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| Rev 464 | Rev 465 | ||
|---|---|---|---|
| Line 45... | Line 45... | ||
| 45 | //############################################################################ |
45 | //############################################################################ |
| 46 | //Start I2C |
46 | //Start I2C |
| 47 | SIGNAL (TWI_vect) |
47 | SIGNAL (TWI_vect) |
| 48 | //############################################################################ |
48 | //############################################################################ |
| 49 | { |
49 | { |
| 50 | switch (twi_state++) |
50 | switch (twi_state++) // First i2c_start from SendMotorData() |
| 51 | { |
51 | { |
| - | 52 | // Master Transmit |
|
| 52 | case 0: |
53 | case 0: // Address Slave SL+W |
| 53 | i2c_write_byte(0x52+(motor*2)); |
54 | i2c_write_byte(0x52+(motor*2)); |
| 54 | break; |
55 | break; |
| 55 | case 1: |
56 | case 1: // Send Data |
| 56 | switch(motor++) |
57 | switch(motor++) |
| 57 | { |
58 | { |
| 58 | case 0: |
59 | case 0: |
| 59 | i2c_write_byte(Motor_Vorne); |
60 | i2c_write_byte(Motor_Vorne); |
| 60 | break; |
61 | break; |
| Line 67... | Line 68... | ||
| 67 | case 3: |
68 | case 3: |
| 68 | i2c_write_byte(Motor_Links); |
69 | i2c_write_byte(Motor_Links); |
| 69 | break; |
70 | break; |
| 70 | } |
71 | } |
| 71 | break; |
72 | break; |
| 72 | case 2: |
73 | case 2: // Repeat case 0+1 for all Slaves |
| 73 | if (motor<4) twi_state = 0; |
74 | if (motor < 4) twi_state = 0; |
| 74 | i2c_start(); |
75 | i2c_start(); // Repeated start -> switch salve and switch Master Transmit <-> Master Receive respectively |
| 75 | break; |
76 | break; |
| Line 76... | Line 77... | ||
| 76 | 77 | ||
| 77 | //Liest Daten von Motor |
78 | // Master Receive |
| 78 | case 3: |
79 | case 3: // Address Slave SL+R |
| 79 | i2c_write_byte(0x53+(motorread*2)); |
80 | i2c_write_byte(0x53+(motorread*2)); |
| 80 | break; |
- | |
| 81 | case 4: |
- | |
| 82 | i2c_write_byte(0xFF); |
- | |
| 83 | break; |
81 | break; |
| 84 | case 5: //1. Byte vom Motor lesen |
82 | case 4: //1. Byte vom Motor lesen |
| 85 | motor_rx[motorread] = TWDR; |
83 | motor_rx[motorread] = TWDR; |
| 86 | i2c_write_byte(0xFF); |
84 | TWCR |= (1<<TWINT); |
| 87 | break; |
85 | break; |
| 88 | case 6: //2. Byte vom Motor lesen |
86 | case 5: //2. Byte vom Motor lesen |
| 89 | motor_rx[motorread+4] = TWDR; |
87 | motor_rx[motorread+4] = TWDR; |
| 90 | motorread++; |
88 | motorread++; |
| 91 | if (motorread>3) motorread=0; |
89 | if (motorread > 3) motorread=0; |
| 92 | default: |
90 | default: |