Rev 726 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 726 | Rev 898 | ||
|---|---|---|---|
| Line 8... | Line 8... | ||
| 8 | #include "twimaster.h" |
8 | #include "twimaster.h" |
| 9 | #include "fc.h" |
9 | #include "fc.h" |
| Line 10... | Line 10... | ||
| 10 | 10 | ||
| 11 | volatile uint8_t twi_state = 0; |
11 | volatile uint8_t twi_state = 0; |
| 12 | volatile uint8_t motor = 0; |
12 | volatile uint8_t motor = 0; |
| Line 13... | Line 13... | ||
| 13 | volatile uint8_t motor_rx[8]; |
13 | volatile uint8_t motor_rx[12]; |
| 14 | 14 | ||
| 15 | /**************************************************/ |
15 | /**************************************************/ |
| 16 | /* Initialize I2C (TWI) */ |
16 | /* Initialize I2C (TWI) */ |
| Line 137... | Line 137... | ||
| 137 | break; |
137 | break; |
| 138 | case 1: // Send Data to Salve |
138 | case 1: // Send Data to Salve |
| 139 | switch(motor++) |
139 | switch(motor++) |
| 140 | { |
140 | { |
| 141 | case 0: |
141 | case 0: |
| 142 | I2C_WriteByte(Motor_Front); |
142 | I2C_WriteByte(Motor_FrontLeft); |
| 143 | break; |
143 | break; |
| 144 | case 1: |
144 | case 1: |
| 145 | I2C_WriteByte(Motor_Rear); |
145 | I2C_WriteByte(Motor_RearRight); |
| 146 | break; |
146 | break; |
| 147 | case 2: |
147 | case 2: |
| 148 | I2C_WriteByte(Motor_Right); |
148 | I2C_WriteByte(Motor_FrontRight); |
| 149 | break; |
149 | break; |
| 150 | case 3: |
150 | case 3: |
| - | 151 | I2C_WriteByte(Motor_RearLeft); |
|
| - | 152 | break; |
|
| - | 153 | case 4: |
|
| - | 154 | I2C_WriteByte(Motor_Right); |
|
| - | 155 | break; |
|
| - | 156 | case 5: |
|
| 151 | I2C_WriteByte(Motor_Left); |
157 | I2C_WriteByte(Motor_Left); |
| 152 | break; |
158 | break; |
| 153 | } |
159 | } |
| 154 | break; |
160 | break; |
| 155 | case 2: // repeat case 0+1 for all Slaves |
161 | case 2: // repeat case 0+1 for all Slaves |
| 156 | if (motor<4) twi_state = 0; |
162 | if (motor<6) twi_state = 0; |
| 157 | I2C_Start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive |
163 | I2C_Start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive |
| 158 | break; |
164 | break; |
| Line 159... | Line 165... | ||
| 159 | 165 | ||
| 160 | // Master Receive |
166 | // Master Receive |
| Line 169... | Line 175... | ||
| 169 | motor_rx[motorread] = TWDR; |
175 | motor_rx[motorread] = TWDR; |
| 170 | I2C_ReceiveLastByte(); |
176 | I2C_ReceiveLastByte(); |
| 171 | break; |
177 | break; |
| 172 | case 6: |
178 | case 6: |
| 173 | //Read 2nd byte |
179 | //Read 2nd byte |
| 174 | motor_rx[motorread+4] = TWDR; |
180 | motor_rx[motorread+6] = TWDR; |
| 175 | motorread++; |
181 | motorread++; |
| 176 | if (motorread > 3) motorread=0; |
182 | if (motorread > 5) motorread=0; |
| Line 177... | Line 183... | ||
| 177 | 183 | ||
| 178 | default: |
184 | default: |
| 179 | I2C_Stop(); |
185 | I2C_Stop(); |
| 180 | twi_state = 0; |
186 | twi_state = 0; |