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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 482 | killagreg | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + www.MikroKopter.com |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 7 | // + Software Nutzungsbedingungen (english version: see below) |
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| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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| 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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| 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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| 22 | // + des Mitverschuldens offen. |
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| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 32 | // + Software LICENSING TERMS |
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| 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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| 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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| 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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| 37 | // + The Software may only be used with the Licensor's products. |
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| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 40 | // + agreement shall be the property of the Licensor. |
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| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 43 | // + The customer shall be responsible for taking reasonable precautions |
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| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 53 | // + #### END OF LICENSING TERMS #### |
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| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 56 | #include <string.h> |
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| 57 | #include "i2c.h" |
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| 58 | #include "uart1.h" |
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| 59 | #include "timer1.h" |
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| 60 | #include "config.h" |
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| 61 | #include "led.h" |
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| 62 | |||
| 63 | // the transfer buffer |
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| 64 | u8 I2C0_Buffer[I2C_BUFFER_LEN]; |
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| 65 | u8 I2C1_Buffer[I2C_BUFFER_LEN]; |
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| 66 | |||
| 67 | volatile I2C_Bus_t I2C0_Bus; |
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| 68 | volatile I2C_Bus_t I2C1_Bus; |
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| 69 | |||
| 70 | // Retourns pointer to data structure of the selected bus |
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| 71 | volatile I2C_Bus_t* I2CBus(I2C_TypeDef* I2Cx) |
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| 72 | { |
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| 73 | volatile I2C_Bus_t *pBus = NULL; |
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| 74 | |||
| 75 | if(I2Cx == I2C0) pBus = &I2C0_Bus; |
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| 76 | if(I2Cx == I2C1) pBus = &I2C1_Bus; |
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| 77 | |||
| 78 | return(pBus); |
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| 79 | } |
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| 80 | |||
| 81 | //-------------------------------------------------------------- |
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| 82 | void I2CBus_Init(I2C_TypeDef* I2Cx) |
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| 83 | { |
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| 84 | volatile I2C_Bus_t *pBus = NULL; |
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| 85 | I2C_InitTypeDef I2C_Struct; |
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| 86 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 87 | u8 SCL_Pin = 0; |
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| 88 | u8 SDA_Pin = 0; |
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| 89 | u32 SCL_Clock = 0; |
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| 90 | u32 APBPeriph = 0; |
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| 91 | u8 VIC_Priority = 0; |
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| 92 | |||
| 93 | if (I2Cx == I2C0) |
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| 94 | { |
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| 95 | UART1_PutString("\r\n I2C0 init..."); |
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| 96 | SCL_Pin = GPIO_Pin_0; |
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| 97 | SDA_Pin = GPIO_Pin_1; |
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| 98 | SCL_Clock = I2C0_CLOCK; |
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| 99 | APBPeriph = __I2C0; |
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| 100 | VIC_Priority = PRIORITY_I2C0; |
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| 101 | |||
| 102 | pBus = &I2C0_Bus; |
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| 103 | pBus->pData = I2C0_Buffer; |
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| 104 | pBus->VIC_Source = I2C0_ITLine; |
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| 105 | } |
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| 106 | if (I2Cx == I2C1) |
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| 107 | { |
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| 108 | UART1_PutString("\r\n I2C1 init..."); |
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| 109 | SCL_Pin = GPIO_Pin_2; |
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| 110 | SDA_Pin = GPIO_Pin_3; |
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| 111 | SCL_Clock = I2C1_CLOCK; |
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| 112 | APBPeriph = __I2C1; |
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| 113 | VIC_Priority = PRIORITY_I2C1; |
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| 114 | |||
| 115 | pBus = &I2C1_Bus; |
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| 116 | pBus->pData = I2C1_Buffer; |
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| 117 | pBus->VIC_Source = I2C1_ITLine; |
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| 118 | } |
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| 119 | if(pBus == NULL) return; |
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| 120 | |||
| 121 | pBus->State = I2C_STATE_UNDEF; |
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| 122 | pBus->Error = I2C_ERROR_UNKNOWN; |
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| 123 | pBus->Timeout = 0; |
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| 124 | pBus->TxBufferSize = 0; |
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| 125 | pBus->RxBufferSize = 0; |
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| 126 | pBus->Direction = 0; |
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| 127 | pBus->SlaveAddr = 0; |
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| 128 | pBus->pRxHandler = NULL; |
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| 129 | |||
| 130 | // enable Port 2 peripherie |
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| 131 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
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| 132 | // disable a reset state |
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| 133 | SCU_APBPeriphReset(__GPIO2, DISABLE); |
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| 134 | |||
| 135 | // free a busy bus |
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| 136 | |||
| 137 | // At switch on I2C devices can get in a state where they |
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| 138 | // are still waiting for a command due to all the bus lines bouncing |
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| 139 | // around at startup have started clocking data into the device(s). |
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| 140 | // Enable the ports as open collector port outputs |
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| 141 | // and clock out at least 9 SCL pulses, then generate a stop |
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| 142 | // condition and then leave the clock line high. |
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| 143 | |||
| 144 | // configure I2C_CLKOUT and I2C_DOUT to normal port operation |
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| 145 | GPIO_StructInit(&GPIO_InitStructure); |
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| 146 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 147 | GPIO_InitStructure.GPIO_Pin = SCL_Pin | SDA_Pin; |
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| 148 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
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| 149 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
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| 150 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
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| 151 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
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| 152 | |||
| 153 | u8 i; |
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| 154 | u32 delay; |
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| 155 | // set SCL high and then SDA to low (start condition) |
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| 156 | GPIO_WriteBit(GPIO2, SCL_Pin, Bit_SET); |
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| 157 | delay = SetDelay(1); |
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| 158 | while (!CheckDelay(delay)); |
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| 159 | GPIO_WriteBit(GPIO2, SDA_Pin, Bit_RESET); |
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| 160 | // toggle SCL at least 10 times from high to low to high |
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| 161 | for(i = 0; i < 10; i++) |
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| 162 | { |
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| 163 | delay = SetDelay(1); |
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| 164 | while (!CheckDelay(delay)); |
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| 165 | |||
| 166 | GPIO_WriteBit(GPIO2, SCL_Pin, Bit_RESET); |
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| 167 | delay = SetDelay(1); |
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| 168 | while (!CheckDelay(delay)); |
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| 169 | GPIO_WriteBit(GPIO2, SCL_Pin, Bit_SET); |
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| 170 | } |
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| 171 | delay = SetDelay(1); |
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| 172 | while (!CheckDelay(delay)); |
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| 173 | // create stop condition setting SDA HIGH when SCL is HIGH |
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| 174 | GPIO_WriteBit(GPIO2, SDA_Pin, Bit_SET); |
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| 175 | |||
| 176 | |||
| 177 | // reconfigure I2C_CLKOUT and I2C_DOUT |
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| 178 | GPIO_StructInit(&GPIO_InitStructure); |
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| 179 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 180 | GPIO_InitStructure.GPIO_Pin = SCL_Pin | SDA_Pin; |
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| 181 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
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| 182 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
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| 183 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C_CLKOUT, I2C_DOUT |
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| 184 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
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| 185 | |||
| 186 | // enable I2C peripherie |
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| 187 | SCU_APBPeriphClockConfig(APBPeriph, ENABLE); |
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| 188 | // reset I2C peripherie |
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| 189 | SCU_APBPeriphReset(APBPeriph, ENABLE); |
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| 190 | SCU_APBPeriphReset(APBPeriph, DISABLE); |
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| 191 | |||
| 192 | I2C_DeInit(I2Cx); |
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| 193 | I2C_StructInit(&I2C_Struct); |
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| 194 | I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable; |
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| 195 | I2C_Struct.I2C_Ack = I2C_Ack_Enable; |
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| 196 | I2C_Struct.I2C_CLKSpeed = SCL_Clock; |
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| 197 | I2C_Struct.I2C_OwnAddress = 0x00; |
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| 198 | I2C_Init(I2Cx, &I2C_Struct); |
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| 199 | |||
| 200 | I2C_Cmd(I2Cx, ENABLE); |
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| 201 | I2C_ITConfig(I2Cx, ENABLE); |
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| 202 | |||
| 203 | VIC_Config(pBus->VIC_Source, VIC_IRQ , VIC_Priority); |
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| 204 | pBus->Timeout = SetDelay(2*I2C_TIMEOUT); |
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| 205 | I2C_GenerateSTOP(I2Cx, ENABLE); |
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| 206 | pBus->State = I2C_STATE_IDLE; |
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| 207 | |||
| 208 | // start some dummy transmissions cycles |
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| 209 | // to get the irq routine to work |
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| 210 | for(i = 0; i < 10; i++) |
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| 211 | { |
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| 212 | pBus->State = I2C_STATE_BUFFBUSY; |
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| 213 | I2CBus_Transmission(I2Cx, 0, NULL, 1, 0, 0); // transfer 1 byte in the isr |
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| 214 | if(I2CBus_WaitForEndOfTransmission(I2Cx, 10)) break; |
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| 215 | UART1_Putchar('.'); |
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| 216 | } |
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| 217 | UART1_PutString("ok"); |
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| 218 | } |
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| 219 | |||
| 220 | |||
| 221 | //-------------------------------------------------------------- |
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| 222 | void I2CBus_Deinit(I2C_TypeDef* I2Cx) |
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| 223 | { |
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| 224 | volatile I2C_Bus_t *pBus = NULL; |
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| 225 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 226 | u32 APBPeriph = 0; |
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| 227 | u16 VIC_Source = 0; |
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| 228 | u8 SCL_Pin = 0; |
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| 229 | u8 SDA_Pin = 0; |
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| 230 | |||
| 231 | if (I2Cx == I2C0) |
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| 232 | { |
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| 233 | UART1_PutString("\r\n I2C0 deinit..."); |
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| 234 | SCL_Pin = GPIO_Pin_0; |
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| 235 | SDA_Pin = GPIO_Pin_1; |
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| 236 | APBPeriph = __I2C0; |
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| 237 | VIC_Source = I2C0_ITLine; |
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| 238 | pBus = &I2C0_Bus; |
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| 239 | |||
| 240 | } |
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| 241 | if (I2Cx == I2C1) |
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| 242 | { |
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| 243 | UART1_PutString("\r\n I2C1 deinit..."); |
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| 244 | SCL_Pin = GPIO_Pin_2; |
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| 245 | SDA_Pin = GPIO_Pin_3; |
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| 246 | APBPeriph = __I2C1; |
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| 247 | VIC_Source = I2C1_ITLine; |
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| 248 | pBus = &I2C1_Bus; |
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| 249 | } |
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| 250 | |||
| 251 | if(pBus == NULL) return; |
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| 252 | |||
| 253 | I2C_GenerateStart(I2Cx, DISABLE); |
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| 254 | I2C_GenerateSTOP(I2Cx, ENABLE); |
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| 255 | VIC_ITCmd(VIC_Source, DISABLE); |
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| 256 | pBus->State = I2C_STATE_UNDEF; |
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| 257 | I2C_ITConfig(I2Cx, DISABLE); |
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| 258 | I2C_Cmd(I2Cx, DISABLE); |
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| 259 | I2C_DeInit(I2Cx); |
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| 260 | SCU_APBPeriphClockConfig(APBPeriph, DISABLE); |
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| 261 | |||
| 262 | // set ports to input |
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| 263 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
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| 264 | GPIO_StructInit(&GPIO_InitStructure); |
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| 265 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 266 | GPIO_InitStructure.GPIO_Pin = SCL_Pin | SDA_Pin; |
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| 267 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 268 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
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| 269 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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| 270 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
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| 271 | |||
| 272 | // empty rx and tx buffer |
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| 273 | pBus->TxBufferSize = 0; |
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| 274 | pBus->RxBufferSize = 0; |
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| 275 | |||
| 276 | pBus->Timeout = SetDelay(2*I2C_TIMEOUT); |
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| 277 | |||
| 278 | UART1_PutString("ok"); |
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| 279 | } |
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| 280 | |||
| 281 | //-------------------------------------------------------------- |
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| 282 | void I2C0_IRQHandler(void) |
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| 283 | { |
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| 284 | static u8 Rx_Idx = 0, Tx_Idx = 0; |
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| 285 | u16 status; |
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| 286 | u16 timeout = 500; |
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| 287 | |||
| 288 | //IENABLE; // do not enable IRQ nesting for I2C!!!! |
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| 289 | // detemine I2C State |
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| 290 | status = I2C_GetLastEvent(I2C0); |
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| 291 | |||
| 292 | if(status & (I2C_FLAG_AF|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured |
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| 293 | { // Set and subsequently clear the STOP bit while BTF is set. |
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| 294 | while(I2C_GetFlagStatus (I2C0, I2C_FLAG_BTF) != RESET) |
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| 295 | { |
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| 296 | I2C_GenerateSTOP (I2C0, ENABLE); // free the bus |
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| 297 | I2C_GenerateSTOP (I2C0, DISABLE); // free the bus |
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| 298 | if(--timeout == 0) |
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| 299 | { |
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| 300 | DebugOut.Analog[14]++; // count I2C error |
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| 301 | break; |
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| 302 | } |
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| 303 | } |
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| 304 | I2C0_Bus.State = I2C_STATE_IDLE; |
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| 305 | I2C0_Bus.Error = I2C_ERROR_NOACK; |
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| 306 | VIC_ITCmd(I2C0_ITLine, DISABLE); |
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| 307 | return; |
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| 308 | } |
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| 309 | else |
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| 310 | { // depending on current i2c state |
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| 311 | switch(status) |
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| 312 | { |
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| 313 | // the start condition was initiated on the bus |
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| 314 | case I2C_EVENT_MASTER_MODE_SELECT: |
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| 315 | // update current bus state variable |
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| 316 | // jump to rx state if there is nothing to send |
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| 317 | switch(I2C0_Bus.Direction) |
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| 318 | { |
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| 319 | case I2C_MODE_TRANSMITTER: |
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| 320 | I2C0_Bus.State = I2C_STATE_TX_PROGRESS; |
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| 321 | break; |
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| 322 | |||
| 323 | case I2C_MODE_RECEIVER: |
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| 324 | if (I2C0_Bus.RxBufferSize == 0) // nothing to send? |
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| 325 | { |
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| 326 | I2C_GenerateSTOP (I2C0, ENABLE); |
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| 327 | VIC_ITCmd(I2C0_ITLine, DISABLE); |
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| 328 | I2C0_Bus.State = I2C_STATE_IDLE; |
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| 791 | holgerb | 329 | I2C0_Bus.Error = I2C_ERROR_NONE; |
| 482 | killagreg | 330 | return; |
| 331 | } |
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| 332 | else |
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| 333 | { |
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| 334 | I2C0_Bus.State = I2C_STATE_RX_PROGRESS; |
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| 335 | } |
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| 336 | break; |
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| 337 | |||
| 338 | default: // invalid direction |
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| 339 | I2C_GenerateSTOP (I2C0, ENABLE); |
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| 340 | VIC_ITCmd(I2C0_ITLine, DISABLE); |
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| 791 | holgerb | 341 | I2C0_Bus.State = I2C_STATE_IDLE; |
| 342 | I2C0_Bus.Error = I2C_ERROR_UNKNOWN; |
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| 482 | killagreg | 343 | return; |
| 344 | } |
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| 345 | // enable acknowledge |
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| 346 | I2C_AcknowledgeConfig (I2C0, ENABLE); |
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| 347 | // send address/direction byte on the bus |
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| 348 | I2C_Send7bitAddress(I2C0, I2C0_Bus.SlaveAddr, I2C0_Bus.Direction); |
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| 349 | break; |
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| 350 | |||
| 351 | // the address byte was send |
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| 352 | case I2C_EVENT_MASTER_MODE_SELECTED: |
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| 353 | // Clear EV6 by set again the PE bit |
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| 354 | I2C_Cmd(I2C0, ENABLE); |
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| 355 | switch(I2C0_Bus.State) |
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| 356 | { |
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| 357 | case I2C_STATE_TX_PROGRESS: |
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| 358 | // send 1st data byte |
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| 359 | Tx_Idx = 0; |
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| 360 | I2C_SendData(I2C0, I2C0_Bus.pData[Tx_Idx]); |
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| 361 | Tx_Idx++; |
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| 362 | // reset timeout |
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| 363 | I2C0_Bus.Timeout = SetDelay(I2C_TIMEOUT); // after inactivity the I2C1 bus will be reset |
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| 364 | break; |
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| 365 | |||
| 366 | case I2C_STATE_RX_PROGRESS: |
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| 367 | Rx_Idx = 0; |
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| 368 | // disable acknoledge if only one byte has to be read |
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| 369 | if(I2C0_Bus.RxBufferSize == 1) I2C_AcknowledgeConfig (I2C0, DISABLE); |
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| 370 | break; |
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| 371 | |||
| 372 | default: // unknown I2C state |
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| 373 | // should never happen |
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| 374 | I2C_GenerateSTOP (I2C0, ENABLE); |
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| 375 | VIC_ITCmd(I2C0_ITLine, DISABLE); |
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| 376 | I2C0_Bus.State = I2C_STATE_IDLE; |
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| 377 | I2C0_Bus.Error = I2C_ERROR_UNKNOWN; |
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| 378 | return; |
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| 379 | break; |
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| 380 | } |
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| 381 | break; |
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| 382 | |||
| 383 | // the master has transmitted a byte and slave has been acknowledged |
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| 384 | case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
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| 385 | |||
| 386 | // some bytes have to be transmitted |
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| 387 | if(Tx_Idx < I2C0_Bus.TxBufferSize) |
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| 388 | { |
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| 389 | I2C_SendData(I2C0, I2C0_Bus.pData[Tx_Idx]); |
||
| 390 | Tx_Idx++; |
||
| 391 | } |
||
| 392 | else // last byte was send |
||
| 393 | { |
||
| 394 | // generate stop or repeated start condition |
||
| 395 | if (I2C0_Bus.RxBufferSize > 0) // is any answer byte expected? |
||
| 396 | { |
||
| 397 | I2C0_Bus.Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
||
| 398 | I2C_GenerateStart(I2C0, ENABLE); // initiate repeated start condition on the bus |
||
| 399 | } |
||
| 400 | else |
||
| 401 | { // stop communication |
||
| 402 | I2C_GenerateSTOP(I2C0, ENABLE); // generate stop condition to free the bus |
||
| 403 | VIC_ITCmd(I2C0_ITLine, DISABLE); |
||
| 404 | I2C0_Bus.State = I2C_STATE_IDLE; // ready for new actions |
||
| 405 | I2C0_Bus.Error = I2C_ERROR_NONE; |
||
| 406 | } |
||
| 407 | } |
||
| 408 | break; |
||
| 409 | |||
| 410 | // the master has received a byte from the slave |
||
| 411 | case I2C_EVENT_MASTER_BYTE_RECEIVED: |
||
| 412 | // some bytes have to be received |
||
| 413 | if ( Rx_Idx+1 < I2C0_Bus.RxBufferSize) |
||
| 414 | { // copy received byte from the data register to the rx-buffer |
||
| 415 | I2C0_Bus.pData[Rx_Idx] = I2C_ReceiveData(I2C0); |
||
| 416 | } |
||
| 417 | else // if the last byte was received |
||
| 418 | { |
||
| 419 | // generate a STOP condition on the bus before reading data register |
||
| 420 | I2C_GenerateSTOP(I2C0, ENABLE); |
||
| 421 | I2C0_Bus.pData[Rx_Idx] = I2C_ReceiveData(I2C0); |
||
| 422 | // call the rx handler function to process recieved data |
||
| 423 | if(I2C0_Bus.pRxHandler != NULL) (*(I2C0_Bus.pRxHandler))(I2C0_Bus.pData, I2C0_Bus.RxBufferSize); |
||
| 424 | I2C0_Bus.Timeout = SetDelay(I2C_TIMEOUT); |
||
| 425 | DebugOut.Analog[15]++; |
||
| 426 | VIC_ITCmd(I2C0_ITLine, DISABLE); |
||
| 427 | I2C0_Bus.State = I2C_STATE_IDLE; |
||
| 428 | I2C0_Bus.Error = I2C_ERROR_NONE; |
||
| 429 | return; |
||
| 430 | } |
||
| 431 | Rx_Idx++; |
||
| 432 | // if the 2nd last byte was received disable acknowledge for the last one |
||
| 433 | if ( (Rx_Idx + 1) == I2C0_Bus.RxBufferSize ) |
||
| 434 | { |
||
| 435 | I2C_AcknowledgeConfig(I2C0, DISABLE); |
||
| 436 | } |
||
| 437 | break; |
||
| 438 | |||
| 439 | default:// unknown event |
||
| 440 | // should never happen |
||
| 441 | I2C_GenerateSTOP (I2C0, ENABLE); |
||
| 442 | VIC_ITCmd(I2C0_ITLine, DISABLE); |
||
| 443 | I2C0_Bus.State = I2C_STATE_IDLE; |
||
| 444 | I2C0_Bus.Error = I2C_ERROR_UNKNOWN; |
||
| 445 | break; |
||
| 446 | } |
||
| 447 | } |
||
| 448 | //IDISABLE; // do not enable IRQ nesting for I2C!!!! |
||
| 449 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
||
| 450 | } |
||
| 451 | |||
| 452 | //-------------------------------------------------------------- |
||
| 453 | void I2C1_IRQHandler(void) |
||
| 454 | { |
||
| 455 | static u8 Rx_Idx = 0, Tx_Idx = 0; |
||
| 456 | u16 status; |
||
| 457 | u16 timeout = 500; |
||
| 458 | |||
| 459 | //IENABLE; // do not enable IRQ nesting for I2C!!!! |
||
| 460 | // detemine I2C State |
||
| 461 | status = I2C_GetLastEvent(I2C1); |
||
| 462 | |||
| 463 | if(status & (I2C_FLAG_AF|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured |
||
| 464 | { // Set and subsequently clear the STOP bit while BTF is set. |
||
| 465 | while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET) |
||
| 466 | { |
||
| 467 | I2C_GenerateSTOP (I2C1, ENABLE); // free the bus |
||
| 468 | I2C_GenerateSTOP (I2C1, DISABLE); // free the bus |
||
| 469 | if(--timeout == 0) |
||
| 470 | { |
||
| 471 | DebugOut.Analog[14]++; // count I2C error |
||
| 472 | break; |
||
| 473 | } |
||
| 474 | } |
||
| 475 | I2C1_Bus.State = I2C_STATE_IDLE; |
||
| 476 | I2C1_Bus.Error = I2C_ERROR_NOACK; |
||
| 477 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
||
| 478 | return; |
||
| 479 | } |
||
| 480 | else |
||
| 481 | { // depending on current i2c state |
||
| 482 | switch(status) |
||
| 483 | { |
||
| 484 | // the start condition was initiated on the bus |
||
| 485 | case I2C_EVENT_MASTER_MODE_SELECT: |
||
| 486 | // update current bus state variable |
||
| 487 | // jump to rx state if there is nothing to send |
||
| 488 | switch(I2C1_Bus.Direction) |
||
| 489 | { |
||
| 490 | case I2C_MODE_TRANSMITTER: |
||
| 491 | I2C1_Bus.State = I2C_STATE_TX_PROGRESS; |
||
| 492 | break; |
||
| 493 | |||
| 494 | case I2C_MODE_RECEIVER: |
||
| 495 | if (I2C1_Bus.RxBufferSize == 0) // nothing to send? |
||
| 496 | { |
||
| 497 | I2C_GenerateSTOP (I2C1, ENABLE); |
||
| 498 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
||
| 499 | I2C1_Bus.State = I2C_STATE_IDLE; |
||
| 500 | I2C1_Bus.Error = I2C_ERROR_NONE; |
||
| 501 | return; |
||
| 502 | } |
||
| 503 | else |
||
| 504 | { |
||
| 505 | I2C1_Bus.State = I2C_STATE_RX_PROGRESS; |
||
| 506 | } |
||
| 507 | break; |
||
| 508 | |||
| 509 | default: // invalid direction |
||
| 510 | I2C_GenerateSTOP (I2C1, ENABLE); |
||
| 511 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
||
| 512 | I2C1_Bus.State = I2C_STATE_IDLE; |
||
| 513 | I2C1_Bus.Error = I2C_ERROR_UNKNOWN; |
||
| 514 | return; |
||
| 515 | } |
||
| 516 | // enable acknowledge |
||
| 517 | I2C_AcknowledgeConfig (I2C1, ENABLE); |
||
| 518 | // send address/direction byte on the bus |
||
| 519 | I2C_Send7bitAddress(I2C1, I2C1_Bus.SlaveAddr, I2C1_Bus.Direction); |
||
| 520 | break; |
||
| 521 | |||
| 522 | // the address byte was send |
||
| 523 | case I2C_EVENT_MASTER_MODE_SELECTED: |
||
| 524 | // Clear EV6 by set again the PE bit |
||
| 525 | I2C_Cmd(I2C1, ENABLE); |
||
| 526 | switch(I2C1_Bus.State) |
||
| 527 | { |
||
| 528 | case I2C_STATE_TX_PROGRESS: |
||
| 529 | // send 1st data byte |
||
| 530 | Tx_Idx = 0; |
||
| 531 | I2C_SendData(I2C1, I2C1_Bus.pData[Tx_Idx]); |
||
| 532 | Tx_Idx++; |
||
| 533 | // reset timeout |
||
| 534 | I2C1_Bus.Timeout = SetDelay(I2C_TIMEOUT); // after inactivity the I2C1 bus will be reset |
||
| 535 | break; |
||
| 536 | |||
| 537 | case I2C_STATE_RX_PROGRESS: |
||
| 538 | Rx_Idx = 0; |
||
| 539 | // disable acknoledge if only one byte has to be read |
||
| 540 | if(I2C1_Bus.RxBufferSize == 1) I2C_AcknowledgeConfig (I2C1, DISABLE); |
||
| 541 | break; |
||
| 542 | |||
| 543 | default: // unknown I2C state |
||
| 544 | // should never happen |
||
| 545 | I2C_GenerateSTOP (I2C1, ENABLE); |
||
| 546 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
||
| 547 | I2C1_Bus.State = I2C_STATE_IDLE; |
||
| 548 | I2C1_Bus.Error = I2C_ERROR_UNKNOWN; |
||
| 549 | return; |
||
| 550 | break; |
||
| 551 | } |
||
| 552 | break; |
||
| 553 | |||
| 554 | // the master has transmitted a byte and slave has been acknowledged |
||
| 555 | case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
||
| 556 | |||
| 557 | // some bytes have to be transmitted |
||
| 558 | if(Tx_Idx < I2C1_Bus.TxBufferSize) |
||
| 559 | { |
||
| 560 | I2C_SendData(I2C1, I2C1_Bus.pData[Tx_Idx]); |
||
| 561 | Tx_Idx++; |
||
| 562 | } |
||
| 563 | else // last byte was send |
||
| 564 | { |
||
| 565 | // generate stop or repeated start condition |
||
| 566 | if (I2C1_Bus.RxBufferSize > 0) // is any answer byte expected? |
||
| 567 | { |
||
| 568 | I2C1_Bus.Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
||
| 569 | I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
||
| 570 | } |
||
| 571 | else |
||
| 572 | { // stop communication |
||
| 573 | I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
||
| 574 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
||
| 575 | I2C1_Bus.State = I2C_STATE_IDLE; // ready for new actions |
||
| 576 | I2C1_Bus.Error = I2C_ERROR_NONE; |
||
| 577 | } |
||
| 578 | } |
||
| 579 | break; |
||
| 580 | |||
| 581 | // the master has received a byte from the slave |
||
| 582 | case I2C_EVENT_MASTER_BYTE_RECEIVED: |
||
| 583 | // some bytes have to be received |
||
| 584 | if ( Rx_Idx+1 < I2C1_Bus.RxBufferSize) |
||
| 585 | { // copy received byte from the data register to the rx-buffer |
||
| 586 | I2C1_Bus.pData[Rx_Idx] = I2C_ReceiveData(I2C1); |
||
| 587 | } |
||
| 588 | else // if the last byte was received |
||
| 589 | { |
||
| 590 | // generate a STOP condition on the bus before reading data register |
||
| 591 | I2C_GenerateSTOP(I2C1, ENABLE); |
||
| 592 | I2C1_Bus.pData[Rx_Idx] = I2C_ReceiveData(I2C1); |
||
| 593 | // call the rx handler function to process recieved data |
||
| 594 | if(I2C1_Bus.pRxHandler != NULL) (*(I2C1_Bus.pRxHandler))(I2C1_Bus.pData, I2C1_Bus.RxBufferSize); |
||
| 595 | I2C1_Bus.Timeout = SetDelay(I2C_TIMEOUT); |
||
| 596 | DebugOut.Analog[15]++; |
||
| 597 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
||
| 598 | I2C1_Bus.State = I2C_STATE_IDLE; |
||
| 599 | I2C1_Bus.Error = I2C_ERROR_NONE; |
||
| 600 | return; |
||
| 601 | } |
||
| 602 | Rx_Idx++; |
||
| 603 | // if the 2nd last byte was received disable acknowledge for the last one |
||
| 604 | if ( (Rx_Idx + 1) == I2C1_Bus.RxBufferSize ) |
||
| 605 | { |
||
| 606 | I2C_AcknowledgeConfig(I2C1, DISABLE); |
||
| 607 | } |
||
| 608 | break; |
||
| 609 | |||
| 610 | default:// unknown event |
||
| 611 | // should never happen |
||
| 508 | holgerb | 612 | DebugOut.Analog[14]++; |
| 482 | killagreg | 613 | I2C_GenerateSTOP (I2C1, ENABLE); |
| 614 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
||
| 615 | I2C1_Bus.State = I2C_STATE_IDLE; |
||
| 616 | I2C1_Bus.Error = I2C_ERROR_UNKNOWN; |
||
| 617 | break; |
||
| 618 | } |
||
| 619 | } |
||
| 620 | //IDISABLE; // do not enable IRQ nesting for I2C!!!! |
||
| 621 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
||
| 622 | } |
||
| 623 | |||
| 624 | // ---------------------------------------------------------------------------------------- |
||
| 625 | // wait for end of transmission |
||
| 626 | // returns 1 on success or 0 on timeout |
||
| 627 | u8 I2CBus_WaitForEndOfTransmission(I2C_TypeDef* I2Cx, u32 timeout) |
||
| 628 | { |
||
| 629 | volatile I2C_Bus_t *pBus = NULL; |
||
| 630 | u32 time = SetDelay(timeout); |
||
| 631 | |||
| 632 | if(I2Cx == I2C0) pBus = &I2C0_Bus; |
||
| 633 | if(I2Cx == I2C1) pBus = &I2C1_Bus; |
||
| 634 | if(pBus == NULL) return(0); |
||
| 635 | while(pBus->State != I2C_STATE_IDLE) |
||
| 636 | { |
||
| 508 | holgerb | 637 | if(CheckDelay(time)) // Timeout |
| 638 | { |
||
| 639 | return(0); |
||
| 640 | } |
||
| 482 | killagreg | 641 | } |
| 642 | return(1); |
||
| 643 | } |
||
| 644 | |||
| 645 | // ---------------------------------------------------------------------------------------- |
||
| 646 | // try to get access to the transfer buffer within a timeout limit |
||
| 647 | // returs 1 on success and 0 on error/timeout |
||
| 648 | u8 I2CBus_LockBuffer(I2C_TypeDef* I2Cx, u32 timeout) |
||
| 649 | { |
||
| 650 | volatile I2C_Bus_t *pBus = NULL; |
||
| 651 | |||
| 652 | if(I2Cx == I2C0) pBus = &I2C0_Bus; |
||
| 653 | if(I2Cx == I2C1) pBus = &I2C1_Bus; |
||
| 654 | if(pBus == NULL) return(0); |
||
| 655 | |||
| 656 | if(I2CBus_WaitForEndOfTransmission(I2Cx, timeout)) |
||
| 657 | { |
||
| 658 | pBus->State = I2C_STATE_BUFFBUSY; |
||
| 659 | pBus->Error = I2C_ERROR_UNKNOWN; |
||
| 660 | return(1); |
||
| 661 | } |
||
| 662 | else return(0); |
||
| 663 | } |
||
| 664 | // ---------------------------------------------------------------------------------------- |
||
| 665 | // initate an i2c transmission |
||
| 666 | // before that function is called, the application has to call I2CBus_LockBuffer and has to fill the Buffer with data to be send |
||
| 667 | u8 I2CBus_Transmission(I2C_TypeDef* I2Cx, u8 SlaveAddr, u8* pTxData, u8 TxBytes, I2C_pRxHandler_t pRxHandler, u8 RxBytes) |
||
| 668 | { |
||
| 669 | u8 retval = 0; |
||
| 670 | |||
| 671 | volatile I2C_Bus_t *pBus = NULL; |
||
| 672 | |||
| 673 | if(I2Cx == I2C0) pBus = &I2C0_Bus; |
||
| 674 | if(I2Cx == I2C1) pBus = &I2C1_Bus; |
||
| 675 | if(pBus == NULL) return(0); |
||
| 676 | |||
| 677 | |||
| 678 | if(pBus->State == I2C_STATE_BUFFBUSY) // check for locked buffer |
||
| 679 | { |
||
| 680 | if((RxBytes > I2C_BUFFER_LEN) || (TxBytes > I2C_BUFFER_LEN)) |
||
| 681 | { |
||
| 682 | pBus->State = I2C_STATE_IDLE; |
||
| 683 | return(retval); |
||
| 684 | } |
||
| 685 | pBus->RxBufferSize = RxBytes; |
||
| 686 | pBus->TxBufferSize = TxBytes; |
||
| 687 | // set direction to master transmitter |
||
| 688 | if( (pBus->TxBufferSize > 0) && (pBus->TxBufferSize < I2C_BUFFER_LEN) ) |
||
| 689 | { |
||
| 690 | pBus->Direction = I2C_MODE_TRANSMITTER; |
||
| 691 | // copy data to send from source to tansfer buffer |
||
| 692 | if(pTxData) memcpy(pBus->pData, pTxData, pBus->TxBufferSize); |
||
| 693 | } |
||
| 694 | else if (( pBus->RxBufferSize > 0 ) && (pBus->RxBufferSize < I2C_BUFFER_LEN) ) |
||
| 695 | { |
||
| 696 | pBus->Direction = I2C_MODE_RECEIVER; |
||
| 697 | } |
||
| 698 | else // nothing to send or receive |
||
| 699 | { |
||
| 700 | pBus->State = I2C_STATE_IDLE; |
||
| 701 | pBus->Error = I2C_ERROR_NONE; |
||
| 702 | pBus->TxBufferSize = 0; |
||
| 703 | pBus->RxBufferSize = 0; |
||
| 704 | return(retval); |
||
| 705 | } |
||
| 706 | // update slave address and rx data handler function pointer |
||
| 707 | pBus->SlaveAddr = SlaveAddr; |
||
| 708 | pBus->pRxHandler = pRxHandler; |
||
| 709 | // test on busy flag and clear it |
||
| 710 | I2C_ClearFlag(I2Cx, I2C_FLAG_BUSY); |
||
| 711 | // enable I2C IRQ |
||
| 712 | VIC_ITCmd(pBus->VIC_Source, ENABLE); |
||
| 713 | // initiate start condition on the bus |
||
| 714 | I2C_GenerateStart(I2Cx, ENABLE); |
||
| 715 | retval = 1; |
||
| 716 | } |
||
| 717 | return(retval); |
||
| 718 | } |