0,0 → 1,200 |
/*############################################################################ |
############################################################################*/ |
|
#include "main.h" |
|
volatile unsigned char twi_state = 0; |
unsigned char motor = 0; |
unsigned char motorread = 0; |
unsigned char motor_rx[MOTOR_COUNT*2]; |
|
//############################################################################ |
//Initzialisieren der I2C (TWI) Schnittstelle |
void i2c_init(void) |
//############################################################################ |
{ |
TWSR = 0; |
TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
} |
|
//############################################################################ |
//Start I2C |
char i2c_start(void) |
//############################################################################ |
{ |
TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
return(0); |
} |
|
//############################################################################ |
//Start I2C |
void i2c_stop(void) |
//############################################################################ |
{ |
TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
} |
|
void i2c_reset(void) |
//############################################################################ |
{ |
i2c_stop(); |
twi_state = 0; |
motor = TWDR; |
motor = 0; |
TWCR = 0x80; |
TWAMR = 0; |
TWAR = 0; |
TWDR = 0; |
TWSR = 0; |
TWBR = 0; |
i2c_init(); |
i2c_start(); |
i2c_write_byte(0); |
} |
|
//############################################################################ |
//Start I2C |
char i2c_write_byte(char byte) |
//############################################################################ |
{ |
TWSR = 0x00; |
TWDR = byte; |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
|
return(0); |
|
} |
|
//############################################################################ |
//Start I2C |
SIGNAL (TWI_vect) |
//############################################################################ |
{ |
switch (twi_state++) |
{ |
case 0: |
i2c_write_byte(0x52+(motor*2)); |
break; |
case 1: |
#ifdef HEXAKOPTER |
switch(motor++) |
{ |
case 0: |
i2c_write_byte(Motor_VorneLinks); |
break; |
case 1: |
i2c_write_byte(Motor_HintenRechts); |
break; |
case 2: |
i2c_write_byte(Motor_VorneRechts); |
break; |
case 3: |
i2c_write_byte(Motor_HintenLinks); |
break; |
case 4: |
i2c_write_byte(Motor_Rechts); |
break; |
case 5: |
i2c_write_byte(Motor_Links); |
break; |
} |
#else |
switch(motor++) |
{ |
case 0: |
i2c_write_byte(Motor_Vorne); |
break; |
case 1: |
i2c_write_byte(Motor_Hinten); |
break; |
case 2: |
i2c_write_byte(Motor_Rechts); |
break; |
case 3: |
i2c_write_byte(Motor_Links); |
break; |
} |
#endif |
break; |
case 2: |
i2c_stop(); |
if (motor<MOTOR_COUNT) twi_state = 0; |
else motor = 0; |
i2c_start(); |
break; |
|
//Liest Daten von Motor |
case 3: |
i2c_write_byte(0x53+(motorread*2)); |
break; |
case 4: |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
break; |
case 5: //1 Byte vom Motor lesen |
motor_rx[motorread] = TWDR; |
|
case 6: |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
break; |
case 7: //2 Byte vom Motor lesen |
motor_rx[motorread+MOTOR_COUNT] = TWDR; |
motorread++; |
if (motorread>=MOTOR_COUNT) motorread=0; |
i2c_stop(); |
I2CTimeout = 10; |
twi_state = 0; |
break; |
case 8: // Gyro-Offset |
i2c_write_byte(0x98); // Address of the DAC |
break; |
case 9: |
i2c_write_byte(0x10); // Update Channel A |
break; |
case 10: |
i2c_write_byte(AnalogOffsetNick); // Value |
break; |
case 11: |
i2c_write_byte(0x80); // Value |
break; |
case 12: |
i2c_stop(); |
I2CTimeout = 10; |
i2c_start(); |
break; |
case 13: |
i2c_write_byte(0x98); // Address of the DAC |
break; |
case 14: |
i2c_write_byte(0x12); // Update Channel B |
break; |
case 15: |
i2c_write_byte(AnalogOffsetRoll); // Value |
break; |
case 16: |
i2c_write_byte(0x80); // Value |
break; |
case 17: |
i2c_stop(); |
I2CTimeout = 10; |
i2c_start(); |
break; |
case 18: |
i2c_write_byte(0x98); // Address of the DAC |
break; |
case 19: |
i2c_write_byte(0x14); // Update Channel C |
break; |
case 20: |
i2c_write_byte(AnalogOffsetGier); // Value |
break; |
case 21: |
i2c_write_byte(0x80); // Value |
break; |
case 22: |
i2c_stop(); |
I2CTimeout = 10; |
twi_state = 0; |
break; |
} |
TWCR |= 0x80; |
} |