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Rev | Author | Line No. | Line |
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1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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37 | killagreg | 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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37 | killagreg | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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37 | killagreg | 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 34 | // + this list of conditions and the following disclaimer. |
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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37 | killagreg | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
1 | ingob | 38 | // + for non-commercial use (directly or indirectly) |
37 | killagreg | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 40 | // + with our written permission |
37 | killagreg | 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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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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37 | killagreg | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 57 | #include <stdlib.h> |
58 | #include <string.h> |
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59 | #include "91x_lib.h" |
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60 | #include "i2c.h" |
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61 | #include "uart1.h" |
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119 | killagreg | 62 | #include "timer1.h" |
136 | killagreg | 63 | #include "config.h" |
1 | ingob | 64 | #include "main.h" |
41 | ingob | 65 | #include "led.h" |
66 | #include "spi_slave.h" |
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1 | ingob | 67 | |
68 | |||
41 | ingob | 69 | volatile I2C_State_t I2C_State = I2C_OFF; |
154 | killagreg | 70 | volatile u8 I2C_StopPolling = 1; |
41 | ingob | 71 | |
72 | // rxbuffer |
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73 | volatile u8 I2C_RxBufferSize; |
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74 | volatile u8 *I2C_RxBuffer; |
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75 | volatile u8 Rx_Idx = 0; |
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76 | // txbuffer |
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77 | volatile u8 I2C_TxBufferSize; |
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78 | volatile u8 *I2C_TxBuffer; |
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79 | volatile u8 Tx_Idx = 0; |
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80 | |||
81 | volatile u8 I2C_Direction; |
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82 | volatile u8 I2C_Command; |
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83 | |||
84 | volatile I2C_Heading_t I2C_Heading; |
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85 | volatile I2C_WriteAttitude_t I2C_WriteAttitude; |
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86 | volatile I2C_Mag_t I2C_Mag; |
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87 | volatile I2C_Version_t MK3MAG_Version; |
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88 | volatile I2C_Cal_t I2C_WriteCal; |
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89 | volatile I2C_Cal_t I2C_ReadCal; |
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90 | |||
146 | killagreg | 91 | #define I2C1_TIMEOUT 500 // 500 ms |
41 | ingob | 92 | volatile u32 I2C1_Timeout = 0; |
93 | volatile u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers |
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1 | ingob | 94 | |
95 | //-------------------------------------------------------------- |
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96 | void I2C1_Init(void) |
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97 | { |
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41 | ingob | 98 | I2C_InitTypeDef I2C_Struct; |
99 | GPIO_InitTypeDef GPIO_InitStructure; |
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149 | killagreg | 100 | |
101 | I2C_State = I2C_OFF; |
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37 | killagreg | 102 | |
110 | killagreg | 103 | UART1_PutString("\r\n I2C init..."); |
41 | ingob | 104 | // enable Port 2 peripherie |
105 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
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106 | // disable a reset state |
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107 | SCU_APBPeriphReset(__GPIO2, DISABLE); |
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1 | ingob | 108 | |
41 | ingob | 109 | // free a busy bus |
1 | ingob | 110 | |
41 | ingob | 111 | // At switch on I2C devices can get in a state where they |
112 | // are still waiting for a command due to all the bus lines bouncing |
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113 | // around at startup have started clocking data into the device(s). |
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114 | // Enable the ports as open collector port outputs |
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115 | // and clock out at least 9 SCL pulses, then generate a stop |
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116 | // condition and then leave the clock line high. |
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37 | killagreg | 117 | |
41 | ingob | 118 | // configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation |
119 | GPIO_StructInit(&GPIO_InitStructure); |
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120 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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121 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
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122 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
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123 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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124 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
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125 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
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37 | killagreg | 126 | |
41 | ingob | 127 | u8 i; |
128 | u32 delay; |
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129 | // set SCL high and then SDA to low (start condition) |
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130 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
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131 | delay = SetDelay(1); |
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132 | while (!CheckDelay(delay)); |
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133 | GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET); |
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134 | // toggle SCL at least 10 times from high to low to high |
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135 | for(i = 0; i < 10; i++) |
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136 | { |
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137 | delay = SetDelay(1); |
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138 | while (!CheckDelay(delay)); |
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1 | ingob | 139 | |
41 | ingob | 140 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET); |
141 | delay = SetDelay(1); |
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142 | while (!CheckDelay(delay)); |
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143 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
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144 | } |
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145 | delay = SetDelay(1); |
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146 | while (!CheckDelay(delay)); |
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147 | // create stop condition setting SDA HIGH when SCL is HIGH |
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148 | GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET); |
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37 | killagreg | 149 | |
150 | |||
41 | ingob | 151 | // reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT |
152 | GPIO_StructInit(&GPIO_InitStructure); |
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153 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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154 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
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155 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
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156 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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157 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT |
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158 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
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159 | |||
160 | // enable I2C peripherie |
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161 | SCU_APBPeriphClockConfig(__I2C1,ENABLE); |
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162 | // reset I2C peripherie |
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163 | SCU_APBPeriphReset(__I2C1,ENABLE); |
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164 | SCU_APBPeriphReset(__I2C1,DISABLE); |
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165 | |||
166 | I2C_DeInit(I2C1); |
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167 | I2C_StructInit(&I2C_Struct); |
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168 | I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable; |
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169 | I2C_Struct.I2C_Ack = I2C_Ack_Enable; |
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136 | killagreg | 170 | I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK; |
41 | ingob | 171 | I2C_Struct.I2C_OwnAddress = 0x00; |
172 | I2C_Init(I2C1, &I2C_Struct); |
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173 | |||
174 | I2C_TxBuffer = NULL; |
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175 | Tx_Idx = 0; |
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176 | I2C_TxBufferSize = 0; |
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177 | |||
178 | I2C_RxBuffer = NULL; |
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179 | Rx_Idx = 0; |
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180 | I2C_RxBufferSize = 0; |
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181 | |||
182 | I2C_Cmd(I2C1, ENABLE); |
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183 | I2C_ITConfig(I2C1, ENABLE); |
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184 | |||
136 | killagreg | 185 | VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1); |
41 | ingob | 186 | VIC_ITCmd(I2C1_ITLine, ENABLE); |
187 | |||
146 | killagreg | 188 | I2C1_Timeout = SetDelay(2*I2C1_TIMEOUT); |
41 | ingob | 189 | I2C_Heading.Heading = -1; |
190 | I2C_GenerateSTOP(I2C1, ENABLE); |
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191 | I2C_State = I2C_IDLE; |
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192 | |||
154 | killagreg | 193 | I2C_StopPolling = 0; // start polling |
194 | |||
110 | killagreg | 195 | UART1_PutString("ok"); |
1 | ingob | 196 | } |
197 | |||
41 | ingob | 198 | |
1 | ingob | 199 | //-------------------------------------------------------------- |
41 | ingob | 200 | void I2C1_Deinit(void) |
1 | ingob | 201 | { |
79 | killagreg | 202 | GPIO_InitTypeDef GPIO_InitStructure; |
154 | killagreg | 203 | I2C_StopPolling = 1;// stop polling |
110 | killagreg | 204 | UART1_PutString("\r\n I2C deinit..."); |
41 | ingob | 205 | I2C_GenerateStart(I2C1, DISABLE); |
206 | I2C_GenerateSTOP(I2C1, ENABLE); |
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207 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
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154 | killagreg | 208 | I2C_State = I2C_OFF; |
41 | ingob | 209 | I2C_ITConfig(I2C1, DISABLE); |
210 | I2C_Cmd(I2C1, DISABLE); |
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211 | I2C_DeInit(I2C1); |
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212 | SCU_APBPeriphClockConfig(__I2C1, DISABLE); |
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79 | killagreg | 213 | |
41 | ingob | 214 | // set ports to input |
215 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
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216 | GPIO_StructInit(&GPIO_InitStructure); |
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217 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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79 | killagreg | 218 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
219 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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41 | ingob | 220 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
79 | killagreg | 221 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
222 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
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1 | ingob | 223 | |
41 | ingob | 224 | I2C_TxBuffer = NULL; |
79 | killagreg | 225 | Tx_Idx = 0; |
41 | ingob | 226 | I2C_TxBufferSize = 0; |
1 | ingob | 227 | |
41 | ingob | 228 | I2C_RxBuffer = NULL; |
229 | Rx_Idx = 0; |
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230 | I2C_RxBufferSize = 0; |
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37 | killagreg | 231 | |
41 | ingob | 232 | I2C1_Timeout = 0; |
233 | I2C_Heading.Heading = -1; |
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37 | killagreg | 234 | |
110 | killagreg | 235 | UART1_PutString("ok"); |
41 | ingob | 236 | } |
1 | ingob | 237 | |
41 | ingob | 238 | |
239 | //-------------------------------------------------------------- |
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240 | void I2C1_IRQHandler(void) |
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241 | { |
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242 | u16 status; |
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243 | static u8 crc; |
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244 | // detemine I2C State |
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245 | status = I2C_GetLastEvent(I2C1); |
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246 | |||
247 | if(status & (I2C_FLAG_AF|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured |
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79 | killagreg | 248 | { // Set and subsequently clear the STOP bit while BTF is set. |
41 | ingob | 249 | while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET) |
250 | { |
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251 | I2C_GenerateSTOP (I2C1, ENABLE); // free the bus |
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252 | I2C_GenerateSTOP (I2C1, DISABLE); // free the bus |
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253 | } |
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254 | I2C_State = I2C_IDLE; |
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255 | LED_GRN_OFF; |
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256 | } |
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257 | else |
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258 | { // depending on current i2c state |
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259 | switch (status) |
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260 | { |
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261 | // the start condition was initiated on the bus |
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262 | case I2C_EVENT_MASTER_MODE_SELECT: |
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263 | LED_GRN_ON; |
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264 | // update current bus state variable |
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265 | switch(I2C_Direction) |
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266 | { |
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267 | case I2C_MODE_TRANSMITTER: |
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268 | I2C_State = I2C_TX_PROGRESS; |
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269 | break; |
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79 | killagreg | 270 | |
41 | ingob | 271 | case I2C_MODE_RECEIVER: |
272 | if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0)) |
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273 | { |
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274 | I2C_GenerateSTOP (I2C1, ENABLE); |
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275 | I2C_State = I2C_IDLE; |
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276 | return; |
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277 | } |
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278 | else |
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279 | { |
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280 | I2C_State = I2C_RX_PROGRESS; |
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281 | } |
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282 | break; |
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79 | killagreg | 283 | |
41 | ingob | 284 | default: // invalid direction |
285 | I2C_GenerateSTOP (I2C1, ENABLE); |
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286 | I2C_State = I2C_IDLE; |
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287 | LED_GRN_OFF; |
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288 | return; |
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289 | } |
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290 | // enable acknowledge |
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291 | I2C_AcknowledgeConfig (I2C1, ENABLE); |
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292 | // send address/direction byte on the bus |
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293 | I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction); |
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294 | break; |
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79 | killagreg | 295 | |
41 | ingob | 296 | // the address byte was send |
297 | case I2C_EVENT_MASTER_MODE_SELECTED: |
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298 | // Clear EV6 by set again the PE bit |
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79 | killagreg | 299 | I2C_Cmd(I2C1, ENABLE); |
41 | ingob | 300 | // reset checksum |
301 | crc = 0; |
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302 | switch(I2C_State) |
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303 | { |
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304 | case I2C_TX_PROGRESS: |
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79 | killagreg | 305 | // send command 1st data byte (allways the command id) |
41 | ingob | 306 | I2C_SendData(I2C1, I2C_Command); |
307 | crc += I2C_Command; |
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308 | Tx_Idx = 0; |
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309 | // reset timeout |
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310 | I2C1_Timeout = SetDelay(500); // after 500 ms of inactivity the I2C1 bus will be reset |
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311 | break; |
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79 | killagreg | 312 | |
41 | ingob | 313 | case I2C_RX_PROGRESS: |
314 | Rx_Idx = 0; |
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315 | break; |
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79 | killagreg | 316 | |
41 | ingob | 317 | default: // unknown I2C state |
318 | // should never happen |
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319 | I2C_GenerateSTOP (I2C1, ENABLE); |
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320 | I2C_State = I2C_IDLE; |
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321 | break; |
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322 | } |
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323 | break; |
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79 | killagreg | 324 | |
41 | ingob | 325 | // the master has transmitted a byte and slave has been acknowledged |
326 | case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
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79 | killagreg | 327 | |
41 | ingob | 328 | // some bytes have to be transmitted |
329 | if(Tx_Idx < I2C_TxBufferSize) |
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330 | { |
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331 | if(I2C_TxBuffer != NULL) |
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332 | { |
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333 | I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]); |
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334 | crc += I2C_TxBuffer[Tx_Idx]; |
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335 | } |
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336 | else |
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337 | { |
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338 | I2C_SendData(I2C1, 0x00); |
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339 | } |
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340 | } |
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341 | else // the last tx buffer byte was send |
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342 | { |
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343 | // send crc byte at the end |
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137 | killagreg | 344 | crc = ~crc; // flip all bits in the checksum |
41 | ingob | 345 | I2C_SendData(I2C1, crc); |
346 | // generate stop or repeated start condition |
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347 | if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected? |
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348 | { |
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79 | killagreg | 349 | I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
350 | I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
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41 | ingob | 351 | } |
352 | else |
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353 | { // stop communication |
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354 | I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
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355 | I2C_State = I2C_IDLE; // ready for new actions |
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356 | LED_GRN_OFF; |
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357 | DebugOut.Analog[15]++; |
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358 | } |
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359 | } |
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79 | killagreg | 360 | Tx_Idx++; |
41 | ingob | 361 | break; |
79 | killagreg | 362 | |
41 | ingob | 363 | // the master has received a byte from the slave |
79 | killagreg | 364 | case I2C_EVENT_MASTER_BYTE_RECEIVED: |
41 | ingob | 365 | // some bytes have to be received |
366 | if (Rx_Idx < I2C_RxBufferSize) |
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367 | { // copy received byte from the data register to the rx-buffer |
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368 | I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
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369 | // update checksum |
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370 | crc += I2C_PrimRxBuffer[Rx_Idx]; |
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371 | } |
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372 | // if the last byte (crc) was received |
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79 | killagreg | 373 | else if ( Rx_Idx == I2C_RxBufferSize) |
41 | ingob | 374 | { |
375 | // generate a STOP condition on the bus before reading data register |
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376 | I2C_GenerateSTOP(I2C1, ENABLE); |
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377 | // compare last byte with checksum |
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137 | killagreg | 378 | crc = ~crc;// flip all bits in calulated checksum |
41 | ingob | 379 | if(crc == I2C_ReceiveData(I2C1)) |
380 | { // copy primary rx buffer content to rx buffer if exist |
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381 | if(I2C_RxBuffer != NULL) |
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382 | { |
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383 | memcpy((u8 *)I2C_RxBuffer, (u8 *)I2C_PrimRxBuffer, I2C_RxBufferSize); |
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384 | } |
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141 | killagreg | 385 | I2C1_Timeout = SetDelay(500); |
41 | ingob | 386 | DebugOut.Analog[15]++; |
387 | } |
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388 | else // checksum error detected |
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389 | { |
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184 | holgerb | 390 | // DebugOut.Analog[14]++; |
41 | ingob | 391 | } |
392 | I2C_State = I2C_IDLE; |
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79 | killagreg | 393 | LED_GRN_OFF; |
41 | ingob | 394 | } |
395 | Rx_Idx++; |
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396 | // if the 2nd last byte was received disable acknowledge for the last one |
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397 | if ( Rx_Idx == I2C_RxBufferSize ) |
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398 | { |
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399 | I2C_AcknowledgeConfig (I2C1, DISABLE); |
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400 | } |
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401 | break; |
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79 | killagreg | 402 | |
41 | ingob | 403 | default: |
404 | break; |
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405 | } |
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406 | } |
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1 | ingob | 407 | } |
408 | //---------------------------------------------------------------- |
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41 | ingob | 409 | void I2C1_SendCommand(u8 command) |
1 | ingob | 410 | { |
41 | ingob | 411 | // If I2C transmission is in progress |
149 | killagreg | 412 | if(I2C_State != I2C_IDLE) return; // return imediatly if a transfer is still in progress |
41 | ingob | 413 | // disable I2C IRQ to avoid read/write access to the tx/rx buffer pointers during |
414 | // update of that buffer pointers and length |
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415 | I2C_ITConfig(I2C1, DISABLE); |
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416 | // update current command id |
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417 | I2C_Command = command; |
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418 | // set pointers to data area with respect to the command id |
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419 | switch (command) |
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420 | { |
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79 | killagreg | 421 | case I2C_CMD_VERSION: |
41 | ingob | 422 | I2C_RxBuffer = (u8 *)&MK3MAG_Version; |
423 | I2C_RxBufferSize = sizeof(MK3MAG_Version); |
||
424 | I2C_TxBuffer = NULL; |
||
425 | I2C_TxBufferSize = 0; |
||
426 | break; |
||
427 | case I2C_CMD_WRITE_CAL: |
||
428 | I2C_RxBuffer = (u8 *)&I2C_ReadCal; |
||
429 | I2C_RxBufferSize = sizeof(I2C_ReadCal); |
||
430 | I2C_TxBuffer = (u8 *)&I2C_WriteCal; |
||
431 | I2C_TxBufferSize = sizeof(I2C_WriteCal); |
||
432 | break; |
||
79 | killagreg | 433 | case I2C_CMD_READ_MAG: |
41 | ingob | 434 | I2C_RxBuffer = (u8 *)&I2C_Mag; |
435 | I2C_RxBufferSize = sizeof(I2C_Mag); |
||
436 | I2C_TxBuffer = NULL; |
||
437 | I2C_TxBufferSize = 0; |
||
438 | break; |
||
79 | killagreg | 439 | case I2C_CMD_READ_HEADING: |
61 | holgerb | 440 | DebugOut.Analog[10] = I2C_Heading.Heading; |
41 | ingob | 441 | I2C_RxBuffer = (u8 *)&I2C_Heading; |
442 | I2C_RxBufferSize = sizeof(I2C_Heading); |
||
443 | // updat atitude from spi rx buffer |
||
62 | killagreg | 444 | I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll; |
445 | I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick; |
||
41 | ingob | 446 | I2C_TxBuffer = (u8 *)&I2C_WriteAttitude; |
447 | I2C_TxBufferSize = sizeof(I2C_WriteAttitude); |
||
448 | break; |
||
449 | default: // unknown command id |
||
450 | I2C_RxBuffer = NULL; |
||
451 | I2C_RxBufferSize = 0; |
||
452 | I2C_TxBuffer = NULL; |
||
453 | I2C_TxBufferSize = 0; |
||
454 | break; |
||
455 | } |
||
456 | // set direction to master transmitter |
||
457 | I2C_Direction = I2C_MODE_TRANSMITTER; |
||
79 | killagreg | 458 | // test on busy flag and clear it |
41 | ingob | 459 | I2C_CheckEvent( I2C1, I2C_FLAG_BUSY ); |
149 | killagreg | 460 | // enable I2C IRQ again |
461 | I2C_ITConfig(I2C1, ENABLE); |
||
79 | killagreg | 462 | // initiale start condition on the bus |
41 | ingob | 463 | I2C_GenerateStart(I2C1, ENABLE); |
464 | // to be continued in the I2C1_IRQHandler() above |
||
465 | } |
||
1 | ingob | 466 | |
41 | ingob | 467 | //---------------------------------------------------------------- |
468 | void I2C1_GetMK3MagVersion(void) |
||
469 | { |
||
78 | holgerb | 470 | u8 msg[64]; |
154 | killagreg | 471 | u8 repeat; |
149 | killagreg | 472 | u32 timeout; |
150 | killagreg | 473 | |
154 | killagreg | 474 | UART1_PutString("\r\n Getting Version from MK3MAG"); |
475 | // stop polling of other commands |
||
150 | killagreg | 476 | I2C_StopPolling = 1; |
1 | ingob | 477 | |
41 | ingob | 478 | MK3MAG_Version.Major = 0xFF; |
479 | MK3MAG_Version.Minor = 0xFF; |
||
480 | MK3MAG_Version.Patch = 0xFF; |
||
481 | MK3MAG_Version.Compatible = 0xFF; |
||
150 | killagreg | 482 | // polling of version info |
154 | killagreg | 483 | repeat = 0; |
484 | do |
||
41 | ingob | 485 | { |
79 | killagreg | 486 | I2C1_SendCommand(I2C_CMD_VERSION); |
154 | killagreg | 487 | timeout = SetDelay(250); |
488 | do |
||
489 | { |
||
490 | if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
||
491 | }while (!CheckDelay(timeout)); |
||
492 | UART1_PutString("."); |
||
493 | repeat++; |
||
494 | }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
||
495 | // if we got it |
||
41 | ingob | 496 | if (MK3MAG_Version.Major != 0xFF) |
79 | killagreg | 497 | { |
154 | killagreg | 498 | sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
110 | killagreg | 499 | UART1_PutString(msg); |
41 | ingob | 500 | sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible); |
110 | killagreg | 501 | UART1_PutString(msg); |
41 | ingob | 502 | } |
154 | killagreg | 503 | else UART1_PutString("\n\r No version information from MK3Mag."); |
150 | killagreg | 504 | |
154 | killagreg | 505 | I2C_StopPolling = 0; // enable polling of heading command |
146 | killagreg | 506 | } |
1 | ingob | 507 | |
146 | killagreg | 508 | |
509 | //---------------------------------------------------------------- |
||
510 | void I2C1_UpdateCompass(void) |
||
511 | { |
||
512 | static u32 TimerCompassUpdate = 0; |
||
513 | |||
154 | killagreg | 514 | if( (I2C_State == I2C_OFF) || I2C_StopPolling ) return; |
149 | killagreg | 515 | |
516 | if(CheckDelay(TimerCompassUpdate)) |
||
146 | killagreg | 517 | { |
149 | killagreg | 518 | // check for incomming compass calibration request |
519 | // update CalByte from spi input queue |
||
520 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
||
521 | // send new calstate |
||
522 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
||
146 | killagreg | 523 | { |
149 | killagreg | 524 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
146 | killagreg | 525 | } |
149 | killagreg | 526 | else // request current heading |
527 | { |
||
528 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
||
529 | } |
||
530 | TimerCompassUpdate = SetDelay(25); // every 25 ms |
||
146 | killagreg | 531 | } |
1 | ingob | 532 | } |