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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; |
7 | unsigned char motor = 0; |
8 | unsigned char motorread = 0; |
8 | unsigned char motorread = 0; |
9 | unsigned char motor_rx[16]; |
9 | unsigned char motor_rx[16]; |
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 | void i2c_stop(void) |
30 | void i2c_stop(void) |
31 | //############################################################################ |
31 | //############################################################################ |
32 | { |
32 | { |
33 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
33 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
34 | } |
34 | } |
35 | 35 | ||
36 | void i2c_reset(void) |
36 | void i2c_reset(void) |
37 | //############################################################################ |
37 | //############################################################################ |
38 | { |
38 | { |
39 | i2c_stop(); |
39 | i2c_stop(); |
40 | twi_state = 0; |
40 | twi_state = 0; |
41 | motor = TWDR; |
41 | motor = TWDR; |
42 | motor = 0; |
42 | motor = 0; |
43 | TWCR = 0x80; |
43 | TWCR = 0x80; |
44 | TWAMR = 0; |
44 | TWAMR = 0; |
45 | TWAR = 0; |
45 | TWAR = 0; |
46 | TWDR = 0; |
46 | TWDR = 0; |
47 | TWSR = 0; |
47 | TWSR = 0; |
48 | TWBR = 0; |
48 | TWBR = 0; |
49 | i2c_init(); |
49 | i2c_init(); |
50 | i2c_start(); |
50 | i2c_start(); |
51 | i2c_write_byte(0); |
51 | i2c_write_byte(0); |
52 | } |
52 | } |
53 | 53 | ||
54 | //############################################################################ |
54 | //############################################################################ |
55 | char i2c_write_byte(char byte) |
55 | char i2c_write_byte(char byte) |
56 | //############################################################################ |
56 | //############################################################################ |
57 | { |
57 | { |
58 | TWSR = 0x00; |
58 | TWSR = 0x00; |
59 | TWDR = byte; |
59 | TWDR = byte; |
60 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
60 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
61 | 61 | ||
62 | return(0); |
62 | return(0); |
63 | 63 | ||
64 | } |
64 | } |
65 | 65 | ||
66 | #ifndef QUADRO |
66 | #ifndef QUADRO |
67 | //############################################################################ |
67 | //############################################################################ |
68 | SIGNAL (TWI_vect) |
68 | SIGNAL (TWI_vect) |
69 | //############################################################################ |
69 | //############################################################################ |
70 | { |
70 | { |
71 | switch (twi_state++) |
71 | switch (twi_state++) |
72 | { |
72 | { |
73 | case 0: |
73 | case 0: |
74 | i2c_write_byte(0x52+(motor*2)); |
74 | i2c_write_byte(0x52+(motor*2)); |
75 | break; |
75 | break; |
76 | case 1: |
76 | case 1: |
77 | switch(motor++) |
77 | switch(motor++) |
78 | { |
78 | { |
79 | case 0: |
79 | case 0: |
80 | i2c_write_byte(Motor1); |
80 | i2c_write_byte(Motor1); |
81 | break; |
81 | break; |
82 | case 1: |
82 | case 1: |
83 | i2c_write_byte(Motor2); |
83 | i2c_write_byte(Motor2); |
84 | break; |
84 | break; |
85 | case 2: |
85 | case 2: |
86 | i2c_write_byte(Motor3); |
86 | i2c_write_byte(Motor3); |
87 | break; |
87 | break; |
88 | case 3: |
88 | case 3: |
89 | i2c_write_byte(Motor4); |
89 | i2c_write_byte(Motor4); |
90 | break; |
90 | break; |
91 | case 4: |
91 | case 4: |
92 | i2c_write_byte(Motor5); |
92 | i2c_write_byte(Motor5); |
93 | break; |
93 | break; |
94 | case 5: |
94 | case 5: |
95 | i2c_write_byte(Motor6); |
95 | i2c_write_byte(Motor6); |
96 | break; |
96 | break; |
97 | case 6: |
97 | case 6: |
98 | i2c_write_byte(Motor7); |
98 | i2c_write_byte(Motor7); |
99 | break; |
99 | break; |
100 | case 7: |
100 | case 7: |
101 | i2c_write_byte(Motor8); |
101 | i2c_write_byte(Motor8); |
102 | break; |
102 | break; |
103 | } |
103 | } |
104 | break; |
104 | break; |
105 | case 2: |
105 | case 2: |
106 | i2c_stop(); |
106 | i2c_stop(); |
107 | if (motor<8) twi_state = 0; |
107 | if (motor<8) twi_state = 0; |
108 | else motor = 0; |
108 | else motor = 0; |
109 | i2c_start(); |
109 | i2c_start(); |
110 | break; |
110 | break; |
111 | 111 | ||
112 | //Liest Daten von Motor |
112 | //Liest Daten von Motor |
113 | case 3: |
113 | case 3: |
114 | i2c_write_byte(0x53+(motorread*2)); |
114 | i2c_write_byte(0x53+(motorread*2)); |
115 | break; |
115 | break; |
116 | case 4: |
116 | case 4: |
117 | switch(motorread) |
117 | switch(motorread) |
118 | { |
118 | { |
119 | case 0: |
119 | case 0: |
120 | i2c_write_byte(Motor1); |
120 | i2c_write_byte(Motor1); |
121 | break; |
121 | break; |
122 | case 1: |
122 | case 1: |
123 | i2c_write_byte(Motor2); |
123 | i2c_write_byte(Motor2); |
124 | break; |
124 | break; |
125 | case 2: |
125 | case 2: |
126 | i2c_write_byte(Motor3); |
126 | i2c_write_byte(Motor3); |
127 | break; |
127 | break; |
128 | case 3: |
128 | case 3: |
129 | i2c_write_byte(Motor4); |
129 | i2c_write_byte(Motor4); |
130 | break; |
130 | break; |
131 | case 4: |
131 | case 4: |
132 | i2c_write_byte(Motor5); |
132 | i2c_write_byte(Motor5); |
133 | break; |
133 | break; |
134 | case 5: |
134 | case 5: |
135 | i2c_write_byte(Motor6); |
135 | i2c_write_byte(Motor6); |
136 | break; |
136 | break; |
137 | case 6: |
137 | case 6: |
138 | i2c_write_byte(Motor7); |
138 | i2c_write_byte(Motor7); |
139 | break; |
139 | break; |
140 | case 7: |
140 | case 7: |
141 | i2c_write_byte(Motor8); |
141 | i2c_write_byte(Motor8); |
142 | break; |
142 | break; |
143 | } |
143 | } |
144 | break; |
144 | break; |
145 | case 5: //1 Byte vom Motor lesen |
145 | case 5: //1 Byte vom Motor lesen |
146 | motor_rx[motorread] = TWDR; |
146 | motor_rx[motorread] = TWDR; |
147 | 147 | ||
148 | case 6: |
148 | case 6: |
149 | switch(motorread) |
149 | switch(motorread) |
150 | { |
150 | { |
151 | case 0: |
151 | case 0: |
152 | i2c_write_byte(Motor1); |
152 | i2c_write_byte(Motor1); |
153 | break; |
153 | break; |
154 | case 1: |
154 | case 1: |
155 | i2c_write_byte(Motor2); |
155 | i2c_write_byte(Motor2); |
156 | break; |
156 | break; |
157 | case 2: |
157 | case 2: |
158 | i2c_write_byte(Motor3); |
158 | i2c_write_byte(Motor3); |
159 | break; |
159 | break; |
160 | case 3: |
160 | case 3: |
161 | i2c_write_byte(Motor4); |
161 | i2c_write_byte(Motor4); |
162 | break; |
162 | break; |
163 | case 4: |
163 | case 4: |
164 | i2c_write_byte(Motor5); |
164 | i2c_write_byte(Motor5); |
165 | break; |
165 | break; |
166 | case 5: |
166 | case 5: |
167 | i2c_write_byte(Motor6); |
167 | i2c_write_byte(Motor6); |
168 | break; |
168 | break; |
169 | case 6: |
169 | case 6: |
170 | i2c_write_byte(Motor7); |
170 | i2c_write_byte(Motor7); |
171 | break; |
171 | break; |
172 | case 7: |
172 | case 7: |
173 | i2c_write_byte(Motor8); |
173 | i2c_write_byte(Motor8); |
174 | break; |
174 | break; |
175 | } |
175 | } |
176 | break; |
176 | break; |
177 | case 7: //2 Byte vom Motor lesen |
177 | case 7: //2 Byte vom Motor lesen |
178 | motor_rx[motorread+4] = TWDR; |
178 | motor_rx[motorread+8] = TWDR; |
179 | motorread++; |
179 | motorread++; |
180 | if (motorread>7) motorread=0; |
180 | if (motorread>7) motorread=0; |
181 | i2c_stop(); |
181 | i2c_stop(); |
182 | I2CTimeout = 10; |
182 | I2CTimeout = 10; |
183 | twi_state = 0; |
183 | twi_state = 0; |
184 | break; |
184 | break; |
185 | case 8: // Gyro-Offset |
185 | case 8: // Gyro-Offset |
186 | i2c_write_byte(0x98); // Address of the DAC |
186 | i2c_write_byte(0x98); // Address of the DAC |
187 | break; |
187 | break; |
188 | case 9: |
188 | case 9: |
189 | i2c_write_byte(0x10); // Update Channel A |
189 | i2c_write_byte(0x10); // Update Channel A |
190 | break; |
190 | break; |
191 | case 10: |
191 | case 10: |
192 | i2c_write_byte(AnalogOffsetNick); // Value |
192 | i2c_write_byte(AnalogOffsetNick); // Value |
193 | break; |
193 | break; |
194 | case 11: |
194 | case 11: |
195 | i2c_write_byte(0x80); // Value |
195 | i2c_write_byte(0x80); // Value |
196 | break; |
196 | break; |
197 | case 12: |
197 | case 12: |
198 | i2c_stop(); |
198 | i2c_stop(); |
199 | I2CTimeout = 10; |
199 | I2CTimeout = 10; |
200 | i2c_start(); |
200 | i2c_start(); |
201 | break; |
201 | break; |
202 | case 13: |
202 | case 13: |
203 | i2c_write_byte(0x98); // Address of the DAC |
203 | i2c_write_byte(0x98); // Address of the DAC |
204 | break; |
204 | break; |
205 | case 14: |
205 | case 14: |
206 | i2c_write_byte(0x12); // Update Channel B |
206 | i2c_write_byte(0x12); // Update Channel B |
207 | break; |
207 | break; |
208 | case 15: |
208 | case 15: |
209 | i2c_write_byte(AnalogOffsetRoll); // Value |
209 | i2c_write_byte(AnalogOffsetRoll); // Value |
210 | break; |
210 | break; |
211 | case 16: |
211 | case 16: |
212 | i2c_write_byte(0x80); // Value |
212 | i2c_write_byte(0x80); // Value |
213 | break; |
213 | break; |
214 | case 17: |
214 | case 17: |
215 | i2c_stop(); |
215 | i2c_stop(); |
216 | I2CTimeout = 10; |
216 | I2CTimeout = 10; |
217 | i2c_start(); |
217 | i2c_start(); |
218 | break; |
218 | break; |
219 | case 18: |
219 | case 18: |
220 | i2c_write_byte(0x98); // Address of the DAC |
220 | i2c_write_byte(0x98); // Address of the DAC |
221 | break; |
221 | break; |
222 | case 19: |
222 | case 19: |
223 | i2c_write_byte(0x14); // Update Channel C |
223 | i2c_write_byte(0x14); // Update Channel C |
224 | break; |
224 | break; |
225 | case 20: |
225 | case 20: |
226 | i2c_write_byte(AnalogOffsetGier); // Value |
226 | i2c_write_byte(AnalogOffsetGier); // Value |
227 | break; |
227 | break; |
228 | case 21: |
228 | case 21: |
229 | i2c_write_byte(0x80); // Value |
229 | i2c_write_byte(0x80); // Value |
230 | break; |
230 | break; |
231 | case 22: |
231 | case 22: |
232 | i2c_stop(); |
232 | i2c_stop(); |
233 | I2CTimeout = 10; |
233 | I2CTimeout = 10; |
234 | twi_state = 0; |
234 | twi_state = 0; |
235 | break; |
235 | break; |
236 | } |
236 | } |
237 | TWCR |= 0x80; |
237 | TWCR |= 0x80; |
238 | } |
238 | } |
239 | #else |
239 | #else |
240 | //############################################################################ |
240 | //############################################################################ |
241 | SIGNAL (TWI_vect) |
241 | SIGNAL (TWI_vect) |
242 | //############################################################################ |
242 | //############################################################################ |
243 | { |
243 | { |
244 | switch (twi_state++) |
244 | switch (twi_state++) |
245 | { |
245 | { |
246 | case 0: |
246 | case 0: |
247 | i2c_write_byte(0x52+(motor*2)); |
247 | i2c_write_byte(0x52+(motor*2)); |
248 | break; |
248 | break; |
249 | case 1: |
249 | case 1: |
250 | switch(motor++) |
250 | switch(motor++) |
251 | { |
251 | { |
252 | case 0: |
252 | case 0: |
253 | i2c_write_byte(Motor_Vorne); |
253 | i2c_write_byte(Motor_Vorne); |
254 | break; |
254 | break; |
255 | case 1: |
255 | case 1: |
256 | i2c_write_byte(Motor_Hinten); |
256 | i2c_write_byte(Motor_Hinten); |
257 | break; |
257 | break; |
258 | case 2: |
258 | case 2: |
259 | i2c_write_byte(Motor_Rechts); |
259 | i2c_write_byte(Motor_Rechts); |
260 | break; |
260 | break; |
261 | case 3: |
261 | case 3: |
262 | i2c_write_byte(Motor_Links); |
262 | i2c_write_byte(Motor_Links); |
263 | break; |
263 | break; |
264 | } |
264 | } |
265 | break; |
265 | break; |
266 | case 2: |
266 | case 2: |
267 | i2c_stop(); |
267 | i2c_stop(); |
268 | if (motor<4) twi_state = 0; |
268 | if (motor<4) twi_state = 0; |
269 | else motor = 0; |
269 | else motor = 0; |
270 | i2c_start(); |
270 | i2c_start(); |
271 | break; |
271 | break; |
272 | 272 | ||
273 | //Liest Daten von Motor |
273 | //Liest Daten von Motor |
274 | case 3: |
274 | case 3: |
275 | i2c_write_byte(0x53+(motorread*2)); |
275 | i2c_write_byte(0x53+(motorread*2)); |
276 | break; |
276 | break; |
277 | case 4: |
277 | case 4: |
278 | switch(motorread) |
278 | switch(motorread) |
279 | { |
279 | { |
280 | case 0: |
280 | case 0: |
281 | i2c_write_byte(Motor_Vorne); |
281 | i2c_write_byte(Motor_Vorne); |
282 | break; |
282 | break; |
283 | case 1: |
283 | case 1: |
284 | i2c_write_byte(Motor_Hinten); |
284 | i2c_write_byte(Motor_Hinten); |
285 | break; |
285 | break; |
286 | case 2: |
286 | case 2: |
287 | i2c_write_byte(Motor_Rechts); |
287 | i2c_write_byte(Motor_Rechts); |
288 | break; |
288 | break; |
289 | case 3: |
289 | case 3: |
290 | i2c_write_byte(Motor_Links); |
290 | i2c_write_byte(Motor_Links); |
291 | break; |
291 | break; |
292 | } |
292 | } |
293 | break; |
293 | break; |
294 | case 5: //1 Byte vom Motor lesen |
294 | case 5: //1 Byte vom Motor lesen |
295 | motor_rx[motorread] = TWDR; |
295 | motor_rx[motorread] = TWDR; |
296 | 296 | ||
297 | case 6: |
297 | case 6: |
298 | switch(motorread) |
298 | switch(motorread) |
299 | { |
299 | { |
300 | case 0: |
300 | case 0: |
301 | i2c_write_byte(Motor_Vorne); |
301 | i2c_write_byte(Motor_Vorne); |
302 | break; |
302 | break; |
303 | case 1: |
303 | case 1: |
304 | i2c_write_byte(Motor_Hinten); |
304 | i2c_write_byte(Motor_Hinten); |
305 | break; |
305 | break; |
306 | case 2: |
306 | case 2: |
307 | i2c_write_byte(Motor_Rechts); |
307 | i2c_write_byte(Motor_Rechts); |
308 | break; |
308 | break; |
309 | case 3: |
309 | case 3: |
310 | i2c_write_byte(Motor_Links); |
310 | i2c_write_byte(Motor_Links); |
311 | break; |
311 | break; |
312 | } |
312 | } |
313 | break; |
313 | break; |
314 | case 7: //2 Byte vom Motor lesen |
314 | case 7: //2 Byte vom Motor lesen |
315 | motor_rx[motorread+4] = TWDR; |
315 | motor_rx[motorread+4] = TWDR; |
316 | motorread++; |
316 | motorread++; |
317 | if (motorread>3) motorread=0; |
317 | if (motorread>3) motorread=0; |
318 | i2c_stop(); |
318 | i2c_stop(); |
319 | I2CTimeout = 10; |
319 | I2CTimeout = 10; |
320 | twi_state = 0; |
320 | twi_state = 0; |
321 | break; |
321 | break; |
322 | case 8: // Gyro-Offset |
322 | case 8: // Gyro-Offset |
323 | i2c_write_byte(0x98); // Address of the DAC |
323 | i2c_write_byte(0x98); // Address of the DAC |
324 | break; |
324 | break; |
325 | case 9: |
325 | case 9: |
326 | i2c_write_byte(0x10); // Update Channel A |
326 | i2c_write_byte(0x10); // Update Channel A |
327 | break; |
327 | break; |
328 | case 10: |
328 | case 10: |
329 | i2c_write_byte(AnalogOffsetNick); // Value |
329 | i2c_write_byte(AnalogOffsetNick); // Value |
330 | break; |
330 | break; |
331 | case 11: |
331 | case 11: |
332 | i2c_write_byte(0x80); // Value |
332 | i2c_write_byte(0x80); // Value |
333 | break; |
333 | break; |
334 | case 12: |
334 | case 12: |
335 | i2c_stop(); |
335 | i2c_stop(); |
336 | I2CTimeout = 10; |
336 | I2CTimeout = 10; |
337 | i2c_start(); |
337 | i2c_start(); |
338 | break; |
338 | break; |
339 | case 13: |
339 | case 13: |
340 | i2c_write_byte(0x98); // Address of the DAC |
340 | i2c_write_byte(0x98); // Address of the DAC |
341 | break; |
341 | break; |
342 | case 14: |
342 | case 14: |
343 | i2c_write_byte(0x12); // Update Channel B |
343 | i2c_write_byte(0x12); // Update Channel B |
344 | break; |
344 | break; |
345 | case 15: |
345 | case 15: |
346 | i2c_write_byte(AnalogOffsetRoll); // Value |
346 | i2c_write_byte(AnalogOffsetRoll); // Value |
347 | break; |
347 | break; |
348 | case 16: |
348 | case 16: |
349 | i2c_write_byte(0x80); // Value |
349 | i2c_write_byte(0x80); // Value |
350 | break; |
350 | break; |
351 | case 17: |
351 | case 17: |
352 | i2c_stop(); |
352 | i2c_stop(); |
353 | I2CTimeout = 10; |
353 | I2CTimeout = 10; |
354 | i2c_start(); |
354 | i2c_start(); |
355 | break; |
355 | break; |
356 | case 18: |
356 | case 18: |
357 | i2c_write_byte(0x98); // Address of the DAC |
357 | i2c_write_byte(0x98); // Address of the DAC |
358 | break; |
358 | break; |
359 | case 19: |
359 | case 19: |
360 | i2c_write_byte(0x14); // Update Channel C |
360 | i2c_write_byte(0x14); // Update Channel C |
361 | break; |
361 | break; |
362 | case 20: |
362 | case 20: |
363 | i2c_write_byte(AnalogOffsetGier); // Value |
363 | i2c_write_byte(AnalogOffsetGier); // Value |
364 | break; |
364 | break; |
365 | case 21: |
365 | case 21: |
366 | i2c_write_byte(0x80); // Value |
366 | i2c_write_byte(0x80); // Value |
367 | break; |
367 | break; |
368 | case 22: |
368 | case 22: |
369 | i2c_stop(); |
369 | i2c_stop(); |
370 | I2CTimeout = 10; |
370 | I2CTimeout = 10; |
371 | twi_state = 0; |
371 | twi_state = 0; |
372 | break; |
372 | break; |
373 | } |
373 | } |
374 | TWCR |= 0x80; |
374 | TWCR |= 0x80; |
375 | } |
375 | } |
376 | #endif |
376 | #endif |