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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,MissingMotor = 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 | unsigned char MotorPresent[MAX_MOTORS]; |
11 | unsigned char MotorError[MAX_MOTORS]; |
11 | unsigned char MotorError[MAX_MOTORS]; |
- | 12 | unsigned int I2CError = 0; |
|
12 | 13 | ||
13 | //############################################################################ |
14 | //############################################################################ |
14 | //Initzialisieren der I2C (TWI) Schnittstelle |
15 | //Initzialisieren der I2C (TWI) Schnittstelle |
15 | void i2c_init(void) |
16 | void i2c_init(void) |
16 | //############################################################################ |
17 | //############################################################################ |
17 | { |
18 | { |
18 | TWSR = 0; |
19 | TWSR = 0; |
19 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
20 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
20 | } |
21 | } |
21 | 22 | ||
22 | //############################################################################ |
23 | //############################################################################ |
23 | //Start I2C |
24 | //Start I2C |
24 | void i2c_start(void) |
25 | void i2c_start(void) |
25 | //############################################################################ |
26 | //############################################################################ |
26 | { |
27 | { |
27 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
28 | TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
28 | } |
29 | } |
29 | 30 | ||
30 | //############################################################################ |
31 | //############################################################################ |
31 | void i2c_stop(void) |
32 | void i2c_stop(void) |
32 | //############################################################################ |
33 | //############################################################################ |
33 | { |
34 | { |
34 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
35 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
35 | } |
36 | } |
36 | 37 | ||
37 | void i2c_reset(void) |
38 | void i2c_reset(void) |
38 | //############################################################################ |
39 | //############################################################################ |
39 | { |
40 | { |
40 | i2c_stop(); |
41 | i2c_stop(); |
41 | twi_state = 0; |
42 | twi_state = 0; |
42 | motor = TWDR; |
43 | motor = TWDR; |
43 | motor = 0; |
44 | motor = 0; |
44 | TWCR = 0x80; |
45 | TWCR = 0x80; |
45 | TWAMR = 0; |
46 | TWAMR = 0; |
46 | TWAR = 0; |
47 | TWAR = 0; |
47 | TWDR = 0; |
48 | TWDR = 0; |
48 | TWSR = 0; |
49 | TWSR = 0; |
49 | TWBR = 0; |
50 | TWBR = 0; |
50 | i2c_init(); |
51 | i2c_init(); |
51 | i2c_start(); |
52 | i2c_start(); |
52 | i2c_write_byte(0); |
53 | i2c_write_byte(0); |
53 | } |
54 | } |
54 | 55 | ||
55 | //############################################################################ |
56 | //############################################################################ |
56 | void i2c_write_byte(char byte) |
57 | void i2c_write_byte(char byte) |
57 | //############################################################################ |
58 | //############################################################################ |
58 | { |
59 | { |
59 | TWSR = 0x00; |
60 | TWSR = 0x00; |
60 | TWDR = byte; |
61 | TWDR = byte; |
61 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
62 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
62 | } |
63 | } |
63 | 64 | ||
64 | /****************************************/ |
65 | /****************************************/ |
65 | /* Write to I2C */ |
66 | /* Write to I2C */ |
66 | /****************************************/ |
67 | /****************************************/ |
67 | void I2C_WriteByte(int8_t byte) |
68 | void I2C_WriteByte(int8_t byte) |
68 | { |
69 | { |
69 | // move byte to send into TWI Data Register |
70 | // move byte to send into TWI Data Register |
70 | TWDR = byte; |
71 | TWDR = byte; |
71 | // clear interrupt flag (TWINT = 1) |
72 | // clear interrupt flag (TWINT = 1) |
72 | // enable i2c bus (TWEN = 1) |
73 | // enable i2c bus (TWEN = 1) |
73 | // enable interrupt (TWIE = 1) |
74 | // enable interrupt (TWIE = 1) |
74 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
75 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
75 | } |
76 | } |
76 | 77 | ||
77 | /****************************************/ |
78 | /****************************************/ |
78 | /* Receive byte and send ACK */ |
79 | /* Receive byte and send ACK */ |
79 | /****************************************/ |
80 | /****************************************/ |
80 | void I2C_ReceiveByte(void) |
81 | void I2C_ReceiveByte(void) |
81 | { |
82 | { |
82 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
83 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
83 | } |
84 | } |
84 | 85 | ||
85 | /****************************************/ |
86 | /****************************************/ |
86 | /* I2C receive last byte and send no ACK*/ |
87 | /* I2C receive last byte and send no ACK*/ |
87 | /****************************************/ |
88 | /****************************************/ |
88 | void I2C_ReceiveLastByte(void) |
89 | void I2C_ReceiveLastByte(void) |
89 | { |
90 | { |
90 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
91 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
91 | } |
92 | } |
92 | 93 | ||
93 | 94 | ||
94 | 95 | ||
95 | //############################################################################ |
96 | //############################################################################ |
96 | SIGNAL (TWI_vect) |
97 | SIGNAL (TWI_vect) |
97 | //############################################################################ |
98 | //############################################################################ |
98 | { |
99 | { |
99 | static unsigned char missing_motor; |
100 | static unsigned char missing_motor; |
100 | switch(twi_state++) |
101 | switch(twi_state++) |
101 | { |
102 | { |
102 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
103 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
103 | // Writing the Data |
104 | // Writing the Data |
104 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
105 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
105 | case 0: |
106 | case 0: |
106 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
107 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
107 | if(motor == MAX_MOTORS) // writing finished -> now read |
108 | if(motor == MAX_MOTORS) // writing finished -> now read |
108 | { |
109 | { |
109 | motor = 0; |
110 | motor = 0; |
110 | twi_state = 3; |
111 | twi_state = 3; |
111 | i2c_write_byte(0x53+(motorread*2)); |
112 | i2c_write_byte(0x53+(motorread*2)); |
112 | } |
113 | } |
113 | else i2c_write_byte(0x52+(motor*2)); |
114 | else i2c_write_byte(0x52+(motor*2)); |
114 | break; |
115 | break; |
115 | case 1: |
116 | case 1: |
116 | i2c_write_byte(Motor[motor++]); |
117 | i2c_write_byte(Motor[motor++]); |
117 | break; |
118 | break; |
118 | case 2: |
119 | case 2: |
- | 120 | if(TWSR == 0x30) |
|
- | 121 | { |
|
- | 122 | if(!missing_motor) missing_motor = motor; |
|
119 | if(TWSR == 0x30) { if(!missing_motor) missing_motor = motor; if(++MotorError[motor-1] == 0) MotorError[motor-1] = 255;} |
123 | if(++MotorError[motor-1] == 0) MotorError[motor-1] = 255; |
- | 124 | } |
|
120 | i2c_stop(); |
125 | i2c_stop(); |
121 | I2CTimeout = 10; |
126 | I2CTimeout = 10; |
122 | twi_state = 0; |
127 | twi_state = 0; |
123 | i2c_start(); |
128 | i2c_start(); |
124 | break; |
129 | break; |
125 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
130 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
126 | // Reading Data |
131 | // Reading Data |
127 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
132 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
128 | case 3: |
133 | case 3: |
129 | //Transmit 1st byte for reading |
134 | //Transmit 1st byte for reading |
130 | if(TWSR != 0x40) // Error? |
135 | if(TWSR != 0x40) // Error? |
131 | { |
136 | { |
132 | MotorPresent[motorread] = 0; |
137 | MotorPresent[motorread] = 0; |
133 | motorread++; |
138 | motorread++; |
134 | if(motorread >= MAX_MOTORS) motorread = 0; |
139 | if(motorread >= MAX_MOTORS) motorread = 0; |
135 | i2c_stop(); |
140 | i2c_stop(); |
136 | twi_state = 0; |
141 | twi_state = 0; |
137 | } |
142 | } |
138 | else |
143 | else |
139 | { |
144 | { |
140 | MotorPresent[motorread] = ('1' - '-') + motorread; |
145 | MotorPresent[motorread] = ('1' - '-') + motorread; |
141 | I2C_ReceiveByte(); |
146 | I2C_ReceiveByte(); |
142 | } |
147 | } |
143 | MissingMotor = missing_motor; |
148 | MissingMotor = missing_motor; |
144 | missing_motor = 0; |
149 | missing_motor = 0; |
145 | break; |
150 | break; |
146 | case 4: //Read 1st byte and transmit 2nd Byte |
151 | case 4: //Read 1st byte and transmit 2nd Byte |
147 | motor_rx[motorread] = TWDR; |
152 | motor_rx[motorread] = TWDR; |
148 | I2C_ReceiveLastByte(); //nack |
153 | I2C_ReceiveLastByte(); //nack |
149 | break; |
154 | break; |
150 | case 5: |
155 | case 5: |
151 | //Read 2nd byte |
156 | //Read 2nd byte |
152 | motor_rx2[motorread++] = TWDR; |
157 | motor_rx2[motorread++] = TWDR; |
153 | if(motorread >= MAX_MOTORS) motorread = 0; |
158 | if(motorread >= MAX_MOTORS) motorread = 0; |
154 | i2c_stop(); |
159 | i2c_stop(); |
155 | twi_state = 0; |
160 | twi_state = 0; |
156 | break; |
161 | break; |
157 | 162 | ||
158 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
163 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
159 | // writing Gyro-Offset |
164 | // writing Gyro-Offset |
160 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
165 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
161 | case 8: |
166 | case 8: |
162 | i2c_write_byte(0x98); // Address of the DAC |
167 | i2c_write_byte(0x98); // Address of the DAC |
163 | break; |
168 | break; |
164 | case 9: |
169 | case 9: |
165 | i2c_write_byte(0x10); // Update Channel A |
170 | i2c_write_byte(0x10); // Update Channel A |
166 | break; |
171 | break; |
167 | case 10: |
172 | case 10: |
168 | i2c_write_byte(AnalogOffsetNick); // Value |
173 | i2c_write_byte(AnalogOffsetNick); // Value |
169 | break; |
174 | break; |
170 | case 11: |
175 | case 11: |
171 | i2c_write_byte(0x80); // Value |
176 | i2c_write_byte(0x80); // Value |
172 | break; |
177 | break; |
173 | case 12: |
178 | case 12: |
174 | i2c_stop(); |
179 | i2c_stop(); |
175 | I2CTimeout = 10; |
180 | I2CTimeout = 10; |
176 | i2c_start(); |
181 | i2c_start(); |
177 | break; |
182 | break; |
178 | case 13: |
183 | case 13: |
179 | i2c_write_byte(0x98); // Address of the DAC |
184 | i2c_write_byte(0x98); // Address of the DAC |
180 | break; |
185 | break; |
181 | case 14: |
186 | case 14: |
182 | i2c_write_byte(0x12); // Update Channel B |
187 | i2c_write_byte(0x12); // Update Channel B |
183 | break; |
188 | break; |
184 | case 15: |
189 | case 15: |
185 | i2c_write_byte(AnalogOffsetRoll); // Value |
190 | i2c_write_byte(AnalogOffsetRoll); // Value |
186 | break; |
191 | break; |
187 | case 16: |
192 | case 16: |
188 | i2c_write_byte(0x80); // Value |
193 | i2c_write_byte(0x80); // Value |
189 | break; |
194 | break; |
190 | case 17: |
195 | case 17: |
191 | i2c_stop(); |
196 | i2c_stop(); |
192 | I2CTimeout = 10; |
197 | I2CTimeout = 10; |
193 | i2c_start(); |
198 | i2c_start(); |
194 | break; |
199 | break; |
195 | case 18: |
200 | case 18: |
196 | i2c_write_byte(0x98); // Address of the DAC |
201 | i2c_write_byte(0x98); // Address of the DAC |
197 | break; |
202 | break; |
198 | case 19: |
203 | case 19: |
199 | i2c_write_byte(0x14); // Update Channel C |
204 | i2c_write_byte(0x14); // Update Channel C |
200 | break; |
205 | break; |
201 | case 20: |
206 | case 20: |
202 | i2c_write_byte(AnalogOffsetGier); // Value |
207 | i2c_write_byte(AnalogOffsetGier); // Value |
203 | break; |
208 | break; |
204 | case 21: |
209 | case 21: |
205 | i2c_write_byte(0x80); // Value |
210 | i2c_write_byte(0x80); // Value |
206 | break; |
211 | break; |
207 | case 22: |
212 | case 22: |
208 | i2c_stop(); |
213 | i2c_stop(); |
209 | I2CTimeout = 10; |
214 | I2CTimeout = 10; |
210 | twi_state = 0; |
215 | twi_state = 0; |
211 | break; |
216 | break; |
212 | default: twi_state = 0; |
217 | default: twi_state = 0; |
213 | break; |
218 | break; |
214 | } |
219 | } |
215 | TWCR |= 0x80; |
220 | TWCR |= 0x80; |
216 | } |
221 | } |
217 | 222 |