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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 | //Start I2C |
- | |
31 | void i2c_stop(void) |
30 | void i2c_stop(void) |
32 | //############################################################################ |
31 | //############################################################################ |
33 | { |
32 | { |
34 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
33 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
35 | } |
34 | } |
36 | 35 | ||
37 | void i2c_reset(void) |
36 | void i2c_reset(void) |
38 | //############################################################################ |
37 | //############################################################################ |
39 | { |
38 | { |
40 | i2c_stop(); |
39 | i2c_stop(); |
41 | twi_state = 0; |
40 | twi_state = 0; |
42 | motor = TWDR; |
41 | motor = TWDR; |
43 | motor = 0; |
42 | motor = 0; |
44 | TWCR = 0x80; |
43 | TWCR = 0x80; |
45 | TWAMR = 0; |
44 | TWAMR = 0; |
46 | TWAR = 0; |
45 | TWAR = 0; |
47 | TWDR = 0; |
46 | TWDR = 0; |
48 | TWSR = 0; |
47 | TWSR = 0; |
49 | TWBR = 0; |
48 | TWBR = 0; |
50 | i2c_init(); |
49 | i2c_init(); |
51 | i2c_start(); |
50 | i2c_start(); |
52 | i2c_write_byte(0); |
51 | i2c_write_byte(0); |
53 | } |
52 | } |
54 | 53 | ||
55 | //############################################################################ |
54 | //############################################################################ |
56 | //Start I2C |
- | |
57 | char i2c_write_byte(char byte) |
55 | char i2c_write_byte(char byte) |
58 | //############################################################################ |
56 | //############################################################################ |
59 | { |
57 | { |
60 | TWSR = 0x00; |
58 | TWSR = 0x00; |
61 | TWDR = byte; |
59 | TWDR = byte; |
62 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
60 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
63 | 61 | ||
64 | return(0); |
62 | return(0); |
65 | 63 | ||
66 | } |
64 | } |
67 | 65 | ||
68 | #ifdef OCTO |
66 | #ifndef QUADRO |
69 | //############################################################################ |
- | |
70 | //Start I2C |
67 | //############################################################################ |
71 | SIGNAL (TWI_vect) |
68 | SIGNAL (TWI_vect) |
72 | //############################################################################ |
69 | //############################################################################ |
73 | { |
70 | { |
74 | switch (twi_state++) |
71 | switch (twi_state++) |
75 | { |
72 | { |
76 | case 0: |
73 | case 0: |
77 | i2c_write_byte(0x52+(motor*2)); |
74 | i2c_write_byte(0x52+(motor*2)); |
78 | break; |
75 | break; |
79 | case 1: |
76 | case 1: |
80 | switch(motor++) |
77 | switch(motor++) |
81 | { |
78 | { |
82 | case 0: |
79 | case 0: |
83 | i2c_write_byte(Motor1); |
80 | i2c_write_byte(Motor1); |
84 | break; |
81 | break; |
85 | case 1: |
82 | case 1: |
86 | i2c_write_byte(Motor2); |
83 | i2c_write_byte(Motor2); |
87 | break; |
84 | break; |
88 | case 2: |
85 | case 2: |
89 | i2c_write_byte(Motor3); |
86 | i2c_write_byte(Motor3); |
90 | break; |
87 | break; |
91 | case 3: |
88 | case 3: |
92 | i2c_write_byte(Motor4); |
89 | i2c_write_byte(Motor4); |
93 | break; |
90 | break; |
94 | case 4: |
91 | case 4: |
95 | i2c_write_byte(Motor5); |
92 | i2c_write_byte(Motor5); |
96 | break; |
93 | break; |
97 | case 5: |
94 | case 5: |
98 | i2c_write_byte(Motor6); |
95 | i2c_write_byte(Motor6); |
99 | break; |
96 | break; |
100 | case 6: |
97 | case 6: |
101 | i2c_write_byte(Motor7); |
98 | i2c_write_byte(Motor7); |
102 | break; |
99 | break; |
103 | case 7: |
100 | case 7: |
104 | i2c_write_byte(Motor8); |
101 | i2c_write_byte(Motor8); |
105 | break; |
102 | break; |
106 | } |
103 | } |
107 | break; |
104 | break; |
108 | case 2: |
105 | case 2: |
109 | i2c_stop(); |
106 | i2c_stop(); |
110 | if (motor<8) twi_state = 0; |
107 | if (motor<8) twi_state = 0; |
111 | else motor = 0; |
108 | else motor = 0; |
112 | i2c_start(); |
109 | i2c_start(); |
113 | break; |
110 | break; |
114 | 111 | ||
115 | //Liest Daten von Motor |
112 | //Liest Daten von Motor |
116 | case 3: |
113 | case 3: |
117 | i2c_write_byte(0x53+(motorread*2)); |
114 | i2c_write_byte(0x53+(motorread*2)); |
118 | break; |
115 | break; |
119 | case 4: |
116 | case 4: |
120 | switch(motorread) |
117 | switch(motorread) |
121 | { |
118 | { |
122 | case 0: |
119 | case 0: |
123 | i2c_write_byte(Motor1); |
120 | i2c_write_byte(Motor1); |
124 | break; |
121 | break; |
125 | case 1: |
122 | case 1: |
126 | i2c_write_byte(Motor2); |
123 | i2c_write_byte(Motor2); |
127 | break; |
124 | break; |
128 | case 2: |
125 | case 2: |
129 | i2c_write_byte(Motor3); |
126 | i2c_write_byte(Motor3); |
130 | break; |
127 | break; |
131 | case 3: |
128 | case 3: |
132 | i2c_write_byte(Motor4); |
129 | i2c_write_byte(Motor4); |
133 | break; |
130 | break; |
134 | case 4: |
131 | case 4: |
135 | i2c_write_byte(Motor5); |
132 | i2c_write_byte(Motor5); |
136 | break; |
133 | break; |
137 | case 5: |
134 | case 5: |
138 | i2c_write_byte(Motor6); |
135 | i2c_write_byte(Motor6); |
139 | break; |
136 | break; |
140 | case 6: |
137 | case 6: |
141 | i2c_write_byte(Motor7); |
138 | i2c_write_byte(Motor7); |
142 | break; |
139 | break; |
143 | case 7: |
140 | case 7: |
144 | i2c_write_byte(Motor8); |
141 | i2c_write_byte(Motor8); |
145 | break; |
142 | break; |
146 | } |
143 | } |
147 | break; |
144 | break; |
148 | case 5: //1 Byte vom Motor lesen |
145 | case 5: //1 Byte vom Motor lesen |
149 | motor_rx[motorread] = TWDR; |
146 | motor_rx[motorread] = TWDR; |
150 | 147 | ||
151 | case 6: |
148 | case 6: |
152 | switch(motorread) |
149 | switch(motorread) |
153 | { |
150 | { |
154 | case 0: |
151 | case 0: |
155 | i2c_write_byte(Motor1); |
152 | i2c_write_byte(Motor1); |
156 | break; |
153 | break; |
157 | case 1: |
154 | case 1: |
158 | i2c_write_byte(Motor2); |
155 | i2c_write_byte(Motor2); |
159 | break; |
156 | break; |
160 | case 2: |
157 | case 2: |
161 | i2c_write_byte(Motor3); |
158 | i2c_write_byte(Motor3); |
162 | break; |
159 | break; |
163 | case 3: |
160 | case 3: |
164 | i2c_write_byte(Motor4); |
161 | i2c_write_byte(Motor4); |
165 | break; |
162 | break; |
166 | case 4: |
163 | case 4: |
167 | i2c_write_byte(Motor5); |
164 | i2c_write_byte(Motor5); |
168 | break; |
165 | break; |
169 | case 5: |
166 | case 5: |
170 | i2c_write_byte(Motor6); |
167 | i2c_write_byte(Motor6); |
171 | break; |
168 | break; |
172 | case 6: |
169 | case 6: |
173 | i2c_write_byte(Motor7); |
170 | i2c_write_byte(Motor7); |
174 | break; |
171 | break; |
175 | case 7: |
172 | case 7: |
176 | i2c_write_byte(Motor8); |
173 | i2c_write_byte(Motor8); |
177 | break; |
174 | break; |
178 | } |
175 | } |
179 | break; |
176 | break; |
180 | case 7: //2 Byte vom Motor lesen |
177 | case 7: //2 Byte vom Motor lesen |
181 | motor_rx[motorread+4] = TWDR; |
178 | motor_rx[motorread+4] = TWDR; |
182 | motorread++; |
179 | motorread++; |
183 | if (motorread>7) motorread=0; |
180 | if (motorread>7) motorread=0; |
184 | i2c_stop(); |
181 | i2c_stop(); |
185 | I2CTimeout = 10; |
182 | I2CTimeout = 10; |
186 | twi_state = 0; |
183 | twi_state = 0; |
187 | break; |
184 | break; |
188 | case 8: // Gyro-Offset |
185 | case 8: // Gyro-Offset |
189 | i2c_write_byte(0x98); // Address of the DAC |
186 | i2c_write_byte(0x98); // Address of the DAC |
190 | break; |
187 | break; |
191 | case 9: |
188 | case 9: |
192 | i2c_write_byte(0x10); // Update Channel A |
189 | i2c_write_byte(0x10); // Update Channel A |
193 | break; |
190 | break; |
194 | case 10: |
191 | case 10: |
195 | i2c_write_byte(AnalogOffsetNick); // Value |
192 | i2c_write_byte(AnalogOffsetNick); // Value |
196 | break; |
193 | break; |
197 | case 11: |
194 | case 11: |
198 | i2c_write_byte(0x80); // Value |
195 | i2c_write_byte(0x80); // Value |
199 | break; |
196 | break; |
200 | case 12: |
197 | case 12: |
201 | i2c_stop(); |
198 | i2c_stop(); |
202 | I2CTimeout = 10; |
199 | I2CTimeout = 10; |
203 | i2c_start(); |
200 | i2c_start(); |
204 | break; |
201 | break; |
205 | case 13: |
202 | case 13: |
206 | i2c_write_byte(0x98); // Address of the DAC |
203 | i2c_write_byte(0x98); // Address of the DAC |
207 | break; |
204 | break; |
208 | case 14: |
205 | case 14: |
209 | i2c_write_byte(0x12); // Update Channel B |
206 | i2c_write_byte(0x12); // Update Channel B |
210 | break; |
207 | break; |
211 | case 15: |
208 | case 15: |
212 | i2c_write_byte(AnalogOffsetRoll); // Value |
209 | i2c_write_byte(AnalogOffsetRoll); // Value |
213 | break; |
210 | break; |
214 | case 16: |
211 | case 16: |
215 | i2c_write_byte(0x80); // Value |
212 | i2c_write_byte(0x80); // Value |
216 | break; |
213 | break; |
217 | case 17: |
214 | case 17: |
218 | i2c_stop(); |
215 | i2c_stop(); |
219 | I2CTimeout = 10; |
216 | I2CTimeout = 10; |
220 | i2c_start(); |
217 | i2c_start(); |
221 | break; |
218 | break; |
222 | case 18: |
219 | case 18: |
223 | i2c_write_byte(0x98); // Address of the DAC |
220 | i2c_write_byte(0x98); // Address of the DAC |
224 | break; |
221 | break; |
225 | case 19: |
222 | case 19: |
226 | i2c_write_byte(0x14); // Update Channel C |
223 | i2c_write_byte(0x14); // Update Channel C |
227 | break; |
224 | break; |
228 | case 20: |
225 | case 20: |
229 | i2c_write_byte(AnalogOffsetGier); // Value |
226 | i2c_write_byte(AnalogOffsetGier); // Value |
230 | break; |
227 | break; |
231 | case 21: |
228 | case 21: |
232 | i2c_write_byte(0x80); // Value |
229 | i2c_write_byte(0x80); // Value |
233 | break; |
230 | break; |
234 | case 22: |
231 | case 22: |
235 | i2c_stop(); |
232 | i2c_stop(); |
236 | I2CTimeout = 10; |
233 | I2CTimeout = 10; |
237 | twi_state = 0; |
234 | twi_state = 0; |
238 | break; |
235 | break; |
239 | } |
236 | } |
240 | TWCR |= 0x80; |
237 | TWCR |= 0x80; |
241 | } |
238 | } |
242 | #else |
239 | #else |
243 | //############################################################################ |
240 | //############################################################################ |
244 | //Start I2C |
- | |
245 | SIGNAL (TWI_vect) |
241 | SIGNAL (TWI_vect) |
246 | //############################################################################ |
242 | //############################################################################ |
247 | { |
243 | { |
248 | switch (twi_state++) |
244 | switch (twi_state++) |
249 | { |
245 | { |
250 | case 0: |
246 | case 0: |
251 | i2c_write_byte(0x52+(motor*2)); |
247 | i2c_write_byte(0x52+(motor*2)); |
252 | break; |
248 | break; |
253 | case 1: |
249 | case 1: |
254 | switch(motor++) |
250 | switch(motor++) |
255 | { |
251 | { |
256 | case 0: |
252 | case 0: |
257 | i2c_write_byte(Motor_Vorne); |
253 | i2c_write_byte(Motor_Vorne); |
258 | break; |
254 | break; |
259 | case 1: |
255 | case 1: |
260 | i2c_write_byte(Motor_Hinten); |
256 | i2c_write_byte(Motor_Hinten); |
261 | break; |
257 | break; |
262 | case 2: |
258 | case 2: |
263 | i2c_write_byte(Motor_Rechts); |
259 | i2c_write_byte(Motor_Rechts); |
264 | break; |
260 | break; |
265 | case 3: |
261 | case 3: |
266 | i2c_write_byte(Motor_Links); |
262 | i2c_write_byte(Motor_Links); |
267 | break; |
263 | break; |
268 | } |
264 | } |
269 | break; |
265 | break; |
270 | case 2: |
266 | case 2: |
271 | i2c_stop(); |
267 | i2c_stop(); |
272 | if (motor<4) twi_state = 0; |
268 | if (motor<4) twi_state = 0; |
273 | else motor = 0; |
269 | else motor = 0; |
274 | i2c_start(); |
270 | i2c_start(); |
275 | break; |
271 | break; |
276 | 272 | ||
277 | //Liest Daten von Motor |
273 | //Liest Daten von Motor |
278 | case 3: |
274 | case 3: |
279 | i2c_write_byte(0x53+(motorread*2)); |
275 | i2c_write_byte(0x53+(motorread*2)); |
280 | break; |
276 | break; |
281 | case 4: |
277 | case 4: |
282 | switch(motorread) |
278 | switch(motorread) |
283 | { |
279 | { |
284 | case 0: |
280 | case 0: |
285 | i2c_write_byte(Motor_Vorne); |
281 | i2c_write_byte(Motor_Vorne); |
286 | break; |
282 | break; |
287 | case 1: |
283 | case 1: |
288 | i2c_write_byte(Motor_Hinten); |
284 | i2c_write_byte(Motor_Hinten); |
289 | break; |
285 | break; |
290 | case 2: |
286 | case 2: |
291 | i2c_write_byte(Motor_Rechts); |
287 | i2c_write_byte(Motor_Rechts); |
292 | break; |
288 | break; |
293 | case 3: |
289 | case 3: |
294 | i2c_write_byte(Motor_Links); |
290 | i2c_write_byte(Motor_Links); |
295 | break; |
291 | break; |
296 | } |
292 | } |
297 | break; |
293 | break; |
298 | case 5: //1 Byte vom Motor lesen |
294 | case 5: //1 Byte vom Motor lesen |
299 | motor_rx[motorread] = TWDR; |
295 | motor_rx[motorread] = TWDR; |
300 | 296 | ||
301 | case 6: |
297 | case 6: |
302 | switch(motorread) |
298 | switch(motorread) |
303 | { |
299 | { |
304 | case 0: |
300 | case 0: |
305 | i2c_write_byte(Motor_Vorne); |
301 | i2c_write_byte(Motor_Vorne); |
306 | break; |
302 | break; |
307 | case 1: |
303 | case 1: |
308 | i2c_write_byte(Motor_Hinten); |
304 | i2c_write_byte(Motor_Hinten); |
309 | break; |
305 | break; |
310 | case 2: |
306 | case 2: |
311 | i2c_write_byte(Motor_Rechts); |
307 | i2c_write_byte(Motor_Rechts); |
312 | break; |
308 | break; |
313 | case 3: |
309 | case 3: |
314 | i2c_write_byte(Motor_Links); |
310 | i2c_write_byte(Motor_Links); |
315 | break; |
311 | break; |
316 | } |
312 | } |
317 | break; |
313 | break; |
318 | case 7: //2 Byte vom Motor lesen |
314 | case 7: //2 Byte vom Motor lesen |
319 | motor_rx[motorread+4] = TWDR; |
315 | motor_rx[motorread+4] = TWDR; |
320 | motorread++; |
316 | motorread++; |
321 | if (motorread>3) motorread=0; |
317 | if (motorread>3) motorread=0; |
322 | i2c_stop(); |
318 | i2c_stop(); |
323 | I2CTimeout = 10; |
319 | I2CTimeout = 10; |
324 | twi_state = 0; |
320 | twi_state = 0; |
325 | break; |
321 | break; |
326 | case 8: // Gyro-Offset |
322 | case 8: // Gyro-Offset |
327 | i2c_write_byte(0x98); // Address of the DAC |
323 | i2c_write_byte(0x98); // Address of the DAC |
328 | break; |
324 | break; |
329 | case 9: |
325 | case 9: |
330 | i2c_write_byte(0x10); // Update Channel A |
326 | i2c_write_byte(0x10); // Update Channel A |
331 | break; |
327 | break; |
332 | case 10: |
328 | case 10: |
333 | i2c_write_byte(AnalogOffsetNick); // Value |
329 | i2c_write_byte(AnalogOffsetNick); // Value |
334 | break; |
330 | break; |
335 | case 11: |
331 | case 11: |
336 | i2c_write_byte(0x80); // Value |
332 | i2c_write_byte(0x80); // Value |
337 | break; |
333 | break; |
338 | case 12: |
334 | case 12: |
339 | i2c_stop(); |
335 | i2c_stop(); |
340 | I2CTimeout = 10; |
336 | I2CTimeout = 10; |
341 | i2c_start(); |
337 | i2c_start(); |
342 | break; |
338 | break; |
343 | case 13: |
339 | case 13: |
344 | i2c_write_byte(0x98); // Address of the DAC |
340 | i2c_write_byte(0x98); // Address of the DAC |
345 | break; |
341 | break; |
346 | case 14: |
342 | case 14: |
347 | i2c_write_byte(0x12); // Update Channel B |
343 | i2c_write_byte(0x12); // Update Channel B |
348 | break; |
344 | break; |
349 | case 15: |
345 | case 15: |
350 | i2c_write_byte(AnalogOffsetRoll); // Value |
346 | i2c_write_byte(AnalogOffsetRoll); // Value |
351 | break; |
347 | break; |
352 | case 16: |
348 | case 16: |
353 | i2c_write_byte(0x80); // Value |
349 | i2c_write_byte(0x80); // Value |
354 | break; |
350 | break; |
355 | case 17: |
351 | case 17: |
356 | i2c_stop(); |
352 | i2c_stop(); |
357 | I2CTimeout = 10; |
353 | I2CTimeout = 10; |
358 | i2c_start(); |
354 | i2c_start(); |
359 | break; |
355 | break; |
360 | case 18: |
356 | case 18: |
361 | i2c_write_byte(0x98); // Address of the DAC |
357 | i2c_write_byte(0x98); // Address of the DAC |
362 | break; |
358 | break; |
363 | case 19: |
359 | case 19: |
364 | i2c_write_byte(0x14); // Update Channel C |
360 | i2c_write_byte(0x14); // Update Channel C |
365 | break; |
361 | break; |
366 | case 20: |
362 | case 20: |
367 | i2c_write_byte(AnalogOffsetGier); // Value |
363 | i2c_write_byte(AnalogOffsetGier); // Value |
368 | break; |
364 | break; |
369 | case 21: |
365 | case 21: |
370 | i2c_write_byte(0x80); // Value |
366 | i2c_write_byte(0x80); // Value |
371 | break; |
367 | break; |
372 | case 22: |
368 | case 22: |
373 | i2c_stop(); |
369 | i2c_stop(); |
374 | I2CTimeout = 10; |
370 | I2CTimeout = 10; |
375 | twi_state = 0; |
371 | twi_state = 0; |
376 | break; |
372 | break; |
377 | } |
373 | } |
378 | TWCR |= 0x80; |
374 | TWCR |= 0x80; |
379 | } |
375 | } |
380 | #endif |
376 | #endif |