| 3,10 → 3,9 |
|---|
| |
| #include "main.h" |
| |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| volatile unsigned char twi_state = 0; |
| volatile unsigned char motor = 0; |
| volatile unsigned char motor_rx[8]; |
| |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| 43,19 → 42,37 |
|---|
| } |
| |
| //############################################################################ |
| // I2C receive byte and send ACK |
| void i2c_receive_byte(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| } |
| |
| //############################################################################ |
| // I2C receive last byte and send NOT ACK |
| void i2c_receive_last_byte(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) // First i2c_start from SendMotorData() |
| { |
| // Master Transmit |
| case 0: // Address Slave SL+W |
| static unsigned char motorread = 0; |
| |
| switch (twi_state++) // First i2c_start from SendMotorData() |
| { |
| // Master Transmit |
| case 0: // Address Slave SL+W |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: // Send Data |
| case 1: // Send Data |
| switch(motor++) |
| { |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| 68,28 → 85,31 |
|---|
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| } |
| break; |
| case 2: // Repeat case 0+1 for all Slaves |
| case 2: // Repeat case 0+1 for all Slaves |
| if (motor < 4) twi_state = 0; |
| i2c_start(); // Repeated start -> switch salve and switch Master Transmit <-> Master Receive respectively |
| i2c_start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive |
| break; |
| |
| |
| // Master Receive |
| case 3: // Address Slave SL+R |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: //1. Byte vom Motor lesen |
| case 4: //1. Byte vom Motor übertragen |
| i2c_receive_byte(); |
| break; |
| case 5: // 1. Byte lesen und 2. Byte übertragen |
| motor_rx[motorread] = TWDR; |
| TWCR |= (1<<TWINT); |
| break; |
| case 5: //2. Byte vom Motor lesen |
| i2c_receive_last_byte(); |
| break; |
| case 6: //2. Byte lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread > 3) motorread=0; |
| default: |
| if (motorread > 3) motorread=0; |
| default: |
| i2c_stop(); |
| twi_state = 0; |
| motor = 0; |
| } |
| motor = 0; |
| } |
| } |