WebSVN - FlightCtrl - Blame - Rev 1189 - /branches/v0.72p kmpec/twimaster.c

Rev	Author	Line No.	Line
1189	kmpec	1	/*############################################################################
		2	############################################################################*/
		3
		4	#include "main.h"
		5
		6	volatile unsigned char twi_state = 0;
		7	unsigned char motor = 0;
		8	unsigned char motorread = 0;
		9	unsigned char motor_rx[16];
		10
		11	//############################################################################
		12	//Initzialisieren der I2C (TWI) Schnittstelle
		13	void i2c_init(void)
		14	//############################################################################
		15	{
		16	TWSR = 0;
		17	TWBR = ((SYSCLK/SCL_CLOCK)-16)/2;
		18	}
		19
		20	//############################################################################
		21	//Start I2C
		22	char i2c_start(void)
		23	//############################################################################
		24	{
		25	TWCR = (1<<TWSTA) \| (1<<TWEN) \| (1<<TWINT) \| (1<<TWIE);
		26	return(0);
		27	}
		28
		29	//############################################################################
		30	void i2c_stop(void)
		31	//############################################################################
		32	{
		33	TWCR = (1<<TWEN) \| (1<<TWSTO) \| (1<<TWINT);
		34	}
		35
		36	void i2c_reset(void)
		37	//############################################################################
		38	{
		39	i2c_stop();
		40	twi_state = 0;
		41	motor = TWDR;
		42	motor = 0;
		43	TWCR = 0x80;
		44	TWAMR = 0;
		45	TWAR = 0;
		46	TWDR = 0;
		47	TWSR = 0;
		48	TWBR = 0;
		49	i2c_init();
		50	i2c_start();
		51	i2c_write_byte(0);
		52	}
		53
		54	//############################################################################
		55	char i2c_write_byte(char byte)
		56	//############################################################################
		57	{
		58	TWSR = 0x00;
		59	TWDR = byte;
		60	TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE);
		61
		62	return(0);
		63
		64	}
		65
		66	#ifndef QUADRO
		67	//############################################################################
		68	SIGNAL (TWI_vect)
		69	//############################################################################
		70	{
		71	switch (twi_state++)
		72	{
		73	case 0:
		74	i2c_write_byte(0x52+(motor*2));
		75	break;
		76	case 1:
		77	switch(motor++)
		78	{
		79	case 0:
		80	i2c_write_byte(Motor1);
		81	break;
		82	case 1:
		83	i2c_write_byte(Motor2);
		84	break;
		85	case 2:
		86	i2c_write_byte(Motor3);
		87	break;
		88	case 3:
		89	i2c_write_byte(Motor4);
		90	break;
		91	case 4:
		92	i2c_write_byte(Motor5);
		93	break;
		94	case 5:
		95	i2c_write_byte(Motor6);
		96	break;
		97	case 6:
		98	i2c_write_byte(Motor7);
		99	break;
		100	case 7:
		101	i2c_write_byte(Motor8);
		102	break;
		103	}
		104	break;
		105	case 2:
		106	i2c_stop();
		107	if (motor<8) twi_state = 0;
		108	else motor = 0;
		109	i2c_start();
		110	break;
		111
		112	//Liest Daten von Motor
		113	case 3:
		114	i2c_write_byte(0x53+(motorread*2));
		115	break;
		116	case 4:
		117	switch(motorread)
		118	{
		119	case 0:
		120	i2c_write_byte(Motor1);
		121	break;
		122	case 1:
		123	i2c_write_byte(Motor2);
		124	break;
		125	case 2:
		126	i2c_write_byte(Motor3);
		127	break;
		128	case 3:
		129	i2c_write_byte(Motor4);
		130	break;
		131	case 4:
		132	i2c_write_byte(Motor5);
		133	break;
		134	case 5:
		135	i2c_write_byte(Motor6);
		136	break;
		137	case 6:
		138	i2c_write_byte(Motor7);
		139	break;
		140	case 7:
		141	i2c_write_byte(Motor8);
		142	break;
		143	}
		144	break;
		145	case 5: //1 Byte vom Motor lesen
		146	motor_rx[motorread] = TWDR;
		147
		148	case 6:
		149	switch(motorread)
		150	{
		151	case 0:
		152	i2c_write_byte(Motor1);
		153	break;
		154	case 1:
		155	i2c_write_byte(Motor2);
		156	break;
		157	case 2:
		158	i2c_write_byte(Motor3);
		159	break;
		160	case 3:
		161	i2c_write_byte(Motor4);
		162	break;
		163	case 4:
		164	i2c_write_byte(Motor5);
		165	break;
		166	case 5:
		167	i2c_write_byte(Motor6);
		168	break;
		169	case 6:
		170	i2c_write_byte(Motor7);
		171	break;
		172	case 7:
		173	i2c_write_byte(Motor8);
		174	break;
		175	}
		176	break;
		177	case 7: //2 Byte vom Motor lesen
		178	motor_rx[motorread+8] = TWDR;
		179	motorread++;
		180	if (motorread>7) motorread=0;
		181	i2c_stop();
		182	I2CTimeout = 10;
		183	twi_state = 0;
		184	break;
		185	case 8: // Gyro-Offset
		186	i2c_write_byte(0x98); // Address of the DAC
		187	break;
		188	case 9:
		189	i2c_write_byte(0x10); // Update Channel A
		190	break;
		191	case 10:
		192	i2c_write_byte(AnalogOffsetNick); // Value
		193	break;
		194	case 11:
		195	i2c_write_byte(0x80); // Value
		196	break;
		197	case 12:
		198	i2c_stop();
		199	I2CTimeout = 10;
		200	i2c_start();
		201	break;
		202	case 13:
		203	i2c_write_byte(0x98); // Address of the DAC
		204	break;
		205	case 14:
		206	i2c_write_byte(0x12); // Update Channel B
		207	break;
		208	case 15:
		209	i2c_write_byte(AnalogOffsetRoll); // Value
		210	break;
		211	case 16:
		212	i2c_write_byte(0x80); // Value
		213	break;
		214	case 17:
		215	i2c_stop();
		216	I2CTimeout = 10;
		217	i2c_start();
		218	break;
		219	case 18:
		220	i2c_write_byte(0x98); // Address of the DAC
		221	break;
		222	case 19:
		223	i2c_write_byte(0x14); // Update Channel C
		224	break;
		225	case 20:
		226	i2c_write_byte(AnalogOffsetGier); // Value
		227	break;
		228	case 21:
		229	i2c_write_byte(0x80); // Value
		230	break;
		231	case 22:
		232	i2c_stop();
		233	I2CTimeout = 10;
		234	twi_state = 0;
		235	break;
		236	}
		237	TWCR \|= 0x80;
		238	}
		239	#else
		240	//############################################################################
		241	SIGNAL (TWI_vect)
		242	//############################################################################
		243	{
		244	switch (twi_state++)
		245	{
		246	case 0:
		247	i2c_write_byte(0x52+(motor*2));
		248	break;
		249	case 1:
		250	switch(motor++)
		251	{
		252	case 0:
		253	i2c_write_byte(Motor_Vorne);
		254	break;
		255	case 1:
		256	i2c_write_byte(Motor_Hinten);
		257	break;
		258	case 2:
		259	i2c_write_byte(Motor_Rechts);
		260	break;
		261	case 3:
		262	i2c_write_byte(Motor_Links);
		263	break;
		264	}
		265	break;
		266	case 2:
		267	i2c_stop();
		268	if (motor<4) twi_state = 0;
		269	else motor = 0;
		270	i2c_start();
		271	break;
		272
		273	//Liest Daten von Motor
		274	case 3:
		275	i2c_write_byte(0x53+(motorread*2));
		276	break;
		277	case 4:
		278	switch(motorread)
		279	{
		280	case 0:
		281	i2c_write_byte(Motor_Vorne);
		282	break;
		283	case 1:
		284	i2c_write_byte(Motor_Hinten);
		285	break;
		286	case 2:
		287	i2c_write_byte(Motor_Rechts);
		288	break;
		289	case 3:
		290	i2c_write_byte(Motor_Links);
		291	break;
		292	}
		293	break;
		294	case 5: //1 Byte vom Motor lesen
		295	motor_rx[motorread] = TWDR;
		296
		297	case 6:
		298	switch(motorread)
		299	{
		300	case 0:
		301	i2c_write_byte(Motor_Vorne);
		302	break;
		303	case 1:
		304	i2c_write_byte(Motor_Hinten);
		305	break;
		306	case 2:
		307	i2c_write_byte(Motor_Rechts);
		308	break;
		309	case 3:
		310	i2c_write_byte(Motor_Links);
		311	break;
		312	}
		313	break;
		314	case 7: //2 Byte vom Motor lesen
		315	motor_rx[motorread+4] = TWDR;
		316	motorread++;
		317	if (motorread>3) motorread=0;
		318	i2c_stop();
		319	I2CTimeout = 10;
		320	twi_state = 0;
		321	break;
		322	case 8: // Gyro-Offset
		323	i2c_write_byte(0x98); // Address of the DAC
		324	break;
		325	case 9:
		326	i2c_write_byte(0x10); // Update Channel A
		327	break;
		328	case 10:
		329	i2c_write_byte(AnalogOffsetNick); // Value
		330	break;
		331	case 11:
		332	i2c_write_byte(0x80); // Value
		333	break;
		334	case 12:
		335	i2c_stop();
		336	I2CTimeout = 10;
		337	i2c_start();
		338	break;
		339	case 13:
		340	i2c_write_byte(0x98); // Address of the DAC
		341	break;
		342	case 14:
		343	i2c_write_byte(0x12); // Update Channel B
		344	break;
		345	case 15:
		346	i2c_write_byte(AnalogOffsetRoll); // Value
		347	break;
		348	case 16:
		349	i2c_write_byte(0x80); // Value
		350	break;
		351	case 17:
		352	i2c_stop();
		353	I2CTimeout = 10;
		354	i2c_start();
		355	break;
		356	case 18:
		357	i2c_write_byte(0x98); // Address of the DAC
		358	break;
		359	case 19:
		360	i2c_write_byte(0x14); // Update Channel C
		361	break;
		362	case 20:
		363	i2c_write_byte(AnalogOffsetGier); // Value
		364	break;
		365	case 21:
		366	i2c_write_byte(0x80); // Value
		367	break;
		368	case 22:
		369	i2c_stop();
		370	I2CTimeout = 10;
		371	twi_state = 0;
		372	break;
		373	}
		374	TWCR \|= 0x80;
		375	}
		376	#endif

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