Rev 184 | Rev 195 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
||
3 | /*#######################################################################################*/ |
||
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
||
171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
||
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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. |
||
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
||
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
22 | // + eindeutig als Ursprung verlinkt werden |
||
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
25 | // + Benutzung auf eigene Gefahr |
||
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
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 |
||
36 | // + from this software without specific prior written permission. |
||
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 |
||
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" |
||
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
||
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
37 | killagreg | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 57 | #include <string.h> |
58 | #include "91x_lib.h" |
||
59 | #include "i2c.h" |
||
60 | #include "uart1.h" |
||
119 | killagreg | 61 | #include "timer1.h" |
136 | killagreg | 62 | #include "config.h" |
1 | ingob | 63 | #include "main.h" |
41 | ingob | 64 | #include "led.h" |
65 | #include "spi_slave.h" |
||
1 | ingob | 66 | |
189 | killagreg | 67 | #define I2C_SLAVE_ADDRESS 0x50 |
1 | ingob | 68 | |
189 | killagreg | 69 | // I2C states |
70 | #define I2C_UNDEF 0 |
||
71 | #define I2C_IDLE 1 |
||
72 | #define I2C_TX_PROGRESS 2 |
||
73 | #define I2C_RX_PENDING 3 |
||
74 | #define I2C_RX_PROGRESS 4 |
||
75 | #define I2C_OFF 5 |
||
41 | ingob | 76 | |
189 | killagreg | 77 | volatile u8 I2C_State = I2C_OFF; // only on byte! because of sync by nesting irqs |
78 | u8 I2C_StopPolling = 1; |
||
79 | |||
41 | ingob | 80 | // rxbuffer |
81 | volatile u8 I2C_RxBufferSize; |
||
82 | volatile u8 *I2C_RxBuffer; |
||
83 | // txbuffer |
||
84 | volatile u8 I2C_TxBufferSize; |
||
85 | volatile u8 *I2C_TxBuffer; |
||
86 | |||
87 | volatile u8 I2C_Direction; |
||
88 | volatile u8 I2C_Command; |
||
189 | killagreg | 89 | // I2C Transfer buffers |
41 | ingob | 90 | volatile I2C_Heading_t I2C_Heading; |
91 | volatile I2C_WriteAttitude_t I2C_WriteAttitude; |
||
92 | volatile I2C_Mag_t I2C_Mag; |
||
93 | volatile I2C_Version_t MK3MAG_Version; |
||
94 | volatile I2C_Cal_t I2C_WriteCal; |
||
95 | volatile I2C_Cal_t I2C_ReadCal; |
||
96 | |||
146 | killagreg | 97 | #define I2C1_TIMEOUT 500 // 500 ms |
41 | ingob | 98 | volatile u32 I2C1_Timeout = 0; |
1 | ingob | 99 | |
100 | //-------------------------------------------------------------- |
||
101 | void I2C1_Init(void) |
||
102 | { |
||
41 | ingob | 103 | I2C_InitTypeDef I2C_Struct; |
104 | GPIO_InitTypeDef GPIO_InitStructure; |
||
149 | killagreg | 105 | |
106 | I2C_State = I2C_OFF; |
||
37 | killagreg | 107 | |
110 | killagreg | 108 | UART1_PutString("\r\n I2C init..."); |
41 | ingob | 109 | // enable Port 2 peripherie |
110 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
||
111 | // disable a reset state |
||
112 | SCU_APBPeriphReset(__GPIO2, DISABLE); |
||
1 | ingob | 113 | |
41 | ingob | 114 | // free a busy bus |
1 | ingob | 115 | |
41 | ingob | 116 | // At switch on I2C devices can get in a state where they |
117 | // are still waiting for a command due to all the bus lines bouncing |
||
118 | // around at startup have started clocking data into the device(s). |
||
119 | // Enable the ports as open collector port outputs |
||
120 | // and clock out at least 9 SCL pulses, then generate a stop |
||
121 | // condition and then leave the clock line high. |
||
37 | killagreg | 122 | |
41 | ingob | 123 | // configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation |
124 | GPIO_StructInit(&GPIO_InitStructure); |
||
125 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
||
126 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
||
127 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
||
128 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
||
129 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
||
130 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
||
37 | killagreg | 131 | |
41 | ingob | 132 | u8 i; |
133 | u32 delay; |
||
134 | // set SCL high and then SDA to low (start condition) |
||
135 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
||
136 | delay = SetDelay(1); |
||
137 | while (!CheckDelay(delay)); |
||
138 | GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET); |
||
139 | // toggle SCL at least 10 times from high to low to high |
||
140 | for(i = 0; i < 10; i++) |
||
141 | { |
||
142 | delay = SetDelay(1); |
||
143 | while (!CheckDelay(delay)); |
||
1 | ingob | 144 | |
41 | ingob | 145 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET); |
146 | delay = SetDelay(1); |
||
147 | while (!CheckDelay(delay)); |
||
148 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
||
149 | } |
||
150 | delay = SetDelay(1); |
||
151 | while (!CheckDelay(delay)); |
||
152 | // create stop condition setting SDA HIGH when SCL is HIGH |
||
153 | GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET); |
||
37 | killagreg | 154 | |
155 | |||
41 | ingob | 156 | // reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT |
157 | GPIO_StructInit(&GPIO_InitStructure); |
||
158 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
||
159 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
||
160 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
||
161 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
||
162 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT |
||
163 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
||
164 | |||
165 | // enable I2C peripherie |
||
166 | SCU_APBPeriphClockConfig(__I2C1,ENABLE); |
||
167 | // reset I2C peripherie |
||
168 | SCU_APBPeriphReset(__I2C1,ENABLE); |
||
169 | SCU_APBPeriphReset(__I2C1,DISABLE); |
||
170 | |||
171 | I2C_DeInit(I2C1); |
||
172 | I2C_StructInit(&I2C_Struct); |
||
173 | I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable; |
||
174 | I2C_Struct.I2C_Ack = I2C_Ack_Enable; |
||
136 | killagreg | 175 | I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK; |
41 | ingob | 176 | I2C_Struct.I2C_OwnAddress = 0x00; |
177 | I2C_Init(I2C1, &I2C_Struct); |
||
178 | |||
179 | I2C_TxBuffer = NULL; |
||
180 | I2C_TxBufferSize = 0; |
||
181 | |||
182 | I2C_RxBuffer = NULL; |
||
183 | I2C_RxBufferSize = 0; |
||
184 | |||
185 | I2C_Cmd(I2C1, ENABLE); |
||
186 | I2C_ITConfig(I2C1, ENABLE); |
||
187 | |||
136 | killagreg | 188 | VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1); |
41 | ingob | 189 | |
189 | killagreg | 190 | I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT); |
41 | ingob | 191 | I2C_Heading.Heading = -1; |
192 | I2C_GenerateSTOP(I2C1, ENABLE); |
||
193 | I2C_State = I2C_IDLE; |
||
194 | |||
154 | killagreg | 195 | I2C_StopPolling = 0; // start polling |
196 | |||
110 | killagreg | 197 | UART1_PutString("ok"); |
1 | ingob | 198 | } |
199 | |||
41 | ingob | 200 | |
1 | ingob | 201 | //-------------------------------------------------------------- |
41 | ingob | 202 | void I2C1_Deinit(void) |
1 | ingob | 203 | { |
79 | killagreg | 204 | GPIO_InitTypeDef GPIO_InitStructure; |
154 | killagreg | 205 | I2C_StopPolling = 1;// stop polling |
110 | killagreg | 206 | UART1_PutString("\r\n I2C deinit..."); |
41 | ingob | 207 | I2C_GenerateStart(I2C1, DISABLE); |
208 | I2C_GenerateSTOP(I2C1, ENABLE); |
||
209 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
||
154 | killagreg | 210 | I2C_State = I2C_OFF; |
41 | ingob | 211 | I2C_ITConfig(I2C1, DISABLE); |
212 | I2C_Cmd(I2C1, DISABLE); |
||
213 | I2C_DeInit(I2C1); |
||
214 | SCU_APBPeriphClockConfig(__I2C1, DISABLE); |
||
79 | killagreg | 215 | |
41 | ingob | 216 | // set ports to input |
217 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
||
218 | GPIO_StructInit(&GPIO_InitStructure); |
||
219 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
||
79 | killagreg | 220 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
221 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
||
41 | ingob | 222 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
79 | killagreg | 223 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
224 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
||
1 | ingob | 225 | |
41 | ingob | 226 | I2C_TxBuffer = NULL; |
227 | I2C_TxBufferSize = 0; |
||
1 | ingob | 228 | |
41 | ingob | 229 | I2C_RxBuffer = NULL; |
230 | I2C_RxBufferSize = 0; |
||
37 | killagreg | 231 | |
189 | killagreg | 232 | I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT); |
41 | ingob | 233 | I2C_Heading.Heading = -1; |
37 | killagreg | 234 | |
110 | killagreg | 235 | UART1_PutString("ok"); |
41 | ingob | 236 | } |
1 | ingob | 237 | |
41 | ingob | 238 | |
239 | //-------------------------------------------------------------- |
||
240 | void I2C1_IRQHandler(void) |
||
241 | { |
||
189 | killagreg | 242 | static u8 Rx_Idx = 0, Tx_Idx = 0, crc = 0; |
243 | static u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers |
||
41 | ingob | 244 | u16 status; |
189 | killagreg | 245 | |
41 | ingob | 246 | // detemine I2C State |
247 | status = I2C_GetLastEvent(I2C1); |
||
248 | |||
249 | if(status & (I2C_FLAG_AF|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured |
||
79 | killagreg | 250 | { // Set and subsequently clear the STOP bit while BTF is set. |
41 | ingob | 251 | while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET) |
252 | { |
||
189 | killagreg | 253 | I2C_GenerateSTOP (I2C1, ENABLE); // free the bus |
41 | ingob | 254 | I2C_GenerateSTOP (I2C1, DISABLE); // free the bus |
255 | } |
||
256 | I2C_State = I2C_IDLE; |
||
189 | killagreg | 257 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
41 | ingob | 258 | LED_GRN_OFF; |
189 | killagreg | 259 | return; |
41 | ingob | 260 | } |
261 | else |
||
262 | { // depending on current i2c state |
||
263 | switch (status) |
||
264 | { |
||
265 | // the start condition was initiated on the bus |
||
266 | case I2C_EVENT_MASTER_MODE_SELECT: |
||
267 | LED_GRN_ON; |
||
268 | // update current bus state variable |
||
269 | switch(I2C_Direction) |
||
270 | { |
||
271 | case I2C_MODE_TRANSMITTER: |
||
272 | I2C_State = I2C_TX_PROGRESS; |
||
273 | break; |
||
79 | killagreg | 274 | |
41 | ingob | 275 | case I2C_MODE_RECEIVER: |
276 | if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0)) |
||
277 | { |
||
278 | I2C_GenerateSTOP (I2C1, ENABLE); |
||
189 | killagreg | 279 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
280 | LED_GRN_OFF; |
||
41 | ingob | 281 | I2C_State = I2C_IDLE; |
282 | return; |
||
283 | } |
||
284 | else |
||
285 | { |
||
286 | I2C_State = I2C_RX_PROGRESS; |
||
287 | } |
||
288 | break; |
||
79 | killagreg | 289 | |
41 | ingob | 290 | default: // invalid direction |
291 | I2C_GenerateSTOP (I2C1, ENABLE); |
||
189 | killagreg | 292 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
293 | LED_GRN_OFF; |
||
41 | ingob | 294 | I2C_State = I2C_IDLE; |
295 | return; |
||
296 | } |
||
297 | // enable acknowledge |
||
298 | I2C_AcknowledgeConfig (I2C1, ENABLE); |
||
299 | // send address/direction byte on the bus |
||
300 | I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction); |
||
301 | break; |
||
79 | killagreg | 302 | |
41 | ingob | 303 | // the address byte was send |
304 | case I2C_EVENT_MASTER_MODE_SELECTED: |
||
305 | // Clear EV6 by set again the PE bit |
||
79 | killagreg | 306 | I2C_Cmd(I2C1, ENABLE); |
41 | ingob | 307 | // reset checksum |
308 | crc = 0; |
||
309 | switch(I2C_State) |
||
310 | { |
||
311 | case I2C_TX_PROGRESS: |
||
79 | killagreg | 312 | // send command 1st data byte (allways the command id) |
41 | ingob | 313 | I2C_SendData(I2C1, I2C_Command); |
314 | crc += I2C_Command; |
||
315 | Tx_Idx = 0; |
||
316 | // reset timeout |
||
189 | killagreg | 317 | I2C1_Timeout = SetDelay(I2C1_TIMEOUT); // after inactivity the I2C1 bus will be reset |
41 | ingob | 318 | break; |
79 | killagreg | 319 | |
41 | ingob | 320 | case I2C_RX_PROGRESS: |
321 | Rx_Idx = 0; |
||
322 | break; |
||
79 | killagreg | 323 | |
41 | ingob | 324 | default: // unknown I2C state |
325 | // should never happen |
||
326 | I2C_GenerateSTOP (I2C1, ENABLE); |
||
189 | killagreg | 327 | LED_GRN_OFF; |
328 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
||
41 | ingob | 329 | I2C_State = I2C_IDLE; |
189 | killagreg | 330 | return; |
41 | ingob | 331 | break; |
332 | } |
||
333 | break; |
||
79 | killagreg | 334 | |
41 | ingob | 335 | // the master has transmitted a byte and slave has been acknowledged |
336 | case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
||
79 | killagreg | 337 | |
41 | ingob | 338 | // some bytes have to be transmitted |
339 | if(Tx_Idx < I2C_TxBufferSize) |
||
340 | { |
||
341 | if(I2C_TxBuffer != NULL) |
||
342 | { |
||
343 | I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]); |
||
344 | crc += I2C_TxBuffer[Tx_Idx]; |
||
345 | } |
||
346 | else |
||
347 | { |
||
348 | I2C_SendData(I2C1, 0x00); |
||
349 | } |
||
350 | } |
||
189 | killagreg | 351 | else if(Tx_Idx == I2C_TxBufferSize) // the last tx buffer byte was send |
41 | ingob | 352 | { |
353 | // send crc byte at the end |
||
137 | killagreg | 354 | crc = ~crc; // flip all bits in the checksum |
41 | ingob | 355 | I2C_SendData(I2C1, crc); |
189 | killagreg | 356 | } |
357 | else if(Tx_Idx == (I2C_TxBufferSize+1) ) |
||
358 | { |
||
359 | I2C_SendData(I2C1, 0xAA); // send a dummybyte |
||
360 | } |
||
361 | else // last byte was send |
||
362 | { |
||
41 | ingob | 363 | // generate stop or repeated start condition |
364 | if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected? |
||
365 | { |
||
79 | killagreg | 366 | I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
367 | I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
||
41 | ingob | 368 | } |
369 | else |
||
370 | { // stop communication |
||
371 | I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
||
189 | killagreg | 372 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
41 | ingob | 373 | LED_GRN_OFF; |
374 | DebugOut.Analog[15]++; |
||
189 | killagreg | 375 | I2C_State = I2C_IDLE; // ready for new actions |
376 | |||
41 | ingob | 377 | } |
378 | } |
||
79 | killagreg | 379 | Tx_Idx++; |
41 | ingob | 380 | break; |
79 | killagreg | 381 | |
41 | ingob | 382 | // the master has received a byte from the slave |
79 | killagreg | 383 | case I2C_EVENT_MASTER_BYTE_RECEIVED: |
41 | ingob | 384 | // some bytes have to be received |
385 | if (Rx_Idx < I2C_RxBufferSize) |
||
386 | { // copy received byte from the data register to the rx-buffer |
||
387 | I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
||
388 | // update checksum |
||
389 | crc += I2C_PrimRxBuffer[Rx_Idx]; |
||
390 | } |
||
391 | // if the last byte (crc) was received |
||
79 | killagreg | 392 | else if ( Rx_Idx == I2C_RxBufferSize) |
41 | ingob | 393 | { |
394 | // generate a STOP condition on the bus before reading data register |
||
395 | I2C_GenerateSTOP(I2C1, ENABLE); |
||
396 | // compare last byte with checksum |
||
137 | killagreg | 397 | crc = ~crc;// flip all bits in calulated checksum |
41 | ingob | 398 | if(crc == I2C_ReceiveData(I2C1)) |
189 | killagreg | 399 | { |
400 | // copy primary rx buffer content to rx buffer if exist |
||
41 | ingob | 401 | if(I2C_RxBuffer != NULL) |
402 | { |
||
403 | memcpy((u8 *)I2C_RxBuffer, (u8 *)I2C_PrimRxBuffer, I2C_RxBufferSize); |
||
404 | } |
||
189 | killagreg | 405 | I2C1_Timeout = SetDelay(I2C1_TIMEOUT); |
41 | ingob | 406 | DebugOut.Analog[15]++; |
407 | } |
||
408 | else // checksum error detected |
||
409 | { |
||
189 | killagreg | 410 | DebugOut.Analog[14]++; |
41 | ingob | 411 | } |
189 | killagreg | 412 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
413 | LED_GRN_OFF; |
||
41 | ingob | 414 | I2C_State = I2C_IDLE; |
189 | killagreg | 415 | return; |
41 | ingob | 416 | } |
417 | Rx_Idx++; |
||
418 | // if the 2nd last byte was received disable acknowledge for the last one |
||
419 | if ( Rx_Idx == I2C_RxBufferSize ) |
||
420 | { |
||
421 | I2C_AcknowledgeConfig (I2C1, DISABLE); |
||
422 | } |
||
423 | break; |
||
79 | killagreg | 424 | |
41 | ingob | 425 | default: |
426 | break; |
||
427 | } |
||
428 | } |
||
1 | ingob | 429 | } |
430 | //---------------------------------------------------------------- |
||
41 | ingob | 431 | void I2C1_SendCommand(u8 command) |
1 | ingob | 432 | { |
189 | killagreg | 433 | // disable I2C IRQ to check state |
434 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
||
41 | ingob | 435 | // If I2C transmission is in progress |
189 | killagreg | 436 | if(I2C_State == I2C_IDLE) |
41 | ingob | 437 | { |
189 | killagreg | 438 | // update current command id |
439 | I2C_Command = command; |
||
440 | // set pointers to data area with respect to the command id |
||
441 | switch (command) |
||
442 | { |
||
443 | case I2C_CMD_VERSION: |
||
444 | I2C_RxBuffer = (u8 *)&MK3MAG_Version; |
||
445 | I2C_RxBufferSize = sizeof(MK3MAG_Version); |
||
446 | I2C_TxBuffer = NULL; |
||
447 | I2C_TxBufferSize = 0; |
||
448 | break; |
||
449 | case I2C_CMD_WRITE_CAL: |
||
450 | I2C_RxBuffer = (u8 *)&I2C_ReadCal; |
||
451 | I2C_RxBufferSize = sizeof(I2C_ReadCal); |
||
452 | I2C_TxBuffer = (u8 *)&I2C_WriteCal; |
||
453 | I2C_TxBufferSize = sizeof(I2C_WriteCal); |
||
454 | break; |
||
455 | case I2C_CMD_READ_MAG: |
||
456 | I2C_RxBuffer = (u8 *)&I2C_Mag; |
||
457 | I2C_RxBufferSize = sizeof(I2C_Mag); |
||
458 | I2C_TxBuffer = NULL; |
||
459 | I2C_TxBufferSize = 0; |
||
460 | break; |
||
461 | case I2C_CMD_READ_HEADING: |
||
462 | I2C_RxBuffer = (u8 *)&I2C_Heading; |
||
463 | I2C_RxBufferSize = sizeof(I2C_Heading); |
||
464 | I2C_TxBuffer = (u8 *)&I2C_WriteAttitude; |
||
465 | I2C_TxBufferSize = sizeof(I2C_WriteAttitude); |
||
466 | // update attitude from spi rx buffer |
||
467 | VIC_ITCmd(SSP0_ITLine, DISABLE); // avoid spi buffer update during copy |
||
468 | I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll; |
||
469 | I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick; |
||
470 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
||
471 | break; |
||
472 | default: // unknown command id |
||
473 | I2C_RxBuffer = NULL; |
||
474 | I2C_RxBufferSize = 0; |
||
475 | I2C_TxBuffer = NULL; |
||
476 | I2C_TxBufferSize = 0; |
||
477 | break; |
||
478 | } |
||
479 | // set direction to master transmitter |
||
480 | I2C_Direction = I2C_MODE_TRANSMITTER; |
||
481 | // test on busy flag and clear it |
||
482 | I2C_CheckEvent( I2C1, I2C_FLAG_BUSY ); |
||
483 | // enable I2C IRQ again |
||
484 | VIC_ITCmd(I2C1_ITLine, ENABLE); |
||
485 | // initiate start condition on the bus |
||
486 | I2C_GenerateStart(I2C1, ENABLE); |
||
487 | // to be continued in the I2C1_IRQHandler() above |
||
488 | } // EOF I2C_State == I2C_IDLE |
||
489 | else // I2C_State != I2C_IDLE |
||
490 | { |
||
491 | // re-enable I2C IRQ again |
||
492 | VIC_ITCmd(I2C1_ITLine, ENABLE); |
||
493 | } |
||
41 | ingob | 494 | } |
1 | ingob | 495 | |
41 | ingob | 496 | //---------------------------------------------------------------- |
497 | void I2C1_GetMK3MagVersion(void) |
||
498 | { |
||
78 | holgerb | 499 | u8 msg[64]; |
154 | killagreg | 500 | u8 repeat; |
149 | killagreg | 501 | u32 timeout; |
150 | killagreg | 502 | |
154 | killagreg | 503 | UART1_PutString("\r\n Getting Version from MK3MAG"); |
504 | // stop polling of other commands |
||
150 | killagreg | 505 | I2C_StopPolling = 1; |
1 | ingob | 506 | |
41 | ingob | 507 | MK3MAG_Version.Major = 0xFF; |
508 | MK3MAG_Version.Minor = 0xFF; |
||
509 | MK3MAG_Version.Patch = 0xFF; |
||
510 | MK3MAG_Version.Compatible = 0xFF; |
||
150 | killagreg | 511 | // polling of version info |
154 | killagreg | 512 | repeat = 0; |
513 | do |
||
41 | ingob | 514 | { |
79 | killagreg | 515 | I2C1_SendCommand(I2C_CMD_VERSION); |
154 | killagreg | 516 | timeout = SetDelay(250); |
517 | do |
||
518 | { |
||
519 | if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
||
520 | }while (!CheckDelay(timeout)); |
||
521 | UART1_PutString("."); |
||
522 | repeat++; |
||
523 | }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
||
524 | // if we got it |
||
41 | ingob | 525 | if (MK3MAG_Version.Major != 0xFF) |
79 | killagreg | 526 | { |
154 | killagreg | 527 | sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
110 | killagreg | 528 | UART1_PutString(msg); |
41 | ingob | 529 | sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible); |
110 | killagreg | 530 | UART1_PutString(msg); |
41 | ingob | 531 | } |
154 | killagreg | 532 | else UART1_PutString("\n\r No version information from MK3Mag."); |
150 | killagreg | 533 | |
154 | killagreg | 534 | I2C_StopPolling = 0; // enable polling of heading command |
146 | killagreg | 535 | } |
1 | ingob | 536 | |
146 | killagreg | 537 | |
538 | //---------------------------------------------------------------- |
||
539 | void I2C1_UpdateCompass(void) |
||
540 | { |
||
541 | static u32 TimerCompassUpdate = 0; |
||
542 | |||
154 | killagreg | 543 | if( (I2C_State == I2C_OFF) || I2C_StopPolling ) return; |
149 | killagreg | 544 | |
545 | if(CheckDelay(TimerCompassUpdate)) |
||
146 | killagreg | 546 | { |
149 | killagreg | 547 | // check for incomming compass calibration request |
548 | // update CalByte from spi input queue |
||
549 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
||
550 | // send new calstate |
||
551 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
||
146 | killagreg | 552 | { |
149 | killagreg | 553 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
146 | killagreg | 554 | } |
149 | killagreg | 555 | else // request current heading |
556 | { |
||
557 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
||
558 | } |
||
189 | killagreg | 559 | TimerCompassUpdate = SetDelay(40); // every 40 ms are 25 Hz |
146 | killagreg | 560 | } |
1 | ingob | 561 | } |