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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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| 465 | Nick666 | 50 | switch (twi_state++) // First i2c_start from SendMotorData() |
| 463 | Nick666 | 51 | { |
| 465 | Nick666 | 52 | // Master Transmit |
| 53 | case 0: // Address Slave SL+W |
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| 463 | Nick666 | 54 | i2c_write_byte(0x52+(motor*2)); |
| 55 | break; |
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| 465 | Nick666 | 56 | case 1: // Send Data |
| 463 | Nick666 | 57 | switch(motor++) |
| 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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| 465 | Nick666 | 73 | case 2: // Repeat case 0+1 for all Slaves |
| 74 | if (motor < 4) twi_state = 0; |
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| 75 | i2c_start(); // Repeated start -> switch salve and switch Master Transmit <-> Master Receive respectively |
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| 76 | break; |
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| 77 | |||
| 78 | // Master Receive |
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| 79 | case 3: // Address Slave SL+R |
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| 463 | Nick666 | 80 | i2c_write_byte(0x53+(motorread*2)); |
| 81 | break; |
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| 465 | Nick666 | 82 | case 4: //1. Byte vom Motor lesen |
| 463 | Nick666 | 83 | motor_rx[motorread] = TWDR; |
| 465 | Nick666 | 84 | TWCR |= (1<<TWINT); |
| 464 | Nick666 | 85 | break; |
| 465 | Nick666 | 86 | case 5: //2. Byte vom Motor lesen |
| 463 | Nick666 | 87 | motor_rx[motorread+4] = TWDR; |
| 88 | motorread++; |
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| 465 | Nick666 | 89 | if (motorread > 3) motorread=0; |
| 464 | Nick666 | 90 | default: |
| 463 | Nick666 | 91 | i2c_stop(); |
| 92 | twi_state = 0; |
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| 464 | Nick666 | 93 | motor = 0; |
| 463 | Nick666 | 94 | } |
| 95 | } |