0,0 → 1,216 |
/*############################################################################ |
############################################################################*/ |
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#include "main.h" |
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volatile unsigned char twi_state = 0; |
unsigned char motor = 0; |
unsigned char motorread = 0,MissingMotor = 0; |
unsigned char motor_rx[16],motor_rx2[16]; |
unsigned char MotorPresent[MAX_MOTORS]; |
unsigned char MotorError[MAX_MOTORS]; |
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//############################################################################ |
//Initzialisieren der I2C (TWI) Schnittstelle |
void i2c_init(void) |
//############################################################################ |
{ |
TWSR = 0; |
TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
} |
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//############################################################################ |
//Start I2C |
void i2c_start(void) |
//############################################################################ |
{ |
TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
} |
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//############################################################################ |
void i2c_stop(void) |
//############################################################################ |
{ |
TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
} |
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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); |
} |
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//############################################################################ |
void i2c_write_byte(char byte) |
//############################################################################ |
{ |
TWSR = 0x00; |
TWDR = byte; |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
} |
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/****************************************/ |
/* Write to I2C */ |
/****************************************/ |
void I2C_WriteByte(int8_t byte) |
{ |
// move byte to send into TWI Data Register |
TWDR = byte; |
// clear interrupt flag (TWINT = 1) |
// enable i2c bus (TWEN = 1) |
// enable interrupt (TWIE = 1) |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
} |
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/****************************************/ |
/* Receive byte and send ACK */ |
/****************************************/ |
void I2C_ReceiveByte(void) |
{ |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
} |
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/****************************************/ |
/* I2C receive last byte and send no ACK*/ |
/****************************************/ |
void I2C_ReceiveLastByte(void) |
{ |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
} |
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|
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//############################################################################ |
SIGNAL (TWI_vect) |
//############################################################################ |
{ |
static unsigned char missing_motor; |
switch(twi_state++) |
{ |
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Writing the Data |
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
case 0: |
while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
if(motor == MAX_MOTORS) // writing finished -> now read |
{ |
motor = 0; |
twi_state = 3; |
i2c_write_byte(0x53+(motorread*2)); |
} |
else i2c_write_byte(0x52+(motor*2)); |
break; |
case 1: |
i2c_write_byte(Motor[motor++]); |
break; |
case 2: |
if(TWSR == 0x30) { if(!missing_motor) missing_motor = motor; if(++MotorError[motor-1] == 0) MotorError[motor-1] = 255;} |
i2c_stop(); |
I2CTimeout = 10; |
twi_state = 0; |
i2c_start(); |
break; |
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Reading Data |
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
case 3: |
//Transmit 1st byte for reading |
if(TWSR != 0x40) // Error? |
{ |
MotorPresent[motorread] = 0; |
motorread++; |
if(motorread >= MAX_MOTORS) motorread = 0; |
i2c_stop(); |
twi_state = 0; |
} |
else |
{ |
MotorPresent[motorread] = ('1' - '-') + motorread; |
I2C_ReceiveByte(); |
} |
MissingMotor = missing_motor; |
missing_motor = 0; |
break; |
case 4: //Read 1st byte and transmit 2nd Byte |
motor_rx[motorread] = TWDR; |
I2C_ReceiveLastByte(); //nack |
break; |
case 5: |
//Read 2nd byte |
motor_rx2[motorread++] = TWDR; |
if(motorread >= MAX_MOTORS) motorread = 0; |
i2c_stop(); |
twi_state = 0; |
break; |
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//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// writing Gyro-Offset |
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
case 8: |
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; |
default: twi_state = 0; |
break; |
} |
TWCR |= 0x80; |
} |