
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| 440 | Nick666 | 36 | //############################################################################ |
| 441 | Nick666 | 37 | { |
| 440 | Nick666 | 38 | TWDR = byte; |
| 39 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 40 | } |
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| 41 | |||
| 42 | //############################################################################ |
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| 441 | Nick666 | 43 | //ISR |
| 440 | Nick666 | 44 | SIGNAL (TWI_vect) |
| 45 | //############################################################################ |
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| 46 | { |
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| 441 | Nick666 | 47 | static unsigned char twi_state = 0; |
| 48 | static unsigned char motor = 0; |
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| 49 | static unsigned char motorread = 0; |
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| 50 | |||
| 440 | Nick666 | 51 | switch (twi_state++) |
| 52 | { |
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| 53 | case 0: |
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| 54 | i2c_write_byte(0x52+(motor*2)); |
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| 55 | break; |
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| 56 | case 1: |
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| 57 | switch(motor++) |
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| 58 | { |
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| 59 | case 0: |
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| 60 | i2c_write_byte(Motor_Vorne); |
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| 61 | break; |
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| 62 | case 1: |
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| 63 | i2c_write_byte(Motor_Hinten); |
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| 64 | break; |
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| 65 | case 2: |
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| 66 | i2c_write_byte(Motor_Rechts); |
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| 67 | break; |
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| 68 | case 3: |
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| 69 | i2c_write_byte(Motor_Links); |
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| 70 | break; |
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| 71 | } |
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| 72 | break; |
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| 73 | case 2: |
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| 74 | if (motor<4) twi_state = 0; |
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| 75 | i2c_start(); |
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| 76 | break; |
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| 77 | |||
| 78 | //Liest Daten von Motor |
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| 79 | case 3: |
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| 80 | i2c_write_byte(0x53+(motorread*2)); |
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| 81 | break; |
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| 82 | case 4: |
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| 441 | Nick666 | 83 | i2c_write_byte(0xFF); |
| 440 | Nick666 | 84 | break; |
| 441 | Nick666 | 85 | case 5: // 1. Byte vom Motor lesen |
| 440 | Nick666 | 86 | motor_rx[motorread] = TWDR; |
| 441 | Nick666 | 87 | i2c_write_byte(0xFF); |
| 88 | break; |
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| 89 | case 6: // 2. Byte vom Motor lesen |
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| 440 | Nick666 | 90 | motor_rx[motorread+4] = TWDR; |
| 91 | motorread++; |
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| 92 | if (motorread>3) motorread=0; |
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| 441 | Nick666 | 93 | default: |
| 440 | Nick666 | 94 | i2c_stop(); |
| 95 | twi_state = 0; |
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| 441 | Nick666 | 96 | motor = 0; |
| 440 | Nick666 | 97 | } |
| 98 | } |