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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + 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 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 this software (or part of it) to systems (other than 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 "main.h" |
| |
| u8 I2C_RxBufferSize, I2C_TxBufferSize; |
| u8 *I2C_TxBuffer, *I2C_RxBuffer; |
| u8 Tx_Idx=0, Rx_Idx=0, I2C_Direction; |
| u8 I2C_Command; |
| |
| struct str_I2C_Heading I2C_Heading; |
| struct str_I2C_WriteNickRoll I2C_WriteNickRoll; |
| struct str_I2C_Mag I2C_Mag; |
| struct str_I2C_EEPROM I2C_ReadEEPROM, I2C_WriteEEPROM; |
| struct str_I2C_Version I2C_Version; |
| struct str_I2C_WriteCal I2C_WriteCal; |
| u8 CompassUpdateActiv = 0; |
| u8 CompassCalState = 0; |
| volatile u8 I2C_ReadRequest = 0; |
| |
| //-------------------------------------------------------------- |
| void I2C1_Init(void) |
| { |
| I2C_InitTypeDef I2C_Struct; |
| GPIO_InitTypeDef GPIO_Struct; |
| |
| SerialPutString("I2C init..."); |
| SCU_APBPeriphClockConfig(__I2C1,ENABLE); |
| I2C_DeInit(I2C1); |
| |
| GPIO_Struct.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
| GPIO_Struct.GPIO_Type = GPIO_Type_OpenCollector; |
| GPIO_Struct.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| GPIO_Struct.GPIO_Alternate=GPIO_OutputAlt2; |
| GPIO_Init(GPIO2, &GPIO_Struct); |
| |
| I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable; |
| I2C_Struct.I2C_Ack = I2C_Ack_Enable; |
| I2C_Struct.I2C_CLKSpeed = 20000; |
| I2C_Struct.I2C_OwnAddress = I2C_SLAVE_ADDRESS; |
| I2C_Init(I2C1, &I2C_Struct); |
| |
| I2C_Cmd(I2C1, ENABLE); |
| I2C_ITConfig(I2C1, ENABLE); |
| |
| VIC_Config(I2C1_ITLine,VIC_IRQ , 8); |
| VIC_ITCmd(I2C1_ITLine, ENABLE); |
| |
| I2C_Heading.Heading = 0; |
| SerialPutString("ok\n\r"); |
| |
| |
| } |
| |
| //-------------------------------------------------------------- |
| void I2C1_IRQHandler(void) |
| { |
| |
| switch (I2C_GetLastEvent(I2C1)) |
| { |
| case I2C_EVENT_MASTER_MODE_SELECT: // EV5 |
| Tx_Idx = 0; |
| Rx_Idx = 0; |
| I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction); |
| // DebugOut.Analog[16]++; |
| break; |
| |
| case I2C_EVENT_MASTER_MODE_SELECTED: // EV6 |
| // Clear EV6 by set again the PE bit |
| I2C1->CR |= 0x20; |
| if (I2C_Direction == I2C_MODE_TRANSMITTER) |
| { |
| I2C_SendData(I2C1, I2C_Command);//EV8 just after EV6 |
| } |
| break; |
| |
| case I2C_EVENT_MASTER_BYTE_TRANSMITTED: // EV8 |
| // DebugOut.Analog[17]++; |
| if ( Tx_Idx >= I2C_TxBufferSize ) |
| { |
| I2C_GenerateSTOP (I2C1, ENABLE); |
| Tx_Idx = 0; |
| if (I2C_RxBufferSize > 0) // wird Antwort erwartet ? |
| { |
| I2C_ReadRequest = 1; |
| TimerI2CReadDelay = SetDelay(10); |
| } |
| } |
| else |
| { |
| I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]); |
| Tx_Idx++; |
| } |
| break; |
| |
| case I2C_EVENT_MASTER_BYTE_RECEIVED: // EV7 |
| DebugOut.Analog[16]++; |
| //if (Rx_Idx == 1) DebugOut.Analog[19] = I2C_RxBuffer[0]; |
| if (Rx_Idx < I2C_RxBufferSize) |
| { I2C_RxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
| |
| } else I2C_ReceiveData(I2C1); |
| |
| Rx_Idx++; |
| if ( Rx_Idx == I2C_RxBufferSize-2 ) |
| { |
| I2C_AcknowledgeConfig (I2C1, DISABLE); |
| } |
| if ( Rx_Idx == I2C_RxBufferSize -1 ) |
| { |
| I2C_GenerateSTOP(I2C1, ENABLE); |
| if (I2C_Command == I2C_CMD_READ_HEADING) CompassUpdateActiv = 0; |
| } |
| break; |
| |
| default: |
| break; |
| } |
| } |
| //---------------------------------------------------------------- |
| void SendI2C_Command(u8 command) |
| { |
| I2C_Command = command; |
| //I2C_GenerateSTOP(I2C1, ENABLE); |
| |
| switch (command) |
| { |
| case I2C_CMD_VERSION: |
| I2C_RxBuffer = (u8 *)&I2C_Version; |
| I2C_RxBufferSize = sizeof(I2C_Version); |
| I2C_TxBufferSize = 0; |
| break; |
| case I2C_CMD_WRITE_EEPROM: |
| I2C_RxBufferSize = 0; |
| I2C_TxBuffer = (u8 *)&I2C_WriteEEPROM; |
| I2C_TxBufferSize = sizeof(I2C_WriteEEPROM); |
| break; |
| case I2C_CMD_WRITE_CAL: |
| I2C_RxBufferSize = 0; |
| I2C_WriteCal.CalByte = CompassCalState; |
| I2C_TxBuffer = (u8 *)&I2C_WriteCal; |
| I2C_TxBufferSize = sizeof(I2C_WriteCal); |
| break; |
| case I2C_CMD_READ_EEPROM: |
| I2C_RxBuffer = (u8 *)&I2C_ReadEEPROM.Inhalt; |
| I2C_RxBufferSize = 2; |
| I2C_TxBuffer = (u8 *)&I2C_ReadEEPROM; |
| I2C_TxBufferSize = 1; |
| break; |
| case I2C_CMD_READ_MAG: |
| I2C_RxBuffer = (u8 *)&I2C_Mag; |
| I2C_RxBufferSize = sizeof(I2C_Mag); |
| I2C_TxBufferSize = 0; |
| break; |
| case I2C_CMD_READ_HEADING: |
| CompassUpdateActiv = 1; |
| I2C_RxBuffer = (u8 *)&I2C_Heading; |
| I2C_RxBufferSize = sizeof(I2C_Heading); |
| I2C_TxBuffer = (u8 *)&I2C_WriteNickRoll; |
| I2C_TxBufferSize = sizeof(I2C_WriteNickRoll); |
| break; |
| |
| } |
| if (I2C_RxBufferSize > 0) |
| { |
| I2C_RxBufferSize++; |
| if (I2C_RxBufferSize < 3) I2C_RxBufferSize = 3; |
| } |
| |
| I2C_AcknowledgeConfig (I2C1, ENABLE); |
| I2C_Direction = I2C_MODE_TRANSMITTER; |
| |
| I2C_GenerateStart(I2C1, ENABLE); |
| |
| } |