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| Rev 918 | Rev 1111 | ||
|---|---|---|---|
| 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[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 | //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 | ||
| - | 68 | #ifdef OCTO |
|
| - | 69 | //############################################################################ |
|
| - | 70 | //Start I2C |
|
| - | 71 | SIGNAL (TWI_vect) |
|
| - | 72 | //############################################################################ |
|
| - | 73 | { |
|
| - | 74 | switch (twi_state++) |
|
| - | 75 | { |
|
| - | 76 | case 0: |
|
| - | 77 | i2c_write_byte(0x52+(motor*2)); |
|
| - | 78 | break; |
|
| - | 79 | case 1: |
|
| - | 80 | switch(motor++) |
|
| - | 81 | { |
|
| - | 82 | case 0: |
|
| - | 83 | i2c_write_byte(Motor1); |
|
| - | 84 | break; |
|
| - | 85 | case 1: |
|
| - | 86 | i2c_write_byte(Motor2); |
|
| - | 87 | break; |
|
| - | 88 | case 2: |
|
| - | 89 | i2c_write_byte(Motor3); |
|
| - | 90 | break; |
|
| - | 91 | case 3: |
|
| - | 92 | i2c_write_byte(Motor4); |
|
| - | 93 | break; |
|
| - | 94 | case 4: |
|
| - | 95 | i2c_write_byte(Motor5); |
|
| - | 96 | break; |
|
| - | 97 | case 5: |
|
| - | 98 | i2c_write_byte(Motor6); |
|
| - | 99 | break; |
|
| - | 100 | case 6: |
|
| - | 101 | i2c_write_byte(Motor7); |
|
| - | 102 | break; |
|
| - | 103 | case 7: |
|
| - | 104 | i2c_write_byte(Motor8); |
|
| - | 105 | break; |
|
| - | 106 | } |
|
| - | 107 | break; |
|
| - | 108 | case 2: |
|
| - | 109 | i2c_stop(); |
|
| - | 110 | if (motor<8) twi_state = 0; |
|
| - | 111 | else motor = 0; |
|
| - | 112 | i2c_start(); |
|
| - | 113 | break; |
|
| - | 114 | ||
| - | 115 | //Liest Daten von Motor |
|
| - | 116 | case 3: |
|
| - | 117 | i2c_write_byte(0x53+(motorread*2)); |
|
| - | 118 | break; |
|
| - | 119 | case 4: |
|
| - | 120 | switch(motorread) |
|
| - | 121 | { |
|
| - | 122 | case 0: |
|
| - | 123 | i2c_write_byte(Motor1); |
|
| - | 124 | break; |
|
| - | 125 | case 1: |
|
| - | 126 | i2c_write_byte(Motor2); |
|
| - | 127 | break; |
|
| - | 128 | case 2: |
|
| - | 129 | i2c_write_byte(Motor3); |
|
| - | 130 | break; |
|
| - | 131 | case 3: |
|
| - | 132 | i2c_write_byte(Motor4); |
|
| - | 133 | break; |
|
| - | 134 | case 4: |
|
| - | 135 | i2c_write_byte(Motor5); |
|
| - | 136 | break; |
|
| - | 137 | case 5: |
|
| - | 138 | i2c_write_byte(Motor6); |
|
| - | 139 | break; |
|
| - | 140 | case 6: |
|
| - | 141 | i2c_write_byte(Motor7); |
|
| - | 142 | break; |
|
| - | 143 | case 7: |
|
| - | 144 | i2c_write_byte(Motor8); |
|
| - | 145 | break; |
|
| - | 146 | } |
|
| - | 147 | break; |
|
| - | 148 | case 5: //1 Byte vom Motor lesen |
|
| - | 149 | motor_rx[motorread] = TWDR; |
|
| - | 150 | ||
| - | 151 | case 6: |
|
| - | 152 | switch(motorread) |
|
| - | 153 | { |
|
| - | 154 | case 0: |
|
| - | 155 | i2c_write_byte(Motor1); |
|
| - | 156 | break; |
|
| - | 157 | case 1: |
|
| - | 158 | i2c_write_byte(Motor2); |
|
| - | 159 | break; |
|
| - | 160 | case 2: |
|
| - | 161 | i2c_write_byte(Motor3); |
|
| - | 162 | break; |
|
| - | 163 | case 3: |
|
| - | 164 | i2c_write_byte(Motor4); |
|
| - | 165 | break; |
|
| - | 166 | case 4: |
|
| - | 167 | i2c_write_byte(Motor5); |
|
| - | 168 | break; |
|
| - | 169 | case 5: |
|
| - | 170 | i2c_write_byte(Motor6); |
|
| - | 171 | break; |
|
| - | 172 | case 6: |
|
| - | 173 | i2c_write_byte(Motor7); |
|
| - | 174 | break; |
|
| - | 175 | case 7: |
|
| - | 176 | i2c_write_byte(Motor8); |
|
| - | 177 | break; |
|
| - | 178 | } |
|
| - | 179 | break; |
|
| - | 180 | case 7: //2 Byte vom Motor lesen |
|
| - | 181 | motor_rx[motorread+4] = TWDR; |
|
| - | 182 | motorread++; |
|
| - | 183 | if (motorread>7) motorread=0; |
|
| - | 184 | i2c_stop(); |
|
| - | 185 | I2CTimeout = 10; |
|
| - | 186 | twi_state = 0; |
|
| - | 187 | break; |
|
| - | 188 | case 8: // Gyro-Offset |
|
| - | 189 | i2c_write_byte(0x98); // Address of the DAC |
|
| - | 190 | break; |
|
| - | 191 | case 9: |
|
| - | 192 | i2c_write_byte(0x10); // Update Channel A |
|
| - | 193 | break; |
|
| - | 194 | case 10: |
|
| - | 195 | i2c_write_byte(AnalogOffsetNick); // Value |
|
| - | 196 | break; |
|
| - | 197 | case 11: |
|
| - | 198 | i2c_write_byte(0x80); // Value |
|
| - | 199 | break; |
|
| - | 200 | case 12: |
|
| - | 201 | i2c_stop(); |
|
| - | 202 | I2CTimeout = 10; |
|
| - | 203 | i2c_start(); |
|
| - | 204 | break; |
|
| - | 205 | case 13: |
|
| - | 206 | i2c_write_byte(0x98); // Address of the DAC |
|
| - | 207 | break; |
|
| - | 208 | case 14: |
|
| - | 209 | i2c_write_byte(0x12); // Update Channel B |
|
| - | 210 | break; |
|
| - | 211 | case 15: |
|
| - | 212 | i2c_write_byte(AnalogOffsetRoll); // Value |
|
| - | 213 | break; |
|
| - | 214 | case 16: |
|
| - | 215 | i2c_write_byte(0x80); // Value |
|
| - | 216 | break; |
|
| - | 217 | case 17: |
|
| - | 218 | i2c_stop(); |
|
| - | 219 | I2CTimeout = 10; |
|
| - | 220 | i2c_start(); |
|
| - | 221 | break; |
|
| - | 222 | case 18: |
|
| - | 223 | i2c_write_byte(0x98); // Address of the DAC |
|
| - | 224 | break; |
|
| - | 225 | case 19: |
|
| - | 226 | i2c_write_byte(0x14); // Update Channel C |
|
| - | 227 | break; |
|
| - | 228 | case 20: |
|
| - | 229 | i2c_write_byte(AnalogOffsetGier); // Value |
|
| - | 230 | break; |
|
| - | 231 | case 21: |
|
| - | 232 | i2c_write_byte(0x80); // Value |
|
| - | 233 | break; |
|
| - | 234 | case 22: |
|
| - | 235 | i2c_stop(); |
|
| - | 236 | I2CTimeout = 10; |
|
| - | 237 | twi_state = 0; |
|
| - | 238 | break; |
|
| - | 239 | } |
|
| - | 240 | TWCR |= 0x80; |
|
| - | 241 | } |
|
| 67 | 242 | #else |
|
| 68 | //############################################################################ |
243 | //############################################################################ |
| 69 | //Start I2C |
244 | //Start I2C |
| 70 | SIGNAL (TWI_vect) |
245 | SIGNAL (TWI_vect) |
| 71 | //############################################################################ |
246 | //############################################################################ |
| 72 | { |
247 | { |
| 73 | switch (twi_state++) |
248 | switch (twi_state++) |
| 74 | { |
249 | { |
| 75 | case 0: |
250 | case 0: |
| 76 | i2c_write_byte(0x52+(motor*2)); |
251 | i2c_write_byte(0x52+(motor*2)); |
| 77 | break; |
252 | break; |
| 78 | case 1: |
253 | case 1: |
| 79 | switch(motor++) |
254 | switch(motor++) |
| 80 | { |
255 | { |
| 81 | case 0: |
256 | case 0: |
| 82 | i2c_write_byte(Motor_Vorne); |
257 | i2c_write_byte(Motor_Vorne); |
| 83 | break; |
258 | break; |
| 84 | case 1: |
259 | case 1: |
| 85 | i2c_write_byte(Motor_Hinten); |
260 | i2c_write_byte(Motor_Hinten); |
| 86 | break; |
261 | break; |
| 87 | case 2: |
262 | case 2: |
| 88 | i2c_write_byte(Motor_Rechts); |
263 | i2c_write_byte(Motor_Rechts); |
| 89 | break; |
264 | break; |
| 90 | case 3: |
265 | case 3: |
| 91 | i2c_write_byte(Motor_Links); |
266 | i2c_write_byte(Motor_Links); |
| 92 | break; |
267 | break; |
| 93 | } |
268 | } |
| 94 | break; |
269 | break; |
| 95 | case 2: |
270 | case 2: |
| 96 | i2c_stop(); |
271 | i2c_stop(); |
| 97 | if (motor<4) twi_state = 0; |
272 | if (motor<4) twi_state = 0; |
| 98 | else motor = 0; |
273 | else motor = 0; |
| 99 | i2c_start(); |
274 | i2c_start(); |
| 100 | break; |
275 | break; |
| 101 | 276 | ||
| 102 | //Liest Daten von Motor |
277 | //Liest Daten von Motor |
| 103 | case 3: |
278 | case 3: |
| 104 | i2c_write_byte(0x53+(motorread*2)); |
279 | i2c_write_byte(0x53+(motorread*2)); |
| 105 | break; |
280 | break; |
| 106 | case 4: |
281 | case 4: |
| 107 | switch(motorread) |
282 | switch(motorread) |
| 108 | { |
283 | { |
| 109 | case 0: |
284 | case 0: |
| 110 | i2c_write_byte(Motor_Vorne); |
285 | i2c_write_byte(Motor_Vorne); |
| 111 | break; |
286 | break; |
| 112 | case 1: |
287 | case 1: |
| 113 | i2c_write_byte(Motor_Hinten); |
288 | i2c_write_byte(Motor_Hinten); |
| 114 | break; |
289 | break; |
| 115 | case 2: |
290 | case 2: |
| 116 | i2c_write_byte(Motor_Rechts); |
291 | i2c_write_byte(Motor_Rechts); |
| 117 | break; |
292 | break; |
| 118 | case 3: |
293 | case 3: |
| 119 | i2c_write_byte(Motor_Links); |
294 | i2c_write_byte(Motor_Links); |
| 120 | break; |
295 | break; |
| 121 | } |
296 | } |
| 122 | break; |
297 | break; |
| 123 | case 5: //1 Byte vom Motor lesen |
298 | case 5: //1 Byte vom Motor lesen |
| 124 | motor_rx[motorread] = TWDR; |
299 | motor_rx[motorread] = TWDR; |
| 125 | 300 | ||
| 126 | case 6: |
301 | case 6: |
| 127 | switch(motorread) |
302 | switch(motorread) |
| 128 | { |
303 | { |
| 129 | case 0: |
304 | case 0: |
| 130 | i2c_write_byte(Motor_Vorne); |
305 | i2c_write_byte(Motor_Vorne); |
| 131 | break; |
306 | break; |
| 132 | case 1: |
307 | case 1: |
| 133 | i2c_write_byte(Motor_Hinten); |
308 | i2c_write_byte(Motor_Hinten); |
| 134 | break; |
309 | break; |
| 135 | case 2: |
310 | case 2: |
| 136 | i2c_write_byte(Motor_Rechts); |
311 | i2c_write_byte(Motor_Rechts); |
| 137 | break; |
312 | break; |
| 138 | case 3: |
313 | case 3: |
| 139 | i2c_write_byte(Motor_Links); |
314 | i2c_write_byte(Motor_Links); |
| 140 | break; |
315 | break; |
| 141 | } |
316 | } |
| 142 | break; |
317 | break; |
| 143 | case 7: //2 Byte vom Motor lesen |
318 | case 7: //2 Byte vom Motor lesen |
| 144 | motor_rx[motorread+4] = TWDR; |
319 | motor_rx[motorread+4] = TWDR; |
| 145 | motorread++; |
320 | motorread++; |
| 146 | if (motorread>3) motorread=0; |
321 | if (motorread>3) motorread=0; |
| 147 | i2c_stop(); |
322 | i2c_stop(); |
| 148 | I2CTimeout = 10; |
323 | I2CTimeout = 10; |
| 149 | twi_state = 0; |
324 | twi_state = 0; |
| 150 | break; |
325 | break; |
| 151 | case 8: // Gyro-Offset |
326 | case 8: // Gyro-Offset |
| 152 | i2c_write_byte(0x98); // Address of the DAC |
327 | i2c_write_byte(0x98); // Address of the DAC |
| 153 | break; |
328 | break; |
| 154 | case 9: |
329 | case 9: |
| 155 | i2c_write_byte(0x10); // Update Channel A |
330 | i2c_write_byte(0x10); // Update Channel A |
| 156 | break; |
331 | break; |
| 157 | case 10: |
332 | case 10: |
| 158 | i2c_write_byte(AnalogOffsetNick); // Value |
333 | i2c_write_byte(AnalogOffsetNick); // Value |
| 159 | break; |
334 | break; |
| 160 | case 11: |
335 | case 11: |
| 161 | i2c_write_byte(0x80); // Value |
336 | i2c_write_byte(0x80); // Value |
| 162 | break; |
337 | break; |
| 163 | case 12: |
338 | case 12: |
| 164 | i2c_stop(); |
339 | i2c_stop(); |
| 165 | I2CTimeout = 10; |
340 | I2CTimeout = 10; |
| 166 | i2c_start(); |
341 | i2c_start(); |
| 167 | break; |
342 | break; |
| 168 | case 13: |
343 | case 13: |
| 169 | i2c_write_byte(0x98); // Address of the DAC |
344 | i2c_write_byte(0x98); // Address of the DAC |
| 170 | break; |
345 | break; |
| 171 | case 14: |
346 | case 14: |
| 172 | i2c_write_byte(0x12); // Update Channel B |
347 | i2c_write_byte(0x12); // Update Channel B |
| 173 | break; |
348 | break; |
| 174 | case 15: |
349 | case 15: |
| 175 | i2c_write_byte(AnalogOffsetRoll); // Value |
350 | i2c_write_byte(AnalogOffsetRoll); // Value |
| 176 | break; |
351 | break; |
| 177 | case 16: |
352 | case 16: |
| 178 | i2c_write_byte(0x80); // Value |
353 | i2c_write_byte(0x80); // Value |
| 179 | break; |
354 | break; |
| 180 | case 17: |
355 | case 17: |
| 181 | i2c_stop(); |
356 | i2c_stop(); |
| 182 | I2CTimeout = 10; |
357 | I2CTimeout = 10; |
| 183 | i2c_start(); |
358 | i2c_start(); |
| 184 | break; |
359 | break; |
| 185 | case 18: |
360 | case 18: |
| 186 | i2c_write_byte(0x98); // Address of the DAC |
361 | i2c_write_byte(0x98); // Address of the DAC |
| 187 | break; |
362 | break; |
| 188 | case 19: |
363 | case 19: |
| 189 | i2c_write_byte(0x14); // Update Channel C |
364 | i2c_write_byte(0x14); // Update Channel C |
| 190 | break; |
365 | break; |
| 191 | case 20: |
366 | case 20: |
| 192 | i2c_write_byte(AnalogOffsetGier); // Value |
367 | i2c_write_byte(AnalogOffsetGier); // Value |
| 193 | break; |
368 | break; |
| 194 | case 21: |
369 | case 21: |
| 195 | i2c_write_byte(0x80); // Value |
370 | i2c_write_byte(0x80); // Value |
| 196 | break; |
371 | break; |
| 197 | case 22: |
372 | case 22: |
| 198 | i2c_stop(); |
373 | i2c_stop(); |
| 199 | I2CTimeout = 10; |
374 | I2CTimeout = 10; |
| 200 | twi_state = 0; |
375 | twi_state = 0; |
| 201 | break; |
376 | break; |
| 202 | } |
377 | } |
| 203 | TWCR |= 0x80; |
378 | TWCR |= 0x80; |
| 204 | } |
379 | } |
| - | 380 | #endif |
|
| 205 | 381 | ||