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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | |
| 2 | #include <avr/io.h> |
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| 3 | #include <util/twi.h> |
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| 4 | #include "main.h" |
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| 5 | |||
| 3 | ingob | 6 | unsigned char I2C_RxBufferSize, I2C_TxBufferSize; |
| 7 | unsigned char *I2C_TxBuffer, *I2C_RxBuffer; |
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| 8 | unsigned char Tx_Idx=0, Rx_Idx=0, I2C_Direction; |
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| 9 | unsigned char I2C_Command; |
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| 10 | unsigned char Tx_Idx, Rx_Idx; |
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| 1 | ingob | 11 | |
| 3 | ingob | 12 | struct str_I2C_Heading I2C_Heading; |
| 13 | struct str_I2C_WriteNickRoll I2C_WriteNickRoll; |
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| 14 | struct str_I2C_Mag I2C_Mag; |
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| 15 | struct str_I2C_EEPROM I2C_ReadEEPROM, I2C_WriteEEPROM; |
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| 16 | struct str_I2C_Version I2C_Version; |
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| 7 | hbuss | 17 | struct str_I2C_WriteCal I2C_WriteCal; |
| 3 | ingob | 18 | |
| 19 | |||
| 20 | |||
| 1 | ingob | 21 | //############################################################################ |
| 22 | //I2C (TWI) Interface Init |
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| 3 | ingob | 23 | void InitIC2_Slave(void) |
| 1 | ingob | 24 | //############################################################################ |
| 25 | { |
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| 3 | ingob | 26 | TWAR = I2C_SLAVE_ADDRESS; // Eigene Adresse setzen |
| 1 | ingob | 27 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| 3 | ingob | 28 | |
| 29 | |||
| 30 | I2C_Version.Hauptversion = VersionInfo.Hauptversion; |
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| 31 | I2C_Version.Nebenversion = VersionInfo.Nebenversion; |
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| 32 | I2C_Version.Comp = 1; |
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| 33 | |||
| 1 | ingob | 34 | } |
| 3 | ingob | 35 | #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| 1 | ingob | 36 | //############################################################################ |
| 37 | //ISR, die bei einem Ereignis auf dem Bus ausgelöst wird. Im Register TWSR befindet |
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| 38 | //sich dann ein Statuscode, anhand dessen die Situation festgestellt werden kann. |
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| 39 | ISR (TWI_vect) |
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| 40 | //############################################################################ |
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| 41 | { |
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| 42 | switch (TWSR & 0xF8) |
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| 43 | { |
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| 44 | case SR_SLA_ACK: |
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| 3 | ingob | 45 | //TWCR |= (1<<TWINT); |
| 46 | Rx_Idx = 0; |
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| 47 | |||
| 48 | TWCR_ACK; |
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| 1 | ingob | 49 | return; |
| 50 | // Daten Empfangen |
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| 51 | case SR_PREV_ACK: |
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| 3 | ingob | 52 | |
| 53 | if (Rx_Idx == 0) |
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| 54 | { I2C_Command = TWDR; |
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| 55 | |||
| 56 | switch(I2C_Command) |
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| 57 | { |
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| 58 | case I2C_CMD_VERSION: |
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| 59 | I2C_TxBuffer = (unsigned char *)&I2C_Version; |
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| 60 | I2C_TxBufferSize = sizeof(I2C_Version); |
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| 61 | I2C_RxBufferSize = 0; |
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| 62 | break; |
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| 63 | case I2C_CMD_WRITE_EEPROM: |
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| 64 | I2C_TxBufferSize = 0; |
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| 65 | I2C_RxBuffer = (unsigned char *)&I2C_WriteEEPROM; |
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| 66 | I2C_RxBufferSize = sizeof(I2C_WriteEEPROM); |
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| 67 | break; |
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| 7 | hbuss | 68 | |
| 69 | case I2C_CMD_WRITE_CAL: |
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| 70 | I2C_TxBufferSize = 0; |
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| 71 | I2C_RxBuffer = (unsigned char *)&I2C_WriteCal; |
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| 72 | I2C_RxBufferSize = sizeof(I2C_WriteCal); |
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| 73 | break; |
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| 74 | |||
| 3 | ingob | 75 | case I2C_CMD_READ_EEPROM: |
| 76 | I2C_TxBuffer = (unsigned char *)&I2C_ReadEEPROM.Inhalt; |
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| 77 | I2C_TxBufferSize = 2; |
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| 78 | I2C_RxBuffer = (unsigned char *)&I2C_ReadEEPROM; |
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| 79 | I2C_RxBufferSize = 1; |
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| 80 | break; |
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| 81 | case I2C_CMD_READ_MAG: |
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| 82 | I2C_TxBuffer = (unsigned char *)&I2C_Mag; |
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| 83 | I2C_TxBufferSize = sizeof(I2C_Mag); |
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| 84 | I2C_RxBufferSize = 0; |
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| 85 | |||
| 86 | I2C_Mag.MagX = MagnetN; |
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| 87 | I2C_Mag.MagY = MagnetR; |
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| 88 | I2C_Mag.MagZ = MagnetZ; |
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| 89 | |||
| 90 | break; |
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| 91 | case I2C_CMD_READ_HEADING: |
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| 92 | I2C_TxBuffer = (unsigned char *)&I2C_Heading; |
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| 93 | I2C_TxBufferSize = sizeof(I2C_Heading); |
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| 94 | I2C_RxBuffer = (unsigned char *)&I2C_WriteNickRoll; |
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| 95 | I2C_RxBufferSize = sizeof(I2C_WriteNickRoll); |
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| 96 | |||
| 97 | I2C_Heading.Heading = Heading; |
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| 7 | hbuss | 98 | ExternData.Winkel[NICK] = I2C_WriteNickRoll.Nick; |
| 99 | ExternData.Winkel[ROLL] = I2C_WriteNickRoll.Roll; |
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| 3 | ingob | 100 | break; |
| 101 | } |
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| 102 | } |
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| 103 | else |
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| 104 | { |
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| 4 | ingob | 105 | if ((Rx_Idx-1) < I2C_RxBufferSize) I2C_RxBuffer[Rx_Idx-1] = TWDR; |
| 3 | ingob | 106 | } |
| 107 | |||
| 108 | Rx_Idx++; |
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| 109 | |||
| 110 | |||
| 1 | ingob | 111 | I2C_Timeout = 500; |
| 3 | ingob | 112 | //TWCR |= (1<<TWINT); |
| 113 | TWCR_ACK; |
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| 1 | ingob | 114 | return; |
| 115 | // Daten Senden |
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| 3 | ingob | 116 | |
| 1 | ingob | 117 | case SW_SLA_ACK: |
| 3 | ingob | 118 | Tx_Idx = 0; |
| 119 | |||
| 120 | if (I2C_TxBufferSize > 0) TWDR = I2C_TxBuffer[Tx_Idx++]; |
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| 121 | |||
| 122 | // TWCR |= (1<<TWINT) | (1<< TWEA); |
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| 123 | TWCR_ACK; |
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| 1 | ingob | 124 | return; |
| 125 | // Daten Senden |
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| 3 | ingob | 126 | case SW_DATA_ACK: |
| 127 | if (Tx_Idx < I2C_TxBufferSize) TWDR = I2C_TxBuffer[Tx_Idx++]; |
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| 128 | else TWDR = 0x00; |
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| 129 | //TWCR |= (1<<TWINT) | (1<< TWEA); |
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| 130 | TWCR_ACK; |
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| 1 | ingob | 131 | return; |
| 132 | // Bus-Fehler zurücksetzen |
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| 133 | case TWI_BUS_ERR_2: |
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| 134 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
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| 135 | // Bus-Fehler zurücksetzen |
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| 136 | case TWI_BUS_ERR_1: |
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| 137 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
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| 138 | } |
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| 139 | TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset |
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| 140 | } |
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| 141 | |||
| 142 |