Rev 465 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 465 | Rev 476 | ||
|---|---|---|---|
| Line 1... | Line 1... | ||
| 1 | /*############################################################################ |
1 | /*############################################################################ |
| 2 | ############################################################################*/ |
2 | ############################################################################*/ |
| Line 3... | Line 3... | ||
| 3 | 3 | ||
| Line 4... | Line 4... | ||
| 4 | #include "main.h" |
4 | #include "main.h" |
| 5 | 5 | ||
| 6 | unsigned char twi_state = 0; |
- | |
| 7 | unsigned char motor = 0; |
6 | volatile unsigned char twi_state = 0; |
| Line 8... | Line 7... | ||
| 8 | unsigned char motorread = 0; |
7 | volatile unsigned char motor = 0; |
| 9 | unsigned char motor_rx[8]; |
8 | volatile unsigned char motor_rx[8]; |
| 10 | 9 | ||
| 11 | //############################################################################ |
10 | //############################################################################ |
| Line 41... | Line 40... | ||
| 41 | TWDR = byte; |
40 | TWDR = byte; |
| 42 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
41 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| 43 | } |
42 | } |
| Line 44... | Line 43... | ||
| 44 | 43 | ||
| - | 44 | //############################################################################ |
|
| - | 45 | // I2C receive byte and send ACK |
|
| - | 46 | void i2c_receive_byte(void) |
|
| - | 47 | //############################################################################ |
|
| - | 48 | { |
|
| - | 49 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
|
| - | 50 | } |
|
| - | 51 | ||
| - | 52 | //############################################################################ |
|
| - | 53 | // I2C receive last byte and send NOT ACK |
|
| - | 54 | void i2c_receive_last_byte(void) |
|
| - | 55 | //############################################################################ |
|
| - | 56 | { |
|
| - | 57 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
|
| - | 58 | } |
|
| - | 59 | ||
| 45 | //############################################################################ |
60 | //############################################################################ |
| 46 | //Start I2C |
61 | //Start I2C |
| 47 | SIGNAL (TWI_vect) |
62 | SIGNAL (TWI_vect) |
| 48 | //############################################################################ |
63 | //############################################################################ |
| - | 64 | { |
|
| - | 65 | static unsigned char motorread = 0; |
|
| 49 | { |
66 | |
| 50 | switch (twi_state++) // First i2c_start from SendMotorData() |
67 | switch (twi_state++) // First i2c_start from SendMotorData() |
| 51 | { |
68 | { |
| 52 | // Master Transmit |
69 | // Master Transmit |
| 53 | case 0: // Address Slave SL+W |
70 | case 0: // Address Slave SL+W |
| 54 | i2c_write_byte(0x52+(motor*2)); |
71 | i2c_write_byte(0x52+(motor*2)); |
| 55 | break; |
72 | break; |
| 56 | case 1: // Send Data |
73 | case 1: // Send Data |
| 57 | switch(motor++) |
74 | switch(motor++) |
| 58 | { |
75 | { |
| 59 | case 0: |
76 | case 0: |
| 60 | i2c_write_byte(Motor_Vorne); |
77 | i2c_write_byte(Motor_Vorne); |
| 61 | break; |
78 | break; |
| 62 | case 1: |
79 | case 1: |
| Line 66... | Line 83... | ||
| 66 | i2c_write_byte(Motor_Rechts); |
83 | i2c_write_byte(Motor_Rechts); |
| 67 | break; |
84 | break; |
| 68 | case 3: |
85 | case 3: |
| 69 | i2c_write_byte(Motor_Links); |
86 | i2c_write_byte(Motor_Links); |
| 70 | break; |
87 | break; |
| 71 | } |
88 | } |
| 72 | break; |
89 | break; |
| 73 | case 2: // Repeat case 0+1 for all Slaves |
90 | case 2: // Repeat case 0+1 for all Slaves |
| 74 | if (motor < 4) twi_state = 0; |
91 | if (motor < 4) twi_state = 0; |
| 75 | i2c_start(); // Repeated start -> switch salve and switch Master Transmit <-> Master Receive respectively |
92 | i2c_start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive |
| 76 | break; |
93 | break; |
| 77 | 94 | ||
| 78 | // Master Receive |
95 | // Master Receive |
| 79 | case 3: // Address Slave SL+R |
96 | case 3: // Address Slave SL+R |
| 80 | i2c_write_byte(0x53+(motorread*2)); |
97 | i2c_write_byte(0x53+(motorread*2)); |
| 81 | break; |
98 | break; |
| 82 | case 4: //1. Byte vom Motor lesen |
99 | case 4: //1. Byte vom Motor übertragen |
| - | 100 | i2c_receive_byte(); |
|
| - | 101 | break; |
|
| - | 102 | case 5: // 1. Byte lesen und 2. Byte übertragen |
|
| 83 | motor_rx[motorread] = TWDR; |
103 | motor_rx[motorread] = TWDR; |
| 84 | TWCR |= (1<<TWINT); |
104 | i2c_receive_last_byte(); |
| 85 | break; |
105 | break; |
| 86 | case 5: //2. Byte vom Motor lesen |
106 | case 6: //2. Byte lesen |
| 87 | motor_rx[motorread+4] = TWDR; |
107 | motor_rx[motorread+4] = TWDR; |
| 88 | motorread++; |
108 | motorread++; |
| 89 | if (motorread > 3) motorread=0; |
109 | if (motorread > 3) motorread=0; |
| 90 | default: |
110 | default: |
| 91 | i2c_stop(); |
111 | i2c_stop(); |
| 92 | twi_state = 0; |
112 | twi_state = 0; |
| 93 | motor = 0; |
113 | motor = 0; |
| 94 | } |
114 | } |
| 95 | } |
115 | } |