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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],motor_rx2[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 | void 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); |
- | |
27 | } |
26 | } |
28 | 27 | ||
29 | //############################################################################ |
28 | //############################################################################ |
30 | void i2c_stop(void) |
29 | void i2c_stop(void) |
31 | //############################################################################ |
30 | //############################################################################ |
32 | { |
31 | { |
33 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
32 | TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
34 | } |
33 | } |
35 | 34 | ||
36 | void i2c_reset(void) |
35 | void i2c_reset(void) |
37 | //############################################################################ |
36 | //############################################################################ |
38 | { |
37 | { |
39 | i2c_stop(); |
38 | i2c_stop(); |
40 | twi_state = 0; |
39 | twi_state = 0; |
41 | motor = TWDR; |
40 | motor = TWDR; |
42 | motor = 0; |
41 | motor = 0; |
43 | TWCR = 0x80; |
42 | TWCR = 0x80; |
44 | TWAMR = 0; |
43 | TWAMR = 0; |
45 | TWAR = 0; |
44 | TWAR = 0; |
46 | TWDR = 0; |
45 | TWDR = 0; |
47 | TWSR = 0; |
46 | TWSR = 0; |
48 | TWBR = 0; |
47 | TWBR = 0; |
49 | i2c_init(); |
48 | i2c_init(); |
50 | i2c_start(); |
49 | i2c_start(); |
51 | i2c_write_byte(0); |
50 | i2c_write_byte(0); |
52 | } |
51 | } |
53 | 52 | ||
54 | //############################################################################ |
53 | //############################################################################ |
55 | char i2c_write_byte(char byte) |
54 | void i2c_write_byte(char byte) |
56 | //############################################################################ |
55 | //############################################################################ |
57 | { |
56 | { |
58 | TWSR = 0x00; |
57 | TWSR = 0x00; |
59 | TWDR = byte; |
58 | TWDR = byte; |
60 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
59 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
61 | - | ||
62 | return(0); |
- | |
63 | - | ||
64 | } |
60 | } |
- | 61 | ||
- | 62 | /****************************************/ |
|
- | 63 | /* Write to I2C */ |
|
- | 64 | /****************************************/ |
|
- | 65 | void I2C_WriteByte(int8_t byte) |
|
- | 66 | { |
|
65 | 67 | // move byte to send into TWI Data Register |
|
- | 68 | TWDR = byte; |
|
- | 69 | // clear interrupt flag (TWINT = 1) |
|
- | 70 | // enable i2c bus (TWEN = 1) |
|
- | 71 | // enable interrupt (TWIE = 1) |
|
- | 72 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
|
- | 73 | } |
|
- | 74 | ||
- | 75 | /****************************************/ |
|
- | 76 | /* Receive byte and send ACK */ |
|
- | 77 | /****************************************/ |
|
- | 78 | void I2C_ReceiveByte(void) |
|
- | 79 | { |
|
- | 80 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
|
- | 81 | } |
|
- | 82 | ||
- | 83 | /****************************************/ |
|
- | 84 | /* I2C receive last byte and send no ACK*/ |
|
- | 85 | /****************************************/ |
|
- | 86 | void I2C_ReceiveLastByte(void) |
|
- | 87 | { |
|
- | 88 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
|
- | 89 | } |
|
- | 90 | ||
- | 91 | ||
66 | #ifndef QUADRO |
92 | |
67 | //############################################################################ |
93 | //############################################################################ |
68 | SIGNAL (TWI_vect) |
94 | SIGNAL (TWI_vect) |
69 | //############################################################################ |
95 | //############################################################################ |
70 | { |
96 | { |
71 | switch (twi_state++) |
97 | switch (twi_state++) |
72 | { |
98 | { |
73 | case 0: |
99 | case 0: |
- | 100 | J3High; |
|
- | 101 | while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS-1) motor++; // skip if not used |
|
- | 102 | if(motor == MAX_MOTORS) { motor = 0; twi_state = 3; i2c_start(); } // writing finished -> now read |
|
74 | i2c_write_byte(0x52+(motor*2)); |
103 | else i2c_write_byte(0x52+(motor*2)); |
75 | break; |
104 | break; |
76 | case 1: |
105 | case 1: |
77 | switch(motor++) |
- | |
78 | { |
- | |
79 | case 0: |
- | |
80 | i2c_write_byte(Motor1); |
106 | i2c_write_byte(Motor[motor++]); |
81 | break; |
- | |
82 | case 1: |
- | |
83 | i2c_write_byte(Motor2); |
- | |
84 | break; |
- | |
85 | case 2: |
- | |
86 | i2c_write_byte(Motor3); |
- | |
87 | break; |
- | |
88 | case 3: |
- | |
89 | i2c_write_byte(Motor4); |
- | |
90 | break; |
- | |
91 | case 4: |
- | |
92 | i2c_write_byte(Motor5); |
- | |
93 | break; |
- | |
94 | case 5: |
- | |
95 | i2c_write_byte(Motor6); |
- | |
96 | break; |
- | |
97 | case 6: |
- | |
98 | i2c_write_byte(Motor7); |
- | |
99 | break; |
- | |
100 | case 7: |
- | |
101 | i2c_write_byte(Motor8); |
- | |
102 | break; |
- | |
103 | } |
- | |
104 | break; |
107 | break; |
105 | case 2: |
108 | case 2: |
106 | i2c_stop(); |
109 | i2c_stop(); |
107 | if (motor<8) twi_state = 0; |
- | |
108 | else motor = 0; |
110 | twi_state = 0; |
109 | i2c_start(); |
111 | i2c_start(); |
110 | break; |
112 | break; |
111 | - | ||
112 | //Liest Daten von Motor |
113 | //Liest Daten von Motor |
113 | case 3: |
114 | case 3: |
- | 115 | J5High; |
|
- | 116 | while(Mixer.Motor[motorread][0] <= 0 && MAX_MOTORS-1) motorread++; |
|
- | 117 | if(motorread >= MAX_MOTORS) {motorread = 0;J4High;} |
|
114 | i2c_write_byte(0x53+(motorread*2)); |
118 | else i2c_write_byte(0x53+(motorread*2)); |
115 | break; |
119 | break; |
116 | case 4: |
120 | case 4: |
117 | switch(motorread) |
121 | //Transmit 1st byte for reading |
118 | { |
- | |
119 | case 0: |
- | |
120 | i2c_write_byte(Motor1); |
- | |
121 | break; |
- | |
122 | case 1: |
- | |
123 | i2c_write_byte(Motor2); |
- | |
124 | break; |
- | |
125 | case 2: |
- | |
126 | i2c_write_byte(Motor3); |
- | |
127 | break; |
- | |
128 | case 3: |
- | |
129 | i2c_write_byte(Motor4); |
- | |
130 | break; |
122 | I2C_ReceiveByte(); |
131 | case 4: |
- | |
132 | i2c_write_byte(Motor5); |
- | |
133 | break; |
- | |
134 | case 5: |
- | |
135 | i2c_write_byte(Motor6); |
- | |
136 | break; |
- | |
137 | case 6: |
- | |
138 | i2c_write_byte(Motor7); |
- | |
139 | break; |
- | |
140 | case 7: |
- | |
141 | i2c_write_byte(Motor8); |
- | |
142 | break; |
- | |
143 | } |
- | |
144 | break; |
123 | break; |
145 | case 5: //1 Byte vom Motor lesen |
124 | case 5: //Read 1st byte and transmit 2nd Byte |
146 | motor_rx[motorread] = TWDR; |
125 | motor_rx[motorread] = TWDR; |
147 | - | ||
- | 126 | I2C_ReceiveLastByte(); //nack |
|
- | 127 | break; |
|
148 | case 6: |
128 | case 6: |
149 | switch(motorread) |
- | |
150 | { |
- | |
151 | case 0: |
- | |
152 | i2c_write_byte(Motor1); |
- | |
153 | break; |
129 | //Read 2nd byte |
154 | case 1: |
- | |
155 | i2c_write_byte(Motor2); |
- | |
156 | break; |
- | |
157 | case 2: |
- | |
158 | i2c_write_byte(Motor3); |
- | |
159 | break; |
- | |
160 | case 3: |
- | |
161 | i2c_write_byte(Motor4); |
- | |
162 | break; |
- | |
163 | case 4: |
- | |
164 | i2c_write_byte(Motor5); |
- | |
165 | break; |
- | |
166 | case 5: |
- | |
167 | i2c_write_byte(Motor6); |
- | |
168 | break; |
- | |
169 | case 6: |
- | |
170 | i2c_write_byte(Motor7); |
- | |
171 | break; |
- | |
172 | case 7: |
- | |
173 | i2c_write_byte(Motor8); |
- | |
174 | break; |
- | |
175 | } |
- | |
176 | break; |
- | |
177 | case 7: //2 Byte vom Motor lesen |
- | |
178 | motor_rx[motorread+8] = TWDR; |
130 | motor_rx2[motorread++] = TWDR; |
179 | motorread++; |
- | |
180 | if (motorread>7) motorread=0; |
- | |
181 | i2c_stop(); |
131 | i2c_stop(); |
182 | I2CTimeout = 10; |
- | |
183 | twi_state = 0; |
132 | twi_state = 0; |
- | 133 | I2CTimeout = 10; |
|
184 | break; |
134 | break; |
185 | case 8: // Gyro-Offset |
135 | case 8: // Gyro-Offset |
186 | i2c_write_byte(0x98); // Address of the DAC |
136 | i2c_write_byte(0x98); // Address of the DAC |
187 | break; |
137 | break; |
188 | case 9: |
138 | case 9: |
189 | i2c_write_byte(0x10); // Update Channel A |
139 | i2c_write_byte(0x10); // Update Channel A |
190 | break; |
140 | break; |
191 | case 10: |
141 | case 10: |
192 | i2c_write_byte(AnalogOffsetNick); // Value |
142 | i2c_write_byte(AnalogOffsetNick); // Value |
193 | break; |
143 | break; |
194 | case 11: |
144 | case 11: |
195 | i2c_write_byte(0x80); // Value |
145 | i2c_write_byte(0x80); // Value |
196 | break; |
146 | break; |
197 | case 12: |
147 | case 12: |
198 | i2c_stop(); |
148 | i2c_stop(); |
199 | I2CTimeout = 10; |
149 | I2CTimeout = 10; |
200 | i2c_start(); |
150 | i2c_start(); |
201 | break; |
151 | break; |
202 | case 13: |
152 | case 13: |
203 | i2c_write_byte(0x98); // Address of the DAC |
153 | i2c_write_byte(0x98); // Address of the DAC |
204 | break; |
154 | break; |
205 | case 14: |
155 | case 14: |
206 | i2c_write_byte(0x12); // Update Channel B |
156 | i2c_write_byte(0x12); // Update Channel B |
207 | break; |
157 | break; |
208 | case 15: |
158 | case 15: |
209 | i2c_write_byte(AnalogOffsetRoll); // Value |
159 | i2c_write_byte(AnalogOffsetRoll); // Value |
210 | break; |
160 | break; |
211 | case 16: |
161 | case 16: |
212 | i2c_write_byte(0x80); // Value |
162 | i2c_write_byte(0x80); // Value |
213 | break; |
163 | break; |
214 | case 17: |
164 | case 17: |
215 | i2c_stop(); |
165 | i2c_stop(); |
216 | I2CTimeout = 10; |
166 | I2CTimeout = 10; |
217 | i2c_start(); |
167 | i2c_start(); |
218 | break; |
168 | break; |
219 | case 18: |
169 | case 18: |
220 | i2c_write_byte(0x98); // Address of the DAC |
170 | i2c_write_byte(0x98); // Address of the DAC |
221 | break; |
171 | break; |
222 | case 19: |
172 | case 19: |
223 | i2c_write_byte(0x14); // Update Channel C |
173 | i2c_write_byte(0x14); // Update Channel C |
224 | break; |
174 | break; |
225 | case 20: |
175 | case 20: |
226 | i2c_write_byte(AnalogOffsetGier); // Value |
176 | i2c_write_byte(AnalogOffsetGier); // Value |
227 | break; |
177 | break; |
228 | case 21: |
178 | case 21: |
229 | i2c_write_byte(0x80); // Value |
179 | i2c_write_byte(0x80); // Value |
230 | break; |
180 | break; |
231 | case 22: |
181 | case 22: |
232 | i2c_stop(); |
182 | i2c_stop(); |
233 | I2CTimeout = 10; |
183 | I2CTimeout = 10; |
234 | twi_state = 0; |
184 | twi_state = 0; |
235 | break; |
185 | break; |
- | 186 | default: twi_state = 0; |
|
236 | } |
187 | break; |
- | 188 | } |
|
237 | TWCR |= 0x80; |
189 | TWCR |= 0x80; |
- | 190 | J3Low; |
|
- | 191 | J4Low; |
|
- | 192 | J5Low; |
|
238 | } |
193 | } |
239 | #else |
194 | /* |
240 | //############################################################################ |
195 | //############################################################################ |
241 | SIGNAL (TWI_vect) |
196 | SIGNAL (TWI_vect) |
242 | //############################################################################ |
197 | //############################################################################ |
243 | { |
198 | { |
244 | switch (twi_state++) |
199 | switch (twi_state++) |
245 | { |
200 | { |
246 | case 0: |
201 | case 0: |
247 | i2c_write_byte(0x52+(motor*2)); |
202 | i2c_write_byte(0x52+(motor*2)); |
248 | break; |
203 | break; |
249 | case 1: |
204 | case 1: |
250 | switch(motor++) |
205 | switch(motor++) |
251 | { |
206 | { |
252 | case 0: |
207 | case 0: |
253 | i2c_write_byte(Motor_Vorne); |
208 | i2c_write_byte(Motor_Vorne); |
254 | break; |
209 | break; |
255 | case 1: |
210 | case 1: |
256 | i2c_write_byte(Motor_Hinten); |
211 | i2c_write_byte(Motor_Hinten); |
257 | break; |
212 | break; |
258 | case 2: |
213 | case 2: |
259 | i2c_write_byte(Motor_Rechts); |
214 | i2c_write_byte(Motor_Rechts); |
260 | break; |
215 | break; |
261 | case 3: |
216 | case 3: |
262 | i2c_write_byte(Motor_Links); |
217 | i2c_write_byte(Motor_Links); |
263 | break; |
218 | break; |
264 | } |
219 | } |
265 | break; |
220 | break; |
266 | case 2: |
221 | case 2: |
267 | i2c_stop(); |
222 | i2c_stop(); |
268 | if (motor<4) twi_state = 0; |
223 | if (motor<4) twi_state = 0; |
269 | else motor = 0; |
224 | else motor = 0; |
270 | i2c_start(); |
225 | i2c_start(); |
271 | break; |
226 | break; |
272 | 227 | |
|
273 | //Liest Daten von Motor |
228 | //Liest Daten von Motor |
274 | case 3: |
229 | case 3: |
275 | i2c_write_byte(0x53+(motorread*2)); |
230 | i2c_write_byte(0x53+(motorread*2)); |
276 | break; |
231 | break; |
277 | case 4: |
232 | case 4: |
278 | switch(motorread) |
233 | switch(motorread) |
279 | { |
234 | { |
280 | case 0: |
235 | case 0: |
281 | i2c_write_byte(Motor_Vorne); |
236 | i2c_write_byte(Motor_Vorne); |
282 | break; |
237 | break; |
283 | case 1: |
238 | case 1: |
284 | i2c_write_byte(Motor_Hinten); |
239 | i2c_write_byte(Motor_Hinten); |
285 | break; |
240 | break; |
286 | case 2: |
241 | case 2: |
287 | i2c_write_byte(Motor_Rechts); |
242 | i2c_write_byte(Motor_Rechts); |
288 | break; |
243 | break; |
289 | case 3: |
244 | case 3: |
290 | i2c_write_byte(Motor_Links); |
245 | i2c_write_byte(Motor_Links); |
291 | break; |
246 | break; |
292 | } |
247 | } |
293 | break; |
248 | break; |
294 | case 5: //1 Byte vom Motor lesen |
249 | case 5: //1 Byte vom Motor lesen |
295 | motor_rx[motorread] = TWDR; |
250 | motor_rx[motorread] = TWDR; |
296 | 251 | ||
297 | case 6: |
252 | case 6: |
298 | switch(motorread) |
253 | switch(motorread) |
299 | { |
254 | { |
300 | case 0: |
255 | case 0: |
301 | i2c_write_byte(Motor_Vorne); |
256 | i2c_write_byte(Motor_Vorne); |
302 | break; |
257 | break; |
303 | case 1: |
258 | case 1: |
304 | i2c_write_byte(Motor_Hinten); |
259 | i2c_write_byte(Motor_Hinten); |
305 | break; |
260 | break; |
306 | case 2: |
261 | case 2: |
307 | i2c_write_byte(Motor_Rechts); |
262 | i2c_write_byte(Motor_Rechts); |
308 | break; |
263 | break; |
309 | case 3: |
264 | case 3: |
310 | i2c_write_byte(Motor_Links); |
265 | i2c_write_byte(Motor_Links); |
311 | break; |
266 | break; |
312 | } |
267 | } |
313 | break; |
268 | break; |
314 | case 7: //2 Byte vom Motor lesen |
269 | case 7: //2 Byte vom Motor lesen |
315 | motor_rx[motorread+4] = TWDR; |
270 | motor_rx[motorread+4] = TWDR; |
316 | motorread++; |
271 | motorread++; |
317 | if (motorread>3) motorread=0; |
272 | if (motorread>3) motorread=0; |
318 | i2c_stop(); |
273 | i2c_stop(); |
319 | I2CTimeout = 10; |
274 | I2CTimeout = 10; |
320 | twi_state = 0; |
275 | twi_state = 0; |
321 | break; |
276 | break; |
322 | case 8: // Gyro-Offset |
277 | case 8: // Gyro-Offset |
323 | i2c_write_byte(0x98); // Address of the DAC |
278 | i2c_write_byte(0x98); // Address of the DAC |
324 | break; |
279 | break; |
325 | case 9: |
280 | case 9: |
326 | i2c_write_byte(0x10); // Update Channel A |
281 | i2c_write_byte(0x10); // Update Channel A |
327 | break; |
282 | break; |
328 | case 10: |
283 | case 10: |
329 | i2c_write_byte(AnalogOffsetNick); // Value |
284 | i2c_write_byte(AnalogOffsetNick); // Value |
330 | break; |
285 | break; |
331 | case 11: |
286 | case 11: |
332 | i2c_write_byte(0x80); // Value |
287 | i2c_write_byte(0x80); // Value |
333 | break; |
288 | break; |
334 | case 12: |
289 | case 12: |
335 | i2c_stop(); |
290 | i2c_stop(); |
336 | I2CTimeout = 10; |
291 | I2CTimeout = 10; |
337 | i2c_start(); |
292 | i2c_start(); |
338 | break; |
293 | break; |
339 | case 13: |
294 | case 13: |
340 | i2c_write_byte(0x98); // Address of the DAC |
295 | i2c_write_byte(0x98); // Address of the DAC |
341 | break; |
296 | break; |
342 | case 14: |
297 | case 14: |
343 | i2c_write_byte(0x12); // Update Channel B |
298 | i2c_write_byte(0x12); // Update Channel B |
344 | break; |
299 | break; |
345 | case 15: |
300 | case 15: |
346 | i2c_write_byte(AnalogOffsetRoll); // Value |
301 | i2c_write_byte(AnalogOffsetRoll); // Value |
347 | break; |
302 | break; |
348 | case 16: |
303 | case 16: |
349 | i2c_write_byte(0x80); // Value |
304 | i2c_write_byte(0x80); // Value |
350 | break; |
305 | break; |
351 | case 17: |
306 | case 17: |
352 | i2c_stop(); |
307 | i2c_stop(); |
353 | I2CTimeout = 10; |
308 | I2CTimeout = 10; |
354 | i2c_start(); |
309 | i2c_start(); |
355 | break; |
310 | break; |
356 | case 18: |
311 | case 18: |
357 | i2c_write_byte(0x98); // Address of the DAC |
312 | i2c_write_byte(0x98); // Address of the DAC |
358 | break; |
313 | break; |
359 | case 19: |
314 | case 19: |
360 | i2c_write_byte(0x14); // Update Channel C |
315 | i2c_write_byte(0x14); // Update Channel C |
361 | break; |
316 | break; |
362 | case 20: |
317 | case 20: |
363 | i2c_write_byte(AnalogOffsetGier); // Value |
318 | i2c_write_byte(AnalogOffsetGier); // Value |
364 | break; |
319 | break; |
365 | case 21: |
320 | case 21: |
366 | i2c_write_byte(0x80); // Value |
321 | i2c_write_byte(0x80); // Value |
367 | break; |
322 | break; |
368 | case 22: |
323 | case 22: |
369 | i2c_stop(); |
324 | i2c_stop(); |
370 | I2CTimeout = 10; |
325 | I2CTimeout = 10; |
371 | twi_state = 0; |
326 | twi_state = 0; |
372 | break; |
327 | break; |
373 | } |
328 | } |
374 | TWCR |= 0x80; |
329 | TWCR |= 0x80; |
375 | } |
330 | } |
376 | #endif |
- | |
377 | 331 | */ |
|
- | 332 | ||
378 | 333 |