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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 | |||
| 476 | Nick666 | 6 | volatile unsigned char twi_state = 0; |
| 7 | volatile unsigned char motor = 0; |
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| 8 | volatile unsigned char motor_rx[8]; |
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| 463 | Nick666 | 9 | |
| 10 | //############################################################################ |
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| 11 | //Initzialisieren der I2C (TWI) Schnittstelle |
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| 12 | void i2c_init(void) |
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| 13 | //############################################################################ |
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| 14 | { |
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| 15 | TWSR = 0; |
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| 16 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
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| 17 | } |
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| 18 | |||
| 19 | //############################################################################ |
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| 20 | //Start I2C |
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| 464 | Nick666 | 21 | void i2c_start(void) |
| 463 | Nick666 | 22 | //############################################################################ |
| 23 | { |
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| 24 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
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| 25 | } |
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| 26 | |||
| 27 | //############################################################################ |
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| 464 | Nick666 | 28 | //Stop I2C |
| 463 | Nick666 | 29 | void i2c_stop(void) |
| 30 | //############################################################################ |
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| 31 | { |
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| 32 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
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| 33 | } |
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| 34 | |||
| 35 | //############################################################################ |
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| 464 | Nick666 | 36 | //Write to I2C |
| 37 | void i2c_write_byte(char byte) |
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| 463 | Nick666 | 38 | //############################################################################ |
| 464 | Nick666 | 39 | { |
| 463 | Nick666 | 40 | TWDR = byte; |
| 41 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 42 | } |
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| 43 | |||
| 44 | //############################################################################ |
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| 476 | Nick666 | 45 | // I2C receive byte and send ACK |
| 46 | void i2c_receive_byte(void) |
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| 47 | //############################################################################ |
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| 48 | { |
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| 49 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
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| 50 | } |
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| 51 | |||
| 52 | //############################################################################ |
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| 53 | // I2C receive last byte and send NOT ACK |
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| 54 | void i2c_receive_last_byte(void) |
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| 55 | //############################################################################ |
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| 56 | { |
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| 57 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
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| 58 | } |
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| 59 | |||
| 60 | //############################################################################ |
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| 463 | Nick666 | 61 | //Start I2C |
| 62 | SIGNAL (TWI_vect) |
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| 63 | //############################################################################ |
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| 64 | { |
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| 476 | Nick666 | 65 | static unsigned char motorread = 0; |
| 66 | |||
| 67 | switch (twi_state++) // First i2c_start from SendMotorData() |
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| 68 | { |
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| 69 | // Master Transmit |
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| 70 | case 0: // Address Slave SL+W |
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| 463 | Nick666 | 71 | i2c_write_byte(0x52+(motor*2)); |
| 72 | break; |
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| 476 | Nick666 | 73 | case 1: // Send Data |
| 463 | Nick666 | 74 | switch(motor++) |
| 476 | Nick666 | 75 | { |
| 463 | Nick666 | 76 | case 0: |
| 77 | i2c_write_byte(Motor_Vorne); |
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| 78 | break; |
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| 79 | case 1: |
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| 80 | i2c_write_byte(Motor_Hinten); |
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| 81 | break; |
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| 82 | case 2: |
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| 83 | i2c_write_byte(Motor_Rechts); |
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| 84 | break; |
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| 85 | case 3: |
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| 86 | i2c_write_byte(Motor_Links); |
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| 87 | break; |
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| 476 | Nick666 | 88 | } |
| 463 | Nick666 | 89 | break; |
| 476 | Nick666 | 90 | case 2: // Repeat case 0+1 for all Slaves |
| 465 | Nick666 | 91 | if (motor < 4) twi_state = 0; |
| 476 | Nick666 | 92 | i2c_start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive |
| 465 | Nick666 | 93 | break; |
| 476 | Nick666 | 94 | |
| 465 | Nick666 | 95 | // Master Receive |
| 96 | case 3: // Address Slave SL+R |
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| 463 | Nick666 | 97 | i2c_write_byte(0x53+(motorread*2)); |
| 98 | break; |
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| 476 | Nick666 | 99 | case 4: //1. Byte vom Motor übertragen |
| 100 | i2c_receive_byte(); |
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| 101 | break; |
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| 102 | case 5: // 1. Byte lesen und 2. Byte übertragen |
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| 463 | Nick666 | 103 | motor_rx[motorread] = TWDR; |
| 476 | Nick666 | 104 | i2c_receive_last_byte(); |
| 105 | break; |
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| 106 | case 6: //2. Byte lesen |
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| 463 | Nick666 | 107 | motor_rx[motorread+4] = TWDR; |
| 108 | motorread++; |
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| 476 | Nick666 | 109 | if (motorread > 3) motorread=0; |
| 110 | default: |
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| 463 | Nick666 | 111 | i2c_stop(); |
| 112 | twi_state = 0; |
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| 476 | Nick666 | 113 | motor = 0; |
| 114 | } |
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| 463 | Nick666 | 115 | } |