Rev 942 | Rev 945 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 942 | Rev 943 | ||
|---|---|---|---|
| Line 11... | Line 11... | ||
| 11 | 11 | ||
| 12 | volatile uint8_t twi_state = 0; |
12 | volatile uint8_t twi_state = 0; |
| 13 | volatile uint8_t motor_write = 0; |
13 | volatile uint8_t motor_write = 0; |
| 14 | volatile uint8_t motor_read = 0; |
14 | volatile uint8_t motor_read = 0; |
| 15 | volatile uint8_t dac_channel = 0; |
15 | volatile uint8_t dac_channel = 0; |
| 16 | volatile uint8_t motor_rx[8]; |
16 | volatile uint8_t motor_rx[MOTOR_COUNT*2]; |
| Line 17... | Line 17... | ||
| 17 | volatile uint16_t I2CTimeout = 100; |
17 | volatile uint16_t I2CTimeout = 100; |
| 18 | 18 | ||
| Line 159... | Line 159... | ||
| 159 | // Master Transmit |
159 | // Master Transmit |
| 160 | case 0: // Send SLA-W |
160 | case 0: // Send SLA-W |
| 161 | I2C_WriteByte(0x52 + (motor_write * 2) ); |
161 | I2C_WriteByte(0x52 + (motor_write * 2) ); |
| 162 | break; |
162 | break; |
| 163 | case 1: // Send Data to Slave |
163 | case 1: // Send Data to Slave |
| - | 164 | #ifdef HEXAKOPTER |
|
| 164 | switch(motor_write) |
165 | switch(motor_write) |
| 165 | { |
166 | { |
| - | 167 | case 0: |
|
| - | 168 | I2C_WriteByte(Motor_FrontLeft); |
|
| - | 169 | break; |
|
| - | 170 | case 1: |
|
| - | 171 | I2C_WriteByte(Motor_RearRight); |
|
| - | 172 | break; |
|
| - | 173 | case 2: |
|
| - | 174 | I2C_WriteByte(Motor_FrontRight); |
|
| - | 175 | break; |
|
| - | 176 | case 3: |
|
| - | 177 | I2C_WriteByte(Motor_RearLeft); |
|
| - | 178 | break; |
|
| - | 179 | case 4: |
|
| - | 180 | I2C_WriteByte(Motor_Right); |
|
| - | 181 | break; |
|
| - | 182 | case 5: |
|
| - | 183 | I2C_WriteByte(Motor_Left); |
|
| - | 184 | break; |
|
| - | 185 | } |
|
| - | 186 | ||
| - | 187 | #else |
|
| - | 188 | switch(motor_write++) |
|
| - | 189 | { |
|
| 166 | case 0: |
190 | case 0: |
| 167 | I2C_WriteByte(Motor_Front); |
191 | I2C_WriteByte(Motor_Front); |
| 168 | break; |
192 | break; |
| 169 | case 1: |
193 | case 1: |
| 170 | I2C_WriteByte(Motor_Rear); |
194 | I2C_WriteByte(Motor_Rear); |
| Line 174... | Line 198... | ||
| 174 | break; |
198 | break; |
| 175 | case 3: |
199 | case 3: |
| 176 | I2C_WriteByte(Motor_Left); |
200 | I2C_WriteByte(Motor_Left); |
| 177 | break; |
201 | break; |
| 178 | } |
202 | } |
| - | 203 | #endif |
|
| 179 | break; |
204 | break; |
| 180 | case 2: // repeat case 0+1 for all motors |
205 | case 2: // repeat case 0+1 for all motors |
| 181 | I2C_Stop(); |
206 | I2C_Stop(); |
| 182 | if (motor_write < 3) |
207 | if (motor_write < (MOTOR_COUNT-1)) |
| 183 | { |
208 | { |
| 184 | motor_write++; // jump to next motor |
209 | motor_write++; // jump to next motor |
| 185 | twi_state = 0; // and repeat from state 0 |
210 | twi_state = 0; // and repeat from state 0 |
| 186 | } |
211 | } |
| 187 | else |
212 | else |
| 188 | { // data to last motor send |
213 | { // data to last motor send |
| 189 | motor_write = 0; // reset motor write counter |
214 | motor_write = 0; // reset motor write counter |
| 190 | } |
215 | } |
| 191 | I2C_Start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive |
216 | I2C_Start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive |
| 192 | break; |
217 | break; |
| 193 | - | ||
| 194 | // Master Receive |
218 | // Master Receive |
| 195 | case 3: // Send SLA-R |
219 | case 3: // Send SLA-R |
| 196 | I2C_WriteByte(0x53 + (motor_read * 2) ); |
220 | I2C_WriteByte(0x53 + (motor_read * 2) ); |
| 197 | break; |
221 | break; |
| 198 | case 4: |
222 | case 4: |
| Line 205... | Line 229... | ||
| 205 | break; |
229 | break; |
| 206 | case 6: |
230 | case 6: |
| 207 | //Read 2nd byte |
231 | //Read 2nd byte |
| 208 | motor_rx[motor_read + 4] = TWDR; |
232 | motor_rx[motor_read + 4] = TWDR; |
| 209 | motor_read++; |
233 | motor_read++; |
| 210 | if (motor_read > 3) motor_read = 0; |
234 | if (motor_read > (MOTOR_COUNT-1)) motor_read = 0; |
| 211 | I2C_Stop(); |
235 | I2C_Stop(); |
| 212 | twi_state = 0; |
236 | twi_state = 0; |
| 213 | I2CTimeout = 10; |
237 | I2CTimeout = 10; |
| 214 | break; |
238 | break; |