0,0 → 1,565 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 2008 Ingo Busker, Holger Buss |
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
// + FOR NON COMMERCIAL USE ONLY |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <string.h> |
#include "91x_lib.h" |
#include "i2c.h" |
#include "uart1.h" |
#include "timer1.h" |
#include "config.h" |
#include "main.h" |
#include "led.h" |
#include "spi_slave.h" |
|
#define I2C_SLAVE_ADDRESS 0x50 |
|
// I2C states |
#define I2C_UNDEF 0 |
#define I2C_IDLE 1 |
#define I2C_TX_PROGRESS 2 |
#define I2C_RX_PENDING 3 |
#define I2C_RX_PROGRESS 4 |
#define I2C_OFF 5 |
|
volatile u8 I2C_State = I2C_OFF; // only on byte! because of sync by nesting irqs |
u8 I2C_StopPolling = 1; |
|
// rxbuffer |
volatile u8 I2C_RxBufferSize; |
volatile u8 *I2C_RxBuffer; |
// txbuffer |
volatile u8 I2C_TxBufferSize; |
volatile u8 *I2C_TxBuffer; |
|
volatile u8 I2C_Direction; |
volatile u8 I2C_Command; |
// I2C Transfer buffers |
volatile I2C_Heading_t I2C_Heading; |
volatile I2C_WriteAttitude_t I2C_WriteAttitude; |
volatile I2C_Mag_t I2C_Mag; |
volatile I2C_Version_t MK3MAG_Version; |
volatile I2C_Cal_t I2C_WriteCal; |
volatile I2C_Cal_t I2C_ReadCal; |
|
#define I2C1_TIMEOUT 500 // 500 ms |
volatile u32 I2C1_Timeout = 0; |
|
//-------------------------------------------------------------- |
void I2C1_Init(void) |
{ |
I2C_InitTypeDef I2C_Struct; |
GPIO_InitTypeDef GPIO_InitStructure; |
|
I2C_State = I2C_OFF; |
|
UART1_PutString("\r\n I2C init..."); |
// enable Port 2 peripherie |
SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
// disable a reset state |
SCU_APBPeriphReset(__GPIO2, DISABLE); |
|
// free a busy bus |
|
// At switch on I2C devices can get in a state where they |
// are still waiting for a command due to all the bus lines bouncing |
// around at startup have started clocking data into the device(s). |
// Enable the ports as open collector port outputs |
// and clock out at least 9 SCL pulses, then generate a stop |
// condition and then leave the clock line high. |
|
// configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation |
GPIO_StructInit(&GPIO_InitStructure); |
GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
GPIO_Init(GPIO2, &GPIO_InitStructure); |
|
u8 i; |
u32 delay; |
// set SCL high and then SDA to low (start condition) |
GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
delay = SetDelay(1); |
while (!CheckDelay(delay)); |
GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET); |
// toggle SCL at least 10 times from high to low to high |
for(i = 0; i < 10; i++) |
{ |
delay = SetDelay(1); |
while (!CheckDelay(delay)); |
|
GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET); |
delay = SetDelay(1); |
while (!CheckDelay(delay)); |
GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
} |
delay = SetDelay(1); |
while (!CheckDelay(delay)); |
// create stop condition setting SDA HIGH when SCL is HIGH |
GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET); |
|
|
// reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT |
GPIO_StructInit(&GPIO_InitStructure); |
GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT |
GPIO_Init(GPIO2, &GPIO_InitStructure); |
|
// enable I2C peripherie |
SCU_APBPeriphClockConfig(__I2C1,ENABLE); |
// reset I2C peripherie |
SCU_APBPeriphReset(__I2C1,ENABLE); |
SCU_APBPeriphReset(__I2C1,DISABLE); |
|
I2C_DeInit(I2C1); |
I2C_StructInit(&I2C_Struct); |
I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable; |
I2C_Struct.I2C_Ack = I2C_Ack_Enable; |
I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK; |
I2C_Struct.I2C_OwnAddress = 0x00; |
I2C_Init(I2C1, &I2C_Struct); |
|
I2C_TxBuffer = NULL; |
I2C_TxBufferSize = 0; |
|
I2C_RxBuffer = NULL; |
I2C_RxBufferSize = 0; |
|
I2C_Cmd(I2C1, ENABLE); |
I2C_ITConfig(I2C1, ENABLE); |
|
VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1); |
I2C_Heading.Heading = -1; |
|
I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT); |
I2C_GenerateSTOP(I2C1, ENABLE); |
I2C_State = I2C_IDLE; |
|
I2C_StopPolling = 0; // start polling |
|
UART1_PutString("ok"); |
} |
|
|
//-------------------------------------------------------------- |
void I2C1_Deinit(void) |
{ |
GPIO_InitTypeDef GPIO_InitStructure; |
I2C_StopPolling = 1;// stop polling |
UART1_PutString("\r\n I2C deinit..."); |
I2C_GenerateStart(I2C1, DISABLE); |
I2C_GenerateSTOP(I2C1, ENABLE); |
VIC_ITCmd(I2C1_ITLine, DISABLE); |
I2C_State = I2C_OFF; |
I2C_ITConfig(I2C1, DISABLE); |
I2C_Cmd(I2C1, DISABLE); |
I2C_DeInit(I2C1); |
SCU_APBPeriphClockConfig(__I2C1, DISABLE); |
|
// set ports to input |
SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
GPIO_StructInit(&GPIO_InitStructure); |
GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
GPIO_Init(GPIO2, &GPIO_InitStructure); |
|
I2C_TxBuffer = NULL; |
I2C_TxBufferSize = 0; |
|
I2C_RxBuffer = NULL; |
I2C_RxBufferSize = 0; |
|
I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT); |
I2C_Heading.Heading = -1; |
|
UART1_PutString("ok"); |
} |
|
|
//-------------------------------------------------------------- |
void I2C1_IRQHandler(void) |
{ |
static u8 Rx_Idx = 0, Tx_Idx = 0, crc = 0; |
static u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers |
u16 status; |
|
//IENABLE; // do not enable IRQ nesting for I2C!!!! |
|
// detemine I2C State |
status = I2C_GetLastEvent(I2C1); |
|
if(status & (I2C_FLAG_AF|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured |
{ // Set and subsequently clear the STOP bit while BTF is set. |
while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET) |
{ |
I2C_GenerateSTOP (I2C1, ENABLE); // free the bus |
I2C_GenerateSTOP (I2C1, DISABLE); // free the bus |
} |
I2C_State = I2C_IDLE; |
VIC_ITCmd(I2C1_ITLine, DISABLE); |
LED_GRN_OFF; |
return; |
} |
else |
{ // depending on current i2c state |
switch (status) |
{ |
// the start condition was initiated on the bus |
case I2C_EVENT_MASTER_MODE_SELECT: |
LED_GRN_ON; |
// update current bus state variable |
switch(I2C_Direction) |
{ |
case I2C_MODE_TRANSMITTER: |
I2C_State = I2C_TX_PROGRESS; |
break; |
|
case I2C_MODE_RECEIVER: |
if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0)) |
{ |
I2C_GenerateSTOP (I2C1, ENABLE); |
VIC_ITCmd(I2C1_ITLine, DISABLE); |
LED_GRN_OFF; |
I2C_State = I2C_IDLE; |
return; |
} |
else |
{ |
I2C_State = I2C_RX_PROGRESS; |
} |
break; |
|
default: // invalid direction |
I2C_GenerateSTOP (I2C1, ENABLE); |
VIC_ITCmd(I2C1_ITLine, DISABLE); |
LED_GRN_OFF; |
I2C_State = I2C_IDLE; |
return; |
} |
// enable acknowledge |
I2C_AcknowledgeConfig (I2C1, ENABLE); |
// send address/direction byte on the bus |
I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction); |
break; |
|
// the address byte was send |
case I2C_EVENT_MASTER_MODE_SELECTED: |
// Clear EV6 by set again the PE bit |
I2C_Cmd(I2C1, ENABLE); |
// reset checksum |
crc = 0; |
switch(I2C_State) |
{ |
case I2C_TX_PROGRESS: |
// send command 1st data byte (allways the command id) |
I2C_SendData(I2C1, I2C_Command); |
crc += I2C_Command; |
Tx_Idx = 0; |
// reset timeout |
I2C1_Timeout = SetDelay(I2C1_TIMEOUT); // after inactivity the I2C1 bus will be reset |
break; |
|
case I2C_RX_PROGRESS: |
Rx_Idx = 0; |
break; |
|
default: // unknown I2C state |
// should never happen |
I2C_GenerateSTOP (I2C1, ENABLE); |
LED_GRN_OFF; |
VIC_ITCmd(I2C1_ITLine, DISABLE); |
I2C_State = I2C_IDLE; |
return; |
break; |
} |
break; |
|
// the master has transmitted a byte and slave has been acknowledged |
case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
|
// some bytes have to be transmitted |
if(Tx_Idx < I2C_TxBufferSize) |
{ |
if(I2C_TxBuffer != NULL) |
{ |
I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]); |
crc += I2C_TxBuffer[Tx_Idx]; |
} |
else |
{ |
I2C_SendData(I2C1, 0x00); |
} |
} |
else if(Tx_Idx == I2C_TxBufferSize) // the last tx buffer byte was send |
{ |
// send crc byte at the end |
crc = ~crc; // flip all bits in the checksum |
I2C_SendData(I2C1, crc); |
} |
else if(Tx_Idx == (I2C_TxBufferSize+1) ) |
{ |
I2C_SendData(I2C1, 0xAA); // send a dummybyte |
} |
else // last byte was send |
{ |
// generate stop or repeated start condition |
if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected? |
{ |
I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
} |
else |
{ // stop communication |
I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
VIC_ITCmd(I2C1_ITLine, DISABLE); |
LED_GRN_OFF; |
DebugOut.Analog[15]++; |
I2C_State = I2C_IDLE; // ready for new actions |
|
} |
} |
Tx_Idx++; |
break; |
|
// the master has received a byte from the slave |
case I2C_EVENT_MASTER_BYTE_RECEIVED: |
// some bytes have to be received |
if (Rx_Idx < I2C_RxBufferSize) |
{ // copy received byte from the data register to the rx-buffer |
I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
// update checksum |
crc += I2C_PrimRxBuffer[Rx_Idx]; |
} |
// if the last byte (crc) was received |
else if ( Rx_Idx == I2C_RxBufferSize) |
{ |
// generate a STOP condition on the bus before reading data register |
I2C_GenerateSTOP(I2C1, ENABLE); |
// compare last byte with checksum |
crc = ~crc;// flip all bits in calulated checksum |
if(crc == I2C_ReceiveData(I2C1)) |
{ |
// copy primary rx buffer content to rx buffer if exist |
if(I2C_RxBuffer != NULL) |
{ |
memcpy((u8 *)I2C_RxBuffer, (u8 *)I2C_PrimRxBuffer, I2C_RxBufferSize); |
} |
I2C1_Timeout = SetDelay(I2C1_TIMEOUT); |
DebugOut.Analog[15]++; |
} |
else // checksum error detected |
{ |
DebugOut.Analog[14]++; |
} |
VIC_ITCmd(I2C1_ITLine, DISABLE); |
LED_GRN_OFF; |
I2C_State = I2C_IDLE; |
return; |
} |
Rx_Idx++; |
// if the 2nd last byte was received disable acknowledge for the last one |
if ( Rx_Idx == I2C_RxBufferSize ) |
{ |
I2C_AcknowledgeConfig (I2C1, DISABLE); |
} |
break; |
|
default: |
break; |
} |
} |
|
//IDISABLE; // do not enable IRQ nesting for I2C!!!! |
} |
//---------------------------------------------------------------- |
void I2C1_SendCommand(u8 command) |
{ |
// disable I2C IRQ to check state |
VIC_ITCmd(I2C1_ITLine, DISABLE); |
// If I2C transmission is in progress |
if(I2C_State == I2C_IDLE) |
{ |
// update current command id |
I2C_Command = command; |
// set pointers to data area with respect to the command id |
switch (command) |
{ |
case I2C_CMD_VERSION: |
I2C_RxBuffer = (u8 *)&MK3MAG_Version; |
I2C_RxBufferSize = sizeof(MK3MAG_Version); |
I2C_TxBuffer = NULL; |
I2C_TxBufferSize = 0; |
break; |
case I2C_CMD_WRITE_CAL: |
I2C_RxBuffer = (u8 *)&I2C_ReadCal; |
I2C_RxBufferSize = sizeof(I2C_ReadCal); |
I2C_TxBuffer = (u8 *)&I2C_WriteCal; |
I2C_TxBufferSize = sizeof(I2C_WriteCal); |
break; |
case I2C_CMD_READ_MAG: |
I2C_RxBuffer = (u8 *)&I2C_Mag; |
I2C_RxBufferSize = sizeof(I2C_Mag); |
I2C_TxBuffer = NULL; |
I2C_TxBufferSize = 0; |
break; |
case I2C_CMD_READ_HEADING: |
I2C_RxBuffer = (u8 *)&I2C_Heading; |
I2C_RxBufferSize = sizeof(I2C_Heading); |
I2C_TxBuffer = (u8 *)&I2C_WriteAttitude; |
I2C_TxBufferSize = sizeof(I2C_WriteAttitude); |
// update attitude from spi rx buffer |
VIC_ITCmd(SSP0_ITLine, DISABLE); // avoid spi buffer update during copy |
I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll; |
I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick; |
VIC_ITCmd(SSP0_ITLine, ENABLE); |
break; |
default: // unknown command id |
I2C_RxBuffer = NULL; |
I2C_RxBufferSize = 0; |
I2C_TxBuffer = NULL; |
I2C_TxBufferSize = 0; |
break; |
} |
// set direction to master transmitter |
I2C_Direction = I2C_MODE_TRANSMITTER; |
// test on busy flag and clear it |
I2C_CheckEvent( I2C1, I2C_FLAG_BUSY ); |
// enable I2C IRQ again |
VIC_ITCmd(I2C1_ITLine, ENABLE); |
// initiate start condition on the bus |
I2C_GenerateStart(I2C1, ENABLE); |
// to be continued in the I2C1_IRQHandler() above |
} // EOF I2C_State == I2C_IDLE |
else // I2C_State != I2C_IDLE |
{ |
// re-enable I2C IRQ again |
VIC_ITCmd(I2C1_ITLine, ENABLE); |
} |
} |
|
//---------------------------------------------------------------- |
void I2C1_GetMK3MagVersion(void) |
{ |
u8 msg[64]; |
u8 repeat; |
u32 timeout; |
|
UART1_PutString("\r\n Getting Version from MK3MAG"); |
// stop polling of other commands |
I2C_StopPolling = 1; |
|
MK3MAG_Version.Major = 0xFF; |
MK3MAG_Version.Minor = 0xFF; |
MK3MAG_Version.Patch = 0xFF; |
MK3MAG_Version.Compatible = 0xFF; |
// polling of version info |
repeat = 0; |
do |
{ |
I2C1_SendCommand(I2C_CMD_VERSION); |
timeout = SetDelay(250); |
do |
{ |
if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
}while (!CheckDelay(timeout)); |
UART1_PutString("."); |
repeat++; |
}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
// if we got it |
if (MK3MAG_Version.Major != 0xFF) |
{ |
sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
UART1_PutString(msg); |
sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible); |
UART1_PutString(msg); |
} |
else UART1_PutString("\n\r No version information from MK3Mag."); |
|
I2C_StopPolling = 0; // enable polling of heading command |
} |
|
|
//---------------------------------------------------------------- |
void I2C1_UpdateCompass(void) |
{ |
static u32 TimerCompassUpdate = 0; |
|
if( (I2C_State == I2C_OFF) || I2C_StopPolling ) return; |
|
if(CheckDelay(TimerCompassUpdate)) |
{ |
// check for incomming compass calibration request |
// update CalByte from spi input queue |
fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
// send new calstate |
if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
{ |
I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
} |
else // request current heading |
{ |
I2C1_SendCommand(I2C_CMD_READ_HEADING); |
} |
TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
} |
} |