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12 | hbuss | 1 | /*####################################################################################### |
2 | MK3Mag 3D-Magnet sensor |
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19 | killagreg | 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
12 | hbuss | 4 | #######################################################################################*/ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Copyright (c) 05.2008 Holger Buss |
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7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
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8 | // + Nur für den privaten Gebrauch |
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9 | // + www.MikroKopter.com |
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10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | killagreg | 11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
12 | hbuss | 12 | // + mit unserer Zustimmung zulässig |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | killagreg | 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | hbuss | 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
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18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | killagreg | 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
12 | hbuss | 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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24 | // + eindeutig als Ursprung verlinkt werden |
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25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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27 | // + Benutzung auf eigene Gefahr |
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28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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19 | killagreg | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
12 | hbuss | 33 | // + this list of conditions and the following disclaimer. |
34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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19 | killagreg | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
12 | hbuss | 38 | // + for non-commercial use (directly or indirectly) |
19 | killagreg | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
12 | hbuss | 40 | // + with our written permission |
41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
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42 | // + In case of doubt please contact: info@MikroKopter.de |
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19 | killagreg | 43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
44 | // + clearly linked as origin |
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12 | hbuss | 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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19 | killagreg | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
12 | hbuss | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | ingob | 57 | #include <avr/io.h> |
19 | killagreg | 58 | #include <avr/interrupt.h> |
1 | ingob | 59 | #include <util/twi.h> |
19 | killagreg | 60 | #include "twislave.h" |
61 | #include "uart.h" |
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1 | ingob | 62 | #include "main.h" |
19 | killagreg | 63 | #include "timer0.h" |
22 | killagreg | 64 | #include "led.h" |
1 | ingob | 65 | |
66 | |||
23 | killagreg | 67 | volatile uint8_t I2C_RxBufferSize = 0, I2C_TxBufferSize = 0; |
68 | volatile uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0; |
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69 | volatile uint8_t Tx_Idx = 0, Rx_Idx = 0; |
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3 | ingob | 70 | |
26 | killagreg | 71 | volatile uint8_t I2C_PrimRxBuffer[10]; |
3 | ingob | 72 | |
23 | killagreg | 73 | struct I2C_Heading_t I2C_Heading; |
74 | struct I2C_WriteAttitude_t I2C_WriteAttitude; |
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75 | struct I2C_Mag_t I2C_Mag; |
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76 | struct I2C_Version_t I2C_Version; |
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77 | struct I2C_WriteCal_t I2C_WriteCal; |
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19 | killagreg | 78 | |
79 | |||
80 | void I2C_Init(void) |
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81 | { |
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22 | killagreg | 82 | |
83 | uint8_t sreg; |
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84 | |||
85 | // backup status register |
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86 | sreg = SREG; |
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87 | // disable global interrupts |
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19 | killagreg | 88 | cli(); |
89 | |||
22 | killagreg | 90 | // SCK/SCL and MISO/SDA are at put together on the same connector pin in the schematic |
19 | killagreg | 91 | |
23 | killagreg | 92 | // set PB4 (SCK) and PB5 (MISO) as input pull up |
19 | killagreg | 93 | DDRB &= ~((1<<DDB4)|(1<<DDB5)); |
23 | killagreg | 94 | PORTB |= ((1<<PORTB4)|(1<<PORTB5)); |
19 | killagreg | 95 | |
22 | killagreg | 96 | // set PC4 (SDA) and PC5 (SCL) as input tristate |
19 | killagreg | 97 | DDRC &= ~((1<<DDC4)|(1<<DDC5)); |
22 | killagreg | 98 | PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
19 | killagreg | 99 | |
22 | killagreg | 100 | I2C_TxBuffer = 0; |
101 | Tx_Idx = 0; |
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102 | I2C_TxBufferSize = 0; |
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103 | I2C_RxBuffer = 0; |
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104 | Rx_Idx = 0; |
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105 | I2C_RxBufferSize = 0; |
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106 | |||
107 | |||
108 | |||
109 | TWCR &= ~(1<<TWSTA)|(1<<TWSTO); |
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110 | TWCR|= (1<<TWEA) | (1<<TWEN)|(1<<TWIE); |
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111 | |||
112 | // set own address |
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113 | // set own address in the upper 7 bits |
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114 | TWAR = I2C_SLAVE_ADDRESS; // set own address only the upper 7 bits are relevant |
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19 | killagreg | 115 | // TWI Control Register |
116 | // enable TWI Acknowledge Bit (TWEA = 1) |
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117 | // disable TWI START Condition Bit (TWSTA = 0), SLAVE |
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22 | killagreg | 118 | // disable TWI STOP Condition Bit (TWSTO = 0), SLAVE |
119 | // enable TWI (TWEN = 1) |
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19 | killagreg | 120 | // enable TWI Interrupt (TWIE = 1) |
23 | killagreg | 121 | TWCR |= (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC); |
19 | killagreg | 122 | // update version info |
123 | I2C_Version.Major = VERSION_MAJOR; |
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124 | I2C_Version.Minor = VERSION_MINOR; |
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125 | I2C_Version.Compatible = I2C_PROTOCOL_COMP; |
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126 | |||
22 | killagreg | 127 | // resore status register |
19 | killagreg | 128 | SREG = sreg; |
1 | ingob | 129 | } |
19 | killagreg | 130 | |
22 | killagreg | 131 | // send ACK after recieving a byte / ACK is expected after transmitting a byte |
23 | killagreg | 132 | #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
22 | killagreg | 133 | // send no ACK after recieving a byte / No ACK is expected after transmitting a byte |
23 | killagreg | 134 | #define TWCR_NACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
22 | killagreg | 135 | // switched to the non adressed slave mode |
23 | killagreg | 136 | #define TWCR_RESET TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
22 | killagreg | 137 | // The bit pattern for TWCR_ACK and TWCR_RESET are equal. This is no errro but used for better understanding. |
23 | killagreg | 138 | #define TWCR_CLEARBUS TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC) |
19 | killagreg | 139 | |
1 | ingob | 140 | ISR (TWI_vect) |
19 | killagreg | 141 | { |
22 | killagreg | 142 | uint8_t data; |
25 | killagreg | 143 | static uint8_t crc; |
19 | killagreg | 144 | // check event |
22 | killagreg | 145 | switch (TW_STATUS) |
19 | killagreg | 146 | { |
22 | killagreg | 147 | case TW_SR_SLA_ACK: // slave addressed in receiver mode and ack has been returned |
148 | Rx_Idx = 0xFF; // reset rx buffer pointer |
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149 | TWCR_ACK; // trigger receiving of first data byte and send ack afterwards |
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1 | ingob | 150 | return; |
19 | killagreg | 151 | |
22 | killagreg | 152 | case TW_SR_DATA_ACK: // data has been received and ack has been returned |
153 | data = TWDR; |
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154 | if (Rx_Idx == 0xFF) |
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155 | { // if the fisrt byte after slave addressing was received |
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156 | switch(data) |
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19 | killagreg | 157 | { |
158 | case I2C_CMD_VERSION: |
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159 | I2C_TxBuffer = (uint8_t *)&I2C_Version; |
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3 | ingob | 160 | I2C_TxBufferSize = sizeof(I2C_Version); |
23 | killagreg | 161 | I2C_RxBuffer = 0; |
3 | ingob | 162 | I2C_RxBufferSize = 0; |
19 | killagreg | 163 | break; |
164 | |||
165 | case I2C_CMD_WRITE_CAL: |
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23 | killagreg | 166 | I2C_TxBuffer = 0; |
7 | hbuss | 167 | I2C_TxBufferSize = 0; |
19 | killagreg | 168 | I2C_RxBuffer = (uint8_t *)&I2C_WriteCal; |
7 | hbuss | 169 | I2C_RxBufferSize = sizeof(I2C_WriteCal); |
19 | killagreg | 170 | break; |
7 | hbuss | 171 | |
19 | killagreg | 172 | case I2C_CMD_READ_MAG: |
173 | I2C_TxBuffer = (uint8_t *)&I2C_Mag; |
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3 | ingob | 174 | I2C_TxBufferSize = sizeof(I2C_Mag); |
23 | killagreg | 175 | I2C_RxBuffer = 0; |
3 | ingob | 176 | I2C_RxBufferSize = 0; |
19 | killagreg | 177 | |
178 | I2C_Mag.MagX = MagnetX; |
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179 | I2C_Mag.MagY = MagnetY; |
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3 | ingob | 180 | I2C_Mag.MagZ = MagnetZ; |
19 | killagreg | 181 | break; |
182 | |||
183 | case I2C_CMD_READ_HEADING: |
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184 | I2C_TxBuffer = (uint8_t *)&I2C_Heading; |
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3 | ingob | 185 | I2C_TxBufferSize = sizeof(I2C_Heading); |
19 | killagreg | 186 | I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude; |
187 | I2C_RxBufferSize = sizeof(I2C_WriteAttitude); |
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3 | ingob | 188 | I2C_Heading.Heading = Heading; |
19 | killagreg | 189 | break; |
23 | killagreg | 190 | default: // unknown command id |
22 | killagreg | 191 | I2C_RxBuffer = 0; |
192 | I2C_RxBufferSize = 0; |
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193 | I2C_TxBuffer = 0; |
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194 | I2C_TxBufferSize = 0; |
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195 | break; |
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19 | killagreg | 196 | } |
22 | killagreg | 197 | Rx_Idx = 0; // set rx buffer index to start of the buffer |
25 | killagreg | 198 | crc = data; |
3 | ingob | 199 | } |
22 | killagreg | 200 | else // Rx_Idx != 0xFF |
3 | ingob | 201 | { |
23 | killagreg | 202 | // fill receiver buffer with the byte that has been received |
203 | // if buffer exist and there is still some free space |
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26 | killagreg | 204 | if(Rx_Idx < I2C_RxBufferSize) |
23 | killagreg | 205 | { |
26 | killagreg | 206 | I2C_PrimRxBuffer[Rx_Idx] = data; |
25 | killagreg | 207 | crc += data; |
22 | killagreg | 208 | } |
26 | killagreg | 209 | else if (Rx_Idx == I2C_RxBufferSize) // crc byte was transfered |
210 | { // if checksum matched |
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25 | killagreg | 211 | if(crc == data) |
26 | killagreg | 212 | { // and RxBuffer exist |
213 | if(I2C_RxBuffer != 0) |
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214 | { // copy data to rx buffer |
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215 | for(data = 0; data < I2C_RxBufferSize; data++) |
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216 | { |
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217 | I2C_RxBuffer[data] = I2C_PrimRxBuffer[data]; |
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218 | } |
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219 | } |
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220 | DebugOut.Analog[31]++; |
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221 | } |
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222 | else |
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25 | killagreg | 223 | { |
26 | killagreg | 224 | DebugOut.Analog[30]++; |
25 | killagreg | 225 | } |
226 | } |
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227 | // else ignore data |
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228 | Rx_Idx++; |
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3 | ingob | 229 | } |
23 | killagreg | 230 | TWCR_ACK; |
1 | ingob | 231 | return; |
19 | killagreg | 232 | |
23 | killagreg | 233 | case TW_ST_SLA_ACK: // slave transmitter selected |
234 | // reset index to start of tx buffer |
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235 | Tx_Idx = 0; |
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25 | killagreg | 236 | crc = 0; |
237 | // if tx buffer exist and there is at least one byte to transfer |
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23 | killagreg | 238 | if((I2C_TxBuffer != 0) && (I2C_TxBufferSize > 1)) |
239 | { |
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25 | killagreg | 240 | data = I2C_TxBuffer[Tx_Idx]; |
241 | |||
22 | killagreg | 242 | } |
23 | killagreg | 243 | else |
244 | { // send 0x00 if no tx buffer exist or all bytes of the tx buffer have been transmitted |
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25 | killagreg | 245 | data = 0x00; |
23 | killagreg | 246 | } |
25 | killagreg | 247 | crc += data; |
248 | Tx_Idx++; |
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249 | TWDR = data; |
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23 | killagreg | 250 | TWCR_ACK; |
251 | return; |
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22 | killagreg | 252 | |
253 | case TW_ST_DATA_ACK: // data byte has been transmitted ack has been received |
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23 | killagreg | 254 | // put next byte from tx buffer to the data register |
255 | if((I2C_TxBuffer != 0) && (Tx_Idx < I2C_TxBufferSize)) |
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22 | killagreg | 256 | { |
25 | killagreg | 257 | data = I2C_TxBuffer[Tx_Idx]; |
258 | crc += data; |
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22 | killagreg | 259 | } |
25 | killagreg | 260 | else if (Tx_Idx == I2C_TxBufferSize) |
261 | { // send crc byte at the end |
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262 | data = crc; |
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263 | } |
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23 | killagreg | 264 | else |
25 | killagreg | 265 | { |
266 | data = 0x00; |
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22 | killagreg | 267 | } |
25 | killagreg | 268 | Tx_Idx++; |
269 | TWDR = data; |
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23 | killagreg | 270 | TWCR_ACK; |
19 | killagreg | 271 | return; |
272 | |||
22 | killagreg | 273 | case TW_BUS_ERROR: // Bus-Error |
23 | killagreg | 274 | TWCR_CLEARBUS; // free bus, reset to nonselected slave |
19 | killagreg | 275 | return; |
276 | |||
22 | killagreg | 277 | case TW_ST_DATA_NACK: // data transmitted, NACK received |
278 | case TW_ST_LAST_DATA: // last data byte transmitted, ACK received |
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279 | case TW_SR_STOP: // stop or repeated start condition received while selected |
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280 | default: |
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281 | TWCR_RESET; // switch to the not addressed slave mode, own SLA will be recognized |
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282 | return; |
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19 | killagreg | 283 | } |
1 | ingob | 284 | } |
285 | |||
286 |