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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,MissingMotor = 0; |
9 | unsigned char motor_rx[16],motor_rx2[16]; |
9 | unsigned char motor_rx[16],motor_rx2[16]; |
- | 10 | unsigned char MotorPresent[MAX_MOTORS]; |
|
10 | 11 | ||
11 | //############################################################################ |
12 | //############################################################################ |
12 | //Initzialisieren der I2C (TWI) Schnittstelle |
13 | //Initzialisieren der I2C (TWI) Schnittstelle |
13 | void i2c_init(void) |
14 | void i2c_init(void) |
14 | //############################################################################ |
15 | //############################################################################ |
15 | { |
16 | { |
16 | TWSR = 0; |
17 | TWSR = 0; |
17 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
18 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
18 | } |
19 | } |
19 | 20 | ||
20 | //############################################################################ |
21 | //############################################################################ |
21 | //Start I2C |
22 | //Start I2C |
22 | void i2c_start(void) |
23 | void i2c_start(void) |
23 | //############################################################################ |
24 | //############################################################################ |
24 | { |
25 | { |
25 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
26 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
26 | } |
27 | } |
27 | 28 | ||
28 | //############################################################################ |
29 | //############################################################################ |
29 | void i2c_stop(void) |
30 | void i2c_stop(void) |
30 | //############################################################################ |
31 | //############################################################################ |
31 | { |
32 | { |
32 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
33 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
33 | } |
34 | } |
34 | 35 | ||
35 | void i2c_reset(void) |
36 | void i2c_reset(void) |
36 | //############################################################################ |
37 | //############################################################################ |
37 | { |
38 | { |
38 | i2c_stop(); |
39 | i2c_stop(); |
39 | twi_state = 0; |
40 | twi_state = 0; |
40 | motor = TWDR; |
41 | motor = TWDR; |
41 | motor = 0; |
42 | motor = 0; |
42 | TWCR = 0x80; |
43 | TWCR = 0x80; |
43 | TWAMR = 0; |
44 | TWAMR = 0; |
44 | TWAR = 0; |
45 | TWAR = 0; |
45 | TWDR = 0; |
46 | TWDR = 0; |
46 | TWSR = 0; |
47 | TWSR = 0; |
47 | TWBR = 0; |
48 | TWBR = 0; |
48 | i2c_init(); |
49 | i2c_init(); |
49 | i2c_start(); |
50 | i2c_start(); |
50 | i2c_write_byte(0); |
51 | i2c_write_byte(0); |
51 | } |
52 | } |
52 | 53 | ||
53 | //############################################################################ |
54 | //############################################################################ |
54 | void i2c_write_byte(char byte) |
55 | void i2c_write_byte(char byte) |
55 | //############################################################################ |
56 | //############################################################################ |
56 | { |
57 | { |
57 | TWSR = 0x00; |
58 | TWSR = 0x00; |
58 | TWDR = byte; |
59 | TWDR = byte; |
59 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
60 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
60 | } |
61 | } |
61 | 62 | ||
62 | /****************************************/ |
63 | /****************************************/ |
63 | /* Write to I2C */ |
64 | /* Write to I2C */ |
64 | /****************************************/ |
65 | /****************************************/ |
65 | void I2C_WriteByte(int8_t byte) |
66 | void I2C_WriteByte(int8_t byte) |
66 | { |
67 | { |
67 | // move byte to send into TWI Data Register |
68 | // move byte to send into TWI Data Register |
68 | TWDR = byte; |
69 | TWDR = byte; |
69 | // clear interrupt flag (TWINT = 1) |
70 | // clear interrupt flag (TWINT = 1) |
70 | // enable i2c bus (TWEN = 1) |
71 | // enable i2c bus (TWEN = 1) |
71 | // enable interrupt (TWIE = 1) |
72 | // enable interrupt (TWIE = 1) |
72 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
73 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
73 | } |
74 | } |
74 | 75 | ||
75 | /****************************************/ |
76 | /****************************************/ |
76 | /* Receive byte and send ACK */ |
77 | /* Receive byte and send ACK */ |
77 | /****************************************/ |
78 | /****************************************/ |
78 | void I2C_ReceiveByte(void) |
79 | void I2C_ReceiveByte(void) |
79 | { |
80 | { |
80 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
81 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
81 | } |
82 | } |
82 | 83 | ||
83 | /****************************************/ |
84 | /****************************************/ |
84 | /* I2C receive last byte and send no ACK*/ |
85 | /* I2C receive last byte and send no ACK*/ |
85 | /****************************************/ |
86 | /****************************************/ |
86 | void I2C_ReceiveLastByte(void) |
87 | void I2C_ReceiveLastByte(void) |
87 | { |
88 | { |
88 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
89 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
89 | } |
90 | } |
90 | 91 | ||
91 | 92 | ||
92 | 93 | ||
93 | //############################################################################ |
94 | //############################################################################ |
94 | SIGNAL (TWI_vect) |
95 | SIGNAL (TWI_vect) |
95 | //############################################################################ |
96 | //############################################################################ |
96 | { |
97 | { |
- | 98 | static unsigned char missing_motor,cnt_motor; |
|
97 | switch (twi_state++) |
99 | switch(twi_state++) |
98 | { |
100 | { |
- | 101 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 102 | // Writing the Data |
|
- | 103 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
99 | case 0: |
104 | case 0: |
100 | J3High; |
- | |
101 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS-1) motor++; // skip if not used |
105 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
102 | if(motor == MAX_MOTORS) { motor = 0; twi_state = 3; i2c_start(); } // writing finished -> now read |
106 | if(motor == MAX_MOTORS) // writing finished -> now read |
- | 107 | { |
|
- | 108 | motor = 0; |
|
- | 109 | twi_state = 3; |
|
- | 110 | i2c_write_byte(0x53+(motorread*2)); |
|
- | 111 | } |
|
103 | else i2c_write_byte(0x52+(motor*2)); |
112 | else i2c_write_byte(0x52+(motor*2)); |
104 | break; |
113 | break; |
105 | case 1: |
114 | case 1: |
106 | i2c_write_byte(Motor[motor++]); |
115 | i2c_write_byte(Motor[motor++]); |
107 | break; |
116 | break; |
108 | case 2: |
117 | case 2: |
- | 118 | if(TWSR == 0x30) { if(!missing_motor) missing_motor = motor; } |
|
109 | i2c_stop(); |
119 | i2c_stop(); |
- | 120 | I2CTimeout = 10; |
|
110 | twi_state = 0; |
121 | twi_state = 0; |
111 | i2c_start(); |
122 | i2c_start(); |
112 | break; |
123 | break; |
- | 124 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
113 | //Liest Daten von Motor |
125 | // Reading Data |
- | 126 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
114 | case 3: |
127 | case 3: |
115 | J5High; |
- | |
116 | while(Mixer.Motor[motorread][0] <= 0 && MAX_MOTORS-1) motorread++; |
- | |
117 | if(motorread >= MAX_MOTORS) {motorread = 0;J4High;} |
- | |
118 | else i2c_write_byte(0x53+(motorread*2)); |
- | |
119 | break; |
- | |
120 | case 4: |
- | |
121 | //Transmit 1st byte for reading |
128 | //Transmit 1st byte for reading |
- | 129 | ||
- | 130 | if(TWSR != 0x40) // Error? |
|
- | 131 | { |
|
- | 132 | MotorPresent[motorread] = 0; |
|
- | 133 | motorread++; |
|
- | 134 | if(motorread >= MAX_MOTORS) motorread = 0; |
|
- | 135 | i2c_stop(); |
|
- | 136 | twi_state = 0; |
|
- | 137 | } |
|
- | 138 | else |
|
- | 139 | { |
|
- | 140 | MotorPresent[motorread] = ('1' - '-') + motorread; |
|
- | 141 | } |
|
- | 142 | MissingMotor = missing_motor; |
|
122 | I2C_ReceiveByte(); |
143 | I2C_ReceiveByte(); |
123 | break; |
144 | break; |
124 | case 5: //Read 1st byte and transmit 2nd Byte |
145 | case 4: //Read 1st byte and transmit 2nd Byte |
125 | motor_rx[motorread] = TWDR; |
146 | motor_rx[motorread] = TWDR; |
126 | I2C_ReceiveLastByte(); //nack |
147 | I2C_ReceiveLastByte(); //nack |
127 | break; |
148 | break; |
128 | case 6: |
149 | case 5: |
129 | //Read 2nd byte |
150 | //Read 2nd byte |
130 | motor_rx2[motorread++] = TWDR; |
151 | motor_rx2[motorread++] = TWDR; |
131 | i2c_stop(); |
152 | i2c_stop(); |
132 | twi_state = 0; |
153 | twi_state = 0; |
133 | I2CTimeout = 10; |
154 | missing_motor = 0; |
134 | break; |
155 | break; |
- | 156 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
135 | case 8: // Gyro-Offset |
157 | // writing Gyro-Offset |
- | 158 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 159 | case 8: |
|
136 | i2c_write_byte(0x98); // Address of the DAC |
160 | i2c_write_byte(0x98); // Address of the DAC |
137 | break; |
161 | break; |
138 | case 9: |
162 | case 9: |
139 | i2c_write_byte(0x10); // Update Channel A |
163 | i2c_write_byte(0x10); // Update Channel A |
140 | break; |
164 | break; |
141 | case 10: |
165 | case 10: |
142 | i2c_write_byte(AnalogOffsetNick); // Value |
166 | i2c_write_byte(AnalogOffsetNick); // Value |
143 | break; |
167 | break; |
144 | case 11: |
168 | case 11: |
145 | i2c_write_byte(0x80); // Value |
169 | i2c_write_byte(0x80); // Value |
146 | break; |
170 | break; |
147 | case 12: |
171 | case 12: |
148 | i2c_stop(); |
172 | i2c_stop(); |
149 | I2CTimeout = 10; |
173 | I2CTimeout = 10; |
150 | i2c_start(); |
174 | i2c_start(); |
151 | break; |
175 | break; |
152 | case 13: |
176 | case 13: |
153 | i2c_write_byte(0x98); // Address of the DAC |
177 | i2c_write_byte(0x98); // Address of the DAC |
154 | break; |
178 | break; |
155 | case 14: |
179 | case 14: |
156 | i2c_write_byte(0x12); // Update Channel B |
180 | i2c_write_byte(0x12); // Update Channel B |
157 | break; |
181 | break; |
158 | case 15: |
182 | case 15: |
159 | i2c_write_byte(AnalogOffsetRoll); // Value |
183 | i2c_write_byte(AnalogOffsetRoll); // Value |
160 | break; |
184 | break; |
161 | case 16: |
185 | case 16: |
162 | i2c_write_byte(0x80); // Value |
186 | i2c_write_byte(0x80); // Value |
163 | break; |
187 | break; |
164 | case 17: |
188 | case 17: |
165 | i2c_stop(); |
189 | i2c_stop(); |
166 | I2CTimeout = 10; |
190 | I2CTimeout = 10; |
167 | i2c_start(); |
191 | i2c_start(); |
168 | break; |
192 | break; |
169 | case 18: |
193 | case 18: |
170 | i2c_write_byte(0x98); // Address of the DAC |
194 | i2c_write_byte(0x98); // Address of the DAC |
171 | break; |
195 | break; |
172 | case 19: |
196 | case 19: |
173 | i2c_write_byte(0x14); // Update Channel C |
197 | i2c_write_byte(0x14); // Update Channel C |
174 | break; |
198 | break; |
175 | case 20: |
199 | case 20: |
176 | i2c_write_byte(AnalogOffsetGier); // Value |
200 | i2c_write_byte(AnalogOffsetGier); // Value |
177 | break; |
201 | break; |
178 | case 21: |
202 | case 21: |
179 | i2c_write_byte(0x80); // Value |
203 | i2c_write_byte(0x80); // Value |
180 | break; |
204 | break; |
181 | case 22: |
205 | case 22: |
182 | i2c_stop(); |
206 | i2c_stop(); |
183 | I2CTimeout = 10; |
207 | I2CTimeout = 10; |
184 | twi_state = 0; |
208 | twi_state = 0; |
185 | break; |
209 | break; |
186 | default: twi_state = 0; |
210 | default: twi_state = 0; |
187 | break; |
211 | break; |
188 | } |
212 | } |
189 | TWCR |= 0x80; |
213 | TWCR |= 0x80; |
190 | J3Low; |
- | |
191 | J4Low; |
- | |
192 | J5Low; |
- | |
193 | } |
214 | } |
194 | /* |
215 | /* |
195 | //############################################################################ |
216 | //############################################################################ |
196 | SIGNAL (TWI_vect) |
217 | SIGNAL (TWI_vect) |
197 | //############################################################################ |
218 | //############################################################################ |
198 | { |
219 | { |
199 | switch (twi_state++) |
220 | switch (twi_state++) |
200 | { |
221 | { |
201 | case 0: |
222 | case 0: |
202 | i2c_write_byte(0x52+(motor*2)); |
223 | i2c_write_byte(0x52+(motor*2)); |
203 | break; |
224 | break; |
204 | case 1: |
225 | case 1: |
205 | switch(motor++) |
226 | switch(motor++) |
206 | { |
227 | { |
207 | case 0: |
228 | case 0: |
208 | i2c_write_byte(Motor_Vorne); |
229 | i2c_write_byte(Motor_Vorne); |
209 | break; |
230 | break; |
210 | case 1: |
231 | case 1: |
211 | i2c_write_byte(Motor_Hinten); |
232 | i2c_write_byte(Motor_Hinten); |
212 | break; |
233 | break; |
213 | case 2: |
234 | case 2: |
214 | i2c_write_byte(Motor_Rechts); |
235 | i2c_write_byte(Motor_Rechts); |
215 | break; |
236 | break; |
216 | case 3: |
237 | case 3: |
217 | i2c_write_byte(Motor_Links); |
238 | i2c_write_byte(Motor_Links); |
218 | break; |
239 | break; |
219 | } |
240 | } |
220 | break; |
241 | break; |
221 | case 2: |
242 | case 2: |
222 | i2c_stop(); |
243 | i2c_stop(); |
223 | if (motor<4) twi_state = 0; |
244 | if (motor<4) twi_state = 0; |
224 | else motor = 0; |
245 | else motor = 0; |
225 | i2c_start(); |
246 | i2c_start(); |
226 | break; |
247 | break; |
227 | |
248 | |
228 | //Liest Daten von Motor |
249 | //Liest Daten von Motor |
229 | case 3: |
250 | case 3: |
230 | i2c_write_byte(0x53+(motorread*2)); |
251 | i2c_write_byte(0x53+(motorread*2)); |
231 | break; |
252 | break; |
232 | case 4: |
253 | case 4: |
233 | switch(motorread) |
254 | switch(motorread) |
234 | { |
255 | { |
235 | case 0: |
256 | case 0: |
236 | i2c_write_byte(Motor_Vorne); |
257 | i2c_write_byte(Motor_Vorne); |
237 | break; |
258 | break; |
238 | case 1: |
259 | case 1: |
239 | i2c_write_byte(Motor_Hinten); |
260 | i2c_write_byte(Motor_Hinten); |
240 | break; |
261 | break; |
241 | case 2: |
262 | case 2: |
242 | i2c_write_byte(Motor_Rechts); |
263 | i2c_write_byte(Motor_Rechts); |
243 | break; |
264 | break; |
244 | case 3: |
265 | case 3: |
245 | i2c_write_byte(Motor_Links); |
266 | i2c_write_byte(Motor_Links); |
246 | break; |
267 | break; |
247 | } |
268 | } |
248 | break; |
269 | break; |
249 | case 5: //1 Byte vom Motor lesen |
270 | case 5: //1 Byte vom Motor lesen |
250 | motor_rx[motorread] = TWDR; |
271 | motor_rx[motorread] = TWDR; |
251 | 272 | ||
252 | case 6: |
273 | case 6: |
253 | switch(motorread) |
274 | switch(motorread) |
254 | { |
275 | { |
255 | case 0: |
276 | case 0: |
256 | i2c_write_byte(Motor_Vorne); |
277 | i2c_write_byte(Motor_Vorne); |
257 | break; |
278 | break; |
258 | case 1: |
279 | case 1: |
259 | i2c_write_byte(Motor_Hinten); |
280 | i2c_write_byte(Motor_Hinten); |
260 | break; |
281 | break; |
261 | case 2: |
282 | case 2: |
262 | i2c_write_byte(Motor_Rechts); |
283 | i2c_write_byte(Motor_Rechts); |
263 | break; |
284 | break; |
264 | case 3: |
285 | case 3: |
265 | i2c_write_byte(Motor_Links); |
286 | i2c_write_byte(Motor_Links); |
266 | break; |
287 | break; |
267 | } |
288 | } |
268 | break; |
289 | break; |
269 | case 7: //2 Byte vom Motor lesen |
290 | case 7: //2 Byte vom Motor lesen |
270 | motor_rx[motorread+4] = TWDR; |
291 | motor_rx[motorread+4] = TWDR; |
271 | motorread++; |
292 | motorread++; |
272 | if (motorread>3) motorread=0; |
293 | if (motorread>3) motorread=0; |
273 | i2c_stop(); |
294 | i2c_stop(); |
274 | I2CTimeout = 10; |
295 | I2CTimeout = 10; |
275 | twi_state = 0; |
296 | twi_state = 0; |
276 | break; |
297 | break; |
277 | case 8: // Gyro-Offset |
298 | case 8: // Gyro-Offset |
278 | i2c_write_byte(0x98); // Address of the DAC |
299 | i2c_write_byte(0x98); // Address of the DAC |
279 | break; |
300 | break; |
280 | case 9: |
301 | case 9: |
281 | i2c_write_byte(0x10); // Update Channel A |
302 | i2c_write_byte(0x10); // Update Channel A |
282 | break; |
303 | break; |
283 | case 10: |
304 | case 10: |
284 | i2c_write_byte(AnalogOffsetNick); // Value |
305 | i2c_write_byte(AnalogOffsetNick); // Value |
285 | break; |
306 | break; |
286 | case 11: |
307 | case 11: |
287 | i2c_write_byte(0x80); // Value |
308 | i2c_write_byte(0x80); // Value |
288 | break; |
309 | break; |
289 | case 12: |
310 | case 12: |
290 | i2c_stop(); |
311 | i2c_stop(); |
291 | I2CTimeout = 10; |
312 | I2CTimeout = 10; |
292 | i2c_start(); |
313 | i2c_start(); |
293 | break; |
314 | break; |
294 | case 13: |
315 | case 13: |
295 | i2c_write_byte(0x98); // Address of the DAC |
316 | i2c_write_byte(0x98); // Address of the DAC |
296 | break; |
317 | break; |
297 | case 14: |
318 | case 14: |
298 | i2c_write_byte(0x12); // Update Channel B |
319 | i2c_write_byte(0x12); // Update Channel B |
299 | break; |
320 | break; |
300 | case 15: |
321 | case 15: |
301 | i2c_write_byte(AnalogOffsetRoll); // Value |
322 | i2c_write_byte(AnalogOffsetRoll); // Value |
302 | break; |
323 | break; |
303 | case 16: |
324 | case 16: |
304 | i2c_write_byte(0x80); // Value |
325 | i2c_write_byte(0x80); // Value |
305 | break; |
326 | break; |
306 | case 17: |
327 | case 17: |
307 | i2c_stop(); |
328 | i2c_stop(); |
308 | I2CTimeout = 10; |
329 | I2CTimeout = 10; |
309 | i2c_start(); |
330 | i2c_start(); |
310 | break; |
331 | break; |
311 | case 18: |
332 | case 18: |
312 | i2c_write_byte(0x98); // Address of the DAC |
333 | i2c_write_byte(0x98); // Address of the DAC |
313 | break; |
334 | break; |
314 | case 19: |
335 | case 19: |
315 | i2c_write_byte(0x14); // Update Channel C |
336 | i2c_write_byte(0x14); // Update Channel C |
316 | break; |
337 | break; |
317 | case 20: |
338 | case 20: |
318 | i2c_write_byte(AnalogOffsetGier); // Value |
339 | i2c_write_byte(AnalogOffsetGier); // Value |
319 | break; |
340 | break; |
320 | case 21: |
341 | case 21: |
321 | i2c_write_byte(0x80); // Value |
342 | i2c_write_byte(0x80); // Value |
322 | break; |
343 | break; |
323 | case 22: |
344 | case 22: |
324 | i2c_stop(); |
345 | i2c_stop(); |
325 | I2CTimeout = 10; |
346 | I2CTimeout = 10; |
326 | twi_state = 0; |
347 | twi_state = 0; |
327 | break; |
348 | break; |
328 | } |
349 | } |
329 | TWCR |= 0x80; |
350 | TWCR |= 0x80; |
330 | } |
351 | } |
331 | */ |
352 | */ |