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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 <string.h> |
58 | #include "91x_lib.h" |
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59 | #include "i2c.h" |
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60 | #include "uart1.h" |
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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" |
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1 | ingob | 66 | |
189 | killagreg | 67 | #define I2C_SLAVE_ADDRESS 0x50 |
1 | ingob | 68 | |
189 | killagreg | 69 | // I2C states |
70 | #define I2C_UNDEF 0 |
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71 | #define I2C_IDLE 1 |
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72 | #define I2C_TX_PROGRESS 2 |
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73 | #define I2C_RX_PENDING 3 |
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74 | #define I2C_RX_PROGRESS 4 |
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75 | #define I2C_OFF 5 |
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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; |
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79 | |||
41 | ingob | 80 | // rxbuffer |
81 | volatile u8 I2C_RxBufferSize; |
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82 | volatile u8 *I2C_RxBuffer; |
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83 | // txbuffer |
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84 | volatile u8 I2C_TxBufferSize; |
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85 | volatile u8 *I2C_TxBuffer; |
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86 | |||
87 | volatile u8 I2C_Direction; |
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88 | volatile u8 I2C_Command; |
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189 | killagreg | 89 | // I2C Transfer buffers |
41 | ingob | 90 | volatile I2C_Heading_t I2C_Heading; |
91 | volatile I2C_WriteAttitude_t I2C_WriteAttitude; |
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92 | volatile I2C_Mag_t I2C_Mag; |
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93 | volatile I2C_Version_t MK3MAG_Version; |
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94 | volatile I2C_Cal_t I2C_WriteCal; |
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95 | volatile I2C_Cal_t I2C_ReadCal; |
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96 | |||
146 | killagreg | 97 | #define I2C1_TIMEOUT 500 // 500 ms |
41 | ingob | 98 | volatile u32 I2C1_Timeout = 0; |
1 | ingob | 99 | |
100 | //-------------------------------------------------------------- |
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101 | void I2C1_Init(void) |
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102 | { |
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41 | ingob | 103 | I2C_InitTypeDef I2C_Struct; |
104 | GPIO_InitTypeDef GPIO_InitStructure; |
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149 | killagreg | 105 | |
106 | I2C_State = I2C_OFF; |
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37 | killagreg | 107 | |
110 | killagreg | 108 | UART1_PutString("\r\n I2C init..."); |
41 | ingob | 109 | // enable Port 2 peripherie |
110 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
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111 | // disable a reset state |
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112 | SCU_APBPeriphReset(__GPIO2, DISABLE); |
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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 |
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118 | // around at startup have started clocking data into the device(s). |
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119 | // Enable the ports as open collector port outputs |
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120 | // and clock out at least 9 SCL pulses, then generate a stop |
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121 | // condition and then leave the clock line high. |
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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); |
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125 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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126 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
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127 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
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196 | killagreg | 128 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
41 | ingob | 129 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
130 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
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37 | killagreg | 131 | |
41 | ingob | 132 | u8 i; |
133 | u32 delay; |
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134 | // set SCL high and then SDA to low (start condition) |
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135 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
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136 | delay = SetDelay(1); |
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137 | while (!CheckDelay(delay)); |
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138 | GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET); |
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139 | // toggle SCL at least 10 times from high to low to high |
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140 | for(i = 0; i < 10; i++) |
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141 | { |
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142 | delay = SetDelay(1); |
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143 | while (!CheckDelay(delay)); |
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1 | ingob | 144 | |
41 | ingob | 145 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET); |
146 | delay = SetDelay(1); |
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147 | while (!CheckDelay(delay)); |
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148 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
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149 | } |
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150 | delay = SetDelay(1); |
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151 | while (!CheckDelay(delay)); |
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152 | // create stop condition setting SDA HIGH when SCL is HIGH |
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153 | GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET); |
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37 | killagreg | 154 | |
155 | |||
41 | ingob | 156 | // reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT |
157 | GPIO_StructInit(&GPIO_InitStructure); |
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158 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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159 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
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160 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
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196 | killagreg | 161 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 162 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT |
163 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
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164 | |||
165 | // enable I2C peripherie |
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166 | SCU_APBPeriphClockConfig(__I2C1,ENABLE); |
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167 | // reset I2C peripherie |
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168 | SCU_APBPeriphReset(__I2C1,ENABLE); |
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169 | SCU_APBPeriphReset(__I2C1,DISABLE); |
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170 | |||
171 | I2C_DeInit(I2C1); |
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172 | I2C_StructInit(&I2C_Struct); |
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173 | I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable; |
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174 | I2C_Struct.I2C_Ack = I2C_Ack_Enable; |
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136 | killagreg | 175 | I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK; |
41 | ingob | 176 | I2C_Struct.I2C_OwnAddress = 0x00; |
177 | I2C_Init(I2C1, &I2C_Struct); |
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178 | |||
179 | I2C_TxBuffer = NULL; |
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180 | I2C_TxBufferSize = 0; |
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181 | |||
182 | I2C_RxBuffer = NULL; |
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183 | I2C_RxBufferSize = 0; |
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184 | |||
185 | I2C_Cmd(I2C1, ENABLE); |
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186 | I2C_ITConfig(I2C1, ENABLE); |
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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_GenerateSTOP(I2C1, ENABLE); |
192 | I2C_State = I2C_IDLE; |
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193 | |||
154 | killagreg | 194 | I2C_StopPolling = 0; // start polling |
195 | |||
110 | killagreg | 196 | UART1_PutString("ok"); |
1 | ingob | 197 | } |
198 | |||
41 | ingob | 199 | |
1 | ingob | 200 | //-------------------------------------------------------------- |
41 | ingob | 201 | void I2C1_Deinit(void) |
1 | ingob | 202 | { |
79 | killagreg | 203 | GPIO_InitTypeDef GPIO_InitStructure; |
154 | killagreg | 204 | I2C_StopPolling = 1;// stop polling |
110 | killagreg | 205 | UART1_PutString("\r\n I2C deinit..."); |
41 | ingob | 206 | I2C_GenerateStart(I2C1, DISABLE); |
207 | I2C_GenerateSTOP(I2C1, ENABLE); |
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208 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
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154 | killagreg | 209 | I2C_State = I2C_OFF; |
41 | ingob | 210 | I2C_ITConfig(I2C1, DISABLE); |
211 | I2C_Cmd(I2C1, DISABLE); |
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212 | I2C_DeInit(I2C1); |
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213 | SCU_APBPeriphClockConfig(__I2C1, DISABLE); |
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79 | killagreg | 214 | |
41 | ingob | 215 | // set ports to input |
216 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
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217 | GPIO_StructInit(&GPIO_InitStructure); |
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218 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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79 | killagreg | 219 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
220 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 221 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
79 | killagreg | 222 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
223 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
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1 | ingob | 224 | |
41 | ingob | 225 | I2C_TxBuffer = NULL; |
226 | I2C_TxBufferSize = 0; |
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1 | ingob | 227 | |
41 | ingob | 228 | I2C_RxBuffer = NULL; |
229 | I2C_RxBufferSize = 0; |
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37 | killagreg | 230 | |
189 | killagreg | 231 | I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT); |
228 | holgerb | 232 | I2C_Heading.Heading = -2; |
37 | killagreg | 233 | |
110 | killagreg | 234 | UART1_PutString("ok"); |
41 | ingob | 235 | } |
1 | ingob | 236 | |
41 | ingob | 237 | |
238 | //-------------------------------------------------------------- |
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239 | void I2C1_IRQHandler(void) |
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240 | { |
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189 | killagreg | 241 | static u8 Rx_Idx = 0, Tx_Idx = 0, crc = 0; |
242 | static u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers |
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41 | ingob | 243 | u16 status; |
189 | killagreg | 244 | |
195 | killagreg | 245 | //IENABLE; // do not enable IRQ nesting for I2C!!!! |
246 | |||
41 | ingob | 247 | // detemine I2C State |
248 | status = I2C_GetLastEvent(I2C1); |
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249 | |||
250 | if(status & (I2C_FLAG_AF|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured |
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79 | killagreg | 251 | { // Set and subsequently clear the STOP bit while BTF is set. |
41 | ingob | 252 | while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET) |
253 | { |
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189 | killagreg | 254 | I2C_GenerateSTOP (I2C1, ENABLE); // free the bus |
41 | ingob | 255 | I2C_GenerateSTOP (I2C1, DISABLE); // free the bus |
256 | } |
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257 | I2C_State = I2C_IDLE; |
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189 | killagreg | 258 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
41 | ingob | 259 | LED_GRN_OFF; |
189 | killagreg | 260 | return; |
41 | ingob | 261 | } |
262 | else |
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263 | { // depending on current i2c state |
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264 | switch (status) |
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265 | { |
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266 | // the start condition was initiated on the bus |
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267 | case I2C_EVENT_MASTER_MODE_SELECT: |
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268 | LED_GRN_ON; |
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269 | // update current bus state variable |
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270 | switch(I2C_Direction) |
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271 | { |
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272 | case I2C_MODE_TRANSMITTER: |
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273 | I2C_State = I2C_TX_PROGRESS; |
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274 | break; |
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79 | killagreg | 275 | |
41 | ingob | 276 | case I2C_MODE_RECEIVER: |
277 | if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0)) |
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278 | { |
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279 | I2C_GenerateSTOP (I2C1, ENABLE); |
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189 | killagreg | 280 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
281 | LED_GRN_OFF; |
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41 | ingob | 282 | I2C_State = I2C_IDLE; |
283 | return; |
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284 | } |
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285 | else |
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286 | { |
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287 | I2C_State = I2C_RX_PROGRESS; |
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288 | } |
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289 | break; |
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79 | killagreg | 290 | |
41 | ingob | 291 | default: // invalid direction |
292 | I2C_GenerateSTOP (I2C1, ENABLE); |
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189 | killagreg | 293 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
294 | LED_GRN_OFF; |
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41 | ingob | 295 | I2C_State = I2C_IDLE; |
296 | return; |
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297 | } |
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298 | // enable acknowledge |
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299 | I2C_AcknowledgeConfig (I2C1, ENABLE); |
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300 | // send address/direction byte on the bus |
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301 | I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction); |
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302 | break; |
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79 | killagreg | 303 | |
41 | ingob | 304 | // the address byte was send |
305 | case I2C_EVENT_MASTER_MODE_SELECTED: |
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306 | // Clear EV6 by set again the PE bit |
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79 | killagreg | 307 | I2C_Cmd(I2C1, ENABLE); |
41 | ingob | 308 | // reset checksum |
309 | crc = 0; |
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310 | switch(I2C_State) |
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311 | { |
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312 | case I2C_TX_PROGRESS: |
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79 | killagreg | 313 | // send command 1st data byte (allways the command id) |
41 | ingob | 314 | I2C_SendData(I2C1, I2C_Command); |
315 | crc += I2C_Command; |
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316 | Tx_Idx = 0; |
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317 | // reset timeout |
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189 | killagreg | 318 | I2C1_Timeout = SetDelay(I2C1_TIMEOUT); // after inactivity the I2C1 bus will be reset |
41 | ingob | 319 | break; |
79 | killagreg | 320 | |
41 | ingob | 321 | case I2C_RX_PROGRESS: |
322 | Rx_Idx = 0; |
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323 | break; |
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79 | killagreg | 324 | |
41 | ingob | 325 | default: // unknown I2C state |
326 | // should never happen |
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327 | I2C_GenerateSTOP (I2C1, ENABLE); |
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189 | killagreg | 328 | LED_GRN_OFF; |
329 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
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41 | ingob | 330 | I2C_State = I2C_IDLE; |
189 | killagreg | 331 | return; |
41 | ingob | 332 | break; |
333 | } |
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334 | break; |
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79 | killagreg | 335 | |
41 | ingob | 336 | // the master has transmitted a byte and slave has been acknowledged |
337 | case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
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79 | killagreg | 338 | |
41 | ingob | 339 | // some bytes have to be transmitted |
340 | if(Tx_Idx < I2C_TxBufferSize) |
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341 | { |
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342 | if(I2C_TxBuffer != NULL) |
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343 | { |
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344 | I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]); |
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345 | crc += I2C_TxBuffer[Tx_Idx]; |
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346 | } |
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347 | else |
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348 | { |
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349 | I2C_SendData(I2C1, 0x00); |
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350 | } |
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351 | } |
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189 | killagreg | 352 | else if(Tx_Idx == I2C_TxBufferSize) // the last tx buffer byte was send |
41 | ingob | 353 | { |
354 | // send crc byte at the end |
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137 | killagreg | 355 | crc = ~crc; // flip all bits in the checksum |
41 | ingob | 356 | I2C_SendData(I2C1, crc); |
189 | killagreg | 357 | } |
358 | else if(Tx_Idx == (I2C_TxBufferSize+1) ) |
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359 | { |
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360 | I2C_SendData(I2C1, 0xAA); // send a dummybyte |
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361 | } |
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362 | else // last byte was send |
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363 | { |
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41 | ingob | 364 | // generate stop or repeated start condition |
365 | if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected? |
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366 | { |
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79 | killagreg | 367 | I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
368 | I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
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41 | ingob | 369 | } |
370 | else |
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371 | { // stop communication |
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372 | I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
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189 | killagreg | 373 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
41 | ingob | 374 | LED_GRN_OFF; |
375 | DebugOut.Analog[15]++; |
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189 | killagreg | 376 | I2C_State = I2C_IDLE; // ready for new actions |
377 | |||
41 | ingob | 378 | } |
379 | } |
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79 | killagreg | 380 | Tx_Idx++; |
41 | ingob | 381 | break; |
79 | killagreg | 382 | |
41 | ingob | 383 | // the master has received a byte from the slave |
79 | killagreg | 384 | case I2C_EVENT_MASTER_BYTE_RECEIVED: |
41 | ingob | 385 | // some bytes have to be received |
386 | if (Rx_Idx < I2C_RxBufferSize) |
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387 | { // copy received byte from the data register to the rx-buffer |
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388 | I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
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389 | // update checksum |
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390 | crc += I2C_PrimRxBuffer[Rx_Idx]; |
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391 | } |
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392 | // if the last byte (crc) was received |
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79 | killagreg | 393 | else if ( Rx_Idx == I2C_RxBufferSize) |
41 | ingob | 394 | { |
395 | // generate a STOP condition on the bus before reading data register |
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396 | I2C_GenerateSTOP(I2C1, ENABLE); |
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397 | // compare last byte with checksum |
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137 | killagreg | 398 | crc = ~crc;// flip all bits in calulated checksum |
41 | ingob | 399 | if(crc == I2C_ReceiveData(I2C1)) |
189 | killagreg | 400 | { |
401 | // copy primary rx buffer content to rx buffer if exist |
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41 | ingob | 402 | if(I2C_RxBuffer != NULL) |
403 | { |
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404 | memcpy((u8 *)I2C_RxBuffer, (u8 *)I2C_PrimRxBuffer, I2C_RxBufferSize); |
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405 | } |
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189 | killagreg | 406 | I2C1_Timeout = SetDelay(I2C1_TIMEOUT); |
41 | ingob | 407 | DebugOut.Analog[15]++; |
408 | } |
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409 | else // checksum error detected |
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410 | { |
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189 | killagreg | 411 | DebugOut.Analog[14]++; |
41 | ingob | 412 | } |
189 | killagreg | 413 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
414 | LED_GRN_OFF; |
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41 | ingob | 415 | I2C_State = I2C_IDLE; |
189 | killagreg | 416 | return; |
41 | ingob | 417 | } |
418 | Rx_Idx++; |
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419 | // if the 2nd last byte was received disable acknowledge for the last one |
||
420 | if ( Rx_Idx == I2C_RxBufferSize ) |
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421 | { |
||
422 | I2C_AcknowledgeConfig (I2C1, DISABLE); |
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423 | } |
||
424 | break; |
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79 | killagreg | 425 | |
41 | ingob | 426 | default: |
427 | break; |
||
428 | } |
||
429 | } |
||
195 | killagreg | 430 | |
431 | //IDISABLE; // do not enable IRQ nesting for I2C!!!! |
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1 | ingob | 432 | } |
433 | //---------------------------------------------------------------- |
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41 | ingob | 434 | void I2C1_SendCommand(u8 command) |
1 | ingob | 435 | { |
189 | killagreg | 436 | // disable I2C IRQ to check state |
437 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
||
41 | ingob | 438 | // If I2C transmission is in progress |
189 | killagreg | 439 | if(I2C_State == I2C_IDLE) |
41 | ingob | 440 | { |
189 | killagreg | 441 | // update current command id |
442 | I2C_Command = command; |
||
443 | // set pointers to data area with respect to the command id |
||
444 | switch (command) |
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445 | { |
||
446 | case I2C_CMD_VERSION: |
||
447 | I2C_RxBuffer = (u8 *)&MK3MAG_Version; |
||
448 | I2C_RxBufferSize = sizeof(MK3MAG_Version); |
||
449 | I2C_TxBuffer = NULL; |
||
450 | I2C_TxBufferSize = 0; |
||
451 | break; |
||
452 | case I2C_CMD_WRITE_CAL: |
||
453 | I2C_RxBuffer = (u8 *)&I2C_ReadCal; |
||
454 | I2C_RxBufferSize = sizeof(I2C_ReadCal); |
||
455 | I2C_TxBuffer = (u8 *)&I2C_WriteCal; |
||
456 | I2C_TxBufferSize = sizeof(I2C_WriteCal); |
||
457 | break; |
||
458 | case I2C_CMD_READ_MAG: |
||
459 | I2C_RxBuffer = (u8 *)&I2C_Mag; |
||
460 | I2C_RxBufferSize = sizeof(I2C_Mag); |
||
461 | I2C_TxBuffer = NULL; |
||
462 | I2C_TxBufferSize = 0; |
||
463 | break; |
||
464 | case I2C_CMD_READ_HEADING: |
||
465 | I2C_RxBuffer = (u8 *)&I2C_Heading; |
||
466 | I2C_RxBufferSize = sizeof(I2C_Heading); |
||
467 | I2C_TxBuffer = (u8 *)&I2C_WriteAttitude; |
||
468 | I2C_TxBufferSize = sizeof(I2C_WriteAttitude); |
||
469 | // update attitude from spi rx buffer |
||
470 | VIC_ITCmd(SSP0_ITLine, DISABLE); // avoid spi buffer update during copy |
||
471 | I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll; |
||
472 | I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick; |
||
473 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
||
474 | break; |
||
475 | default: // unknown command id |
||
476 | I2C_RxBuffer = NULL; |
||
477 | I2C_RxBufferSize = 0; |
||
478 | I2C_TxBuffer = NULL; |
||
479 | I2C_TxBufferSize = 0; |
||
480 | break; |
||
481 | } |
||
482 | // set direction to master transmitter |
||
483 | I2C_Direction = I2C_MODE_TRANSMITTER; |
||
484 | // test on busy flag and clear it |
||
485 | I2C_CheckEvent( I2C1, I2C_FLAG_BUSY ); |
||
486 | // enable I2C IRQ again |
||
487 | VIC_ITCmd(I2C1_ITLine, ENABLE); |
||
488 | // initiate start condition on the bus |
||
489 | I2C_GenerateStart(I2C1, ENABLE); |
||
490 | // to be continued in the I2C1_IRQHandler() above |
||
491 | } // EOF I2C_State == I2C_IDLE |
||
492 | else // I2C_State != I2C_IDLE |
||
493 | { |
||
494 | // re-enable I2C IRQ again |
||
495 | VIC_ITCmd(I2C1_ITLine, ENABLE); |
||
496 | } |
||
41 | ingob | 497 | } |
1 | ingob | 498 | |
41 | ingob | 499 | //---------------------------------------------------------------- |
500 | void I2C1_GetMK3MagVersion(void) |
||
501 | { |
||
78 | holgerb | 502 | u8 msg[64]; |
154 | killagreg | 503 | u8 repeat; |
149 | killagreg | 504 | u32 timeout; |
150 | killagreg | 505 | |
154 | killagreg | 506 | UART1_PutString("\r\n Getting Version from MK3MAG"); |
507 | // stop polling of other commands |
||
150 | killagreg | 508 | I2C_StopPolling = 1; |
1 | ingob | 509 | |
41 | ingob | 510 | MK3MAG_Version.Major = 0xFF; |
511 | MK3MAG_Version.Minor = 0xFF; |
||
512 | MK3MAG_Version.Patch = 0xFF; |
||
513 | MK3MAG_Version.Compatible = 0xFF; |
||
150 | killagreg | 514 | // polling of version info |
154 | killagreg | 515 | repeat = 0; |
516 | do |
||
41 | ingob | 517 | { |
79 | killagreg | 518 | I2C1_SendCommand(I2C_CMD_VERSION); |
154 | killagreg | 519 | timeout = SetDelay(250); |
520 | do |
||
521 | { |
||
522 | if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
||
523 | }while (!CheckDelay(timeout)); |
||
524 | UART1_PutString("."); |
||
525 | repeat++; |
||
526 | }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
||
527 | // if we got it |
||
41 | ingob | 528 | if (MK3MAG_Version.Major != 0xFF) |
79 | killagreg | 529 | { |
154 | killagreg | 530 | sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
110 | killagreg | 531 | UART1_PutString(msg); |
41 | ingob | 532 | sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible); |
110 | killagreg | 533 | UART1_PutString(msg); |
41 | ingob | 534 | } |
154 | killagreg | 535 | else UART1_PutString("\n\r No version information from MK3Mag."); |
150 | killagreg | 536 | |
154 | killagreg | 537 | I2C_StopPolling = 0; // enable polling of heading command |
146 | killagreg | 538 | } |
1 | ingob | 539 | |
146 | killagreg | 540 | |
541 | //---------------------------------------------------------------- |
||
542 | void I2C1_UpdateCompass(void) |
||
543 | { |
||
544 | static u32 TimerCompassUpdate = 0; |
||
545 | |||
154 | killagreg | 546 | if( (I2C_State == I2C_OFF) || I2C_StopPolling ) return; |
149 | killagreg | 547 | |
548 | if(CheckDelay(TimerCompassUpdate)) |
||
146 | killagreg | 549 | { |
149 | killagreg | 550 | // check for incomming compass calibration request |
551 | // update CalByte from spi input queue |
||
552 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
||
553 | // send new calstate |
||
554 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
||
146 | killagreg | 555 | { |
149 | killagreg | 556 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
146 | killagreg | 557 | } |
149 | killagreg | 558 | else // request current heading |
559 | { |
||
560 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
||
561 | } |
||
195 | killagreg | 562 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
146 | killagreg | 563 | } |
1 | ingob | 564 | } |