WebSVN - NaviCtrl - Path Comparison - / Rev 247 and / Rev 248

Ignore whitespace Rev 247 → Rev 248

/trunk/Navi-Ctrl.Uv2
47,6 → 47,7
File 1,1,<.\hmc5843.c><hmc5843.c>
File 1,1,<.\compass.c><compass.c>
File 1,1,<.\buffer.c><buffer.c>
File 1,1,<.\eeprom.c><eeprom.c>
File 2,5,<.\ramfunc.h><ramfunc.h>
File 2,5,<.\main.h><main.h>
File 2,5,<.\menu.h><menu.h>
85,6 → 86,7
File 2,5,<.\hmc5843.h><hmc5843.h>
File 2,5,<.\compass.h><compass.h>
File 2,5,<.\buffer.h><buffer.h>
File 2,5,<.\eeprom.h><eeprom.h>
File 3,2,<.\startup912.s><startup912.s>
File 4,1,<.\libstr91x\src\91x_scu.c><91x_scu.c>
File 4,1,<.\libstr91x\src\91x_gpio.c><91x_gpio.c>

 /trunk/Obj/Navi-Ctrl_STR9.hex
 ,15 → 10,15
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 :10016000020051E1FCFFFF8A40019FE540119FE53D
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 ,21 → 43,21
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 ,7415 → 64,7480
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 :00000001FF

 /trunk/eeprom.c
 ,0 → 1,184
+/*#######################################################################################*/
+/* !!! 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 "eeprom.h"
+// The EEPROM M24C64 (64k) ist connected via I2C1 interface to the controller.
+// The E0, E2, E3 pins are set to low. Therefore the slave adressbits b3, b2, b1 are 0.
+#define EEPROM_I2C_ADDRESS      0xA0
+#define EEPROM_SIZE                     65536L  // 64k bytes
+#define EEPROM_WRITE            1
+#define EEPROM_READ                     0
+// timing
+#define I2C_IDLE_TIMEOUT                50  // 50 ms
+#define I2C_TRANSFER_TIMEOUT    50  // 50 ms
+#define I2C_ACCESS_RETRYS               20      // retry 20 times
+// globals for rx handler
+u8      *EEPROM_pData = 0;
+u16 EEPROM_DataLen = 0;
+// rx data handler for eeprom data read
+void EEPROM_RxData(u8* pRxBuffer, u8 RxBufferSize)
+{       // if number of byte are matching
+        if(RxBufferSize == EEPROM_DataLen)
+        {       //copy data from primary buffer to target buffer
+                if(EEPROM_pData) memcpy(EEPROM_pData, pRxBuffer, sizeof(EEPROM_DataLen));
+        }
+}
+// ----------------------------------------------------------------------------------------
+EEPROM_Result_t EEPROM_Transfer(u8 Direction, u16 Address, u8 *pData, u16 DataLen)
+{
+        u16 i, TxBytes;
+        u8 retry = 0;
+        EEPROM_Result_t retval = EEPROM_ERROR_UNKNOWN;
+        if(((u32)Address + (u32)DataLen) >= (EEPROM_SIZE - 1))
+        {
+                retval = EEPROM_ERROR_OUT_OF_ADDRESS_RANGE;
+                return(retval);
+        }
+        if((DataLen+2) > I2C_BUFFER_LEN)
+        {
+                retval = EEPROM_I2C_BUFFER_OVERRUN;
+                return(retval);
+        }
+        do
+        {
+                if(!I2C_LockBuffer(I2C_IDLE_TIMEOUT)) return EEPROM_ERROR_I2C_TRANSFER_TIMEOUT;
+                // buffer is now locked
+                TxBytes = 0;
+                // transmitt address
+                I2C_Buffer[TxBytes++] = (u8)(0x00FF & (Address>>8));
+                I2C_Buffer[TxBytes++] = (u8)(0x00FF & Address);
+                if(Direction == EEPROM_WRITE)
+                {       // copy data to i2c transfer buffer
+                        for(i = 0; i<DataLen;i++)
+                        {
+                                I2C_Buffer[TxBytes++] = pData[i];
+                        }
+                        // prepare pointer to rx data
+                        EEPROM_pData = 0;
+                        EEPROM_DataLen = 0;
+                        // start transmission
+                        if(!I2C_Transmission(EEPROM_I2C_ADDRESS, TxBytes, 0, 0))
+                        {
+                                return(retval);
+                        }
+                }
+                else // Direction == EEPROM_READ
+                {
+                        // prepare pointer to rx data
+                        EEPROM_pData = pData;
+                        EEPROM_DataLen = DataLen;
+                        // start transmission
+                        if(!I2C_Transmission(EEPROM_I2C_ADDRESS, TxBytes, &EEPROM_RxData, DataLen))
+                        {
+                                return(retval);
+                        }
+                }
+                //wait for end of this transfer
+                if(I2C_WaitForEndOfTransmission(I2C_TRANSFER_TIMEOUT))
+                {
+                        retval = EEPROM_SUCCESS;
+                        break;
+                }
+                // or retry
+                I2C_State = I2C_STATE_IDLE;
+        } while(++retry < I2C_ACCESS_RETRYS);
+        return(retval);
+}
+EEPROM_Result_t EEPROM_WriteBlock(u16 Address, u8 *pData, u16 DataLen)
+{
+        u16 len;
+        EEPROM_Result_t retval;
+        // there can be 32 bytes written in a single cycle if the adresses are locates in the same row
+        // i.e. the upper 11 bits of the addres are constant
+        #define EEPROM_WRITE_BLOCK_SIZE 32
+        len = EEPROM_WRITE_BLOCK_SIZE - Address%EEPROM_WRITE_BLOCK_SIZE; // number of bytes to match the next row
+        if(len >= DataLen) len = DataLen; // do not write more than neccesarry
+        do
+        {
+                retval = EEPROM_Transfer(I2C_MODE_TRANSMITTER, Address, pData, len);
+                Address += len; // Address of the next row
+                pData += len;   // pointer to start of next data block
+                DataLen -= len; // reduce the number of to be transmitted
+                if(DataLen > EEPROM_WRITE_BLOCK_SIZE) len = EEPROM_WRITE_BLOCK_SIZE; // limit next block size to 32
+                else len = DataLen;
+        }
+        while(DataLen && (retval == EEPROM_SUCCESS)); // repeat until all data have been sent and no error has occured
+        return(retval);
+}
+// a data block can be subsequently read after setting the start address once
+EEPROM_Result_t EEPROM_ReadBlock(u16 Address, u8 *pData, u16 DataLen)
+{
+        return EEPROM_Transfer(I2C_MODE_RECEIVER, Address, pData, DataLen);
+}

 /trunk/eeprom.h
 ,0 → 1,21
+#ifndef __EEPROM_H
+#define __EEPROM_H
+typedef enum
+{
+  EEPROM_SUCCESS = 0,
+  EERPOM_ERROR_I2C_DEINIT,
+  EEPROM_ERROR_I2C_IDLE_TIMEOUT,
+  EEPROM_ERROR_I2C_TRANSFER_TIMEOUT,
+  EEPROM_ERROR_OUT_OF_ADDRESS_RANGE,
+  EEPROM_DATA_TRANSFER_INCOMPLETE,
+  EEPROM_I2C_BUFFER_OVERRUN,
+  EEPROM_ERROR_UNKNOWN
+} EEPROM_Result_t;
+EEPROM_Result_t EEPROM_WriteBlock(u16 Address, u8 *pData, u16 DataLen);
+EEPROM_Result_t EEPROM_ReadBlock(u16 Address, u8 *pData, u16 DataLen);
+#endif // EEPROM_H

 /trunk/hmc5843.c
 ,13 → 165,18
 void HMC5843_GetIdentification(void)
 {
-        if(I2C_State == I2C_STATE_IDLE)
+        if(I2C_LockBuffer(100))
         {
-                I2C_TxBufferSize = 0;
-                // set register pointer
-                I2C_TxBuffer[I2C_TxBufferSize++] = REGISTER_IDA;
+                u16 TxBytes = 0;
+                HMC5843_Identification.A = 0xFF;
+                HMC5843_Identification.B = 0xFF;
+                HMC5843_Identification.C = 0xFF;
+                I2C_Buffer[TxBytes++] = REGISTER_IDA;
                 // initiate transmission
-                I2C_Transmission(HMC5843_SLAVE_ADDRESS, &HMC5843_UpdateIdentification, sizeof(HMC5843_Identification));
+                if(I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, &HMC5843_UpdateIdentification, sizeof(HMC5843_Identification)))
+                {
+                        I2C_WaitForEndOfTransmission(100);
+                }
         }
 }
 ,32 → 183,33
 // ----------------------------------------------------------------------------------------
 u8 HMC5843_SetConfiguration(u8 cra, u8 crb, u8 mode)
 {
-        u32 timeout = SetDelay(100);
-        // wait for free I2C bus
-        while(I2C_State != I2C_STATE_IDLE)
+u8 retval = 0;
+        if(I2C_LockBuffer(100))
         {
-                if(CheckDelay(timeout)) return 0;
+                u16 TxBytes = 0;
+                I2C_Buffer[TxBytes++] = REGISTER_CRA;
+                I2C_Buffer[TxBytes++] = cra;
+                I2C_Buffer[TxBytes++] = crb;
+                I2C_Buffer[TxBytes++] = mode;
+                // initiate transmission
+                if(I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, NULL, 0))
+                {
+                        retval = I2C_WaitForEndOfTransmission(50);
+                }
         }
-        I2C_TxBufferSize = 0;
-        I2C_TxBuffer[I2C_TxBufferSize++] = REGISTER_CRA;
-        I2C_TxBuffer[I2C_TxBufferSize++] = cra;
-        I2C_TxBuffer[I2C_TxBufferSize++] = crb;
-        I2C_TxBuffer[I2C_TxBufferSize++] = mode;
-        // initiate transmission
-        I2C_Transmission(HMC5843_SLAVE_ADDRESS, NULL, 0);
-        return 1;
+        return(retval);
 }
 //----------------------------------------------------------------
 void HMC5843_GetMagVector(void)
 {
-        if(I2C_State == I2C_STATE_IDLE)
+        if(I2C_LockBuffer(100))
         {
-                I2C_TxBufferSize = 0;
+                u16 TxBytes = 0;
                 // set register pointer
-                I2C_TxBuffer[I2C_TxBufferSize++] = REGISTER_DATAX_MSB;
+                I2C_Buffer[TxBytes++] = REGISTER_DATAX_MSB;
                 // initiate transmission
-                I2C_Transmission(HMC5843_SLAVE_ADDRESS, &HMC5843_UpdateMagVector, sizeof(MagVector));
+                I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, &HMC5843_UpdateMagVector, sizeof(MagVector));
         }
 }
 ,9 → 246,6
         // activate positive bias field  of 0.55 gauss
         HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_POSBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
-        // wait a while
-        time = SetDelay(55);
-        while(!CheckDelay(time));
         // averaging
         for(i = 0; i<20; i++)
         {
 ,8 → 258,6
         }
         // activate negative bias field of 0.55 gauss
         HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NEGBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
-        // wait a while
-        time = SetDelay(55);
     while(!CheckDelay(time));
         // averaging
         for(i = 0; i < 20; i++)
 ,7 → 273,7
         HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
         // prepare scale limits
         scale = 715;  // 1300 counts/Gauss * 0.55 Gauss = 715 counts
-        scale_min = (scale * 90)/100;
+        scale_min = (scale *  90)/100;
         scale_max = (scale * 110)/100;
         // check scale for all axes
         scale = (XMax - XMin)/40;
 ,7 → 291,6
 {
         u8 msg[64];
         u8 repeat;
-        u32 timeout;
         HMC5843_Present = 0;
 ,11 → 303,7
         do
         {
                 HMC5843_GetIdentification();
-                timeout = SetDelay(250);
-                do
-                {
-                        if (HMC5843_Identification.A != 0xFF) break; // break loop on success
-                }while (!CheckDelay(timeout));
+                if (HMC5843_Identification.A != 0xFF) break; // break loop on success
                 UART1_PutString(".");
                 repeat++;
         }while ((HMC5843_Identification.A == 0xFF) && (repeat < 12)); // 12*250ms=3s

 /trunk/i2c.c
 ,19 → 62,22
 #include "config.h"
 #include "led.h"
 volatile u8 I2C_State = I2C_STATE_OFF; // only one byte, because of sync by nesting irqs
-// rxbuffer
+// number of bytes to send
+volatile u8 I2C_TxBufferSize;
+// number of bytes to receive
 volatile u8 I2C_RxBufferSize;
-volatile u8 I2C_RxBuffer[I2C_RXBUFFER_LEN];
-// txbuffer
-volatile u8 I2C_TxBufferSize;
-volatile u8 I2C_TxBuffer[I2C_TXBUFFER_LEN];
+// the transfer buffer
+volatile u8 I2C_Buffer[I2C_BUFFER_LEN];
+// the transfer direction
 volatile u8 I2C_Direction;
+// the slave address
 volatile u8 I2C_SlaveAddress = 0x00;
+// function pointer to process the received bytes
 I2C_pRxHandler_t I2C_pRxHandler = NULL;
+// goblal timeout
 volatile u32 I2C1_Timeout = 0;
 //--------------------------------------------------------------
 ,7 → 159,7
         I2C_Struct.I2C_OwnAddress = 0x00;
         I2C_Init(I2C1, &I2C_Struct);
-        // empty rx and tx buffer
+        // empty rx and tx buffer counters
         I2C_TxBufferSize = 0;
         I2C_RxBufferSize = 0;
 ,6 → 172,15
         I2C_GenerateSTOP(I2C1, ENABLE);
         I2C_State = I2C_STATE_IDLE;
+        // start some dummy transmissions cycles
+        // to get the irq routine to work
+        for(i=0;i<10;i++)
+        {
+                I2C_State = I2C_STATE_BUFFBUSY;
+                I2C_Transmission(0,1,0,1);
+                if(I2C_WaitForEndOfTransmission(10)) break;
+                UART1_Putchar('.');
+        }
         UART1_PutString("ok");
 }
 ,7 → 218,6
         UART1_PutString("ok");
 }
 //--------------------------------------------------------------
 void I2C1_IRQHandler(void)
 {
 ,7 → 225,6
         u16 status;
         //IENABLE;  // do not enable IRQ nesting for I2C!!!!
         // detemine I2C State
         status = I2C_GetLastEvent(I2C1);
 ,7 → 256,7
                                                 break;
                                         case I2C_MODE_RECEIVER:
-                                                if (I2C_RxBufferSize == 0) // nothingto send?
+                                                if (I2C_RxBufferSize == 0) // nothing to send?
                                                 {
                                                         I2C_GenerateSTOP (I2C1, ENABLE);
                                                         VIC_ITCmd(I2C1_ITLine, DISABLE);
 ,7 → 292,7
                                         case I2C_STATE_TX_PROGRESS:
                                         // send 1st data byte
                                         Tx_Idx = 0;
-                                        I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]);
+                                        I2C_SendData(I2C1, I2C_Buffer[Tx_Idx]);
                                         Tx_Idx++;
                                         // reset timeout
                                         I2C1_Timeout = SetDelay(I2C1_TIMEOUT); // after inactivity the I2C1 bus will be reset
 ,7 → 321,7
                                 // some bytes have to be transmitted
                                 if(Tx_Idx < I2C_TxBufferSize)
                                 {
-                                        I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]);
+                                        I2C_SendData(I2C1, I2C_Buffer[Tx_Idx]);
                                         Tx_Idx++;
                                 }
                                 else // last byte was send
 ,15 → 347,15
                                 // some bytes have to be received
                                 if ( Rx_Idx+1 < I2C_RxBufferSize)
                                 {       // copy received byte  from the data register to the rx-buffer
-                                        I2C_RxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1);
+                                        I2C_Buffer[Rx_Idx] = I2C_ReceiveData(I2C1);
                                 }
                                 else // if the last byte was received
                                 {
                                         // generate a STOP condition on the bus before reading data register
                                         I2C_GenerateSTOP(I2C1, ENABLE);
-                                        I2C_RxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1);
+                                        I2C_Buffer[Rx_Idx] = I2C_ReceiveData(I2C1);
                                         // call the rx handler function to process recieved data
-                                        if(I2C_pRxHandler != NULL) (*I2C_pRxHandler)((u8*)I2C_RxBuffer, I2C_RxBufferSize);
+                                        if(I2C_pRxHandler != NULL) (*I2C_pRxHandler)((u8*)I2C_Buffer, I2C_RxBufferSize);
                                         I2C1_Timeout = SetDelay(I2C1_TIMEOUT);
                                         DebugOut.Analog[15]++;
                                         VIC_ITCmd(I2C1_ITLine, DISABLE);
 ,20 → 382,51
         }
         //IDISABLE;      // do not enable IRQ nesting for I2C!!!!
 }
 // ----------------------------------------------------------------------------------------
+// wait for end of transmission
+u8 I2C_WaitForEndOfTransmission(u32 timeout)
+{
+        u32 time = SetDelay(timeout);
+        while(I2C_State != I2C_STATE_IDLE)
+        {
+                if(CheckDelay(time)) return(0);
+        }
+        return(1);
+}
+// ----------------------------------------------------------------------------------------
+// try to get access to the transfer buffer      within a timeout limit
+// returs 1 on success and 0 on error/timeout
+u8 I2C_LockBuffer(u32 timeout)
+{
+        if(I2C_WaitForEndOfTransmission(timeout))
+        {
+                I2C_State = I2C_STATE_BUFFBUSY;
+                return(1);
+        }
+        else return(0);
+}
+// ----------------------------------------------------------------------------------------
 // initate an i2c transmission
-u8 I2C_Transmission(u8 SlaveAddr, I2C_pRxHandler_t pRxHandler, u8 RxBytes)
+u8 I2C_Transmission(u8 SlaveAddr, u8 TxBytes, I2C_pRxHandler_t pRxHandler, u8 RxBytes)
 {
         u8 retval = 0;
-        if(I2C_State == I2C_STATE_IDLE)
-        {
+        if(I2C_State == I2C_STATE_BUFFBUSY)
+        {
+                if((RxBytes > I2C_BUFFER_LEN) || (TxBytes > I2C_BUFFER_LEN))
+                {
+                        I2C_State = I2C_STATE_IDLE;
+                        return(retval);
+                }
                 I2C_RxBufferSize = RxBytes;
+                I2C_TxBufferSize = TxBytes;
                 // set direction to master transmitter
-                if( (I2C_TxBufferSize > 0) && (I2C_TxBufferSize < I2C_TXBUFFER_LEN) ) I2C_Direction = I2C_MODE_TRANSMITTER;
-                else if (( I2C_RxBufferSize > 0 ) && (I2C_RxBufferSize < I2C_RXBUFFER_LEN) ) I2C_Direction = I2C_MODE_RECEIVER;
+                if( (I2C_TxBufferSize > 0) && (I2C_TxBufferSize < I2C_BUFFER_LEN) ) I2C_Direction = I2C_MODE_TRANSMITTER;
+                else if (( I2C_RxBufferSize > 0 ) && (I2C_RxBufferSize < I2C_BUFFER_LEN) ) I2C_Direction = I2C_MODE_RECEIVER;
                 else // nothing to send or receive
                 {
+                        I2C_State = I2C_STATE_IDLE;
                         I2C_TxBufferSize = 0;
                         I2C_RxBufferSize = 0;
                         return(retval);

 /trunk/i2c.h
 ,11 → 6,12
 // I2C states
 #define I2C_STATE_UNDEF                 0
 #define I2C_STATE_IDLE                  1
-#define I2C_STATE_TX_PENDING    2
-#define I2C_STATE_TX_PROGRESS   3
-#define I2C_STATE_RX_PENDING    4
-#define I2C_STATE_RX_PROGRESS   5
-#define I2C_STATE_OFF                   6
+#define I2C_STATE_BUFFBUSY              2
+#define I2C_STATE_TX_PENDING    3
+#define I2C_STATE_TX_PROGRESS   4
+#define I2C_STATE_RX_PENDING    5
+#define I2C_STATE_RX_PROGRESS   6
+#define I2C_STATE_OFF                   7
 // current I2C state
 extern volatile u8 I2C_State;
 ,12 → 18,12
 #define I2C1_TIMEOUT 500 // 500 ms
-// define the sizte of the rx and tx buffer
-#define I2C_TXBUFFER_LEN 50
-#define I2C_RXBUFFER_LEN 50
-// transfer buffer should be filled before start of transmission only when I2C_State is I2C_STATE_IDLE
-extern volatile u8 I2C_TxBufferSize;
-extern volatile u8 I2C_TxBuffer[];
+// define the size of the rx/tx buffer
+#define I2C_BUFFER_LEN 150
+// transfer buffer should be filled after a successful
+// I2C_LockBuffer(...) and before a start of transmission
+// initiated by  I2C_Transmission(...).
+extern volatile u8 I2C_Buffer[];
 void I2C1_Init(void);
 ,11 → 32,20
 // the pointer to the rxbuffer handler function
 // called by the IRQ routine after all bytes are recieved from slave
 typedef void (*I2C_pRxHandler_t) (u8* pRxBuffer, u8 RxBufferSize);
-// initiate i2c transmission
-// first all bytes from TxBuffer are send to slave
-// and then all bytes are read from slave and the RxHandler function is called
-// returns 1 if a transmission was started, otherwise 0
-u8 I2C_Transmission(u8 SlaveAddr, I2C_pRxHandler_t pRxHandler, u8 RxBytes);
+// Initiate i2c transmission
+// A transmission sends first TxBytes from I2C_Buffer to slave
+// and then RxBytes are read from slave to I2C_Buffer
+// replacing the byte that have been sent.
+// Then the RxHandler function is called to handle the result.
+// This function returns imediatly after a start condition.
+// returns 1 if a transmission has been started, otherwise 0
+u8 I2C_Transmission(u8 SlaveAddr, u8 TxBytes, I2C_pRxHandler_t pRxHandler, u8 RxBytes);
+// try to allocate the I2C_Buffer within the timeout limit
+// returns 1 on success
+u8 I2C_LockBuffer(u32 timeout);
+// wait until transmission progess is finished or timeout
+// returns 1 if no timeout occurs
+u8 I2C_WaitForEndOfTransmission(u32 timeout);
 #endif // I2C_H

 /trunk/mk3mag.c
 ,14 → 158,14
 void MK3MAG_SendCommand(u8 command)
 {
         // If I2C no transmission is in progress
-        if(I2C_State == I2C_STATE_IDLE)
+        if(I2C_LockBuffer(0))
         {
-                I2C_TxBufferSize = 0;
+                u16 TxBytes = 0;
+                u16 RxBytes = 0;
                 I2C_pRxHandler_t pRxHandlerFunc = NULL;
-                u8 RxBytes = 0;
                 // update current command id
-                I2C_TxBuffer[I2C_TxBufferSize++] = command;
+                I2C_Buffer[TxBytes++] = command;
                 // set pointers to data area with respect to the command id
                 switch (command)
 ,8 → 177,8
                         case MK3MAG_CMD_WRITE_CAL:
                                 RxBytes = sizeof(MK3MAG_ReadCal)+1;
                                 pRxHandlerFunc = &MK3MAG_UpdateCalibration;
-                                memcpy((u8*)I2C_TxBuffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));
-                                I2C_TxBufferSize += sizeof(MK3MAG_WriteCal);
+                                memcpy((u8*)I2C_Buffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));
+                                TxBytes += sizeof(MK3MAG_WriteCal);
                                 break;
                         case MK3MAG_CMD_READ_MAGVECT:
                                 RxBytes = sizeof(MagVector)+1;
 ,8 → 192,8
                                 MK3MAG_WriteAttitude.Roll = FromFlightCtrl.AngleRoll;
                                 MK3MAG_WriteAttitude.Nick = FromFlightCtrl.AngleNick;
                                 VIC_ITCmd(SSP0_ITLine, ENABLE);
-                                memcpy((u8*)I2C_TxBuffer+1, (u8*)&MK3MAG_WriteAttitude, sizeof(MK3MAG_WriteAttitude));
-                                I2C_TxBufferSize += sizeof(MK3MAG_WriteAttitude);
+                                memcpy((u8*)I2C_Buffer+1, (u8*)&MK3MAG_WriteAttitude, sizeof(MK3MAG_WriteAttitude));
+                                TxBytes += sizeof(MK3MAG_WriteAttitude);
                                 break;
                         default: // unknown command id
                                 RxBytes = 0;
 ,10 → 201,10
                                 break;
                 }
                 // update packet checksum
-                I2C_TxBuffer[I2C_TxBufferSize] = MK3MAG_CalcCRC((u8*)I2C_TxBuffer, I2C_TxBufferSize);
-                I2C_TxBufferSize++;
+                I2C_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C_Buffer, TxBytes);
+                TxBytes++;
                 // initiate I2C transmission
-                I2C_Transmission(MK3MAG_SLAVE_ADDRESS, pRxHandlerFunc, RxBytes);
+                I2C_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes);
         } // EOF I2C_State == I2C_IDLE
 }

Subversion Repositories NaviCtrl

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Ignore whitespace Rev 247 → Rev 248