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| 4 | #include "main.h" |
4 | #include "main.h" |
| Line 5... | Line 5... | ||
| 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; |
| Line 9... | Line 9... | ||
| 9 | unsigned char motor_rx[8]; |
9 | unsigned char motor_rx[16]; |
| 10 | 10 | ||
| 11 | //############################################################################ |
11 | //############################################################################ |
| 12 | //Initzialisieren der I2C (TWI) Schnittstelle |
12 | //Initzialisieren der I2C (TWI) Schnittstelle |
| Line 63... | Line 63... | ||
| 63 | 63 | ||
| Line 64... | Line 64... | ||
| 64 | return(0); |
64 | return(0); |
| Line -... | Line 65... | ||
| - | 65 | ||
| - | 66 | } |
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| - | 67 | ||
| - | 68 | #ifdef OCTO |
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| - | 69 | //############################################################################ |
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| - | 70 | //Start I2C |
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| - | 71 | SIGNAL (TWI_vect) |
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| - | 72 | //############################################################################ |
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| - | 73 | { |
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| - | 74 | switch (twi_state++) |
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| - | 75 | { |
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| - | 76 | case 0: |
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| - | 77 | i2c_write_byte(0x52+(motor*2)); |
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| - | 78 | break; |
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| - | 79 | case 1: |
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| - | 80 | switch(motor++) |
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| - | 81 | { |
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| - | 82 | case 0: |
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| - | 83 | i2c_write_byte(Motor1); |
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| - | 84 | break; |
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| - | 85 | case 1: |
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| - | 86 | i2c_write_byte(Motor2); |
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| - | 87 | break; |
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| - | 88 | case 2: |
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| - | 89 | i2c_write_byte(Motor3); |
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| - | 90 | break; |
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| - | 91 | case 3: |
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| - | 92 | i2c_write_byte(Motor4); |
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| - | 93 | break; |
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| - | 94 | case 4: |
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| - | 95 | i2c_write_byte(Motor5); |
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| - | 96 | break; |
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| - | 97 | case 5: |
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| - | 98 | i2c_write_byte(Motor6); |
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| - | 99 | break; |
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| - | 100 | case 6: |
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| - | 101 | i2c_write_byte(Motor7); |
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| - | 102 | break; |
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| - | 103 | case 7: |
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| - | 104 | i2c_write_byte(Motor8); |
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| - | 105 | break; |
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| - | 106 | } |
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| - | 107 | break; |
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| - | 108 | case 2: |
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| - | 109 | i2c_stop(); |
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| - | 110 | if (motor<8) twi_state = 0; |
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| - | 111 | else motor = 0; |
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| - | 112 | i2c_start(); |
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| - | 113 | break; |
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| - | 114 | ||
| - | 115 | //Liest Daten von Motor |
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| - | 116 | case 3: |
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| - | 117 | i2c_write_byte(0x53+(motorread*2)); |
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| - | 118 | break; |
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| - | 119 | case 4: |
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| - | 120 | switch(motorread) |
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| - | 121 | { |
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| - | 122 | case 0: |
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| - | 123 | i2c_write_byte(Motor1); |
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| - | 124 | break; |
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| - | 125 | case 1: |
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| - | 126 | i2c_write_byte(Motor2); |
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| - | 127 | break; |
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| - | 128 | case 2: |
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| - | 129 | i2c_write_byte(Motor3); |
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| - | 130 | break; |
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| - | 131 | case 3: |
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| - | 132 | i2c_write_byte(Motor4); |
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| - | 133 | break; |
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| - | 134 | case 4: |
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| - | 135 | i2c_write_byte(Motor5); |
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| - | 136 | break; |
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| - | 137 | case 5: |
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| - | 138 | i2c_write_byte(Motor6); |
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| - | 139 | break; |
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| - | 140 | case 6: |
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| - | 141 | i2c_write_byte(Motor7); |
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| - | 142 | break; |
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| - | 143 | case 7: |
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| - | 144 | i2c_write_byte(Motor8); |
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| - | 145 | break; |
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| - | 146 | } |
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| - | 147 | break; |
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| - | 148 | case 5: //1 Byte vom Motor lesen |
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| - | 149 | motor_rx[motorread] = TWDR; |
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| - | 150 | ||
| - | 151 | case 6: |
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| - | 152 | switch(motorread) |
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| - | 153 | { |
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| - | 154 | case 0: |
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| - | 155 | i2c_write_byte(Motor1); |
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| - | 156 | break; |
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| - | 157 | case 1: |
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| - | 158 | i2c_write_byte(Motor2); |
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| - | 159 | break; |
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| - | 160 | case 2: |
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| - | 161 | i2c_write_byte(Motor3); |
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| - | 162 | break; |
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| - | 163 | case 3: |
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| - | 164 | i2c_write_byte(Motor4); |
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| - | 165 | break; |
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| - | 166 | case 4: |
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| - | 167 | i2c_write_byte(Motor5); |
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| - | 168 | break; |
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| - | 169 | case 5: |
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| - | 170 | i2c_write_byte(Motor6); |
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| - | 171 | break; |
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| - | 172 | case 6: |
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| - | 173 | i2c_write_byte(Motor7); |
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| - | 174 | break; |
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| - | 175 | case 7: |
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| - | 176 | i2c_write_byte(Motor8); |
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| - | 177 | break; |
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| - | 178 | } |
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| - | 179 | break; |
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| - | 180 | case 7: //2 Byte vom Motor lesen |
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| - | 181 | motor_rx[motorread+4] = TWDR; |
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| - | 182 | motorread++; |
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| - | 183 | if (motorread>7) motorread=0; |
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| - | 184 | i2c_stop(); |
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| - | 185 | I2CTimeout = 10; |
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| - | 186 | twi_state = 0; |
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| - | 187 | break; |
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| - | 188 | case 8: // Gyro-Offset |
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| - | 189 | i2c_write_byte(0x98); // Address of the DAC |
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| - | 190 | break; |
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| - | 191 | case 9: |
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| - | 192 | i2c_write_byte(0x10); // Update Channel A |
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| - | 193 | break; |
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| - | 194 | case 10: |
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| - | 195 | i2c_write_byte(AnalogOffsetNick); // Value |
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| - | 196 | break; |
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| - | 197 | case 11: |
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| - | 198 | i2c_write_byte(0x80); // Value |
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| - | 199 | break; |
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| - | 200 | case 12: |
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| - | 201 | i2c_stop(); |
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| - | 202 | I2CTimeout = 10; |
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| - | 203 | i2c_start(); |
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| - | 204 | break; |
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| - | 205 | case 13: |
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| - | 206 | i2c_write_byte(0x98); // Address of the DAC |
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| - | 207 | break; |
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| - | 208 | case 14: |
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| - | 209 | i2c_write_byte(0x12); // Update Channel B |
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| - | 210 | break; |
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| - | 211 | case 15: |
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| - | 212 | i2c_write_byte(AnalogOffsetRoll); // Value |
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| - | 213 | break; |
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| - | 214 | case 16: |
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| - | 215 | i2c_write_byte(0x80); // Value |
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| - | 216 | break; |
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| - | 217 | case 17: |
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| - | 218 | i2c_stop(); |
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| - | 219 | I2CTimeout = 10; |
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| - | 220 | i2c_start(); |
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| - | 221 | break; |
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| - | 222 | case 18: |
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| - | 223 | i2c_write_byte(0x98); // Address of the DAC |
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| - | 224 | break; |
|
| - | 225 | case 19: |
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| - | 226 | i2c_write_byte(0x14); // Update Channel C |
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| - | 227 | break; |
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| - | 228 | case 20: |
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| - | 229 | i2c_write_byte(AnalogOffsetGier); // Value |
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| - | 230 | break; |
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| - | 231 | case 21: |
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| - | 232 | i2c_write_byte(0x80); // Value |
|
| - | 233 | break; |
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| - | 234 | case 22: |
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| - | 235 | i2c_stop(); |
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| - | 236 | I2CTimeout = 10; |
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| - | 237 | twi_state = 0; |
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| - | 238 | break; |
|
| - | 239 | } |
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| 65 | 240 | TWCR |= 0x80; |
|
| 66 | } |
241 | } |
| 67 | 242 | #else |
|
| 68 | //############################################################################ |
243 | //############################################################################ |
| 69 | //Start I2C |
244 | //Start I2C |
| Line 200... | Line 375... | ||
| 200 | twi_state = 0; |
375 | twi_state = 0; |
| 201 | break; |
376 | break; |
| 202 | } |
377 | } |
| 203 | TWCR |= 0x80; |
378 | TWCR |= 0x80; |
| 204 | } |
379 | } |
| - | 380 | #endif |
|
| 205 | 381 | ||