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| Rev 976 | Rev 977 | ||
|---|---|---|---|
| 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; |
7 | unsigned char motor = 0; |
| 8 | unsigned char motorread = 0; |
8 | unsigned char motorread = 0; |
| 9 | unsigned char motor_rx[8]; |
9 | unsigned char motor_rx[MOTOR_COUNT*2]; |
| 10 | 10 | ||
| 11 | //############################################################################ |
11 | //############################################################################ |
| 12 | //Initzialisieren der I2C (TWI) Schnittstelle |
12 | //Initzialisieren der I2C (TWI) Schnittstelle |
| 13 | void i2c_init(void) |
13 | void i2c_init(void) |
| 14 | //############################################################################ |
14 | //############################################################################ |
| 15 | { |
15 | { |
| 16 | TWSR = 0; |
16 | TWSR = 0; |
| 17 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
17 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| 18 | } |
18 | } |
| 19 | 19 | ||
| 20 | //############################################################################ |
20 | //############################################################################ |
| 21 | //Start I2C |
21 | //Start I2C |
| 22 | char i2c_start(void) |
22 | char i2c_start(void) |
| 23 | //############################################################################ |
23 | //############################################################################ |
| 24 | { |
24 | { |
| 25 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
25 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| 26 | return(0); |
26 | return(0); |
| 27 | } |
27 | } |
| 28 | 28 | ||
| 29 | //############################################################################ |
29 | //############################################################################ |
| 30 | //Start I2C |
30 | //Start I2C |
| 31 | void i2c_stop(void) |
31 | void i2c_stop(void) |
| 32 | //############################################################################ |
32 | //############################################################################ |
| 33 | { |
33 | { |
| 34 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
34 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| 35 | } |
35 | } |
| 36 | 36 | ||
| 37 | void i2c_reset(void) |
37 | void i2c_reset(void) |
| 38 | //############################################################################ |
38 | //############################################################################ |
| 39 | { |
39 | { |
| 40 | i2c_stop(); |
40 | i2c_stop(); |
| 41 | twi_state = 0; |
41 | twi_state = 0; |
| 42 | motor = TWDR; |
42 | motor = TWDR; |
| 43 | motor = 0; |
43 | motor = 0; |
| 44 | TWCR = 0x80; |
44 | TWCR = 0x80; |
| 45 | TWAMR = 0; |
45 | TWAMR = 0; |
| 46 | TWAR = 0; |
46 | TWAR = 0; |
| 47 | TWDR = 0; |
47 | TWDR = 0; |
| 48 | TWSR = 0; |
48 | TWSR = 0; |
| 49 | TWBR = 0; |
49 | TWBR = 0; |
| 50 | i2c_init(); |
50 | i2c_init(); |
| 51 | i2c_start(); |
51 | i2c_start(); |
| 52 | i2c_write_byte(0); |
52 | i2c_write_byte(0); |
| 53 | } |
53 | } |
| 54 | 54 | ||
| 55 | //############################################################################ |
55 | //############################################################################ |
| 56 | //Start I2C |
56 | //Start I2C |
| 57 | char i2c_write_byte(char byte) |
57 | char i2c_write_byte(char byte) |
| 58 | //############################################################################ |
58 | //############################################################################ |
| 59 | { |
59 | { |
| 60 | TWSR = 0x00; |
60 | TWSR = 0x00; |
| 61 | TWDR = byte; |
61 | TWDR = byte; |
| 62 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
62 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| 63 | 63 | ||
| 64 | return(0); |
64 | return(0); |
| 65 | 65 | ||
| 66 | } |
66 | } |
| 67 | 67 | ||
| 68 | //############################################################################ |
68 | //############################################################################ |
| 69 | //Start I2C |
69 | //Start I2C |
| 70 | SIGNAL (TWI_vect) |
70 | SIGNAL (TWI_vect) |
| 71 | //############################################################################ |
71 | //############################################################################ |
| 72 | { |
72 | { |
| 73 | switch (twi_state++) |
73 | switch (twi_state++) |
| 74 | { |
74 | { |
| 75 | case 0: |
75 | case 0: |
| 76 | i2c_write_byte(0x52+(motor*2)); |
76 | i2c_write_byte(0x52+(motor*2)); |
| 77 | break; |
77 | break; |
| 78 | case 1: |
78 | case 1: |
| - | 79 | #ifdef HEXAKOPTER |
|
| - | 80 | switch(motor++) |
|
| - | 81 | { |
|
| - | 82 | case 0: |
|
| - | 83 | i2c_write_byte(Motor_VorneLinks); |
|
| - | 84 | break; |
|
| - | 85 | case 1: |
|
| - | 86 | i2c_write_byte(Motor_HintenRechts); |
|
| - | 87 | break; |
|
| - | 88 | case 2: |
|
| - | 89 | i2c_write_byte(Motor_VorneRechts); |
|
| - | 90 | break; |
|
| - | 91 | case 3: |
|
| - | 92 | i2c_write_byte(Motor_HintenLinks); |
|
| - | 93 | break; |
|
| - | 94 | case 4: |
|
| - | 95 | i2c_write_byte(Motor_Rechts); |
|
| - | 96 | break; |
|
| - | 97 | case 5: |
|
| - | 98 | i2c_write_byte(Motor_Links); |
|
| - | 99 | break; |
|
| - | 100 | } |
|
| - | 101 | #else |
|
| 79 | switch(motor++) |
102 | switch(motor++) |
| 80 | { |
103 | { |
| 81 | case 0: |
104 | case 0: |
| 82 | i2c_write_byte(Motor_Vorne); |
105 | i2c_write_byte(Motor_Vorne); |
| 83 | break; |
106 | break; |
| 84 | case 1: |
107 | case 1: |
| 85 | i2c_write_byte(Motor_Hinten); |
108 | i2c_write_byte(Motor_Hinten); |
| 86 | break; |
109 | break; |
| 87 | case 2: |
110 | case 2: |
| 88 | i2c_write_byte(Motor_Rechts); |
111 | i2c_write_byte(Motor_Rechts); |
| 89 | break; |
112 | break; |
| 90 | case 3: |
113 | case 3: |
| 91 | i2c_write_byte(Motor_Links); |
114 | i2c_write_byte(Motor_Links); |
| 92 | break; |
115 | break; |
| 93 | } |
116 | } |
| - | 117 | #endif |
|
| 94 | break; |
118 | break; |
| 95 | case 2: |
119 | case 2: |
| 96 | i2c_stop(); |
120 | i2c_stop(); |
| 97 | if (motor<4) twi_state = 0; |
121 | if (motor<MOTOR_COUNT) twi_state = 0; |
| 98 | else motor = 0; |
122 | else motor = 0; |
| 99 | i2c_start(); |
123 | i2c_start(); |
| 100 | break; |
124 | break; |
| 101 | 125 | ||
| 102 | //Liest Daten von Motor |
126 | //Liest Daten von Motor |
| 103 | case 3: |
127 | case 3: |
| 104 | i2c_write_byte(0x53+(motorread*2)); |
128 | i2c_write_byte(0x53+(motorread*2)); |
| 105 | break; |
129 | break; |
| 106 | case 4: |
130 | case 4: |
| 107 | switch(motorread) |
- | |
| 108 | { |
- | |
| 109 | case 0: |
- | |
| 110 | i2c_write_byte(Motor_Vorne); |
- | |
| 111 | break; |
- | |
| 112 | case 1: |
- | |
| 113 | i2c_write_byte(Motor_Hinten); |
131 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| 114 | break; |
- | |
| 115 | case 2: |
- | |
| 116 | i2c_write_byte(Motor_Rechts); |
- | |
| 117 | break; |
- | |
| 118 | case 3: |
- | |
| 119 | i2c_write_byte(Motor_Links); |
- | |
| 120 | break; |
- | |
| 121 | } |
- | |
| 122 | break; |
132 | break; |
| 123 | case 5: //1 Byte vom Motor lesen |
133 | case 5: //1 Byte vom Motor lesen |
| 124 | motor_rx[motorread] = TWDR; |
134 | motor_rx[motorread] = TWDR; |
| 125 | 135 | ||
| 126 | case 6: |
136 | case 6: |
| 127 | switch(motorread) |
- | |
| 128 | { |
- | |
| 129 | case 0: |
- | |
| 130 | i2c_write_byte(Motor_Vorne); |
- | |
| 131 | break; |
- | |
| 132 | case 1: |
- | |
| 133 | i2c_write_byte(Motor_Hinten); |
137 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| 134 | break; |
- | |
| 135 | case 2: |
- | |
| 136 | i2c_write_byte(Motor_Rechts); |
- | |
| 137 | break; |
- | |
| 138 | case 3: |
- | |
| 139 | i2c_write_byte(Motor_Links); |
- | |
| 140 | break; |
- | |
| 141 | } |
- | |
| 142 | break; |
138 | break; |
| 143 | case 7: //2 Byte vom Motor lesen |
139 | case 7: //2 Byte vom Motor lesen |
| 144 | motor_rx[motorread+4] = TWDR; |
140 | motor_rx[motorread+MOTOR_COUNT] = TWDR; |
| 145 | motorread++; |
141 | motorread++; |
| 146 | if (motorread>3) motorread=0; |
142 | if (motorread>=MOTOR_COUNT) motorread=0; |
| 147 | i2c_stop(); |
143 | i2c_stop(); |
| 148 | I2CTimeout = 10; |
144 | I2CTimeout = 10; |
| 149 | twi_state = 0; |
145 | twi_state = 0; |
| 150 | break; |
146 | break; |
| 151 | case 8: // Gyro-Offset |
147 | case 8: // Gyro-Offset |
| 152 | i2c_write_byte(0x98); // Address of the DAC |
148 | i2c_write_byte(0x98); // Address of the DAC |
| 153 | break; |
149 | break; |
| 154 | case 9: |
150 | case 9: |
| 155 | i2c_write_byte(0x10); // Update Channel A |
151 | i2c_write_byte(0x10); // Update Channel A |
| 156 | break; |
152 | break; |
| 157 | case 10: |
153 | case 10: |
| 158 | i2c_write_byte(AnalogOffsetNick); // Value |
154 | i2c_write_byte(AnalogOffsetNick); // Value |
| 159 | break; |
155 | break; |
| 160 | case 11: |
156 | case 11: |
| 161 | i2c_write_byte(0x80); // Value |
157 | i2c_write_byte(0x80); // Value |
| 162 | break; |
158 | break; |
| 163 | case 12: |
159 | case 12: |
| 164 | i2c_stop(); |
160 | i2c_stop(); |
| 165 | I2CTimeout = 10; |
161 | I2CTimeout = 10; |
| 166 | i2c_start(); |
162 | i2c_start(); |
| 167 | break; |
163 | break; |
| 168 | case 13: |
164 | case 13: |
| 169 | i2c_write_byte(0x98); // Address of the DAC |
165 | i2c_write_byte(0x98); // Address of the DAC |
| 170 | break; |
166 | break; |
| 171 | case 14: |
167 | case 14: |
| 172 | i2c_write_byte(0x12); // Update Channel B |
168 | i2c_write_byte(0x12); // Update Channel B |
| 173 | break; |
169 | break; |
| 174 | case 15: |
170 | case 15: |
| 175 | i2c_write_byte(AnalogOffsetRoll); // Value |
171 | i2c_write_byte(AnalogOffsetRoll); // Value |
| 176 | break; |
172 | break; |
| 177 | case 16: |
173 | case 16: |
| 178 | i2c_write_byte(0x80); // Value |
174 | i2c_write_byte(0x80); // Value |
| 179 | break; |
175 | break; |
| 180 | case 17: |
176 | case 17: |
| 181 | i2c_stop(); |
177 | i2c_stop(); |
| 182 | I2CTimeout = 10; |
178 | I2CTimeout = 10; |
| 183 | i2c_start(); |
179 | i2c_start(); |
| 184 | break; |
180 | break; |
| 185 | case 18: |
181 | case 18: |
| 186 | i2c_write_byte(0x98); // Address of the DAC |
182 | i2c_write_byte(0x98); // Address of the DAC |
| 187 | break; |
183 | break; |
| 188 | case 19: |
184 | case 19: |
| 189 | i2c_write_byte(0x14); // Update Channel C |
185 | i2c_write_byte(0x14); // Update Channel C |
| 190 | break; |
186 | break; |
| 191 | case 20: |
187 | case 20: |
| 192 | i2c_write_byte(AnalogOffsetGier); // Value |
188 | i2c_write_byte(AnalogOffsetGier); // Value |
| 193 | break; |
189 | break; |
| 194 | case 21: |
190 | case 21: |
| 195 | i2c_write_byte(0x80); // Value |
191 | i2c_write_byte(0x80); // Value |
| 196 | break; |
192 | break; |
| 197 | case 22: |
193 | case 22: |
| 198 | i2c_stop(); |
194 | i2c_stop(); |
| 199 | I2CTimeout = 10; |
195 | I2CTimeout = 10; |
| 200 | twi_state = 0; |
196 | twi_state = 0; |
| 201 | break; |
197 | break; |
| 202 | } |
198 | } |
| 203 | TWCR |= 0x80; |
199 | TWCR |= 0x80; |
| 204 | } |
200 | } |
| 205 | 201 | ||