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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 463 | Nick666 | 1 | /*############################################################################ |
| 2 | ############################################################################*/ |
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| 3 | |||
| 4 | #include "main.h" |
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| 5 | |||
| 6 | unsigned char twi_state = 0; |
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| 7 | unsigned char motor = 0; |
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| 8 | unsigned char motorread = 0; |
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| 9 | unsigned char motor_rx[8]; |
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| 10 | |||
| 11 | //############################################################################ |
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| 12 | //Initzialisieren der I2C (TWI) Schnittstelle |
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| 13 | void i2c_init(void) |
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| 14 | //############################################################################ |
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| 15 | { |
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| 16 | TWSR = 0; |
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| 17 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
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| 18 | } |
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| 19 | |||
| 20 | //############################################################################ |
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| 21 | //Start I2C |
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| 464 | Nick666 | 22 | void i2c_start(void) |
| 463 | Nick666 | 23 | //############################################################################ |
| 24 | { |
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| 25 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
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| 26 | } |
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| 27 | |||
| 28 | //############################################################################ |
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| 464 | Nick666 | 29 | //Stop I2C |
| 463 | Nick666 | 30 | void i2c_stop(void) |
| 31 | //############################################################################ |
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| 32 | { |
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| 33 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
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| 34 | } |
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| 35 | |||
| 36 | //############################################################################ |
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| 464 | Nick666 | 37 | //Write to I2C |
| 38 | void i2c_write_byte(char byte) |
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| 463 | Nick666 | 39 | //############################################################################ |
| 464 | Nick666 | 40 | { |
| 463 | Nick666 | 41 | TWDR = byte; |
| 42 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 43 | } |
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| 44 | |||
| 45 | //############################################################################ |
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| 46 | //Start I2C |
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| 47 | SIGNAL (TWI_vect) |
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| 48 | //############################################################################ |
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| 49 | { |
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| 50 | switch (twi_state++) |
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| 51 | { |
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| 52 | case 0: |
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| 53 | i2c_write_byte(0x52+(motor*2)); |
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| 54 | break; |
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| 55 | case 1: |
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| 56 | switch(motor++) |
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| 57 | { |
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| 58 | case 0: |
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| 59 | i2c_write_byte(Motor_Vorne); |
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| 60 | break; |
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| 61 | case 1: |
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| 62 | i2c_write_byte(Motor_Hinten); |
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| 63 | break; |
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| 64 | case 2: |
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| 65 | i2c_write_byte(Motor_Rechts); |
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| 66 | break; |
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| 67 | case 3: |
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| 68 | i2c_write_byte(Motor_Links); |
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| 69 | break; |
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| 70 | } |
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| 71 | break; |
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| 72 | case 2: |
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| 73 | if (motor<4) twi_state = 0; |
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| 74 | i2c_start(); |
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| 75 | break; |
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| 76 | |||
| 77 | //Liest Daten von Motor |
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| 78 | case 3: |
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| 79 | i2c_write_byte(0x53+(motorread*2)); |
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| 80 | break; |
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| 81 | case 4: |
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| 464 | Nick666 | 82 | i2c_write_byte(0xFF); |
| 463 | Nick666 | 83 | break; |
| 464 | Nick666 | 84 | case 5: //1. Byte vom Motor lesen |
| 463 | Nick666 | 85 | motor_rx[motorread] = TWDR; |
| 464 | Nick666 | 86 | i2c_write_byte(0xFF); |
| 87 | break; |
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| 88 | case 6: //2. Byte vom Motor lesen |
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| 463 | Nick666 | 89 | motor_rx[motorread+4] = TWDR; |
| 90 | motorread++; |
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| 464 | Nick666 | 91 | if (motorread>3) motorread=0; |
| 92 | default: |
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| 463 | Nick666 | 93 | i2c_stop(); |
| 94 | twi_state = 0; |
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| 464 | Nick666 | 95 | motor = 0; |
| 463 | Nick666 | 96 | } |
| 97 | } |