| 0,0 → 1,532 |
|---|
| /*#######################################################################################*/ |
| /* !!! 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 <stdlib.h> |
| #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" |
| |
| |
| volatile I2C_State_t I2C_State = I2C_OFF; |
| volatile u8 I2C_StopPolling = 1; |
| |
| // rxbuffer |
| volatile u8 I2C_RxBufferSize; |
| volatile u8 *I2C_RxBuffer; |
| volatile u8 Rx_Idx = 0; |
| // txbuffer |
| volatile u8 I2C_TxBufferSize; |
| volatile u8 *I2C_TxBuffer; |
| volatile u8 Tx_Idx = 0; |
| |
| volatile u8 I2C_Direction; |
| volatile u8 I2C_Command; |
| |
| 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; |
| volatile u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers |
| |
| //-------------------------------------------------------------- |
| 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_IPConnected = GPIO_IPConnected_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_IPConnected = GPIO_IPConnected_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; |
| Tx_Idx = 0; |
| I2C_TxBufferSize = 0; |
| |
| I2C_RxBuffer = NULL; |
| Rx_Idx = 0; |
| I2C_RxBufferSize = 0; |
| |
| I2C_Cmd(I2C1, ENABLE); |
| I2C_ITConfig(I2C1, ENABLE); |
| |
| VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1); |
| VIC_ITCmd(I2C1_ITLine, ENABLE); |
| |
| I2C1_Timeout = SetDelay(2*I2C1_TIMEOUT); |
| I2C_Heading.Heading = -1; |
| 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_IPConnected = GPIO_IPConnected_Disable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| GPIO_Init(GPIO2, &GPIO_InitStructure); |
| |
| I2C_TxBuffer = NULL; |
| Tx_Idx = 0; |
| I2C_TxBufferSize = 0; |
| |
| I2C_RxBuffer = NULL; |
| Rx_Idx = 0; |
| I2C_RxBufferSize = 0; |
| |
| I2C1_Timeout = 0; |
| I2C_Heading.Heading = -1; |
| |
| UART1_PutString("ok"); |
| } |
| |
| |
| //-------------------------------------------------------------- |
| void I2C1_IRQHandler(void) |
| { |
| u16 status; |
| static u8 crc; |
| // 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; |
| LED_GRN_OFF; |
| } |
| 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); |
| I2C_State = I2C_IDLE; |
| return; |
| } |
| else |
| { |
| I2C_State = I2C_RX_PROGRESS; |
| } |
| break; |
| |
| default: // invalid direction |
| I2C_GenerateSTOP (I2C1, ENABLE); |
| I2C_State = I2C_IDLE; |
| LED_GRN_OFF; |
| 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(500); // after 500 ms of 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); |
| I2C_State = I2C_IDLE; |
| 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 // 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); |
| // 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 |
| I2C_State = I2C_IDLE; // ready for new actions |
| LED_GRN_OFF; |
| DebugOut.Analog[15]++; |
| } |
| } |
| 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(500); |
| DebugOut.Analog[15]++; |
| } |
| else // checksum error detected |
| { |
| // DebugOut.Analog[14]++; |
| } |
| I2C_State = I2C_IDLE; |
| LED_GRN_OFF; |
| } |
| 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; |
| } |
| } |
| } |
| //---------------------------------------------------------------- |
| void I2C1_SendCommand(u8 command) |
| { |
| // If I2C transmission is in progress |
| if(I2C_State != I2C_IDLE) return; // return imediatly if a transfer is still in progress |
| // disable I2C IRQ to avoid read/write access to the tx/rx buffer pointers during |
| // update of that buffer pointers and length |
| I2C_ITConfig(I2C1, DISABLE); |
| // 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: |
| DebugOut.Analog[10] = I2C_Heading.Heading; |
| I2C_RxBuffer = (u8 *)&I2C_Heading; |
| I2C_RxBufferSize = sizeof(I2C_Heading); |
| // updat atitude from spi rx buffer |
| I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll; |
| I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick; |
| I2C_TxBuffer = (u8 *)&I2C_WriteAttitude; |
| I2C_TxBufferSize = sizeof(I2C_WriteAttitude); |
| 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 |
| I2C_ITConfig(I2C1, ENABLE); |
| // initiale start condition on the bus |
| I2C_GenerateStart(I2C1, ENABLE); |
| // to be continued in the I2C1_IRQHandler() above |
| } |
| |
| //---------------------------------------------------------------- |
| 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(25); // every 25 ms |
| } |
| } |