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| Rev 838 | Rev 839 | ||
|---|---|---|---|
| Line 16... | Line 16... | ||
| 16 | //############################################################################ |
16 | //############################################################################ |
| 17 | //Initzialisieren der I2C (TWI) Schnittstelle |
17 | //Initzialisieren der I2C (TWI) Schnittstelle |
| 18 | void i2c_init(void) |
18 | void i2c_init(void) |
| 19 | //############################################################################ |
19 | //############################################################################ |
| 20 | { |
20 | { |
| 21 | TWSR = 0; |
21 | TWSR = 0; |
| 22 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
22 | TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| 23 | } |
23 | } |
| Line 24... | Line 24... | ||
| 24 | 24 | ||
| 25 | //############################################################################ |
25 | //############################################################################ |
| 26 | //Start I2C |
26 | //Start I2C |
| Line 40... | Line 40... | ||
| 40 | } |
40 | } |
| Line 41... | Line 41... | ||
| 41 | 41 | ||
| 42 | void i2c_reset(void) |
42 | void i2c_reset(void) |
| 43 | //############################################################################ |
43 | //############################################################################ |
| 44 | { |
44 | { |
| 45 | i2c_stop(); |
45 | i2c_stop(); |
| 46 | twi_state = 0; |
46 | twi_state = 0; |
| 47 | motor = TWDR; |
47 | motor = TWDR; |
| 48 | motor = 0; |
48 | motor = 0; |
| 49 | TWCR = 0x80; |
49 | TWCR = 0x80; |
| 50 | TWAMR = 0; |
50 | TWAMR = 0; |
| 51 | TWAR = 0; |
51 | TWAR = 0; |
| 52 | TWDR = 0; |
52 | TWDR = 0; |
| 53 | TWSR = 0; |
53 | TWSR = 0; |
| 54 | TWBR = 0; |
54 | TWBR = 0; |
| 55 | i2c_init(); |
55 | i2c_init(); |
| 56 | i2c_start(); |
56 | i2c_start(); |
| 57 | i2c_write_byte(0); |
57 | i2c_write_byte(0); |
| Line 58... | Line 58... | ||
| 58 | } |
58 | } |
| 59 | 59 | ||
| 60 | //############################################################################ |
60 | //############################################################################ |
| Line 77... | Line 77... | ||
| 77 | #if 0 |
77 | #if 0 |
| 78 | int motorwert = 0; |
78 | int motorwert = 0; |
| 79 | int scale_p = (int) (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 170)) / 4.F) / 6; |
79 | int scale_p = (int) (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 170)) / 4.F) / 6; |
| 80 | int scale_d = (int) (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 170)) / 4.F) / 6; |
80 | int scale_d = (int) (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 170)) / 4.F) / 6; |
| 81 | #endif |
81 | #endif |
| 82 | 82 | ||
| 83 | switch (twi_state++) |
83 | switch (twi_state++) |
| 84 | { |
84 | { |
| 85 | case 0: |
85 | case 0: |
| 86 | i2c_write_byte(0x52+(motor*2)); |
86 | i2c_write_byte(0x52+(motor*2)); |
| 87 | break; |
87 | break; |
| 88 | case 1: |
88 | case 1: |
| 89 | switch(motor++) |
89 | switch(motor++) |
| 90 | { |
90 | { |
| 91 | case 0: |
91 | case 0: |
| 92 | #if 0 |
92 | #if 0 |
| 93 | pd_ergebnis = (int) (scale_p* DiffNick + scale_d * (AdWertNick - AdNeutralNick - Roll_Y_Off)) / 10; |
93 | pd_ergebnis = (int) (scale_p* DiffNick + scale_d * (AdWertNick - AdNeutralNick - Roll_Y_Off)) / 10; |
| 94 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
94 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
| 95 | { |
95 | { |
| 96 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
96 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
| 97 | } |
97 | } |
| 98 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
98 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
| 99 | { |
99 | { |
| 100 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
100 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
| 101 | } |
101 | } |
| 102 | /* M o t o r V o r n */ |
102 | /* M o t o r V o r n */ |
| 103 | motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; |
103 | motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; |
| 104 | if ((motorwert < 0)) |
104 | if ((motorwert < 0)) |
| 105 | { |
105 | { |
| 106 | motorwert = 0; |
106 | motorwert = 0; |
| 107 | } |
107 | } |
| 108 | else if(motorwert > MAX_GAS) |
108 | else if(motorwert > MAX_GAS) |
| 109 | { |
109 | { |
| 110 | motorwert = MAX_GAS; |
110 | motorwert = MAX_GAS; |
| 111 | } |
111 | } |
| 112 | if (motorwert < MIN_GAS) |
112 | if (motorwert < MIN_GAS) |
| 113 | { |
113 | { |
| 114 | motorwert = MIN_GAS; |
114 | motorwert = MIN_GAS; |
| 115 | } |
115 | } |
| 116 | Motor_Vorne = motorwert; |
116 | Motor_Vorne = motorwert; |
| 117 | if(!MotorenEin) |
117 | if(!MotorenEin) |
| 118 | { |
118 | { |
| 119 | Motor_Vorne = 0; |
119 | Motor_Vorne = 0; |
| 120 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
120 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| 121 | } |
121 | } |
| 122 | #endif |
122 | #endif |
| 123 | i2c_write_byte(Motor_Vorne); |
123 | i2c_write_byte(Motor_Vorne); |
| 124 | break; |
124 | break; |
| 125 | case 1: |
125 | case 1: |
| 126 | #if 0 |
126 | #if 0 |
| 127 | pd_ergebnis = (scale_p * DiffNick + scale_d * (AdWertNick - AdNeutralNick - Roll_Y_Off)) / 10; |
127 | pd_ergebnis = (scale_p * DiffNick + scale_d * (AdWertNick - AdNeutralNick - Roll_Y_Off)) / 10; |
| 128 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
128 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
| 129 | { |
129 | { |
| 130 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
130 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
| 131 | } |
131 | } |
| 132 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
132 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
| 133 | { |
133 | { |
| 134 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
134 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
| 135 | } |
135 | } |
| 136 | /* M o t o r H e c k */ |
136 | /* M o t o r H e c k */ |
| 137 | motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
137 | motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| 138 | if ((motorwert < 0)) |
138 | if ((motorwert < 0)) |
| 139 | { |
139 | { |
| 140 | motorwert = 0; |
140 | motorwert = 0; |
| 141 | } |
141 | } |
| 142 | else if(motorwert > MAX_GAS) |
142 | else if(motorwert > MAX_GAS) |
| 143 | { |
143 | { |
| 144 | motorwert = MAX_GAS; |
144 | motorwert = MAX_GAS; |
| 145 | } |
145 | } |
| 146 | if (motorwert < MIN_GAS) |
146 | if (motorwert < MIN_GAS) |
| 147 | { |
147 | { |
| 148 | motorwert = MIN_GAS; |
148 | motorwert = MIN_GAS; |
| 149 | } |
149 | } |
| 150 | Motor_Hinten = motorwert; |
150 | Motor_Hinten = motorwert; |
| 151 | 151 | ||
| 152 | if(!MotorenEin) |
152 | if(!MotorenEin) |
| 153 | { |
153 | { |
| 154 | Motor_Hinten = 0; |
154 | Motor_Hinten = 0; |
| 155 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
155 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| 156 | } |
156 | } |
| 157 | #endif |
157 | #endif |
| 158 | i2c_write_byte(Motor_Hinten); |
158 | i2c_write_byte(Motor_Hinten); |
| 159 | break; |
159 | break; |
| 160 | case 2: |
160 | case 2: |
| 161 | #if 0 |
161 | #if 0 |
| 162 | pd_ergebnis = (scale_p * DiffRoll + scale_d * (AdWertRoll - AdNeutralRoll - Roll_X_Off)) / 10; |
162 | pd_ergebnis = (scale_p * DiffRoll + scale_d * (AdWertRoll - AdNeutralRoll - Roll_X_Off)) / 10; |
| 163 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
163 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
| 164 | { |
164 | { |
| 165 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
165 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
| 166 | } |
166 | } |
| 167 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
167 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
| 168 | { |
168 | { |
| 169 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
169 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
| 170 | } |
170 | } |
| 171 | /* M o t o r R e c h t s */ |
171 | /* M o t o r R e c h t s */ |
| 172 | motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
172 | motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| 173 | if (motorwert < 0) |
173 | if (motorwert < 0) |
| 174 | { |
174 | { |
| 175 | motorwert = 0; |
175 | motorwert = 0; |
| 176 | } |
176 | } |
| 177 | else if(motorwert > MAX_GAS) |
177 | else if(motorwert > MAX_GAS) |
| 178 | { |
178 | { |
| 179 | motorwert = MAX_GAS; |
179 | motorwert = MAX_GAS; |
| 180 | } |
180 | } |
| 181 | if (motorwert < MIN_GAS) |
181 | if (motorwert < MIN_GAS) |
| 182 | { |
182 | { |
| 183 | motorwert = MIN_GAS; |
183 | motorwert = MIN_GAS; |
| 184 | } |
184 | } |
| 185 | Motor_Rechts = motorwert; |
185 | Motor_Rechts = motorwert; |
| 186 | if(!MotorenEin) |
186 | if(!MotorenEin) |
| 187 | { |
187 | { |
| 188 | Motor_Rechts = 0; |
188 | Motor_Rechts = 0; |
| 189 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
189 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| 190 | } |
190 | } |
| 191 | #endif |
191 | #endif |
| 192 | i2c_write_byte(Motor_Rechts); |
192 | i2c_write_byte(Motor_Rechts); |
| 193 | break; |
193 | break; |
| 194 | case 3: |
194 | case 3: |
| 195 | #if 0 |
195 | #if 0 |
| 196 | pd_ergebnis = (scale_p* DiffRoll + scale_d * (AdWertRoll - AdNeutralRoll - Roll_X_Off)) / 10; |
196 | pd_ergebnis = (scale_p* DiffRoll + scale_d * (AdWertRoll - AdNeutralRoll - Roll_X_Off)) / 10; |
| 197 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
197 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
| 198 | { |
198 | { |
| 199 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
199 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
| 200 | } |
200 | } |
| 201 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
201 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
| 202 | { |
202 | { |
| 203 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
203 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
| 204 | } |
204 | } |
| 205 | /* M o t o r L i n k s */ |
205 | /* M o t o r L i n k s */ |
| 206 | motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
206 | motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| 207 | if (motorwert < 0) |
207 | if (motorwert < 0) |
| 208 | { |
208 | { |
| 209 | motorwert = 0; |
209 | motorwert = 0; |
| 210 | } |
210 | } |
| 211 | else if(motorwert > MAX_GAS) |
211 | else if(motorwert > MAX_GAS) |
| 212 | { |
212 | { |
| 213 | motorwert = MAX_GAS; |
213 | motorwert = MAX_GAS; |
| 214 | } |
214 | } |
| 215 | if (motorwert < MIN_GAS) |
215 | if (motorwert < MIN_GAS) |
| 216 | { |
216 | { |
| 217 | motorwert = MIN_GAS; |
217 | motorwert = MIN_GAS; |
| 218 | } |
218 | } |
| 219 | Motor_Links = motorwert; |
219 | Motor_Links = motorwert; |
| 220 | if(!MotorenEin) |
220 | if(!MotorenEin) |
| 221 | { |
221 | { |
| 222 | Motor_Links = 0; |
222 | Motor_Links = 0; |
| 223 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
223 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| 224 | } |
224 | } |
| 225 | #endif |
225 | #endif |
| 226 | i2c_write_byte(Motor_Links); |
226 | i2c_write_byte(Motor_Links); |
| 227 | break; |
227 | break; |
| 228 | } |
228 | } |
| 229 | break; |
229 | break; |
| 230 | case 2: |
230 | case 2: |
| 231 | i2c_stop(); |
231 | i2c_stop(); |
| 232 | if (motor<4) twi_state = 0; |
232 | if (motor<4) twi_state = 0; |
| 233 | else motor = 0; |
233 | else motor = 0; |
| 234 | i2c_start(); |
234 | i2c_start(); |
| 235 | break; |
235 | break; |
| 236 | 236 | ||
| 237 | //Liest Daten von Motor |
237 | //Liest Daten von Motor |
| 238 | case 3: |
238 | case 3: |
| 239 | i2c_write_byte(0x53+(motorread*2)); |
239 | i2c_write_byte(0x53+(motorread*2)); |
| 240 | break; |
240 | break; |
| 241 | case 4: |
241 | case 4: |
| 242 | switch(motorread) |
242 | switch(motorread) |
| 243 | { |
243 | { |
| 244 | case 0: |
244 | case 0: |
| 245 | i2c_write_byte(Motor_Vorne); |
245 | i2c_write_byte(Motor_Vorne); |
| 246 | break; |
246 | break; |
| 247 | case 1: |
247 | case 1: |
| 248 | i2c_write_byte(Motor_Hinten); |
248 | i2c_write_byte(Motor_Hinten); |
| 249 | break; |
249 | break; |
| 250 | case 2: |
250 | case 2: |
| 251 | i2c_write_byte(Motor_Rechts); |
251 | i2c_write_byte(Motor_Rechts); |
| 252 | break; |
252 | break; |
| 253 | case 3: |
253 | case 3: |
| 254 | i2c_write_byte(Motor_Links); |
254 | i2c_write_byte(Motor_Links); |
| 255 | break; |
255 | break; |
| 256 | } |
256 | } |
| 257 | break; |
257 | break; |
| 258 | case 5: //1 Byte vom Motor lesen |
258 | case 5: //1 Byte vom Motor lesen |
| 259 | motor_rx[motorread] = TWDR; |
259 | motor_rx[motorread] = TWDR; |
| 260 | 260 | ||
| 261 | case 6: |
261 | case 6: |
| 262 | switch(motorread) |
262 | switch(motorread) |
| 263 | { |
263 | { |
| 264 | case 0: |
264 | case 0: |
| 265 | i2c_write_byte(Motor_Vorne); |
265 | i2c_write_byte(Motor_Vorne); |
| 266 | break; |
266 | break; |
| 267 | case 1: |
267 | case 1: |
| 268 | i2c_write_byte(Motor_Hinten); |
268 | i2c_write_byte(Motor_Hinten); |
| 269 | break; |
269 | break; |
| 270 | case 2: |
270 | case 2: |
| 271 | i2c_write_byte(Motor_Rechts); |
271 | i2c_write_byte(Motor_Rechts); |
| 272 | break; |
272 | break; |
| 273 | case 3: |
273 | case 3: |
| 274 | i2c_write_byte(Motor_Links); |
274 | i2c_write_byte(Motor_Links); |
| 275 | break; |
275 | break; |
| 276 | } |
276 | } |
| 277 | break; |
277 | break; |
| 278 | case 7: //2 Byte vom Motor lesen |
278 | case 7: //2 Byte vom Motor lesen |
| 279 | motor_rx[motorread+4] = TWDR; |
279 | motor_rx[motorread+4] = TWDR; |
| 280 | motorread++; |
280 | motorread++; |
| 281 | if (motorread>3) motorread=0; |
281 | if (motorread>3) motorread=0; |
| 282 | i2c_stop(); |
282 | i2c_stop(); |
| 283 | I2CTimeout = 10; |
283 | I2CTimeout = 10; |
| 284 | twi_state = 0; |
284 | twi_state = 0; |
| 285 | } |
285 | } |
| 286 | #if 0 |
286 | #if 0 |
| 287 | break; |
287 | break; |
| 288 | TriggerMagneticHeading++; |
288 | TriggerMagneticHeading++; |
| 289 | TriggerMagneticHeading %= 50; |
289 | TriggerMagneticHeading %= 50; |
| 290 | TriggerSonicReading++; |
290 | TriggerSonicReading++; |
| 291 | TriggerSonicReading %= 200; |
291 | TriggerSonicReading %= 200; |
| 292 | 292 | ||
| 293 | if (TriggerMagneticHeading == 1) |
293 | if (TriggerMagneticHeading == 1) |
| 294 | { |
294 | { |
| 295 | // Get Magnetic Heading |
295 | // Get Magnetic Heading |
| 296 | i2c_start(); |
296 | i2c_start(); |
| 297 | twi_state = 8; |
297 | twi_state = 8; |
| 298 | break; |
298 | break; |
| 299 | } |
299 | } |
| 300 | 300 | ||
| 301 | if (TriggerSonicReading == 1) |
301 | if (TriggerSonicReading == 1) |
| 302 | { |
302 | { |
| 303 | // Get Ultrasonic Reading |
303 | // Get Ultrasonic Reading |
| 304 | i2c_start(); |
304 | i2c_start(); |
| 305 | twi_state = 20; |
305 | twi_state = 20; |
| 306 | break; |
306 | break; |
| 307 | } |
307 | } |
| 308 | else if (TriggerSonicReading == 190) |
308 | else if (TriggerSonicReading == 190) |
| 309 | { |
309 | { |
| 310 | // Get Ultrasonic Reading |
310 | // Get Ultrasonic Reading |
| 311 | i2c_start(); |
311 | i2c_start(); |
| 312 | twi_state = 30; |
312 | twi_state = 30; |
| 313 | break; |
313 | break; |
| 314 | } |
314 | } |
| 315 | else |
315 | else |
| 316 | { |
- | |
| 317 | I2CTimeout = 10; |
- | |
| 318 | twi_state = 0; |
- | |
| 319 | break; |
- | |
| 320 | } |
- | |
| 321 | - | ||
| 322 | case 8: |
- | |
| 323 | i2c_write_byte(0xC0); |
- | |
| 324 | break; |
316 | { |
| 325 | case 9: |
- | |
| 326 | i2c_write_byte(0x02); |
317 | I2CTimeout = 10; |
| 327 | break; |
- | |
| 328 | case 10: |
- | |
| 329 | i2c_start(); |
318 | twi_state = 0; |
| 330 | break; |
- | |
| 331 | case 11: |
- | |
| 332 | i2c_write_byte(0xC1); |
- | |
| 333 | break; |
- | |
| 334 | case 12: |
- | |
| 335 | i2c_write_byte(MagneticHeading); |
- | |
| 336 | break; |
- | |
| 337 | case 13: |
- | |
| 338 | MagneticHeading = (0x0F & TWDR) << 8; |
- | |
| 339 | i2c_stop(); |
- | |
| 340 | i2c_start(); |
- | |
| 341 | break; |
- | |
| 342 | case 14: |
- | |
| 343 | i2c_write_byte(0xC0); |
- | |
| 344 | break; |
319 | break; |
| - | 320 | } |
|
| - | 321 | ||
| - | 322 | case 8: |
|
| - | 323 | i2c_write_byte(0xC0); |
|
| - | 324 | break; |
|
| - | 325 | case 9: |
|
| - | 326 | i2c_write_byte(0x02); |
|
| - | 327 | break; |
|
| - | 328 | case 10: |
|
| - | 329 | i2c_start(); |
|
| - | 330 | break; |
|
| - | 331 | case 11: |
|
| - | 332 | i2c_write_byte(0xC1); |
|
| - | 333 | break; |
|
| - | 334 | case 12: |
|
| - | 335 | i2c_write_byte(MagneticHeading); |
|
| - | 336 | break; |
|
| - | 337 | case 13: |
|
| - | 338 | MagneticHeading = (0x0F & TWDR) << 8; |
|
| - | 339 | i2c_stop(); |
|
| - | 340 | i2c_start(); |
|
| - | 341 | break; |
|
| - | 342 | case 14: |
|
| - | 343 | i2c_write_byte(0xC0); |
|
| - | 344 | break; |
|
| 345 | case 15: |
345 | case 15: |
| 346 | i2c_write_byte(0x03); |
346 | i2c_write_byte(0x03); |
| 347 | break; |
347 | break; |
| 348 | case 16: |
348 | case 16: |
| 349 | i2c_start(); |
349 | i2c_start(); |
| 350 | break; |
350 | break; |
| 351 | case 17: |
351 | case 17: |
| 352 | i2c_write_byte(0xC1); |
352 | i2c_write_byte(0xC1); |
| 353 | break; |
353 | break; |
| 354 | case 18: |
354 | case 18: |
| 355 | i2c_write_byte(MagneticHeading); |
355 | i2c_write_byte(MagneticHeading); |
| 356 | break; |
356 | break; |
| 357 | case 19: |
357 | case 19: |
| 358 | MagneticHeading += TWDR; |
358 | MagneticHeading += TWDR; |
| 359 | i2c_stop(); |
359 | i2c_stop(); |
| 360 | I2CTimeout = 22; |
360 | I2CTimeout = 22; |
| 361 | twi_state = 0; |
361 | twi_state = 0; |
| 362 | break; |
362 | break; |
| 363 | 363 | ||
| 364 | /* Trigger Ultrasonic Ping */ |
364 | /* Trigger Ultrasonic Ping */ |
| 365 | case 20: /* Ping */ |
365 | case 20: /* Ping */ |
| 366 | i2c_write_byte(0xE0); /* Send I2C Adress */ |
366 | i2c_write_byte(0xE0); /* Send I2C Adress */ |
| 367 | break; |
367 | break; |
| 368 | case 21: |
368 | case 21: |
| 369 | i2c_write_byte(0x00); /* Send I2C Register */ |
369 | i2c_write_byte(0x00); /* Send I2C Register */ |
| 370 | break; |
370 | break; |
| 371 | case 22: |
371 | case 22: |
| 372 | i2c_write_byte(82); /* Send I2C Value */ |
372 | i2c_write_byte(82); /* Send I2C Value */ |
| 373 | break; |
373 | break; |
| 374 | case 24: |
374 | case 24: |
| 375 | VersionID = TWDR; |
375 | VersionID = TWDR; |
| 376 | i2c_stop(); |
376 | i2c_stop(); |
| 377 | I2CTimeout = 22; |
377 | I2CTimeout = 22; |
| 378 | twi_state = 0; |
378 | twi_state = 0; |
| 379 | UltrasonicPingCnt++; |
379 | UltrasonicPingCnt++; |
| 380 | break; |
380 | break; |
| 381 | case 30: |
381 | case 30: |
| 382 | i2c_write_byte(0xE0);/* Send I2C Adress */ |
382 | i2c_write_byte(0xE0);/* Send I2C Adress */ |
| 383 | break; |
383 | break; |
| 384 | case 31: |
384 | case 31: |
| 385 | i2c_write_byte(0x02); /* Send I2C Register */ |
385 | i2c_write_byte(0x02); /* Send I2C Register */ |
| 386 | break; |
386 | break; |
| 387 | case 32: |
387 | case 32: |
| 388 | i2c_start(); |
388 | i2c_start(); |
| 389 | break; |
389 | break; |
| 390 | case 33: |
390 | case 33: |
| 391 | i2c_write_byte(0xE1); |
391 | i2c_write_byte(0xE1); |
| 392 | break; |
392 | break; |
| 393 | case 34: |
393 | case 34: |
| 394 | i2c_write_byte(255); |
394 | i2c_write_byte(255); |
| 395 | break; |
395 | break; |
| 396 | case 35: |
396 | case 35: |
| 397 | UltrasonicRange = TWDR << 8;/* Read I2C Value */ |
397 | UltrasonicRange = TWDR << 8;/* Read I2C Value */ |
| 398 | UltrasonicRangeHigh = TWDR; |
398 | UltrasonicRangeHigh = TWDR; |
| 399 | i2c_stop(); |
399 | i2c_stop(); |
| 400 | i2c_start(); |
400 | i2c_start(); |
| 401 | break; |
401 | break; |
| 402 | case 36: |
402 | case 36: |
| 403 | i2c_write_byte(0xE0); |
403 | i2c_write_byte(0xE0); |
| 404 | break; |
404 | break; |
| 405 | case 37: |
405 | case 37: |
| 406 | i2c_write_byte(0x03); |
406 | i2c_write_byte(0x03); |
| 407 | break; |
407 | break; |
| 408 | case 38: |
408 | case 38: |
| 409 | i2c_start(); |
409 | i2c_start(); |
| 410 | break; |
410 | break; |
| 411 | case 39: |
411 | case 39: |
| 412 | i2c_write_byte(0xE1); |
412 | i2c_write_byte(0xE1); |
| 413 | break; |
413 | break; |
| 414 | case 40: |
414 | case 40: |
| 415 | i2c_write_byte(UltrasonicRangeLow); |
415 | i2c_write_byte(UltrasonicRangeLow); |
| 416 | break; |
416 | break; |
| 417 | case 41: |
417 | case 41: |
| 418 | UltrasonicRange += TWDR; |
418 | UltrasonicRange += TWDR; |
| 419 | UltrasonicRangeLow = TWDR; |
419 | UltrasonicRangeLow = TWDR; |
| 420 | i2c_stop(); |
420 | i2c_stop(); |
| 421 | I2CTimeout = 22; |
421 | I2CTimeout = 22; |
| 422 | twi_state = 0; |
422 | twi_state = 0; |
| 423 | break; |
423 | break; |
| 424 | } |
424 | } |
| 425 | #endif |
425 | #endif |
| 426 | TWCR |= 0x80; |
426 | TWCR |= 0x80; |
| 427 | } |
427 | } |