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1 | /*############################################################################ |
1 | /*############################################################################ |
2 | ############################################################################*/ |
2 | ############################################################################*/ |
3 | 3 | ||
4 | #include "main.h" |
4 | #include "main.h" |
5 | 5 | ||
6 | volatile unsigned char twi_state = 0; |
6 | volatile unsigned char twi_state = 0; |
7 | unsigned char motor = 0,TransmitBlConfig = 1; |
7 | unsigned char motor = 0,TransmitBlConfig = 1; |
8 | unsigned char motorread = 0,MissingMotor = 0; |
8 | unsigned char motorread = 0,MissingMotor = 0; |
9 | unsigned char ReadTemperature = 0; |
9 | unsigned char ReadTemperature = 0; |
10 | 10 | ||
11 | MotorData_t Motor[MAX_MOTORS]; |
11 | MotorData_t Motor[MAX_MOTORS]; |
12 | 12 | ||
13 | unsigned int I2CError = 0; |
13 | unsigned int I2CError = 0; |
14 | 14 | ||
15 | //############################################################################ |
15 | //############################################################################ |
16 | //Initzialisieren der I2C (TWI) Schnittstelle |
16 | //Initzialisieren der I2C (TWI) Schnittstelle |
17 | void i2c_init(void) |
17 | void i2c_init(void) |
18 | //############################################################################ |
18 | //############################################################################ |
19 | { |
19 | { |
20 | TWSR = 0; |
20 | TWSR = 0; |
21 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
21 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
22 | } |
22 | } |
23 | 23 | ||
24 | void i2c_reset(void) |
24 | void i2c_reset(void) |
25 | //############################################################################ |
25 | //############################################################################ |
26 | { |
26 | { |
27 | I2C_Stop(); |
27 | I2C_Stop(); |
28 | twi_state = 0; |
28 | twi_state = 0; |
29 | motor = TWDR; |
29 | motor = TWDR; |
30 | motor = 0; |
30 | motor = 0; |
31 | TWCR = 0x80; |
31 | TWCR = 0x80; |
32 | TWAMR = 0; |
32 | TWAMR = 0; |
33 | TWAR = 0; |
33 | TWAR = 0; |
34 | TWDR = 0; |
34 | TWDR = 0; |
35 | TWSR = 0; |
35 | TWSR = 0; |
36 | TWBR = 0; |
36 | TWBR = 0; |
37 | i2c_init(); |
37 | i2c_init(); |
38 | I2C_Start(); |
38 | I2C_Start(); |
39 | i2c_write_byte(0); |
39 | i2c_write_byte(0); |
40 | } |
40 | } |
41 | 41 | ||
42 | /* |
42 | /* |
43 | //############################################################################ |
43 | //############################################################################ |
44 | SIGNAL (TWI_vect) |
44 | SIGNAL (TWI_vect) |
45 | //############################################################################ |
45 | //############################################################################ |
46 | { |
46 | { |
47 | static unsigned char missing_motor; |
47 | static unsigned char missing_motor; |
48 | switch(twi_state++) |
48 | switch(twi_state++) |
49 | { |
49 | { |
50 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // Writing the Data |
51 | // Writing the Data |
52 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | case 0: |
53 | case 0: |
54 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
54 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
55 | if(motor == MAX_MOTORS) // writing finished -> now read |
55 | if(motor == MAX_MOTORS) // writing finished -> now read |
56 | { |
56 | { |
57 | motor = 0; |
57 | motor = 0; |
58 | twi_state = 3; |
58 | twi_state = 3; |
59 | i2c_write_byte(0x53+(motorread*2)); |
59 | i2c_write_byte(0x53+(motorread*2)); |
60 | } |
60 | } |
61 | else i2c_write_byte(0x52+(motor*2)); |
61 | else i2c_write_byte(0x52+(motor*2)); |
62 | break; |
62 | break; |
63 | case 1: |
63 | case 1: |
64 | i2c_write_byte(Motor[motor++].SetPoint); |
64 | i2c_write_byte(Motor[motor++].SetPoint); |
65 | break; |
65 | break; |
66 | case 2: |
66 | case 2: |
67 | if(TWSR == 0x30) |
67 | if(TWSR == 0x30) |
68 | { |
68 | { |
69 | if(!missing_motor) missing_motor = motor; |
69 | if(!missing_motor) missing_motor = motor; |
70 | if((Motor[motor-1].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor-1].State++; // increment error counter and handle overflow |
70 | if((Motor[motor-1].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor-1].State++; // increment error counter and handle overflow |
71 | } |
71 | } |
72 | I2C_Stop(); |
72 | I2C_Stop(); |
73 | I2CTimeout = 10; |
73 | I2CTimeout = 10; |
74 | twi_state = 0; |
74 | twi_state = 0; |
75 | I2C_Start(); |
75 | I2C_Start(); |
76 | break; |
76 | break; |
77 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
77 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
78 | // Reading Data |
78 | // Reading Data |
79 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
79 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
80 | case 3: |
80 | case 3: |
81 | //Transmit 1st byte for reading |
81 | //Transmit 1st byte for reading |
82 | if(TWSR != 0x40) // Error? |
82 | if(TWSR != 0x40) // Error? |
83 | { |
83 | { |
84 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
84 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
85 | motorread++; |
85 | motorread++; |
86 | if(motorread >= MAX_MOTORS) motorread = 0; |
86 | if(motorread >= MAX_MOTORS) motorread = 0; |
87 | I2C_Stop(); |
87 | I2C_Stop(); |
88 | twi_state = 0; |
88 | twi_state = 0; |
89 | } |
89 | } |
90 | else |
90 | else |
91 | { |
91 | { |
92 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
92 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
93 | I2C_ReceiveByte(); |
93 | I2C_ReceiveByte(); |
94 | } |
94 | } |
95 | MissingMotor = missing_motor; |
95 | MissingMotor = missing_motor; |
96 | missing_motor = 0; |
96 | missing_motor = 0; |
97 | break; |
97 | break; |
98 | case 4: //Read 1st byte and transmit 2nd Byte |
98 | case 4: //Read 1st byte and transmit 2nd Byte |
99 | Motor[motorread].Current = TWDR; |
99 | Motor[motorread].Current = TWDR; |
100 | I2C_ReceiveLastByte(); //nack |
100 | I2C_ReceiveLastByte(); //nack |
101 | break; |
101 | break; |
102 | case 5: |
102 | case 5: |
103 | //Read 2nd byte |
103 | //Read 2nd byte |
104 | Motor[motorread].MaxPWM = TWDR; |
104 | Motor[motorread].MaxPWM = TWDR; |
105 | motorread++; // next motor |
105 | motorread++; // next motor |
106 | if(motorread >= MAX_MOTORS) motorread = 0; |
106 | if(motorread >= MAX_MOTORS) motorread = 0; |
107 | I2C_Stop(); |
107 | I2C_Stop(); |
108 | twi_state = 0; |
108 | twi_state = 0; |
109 | break; |
109 | break; |
110 | 110 | ||
111 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
111 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
112 | // writing Gyro-Offset |
112 | // writing Gyro-Offset |
113 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
113 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
114 | case 8: |
114 | case 8: |
115 | i2c_write_byte(0x98); // Address of the DAC |
115 | i2c_write_byte(0x98); // Address of the DAC |
116 | break; |
116 | break; |
117 | case 9: |
117 | case 9: |
118 | i2c_write_byte(0x10); // Update Channel A |
118 | i2c_write_byte(0x10); // Update Channel A |
119 | break; |
119 | break; |
120 | case 10: |
120 | case 10: |
121 | i2c_write_byte(AnalogOffsetNick); // Value |
121 | i2c_write_byte(AnalogOffsetNick); // Value |
122 | break; |
122 | break; |
123 | case 11: |
123 | case 11: |
124 | i2c_write_byte(0x80); // Value |
124 | i2c_write_byte(0x80); // Value |
125 | break; |
125 | break; |
126 | case 12: |
126 | case 12: |
127 | I2C_Stop(); |
127 | I2C_Stop(); |
128 | I2CTimeout = 10; |
128 | I2CTimeout = 10; |
129 | I2C_Start(); |
129 | I2C_Start(); |
130 | break; |
130 | break; |
131 | case 13: |
131 | case 13: |
132 | i2c_write_byte(0x98); // Address of the DAC |
132 | i2c_write_byte(0x98); // Address of the DAC |
133 | break; |
133 | break; |
134 | case 14: |
134 | case 14: |
135 | i2c_write_byte(0x12); // Update Channel B |
135 | i2c_write_byte(0x12); // Update Channel B |
136 | break; |
136 | break; |
137 | case 15: |
137 | case 15: |
138 | i2c_write_byte(AnalogOffsetRoll); // Value |
138 | i2c_write_byte(AnalogOffsetRoll); // Value |
139 | break; |
139 | break; |
140 | case 16: |
140 | case 16: |
141 | i2c_write_byte(0x80); // Value |
141 | i2c_write_byte(0x80); // Value |
142 | break; |
142 | break; |
143 | case 17: |
143 | case 17: |
144 | I2C_Stop(); |
144 | I2C_Stop(); |
145 | I2CTimeout = 10; |
145 | I2CTimeout = 10; |
146 | I2C_Start(); |
146 | I2C_Start(); |
147 | break; |
147 | break; |
148 | case 18: |
148 | case 18: |
149 | i2c_write_byte(0x98); // Address of the DAC |
149 | i2c_write_byte(0x98); // Address of the DAC |
150 | break; |
150 | break; |
151 | case 19: |
151 | case 19: |
152 | i2c_write_byte(0x14); // Update Channel C |
152 | i2c_write_byte(0x14); // Update Channel C |
153 | break; |
153 | break; |
154 | case 20: |
154 | case 20: |
155 | i2c_write_byte(AnalogOffsetGier); // Value |
155 | i2c_write_byte(AnalogOffsetGier); // Value |
156 | break; |
156 | break; |
157 | case 21: |
157 | case 21: |
158 | i2c_write_byte(0x80); // Value |
158 | i2c_write_byte(0x80); // Value |
159 | break; |
159 | break; |
160 | case 22: |
160 | case 22: |
161 | I2C_Stop(); |
161 | I2C_Stop(); |
162 | I2CTimeout = 10; |
162 | I2CTimeout = 10; |
163 | twi_state = 0; |
163 | twi_state = 0; |
164 | break; |
164 | break; |
165 | default: twi_state = 0; |
165 | default: twi_state = 0; |
166 | break; |
166 | break; |
167 | } |
167 | } |
168 | TWCR |= 0x80; |
168 | TWCR |= 0x80; |
169 | } |
169 | } |
170 | */ |
170 | */ |
171 | 171 | ||
172 | /* |
172 | /* |
173 | if(DataArray[3] & 0x01) Parameter.PwmScaling = DataArray[4]; |
173 | if(DataArray[3] & 0x01) Parameter.PwmScaling = DataArray[4]; |
174 | if(DataArray[3] & 0x02) Parameter.MaxStrom = DataArray[5]; |
174 | if(DataArray[3] & 0x02) Parameter.MaxStrom = DataArray[5]; |
175 | if(DataArray[3] & 0x04) Parameter.TemperaturLimiter = DataArray[6]; |
175 | if(DataArray[3] & 0x04) Parameter.TemperaturLimiter = DataArray[6]; |
176 | if(DataArray[3] & 0x08) Parameter.SkaliereStrom = DataArray[7]; |
176 | if(DataArray[3] & 0x08) Parameter.SkaliereStrom = DataArray[7]; |
177 | if(DataArray[3] & 0x10) Parameter.Bitconfig = DataArray[8]; |
177 | if(DataArray[3] & 0x10) Parameter.Bitconfig = DataArray[8]; |
178 | */ |
178 | */ |
179 | 179 | ||
180 | //############################################################################ |
180 | //############################################################################ |
181 | SIGNAL (TWI_vect) |
181 | SIGNAL (TWI_vect) |
182 | //############################################################################ |
182 | //############################################################################ |
183 | { // 2 3 4 5 6 7 8 9 |
183 | { // 2 3 4 5 6 7 8 9 |
184 | unsigned char test[] = {0,0,'#',0x1F,255,30,99,49,0x00,7,8,9,10}; |
184 | unsigned char test[] = {0,0,'#',0x1F,255,30,99,64,0x00,7,8,9,10}; |
185 | static unsigned char missing_motor,send = 0,crc = 0,read_more = 0; |
185 | static unsigned char missing_motor,send = 0,crc = 0,read_more = 0; |
186 | 186 | J4High; |
|
187 | switch(twi_state++) |
187 | switch(twi_state++) |
188 | { |
188 | { |
189 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
189 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
190 | // Writing the Data |
190 | // Writing the Data |
191 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
191 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
192 | case 0: |
192 | case 0: |
193 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
193 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
194 | if(motor == MAX_MOTORS) // writing finished -> now read |
194 | if(motor == MAX_MOTORS) // writing finished -> now read |
195 | { |
195 | { |
196 | motor = 0; |
196 | motor = 0; |
197 | twi_state = 4; |
197 | twi_state = 4; |
198 | i2c_write_byte(0x53+(motorread*2)); |
198 | i2c_write_byte(0x53+(motorread*2)); |
199 | } |
199 | } |
200 | else i2c_write_byte(0x52+(motor*2)); |
200 | else i2c_write_byte(0x52+(motor*2)); |
201 | send = 0; |
201 | send = 0; |
202 | break; |
202 | break; |
203 | case 1: |
203 | case 1: |
204 | i2c_write_byte(Motor[motor].SetPoint); |
204 | i2c_write_byte(Motor[motor].SetPoint); |
205 | // if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) /*|| !Motor[motor].SetPointLowerBits*/) |
205 | // if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) /*|| !Motor[motor].SetPointLowerBits*/) |
206 | if(!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) || !Motor[motor].SetPointLowerBits && !TransmitBlConfig) |
206 | if((!(Motor[motor].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) || !Motor[motor].SetPointLowerBits) && !TransmitBlConfig) |
207 | twi_state++; // skip |
207 | twi_state++; // skip |
208 | break; |
208 | break; |
209 | case 2: |
209 | case 2: |
210 | if(!send++) |
210 | if(!send++) |
211 | { |
211 | { |
212 | i2c_write_byte((Motor[motor].SetPointLowerBits << 1) & 0x07); |
212 | i2c_write_byte((Motor[motor].SetPointLowerBits << 1) & 0x07); |
213 | crc = 0xAA; |
213 | crc = 0xAA; |
214 | } |
214 | } |
215 | else |
215 | else |
216 | if(send == 9) i2c_write_byte(crc) |
216 | if(send == 9) i2c_write_byte(crc) |
217 | else |
217 | else |
218 | { |
218 | { |
219 | crc += test[send]; |
219 | crc += test[send]; |
220 | i2c_write_byte(test[send]); |
220 | i2c_write_byte(test[send]); |
221 | } |
221 | } |
222 | if(TransmitBlConfig && !MotorenEin && motor == motorread && (Motor[motorread].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
222 | if(TransmitBlConfig && !MotorenEin && motor == motorread && (Motor[motorread].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
223 | { |
223 | { |
224 | if(send <= 10) twi_state--; |
224 | if(send <= 10) twi_state--; |
225 | } |
225 | } |
226 | - | ||
227 | break; |
226 | break; |
228 | case 3: |
227 | case 3: |
229 | motor++; |
228 | motor++; |
230 | if(TWSR == 0x30) |
229 | if(TWSR == 0x30) |
231 | { |
230 | { |
232 | if(!missing_motor) missing_motor = motor; |
231 | if(!missing_motor) missing_motor = motor; |
233 | if((Motor[motor-1].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor-1].State++; // increment error counter and handle overflow |
232 | if((Motor[motor-1].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor-1].State++; // increment error counter and handle overflow |
234 | } |
233 | } |
235 | I2C_Stop(); |
234 | I2C_Stop(); |
236 | I2CTimeout = 10; |
235 | I2CTimeout = 10; |
237 | twi_state = 0; |
236 | twi_state = 0; |
238 | I2C_Start(); |
237 | I2C_Start(); |
239 | break; |
238 | break; |
240 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
239 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
241 | // Reading Data |
240 | // Reading Data |
242 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
241 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
243 | case 4: |
242 | case 4: |
244 | //Transmit 1st byte for reading |
243 | //Transmit 1st byte for reading |
245 | if(TWSR != 0x40) // Error? |
244 | if(TWSR != 0x40) // Error? |
246 | { |
245 | { |
247 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
246 | Motor[motorread].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
248 | motorread++; |
247 | motorread++; |
249 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; ReadTemperature = ++ReadTemperature & 0x0f;} |
248 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; ReadTemperature = ++ReadTemperature & 0x0f;} |
250 | I2C_Stop(); |
249 | I2C_Stop(); |
251 | twi_state = 0; |
250 | twi_state = 0; |
252 | } |
251 | } |
253 | else |
252 | else |
254 | { |
253 | { |
255 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
254 | Motor[motorread].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
256 | if(motorread == ReadTemperature || TransmitBlConfig) |
255 | if(motorread == ReadTemperature || TransmitBlConfig) |
257 | { |
256 | { |
258 | read_more = 1; |
257 | read_more = 1; |
259 | I2C_ReceiveByte(); |
258 | I2C_ReceiveByte(); |
260 | } |
259 | } |
261 | else |
260 | else |
262 | { |
261 | { |
263 | I2C_ReceiveLastByte(); |
262 | I2C_ReceiveLastByte(); |
264 | read_more = 0; |
263 | read_more = 0; |
265 | } |
264 | } |
266 | } |
265 | } |
267 | MissingMotor = missing_motor; |
266 | MissingMotor = missing_motor; |
268 | missing_motor = 0; |
267 | missing_motor = 0; |
269 | break; |
268 | break; |
270 | case 5: //Read 1st byte and transmit 2nd Byte |
269 | case 5: //Read 1st byte and transmit 2nd Byte |
271 | Motor[motorread].Current = TWDR; |
270 | Motor[motorread].Current = TWDR; |
272 | if(read_more) I2C_ReceiveByte() //nack |
271 | if(read_more) I2C_ReceiveByte() //nack |
273 | else |
272 | else |
274 | { |
273 | { |
275 | motorread++; // next motor |
274 | motorread++; // next motor |
276 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; ReadTemperature = ++ReadTemperature & 0x0f;} |
275 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; ReadTemperature = ++ReadTemperature & 0x0f;} |
277 | I2C_Stop(); |
276 | I2C_Stop(); |
278 | twi_state = 0; |
277 | twi_state = 0; |
279 | } |
278 | } |
280 | break; |
279 | break; |
281 | case 6: |
280 | case 6: |
282 | //Read 2nd byte and transmit 3rd Byte |
281 | //Read 2nd byte and transmit 3rd Byte |
283 | Motor[motorread].MaxPWM = TWDR; |
282 | Motor[motorread].MaxPWM = TWDR; |
284 | if(TWDR == 250) |
283 | if(TWDR == 250) |
285 | { |
284 | { |
286 | if(!MotorenEin) Motor[motorread].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
285 | if(!MotorenEin) Motor[motorread].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
287 | } |
286 | } |
288 | else if(TransmitBlConfig) Motor[motorread].Version = 0; |
287 | else if(TransmitBlConfig) Motor[motorread].Version = 0; |
289 | I2C_ReceiveLastByte(); //nack |
288 | I2C_ReceiveLastByte(); //nack |
290 | break; |
289 | break; |
291 | case 7: // read next |
290 | case 7: // read next |
292 | Motor[motorread].Temperature = TWDR; |
291 | Motor[motorread].Temperature = TWDR; |
293 | motorread++; // next motor |
292 | motorread++; // next motor |
294 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; } |
293 | if(motorread >= MAX_MOTORS) { TransmitBlConfig = 0; motorread = 0; } |
295 | I2C_Stop(); |
294 | I2C_Stop(); |
296 | twi_state = 0; |
295 | twi_state = 0; |
297 | break; |
296 | break; |
298 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
297 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
299 | // writing Gyro-Offset |
298 | // writing Gyro-Offset |
300 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
299 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
301 | case 18: |
300 | case 18: |
302 | i2c_write_byte(0x98); // Address of the DAC |
301 | i2c_write_byte(0x98); // Address of the DAC |
303 | break; |
302 | break; |
304 | case 19: |
303 | case 19: |
305 | i2c_write_byte(0x10); // Update Channel A |
304 | i2c_write_byte(0x10); // Update Channel A |
306 | break; |
305 | break; |
307 | case 20: |
306 | case 20: |
308 | i2c_write_byte(AnalogOffsetNick); // Value |
307 | i2c_write_byte(AnalogOffsetNick); // Value |
309 | break; |
308 | break; |
310 | case 21: |
309 | case 21: |
311 | i2c_write_byte(0x80); // Value |
310 | i2c_write_byte(0x80); // Value |
312 | break; |
311 | break; |
313 | case 22: |
312 | case 22: |
314 | I2C_Stop(); |
313 | I2C_Stop(); |
315 | I2CTimeout = 10; |
314 | I2CTimeout = 10; |
316 | I2C_Start(); |
315 | I2C_Start(); |
317 | break; |
316 | break; |
318 | case 23: |
317 | case 23: |
319 | i2c_write_byte(0x98); // Address of the DAC |
318 | i2c_write_byte(0x98); // Address of the DAC |
320 | break; |
319 | break; |
321 | case 24: |
320 | case 24: |
322 | i2c_write_byte(0x12); // Update Channel B |
321 | i2c_write_byte(0x12); // Update Channel B |
323 | break; |
322 | break; |
324 | case 25: |
323 | case 25: |
325 | i2c_write_byte(AnalogOffsetRoll); // Value |
324 | i2c_write_byte(AnalogOffsetRoll); // Value |
326 | break; |
325 | break; |
327 | case 26: |
326 | case 26: |
328 | i2c_write_byte(0x80); // Value |
327 | i2c_write_byte(0x80); // Value |
329 | break; |
328 | break; |
330 | case 27: |
329 | case 27: |
331 | I2C_Stop(); |
330 | I2C_Stop(); |
332 | I2CTimeout = 10; |
331 | I2CTimeout = 10; |
333 | I2C_Start(); |
332 | I2C_Start(); |
334 | break; |
333 | break; |
335 | case 28: |
334 | case 28: |
336 | i2c_write_byte(0x98); // Address of the DAC |
335 | i2c_write_byte(0x98); // Address of the DAC |
337 | break; |
336 | break; |
338 | case 29: |
337 | case 29: |
339 | i2c_write_byte(0x14); // Update Channel C |
338 | i2c_write_byte(0x14); // Update Channel C |
340 | break; |
339 | break; |
341 | case 30: |
340 | case 30: |
342 | i2c_write_byte(AnalogOffsetGier); // Value |
341 | i2c_write_byte(AnalogOffsetGier); // Value |
343 | break; |
342 | break; |
344 | case 31: |
343 | case 31: |
345 | i2c_write_byte(0x80); // Value |
344 | i2c_write_byte(0x80); // Value |
346 | break; |
345 | break; |
347 | case 32: |
346 | case 32: |
348 | I2C_Stop(); |
347 | I2C_Stop(); |
349 | I2CTimeout = 10; |
348 | I2CTimeout = 10; |
350 | twi_state = 0; |
349 | twi_state = 0; |
351 | break; |
350 | break; |
352 | default: twi_state = 0; |
351 | default: twi_state = 0; |
353 | break; |
352 | break; |
354 | } |
353 | } |
355 | TWCR |= 0x80; |
354 | TWCR |= 0x80; |
- | 355 | J4Low; |
|
356 | } |
356 | } |
357 | 357 | ||
358 | 358 |