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| Rev 1166 | Rev 1174 | ||
|---|---|---|---|
| 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 |