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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "i2c1.h" |
| #include "uart1.h" |
| #include "timer1.h" |
| #include "config.h" |
| #include "led.h" |
| |
| |
| volatile u8 I2C1_State = I2C_STATE_OFF; // only one byte, because of sync by nesting irqs |
| volatile u8 I2C1_Error = I2C_ERROR_NOACK; // only one byte! |
| |
| // number of bytes to send |
| volatile u8 I2C1_TxBufferSize; |
| // number of bytes to receive |
| volatile u8 I2C1_RxBufferSize; |
| // the transfer buffer |
| volatile u8 I2C1_Buffer[I2C1_BUFFER_LEN]; |
| // the transfer direction |
| volatile u8 I2C1_Direction; |
| // the slave address |
| volatile u8 I2C1_SlaveAddress = 0x00; |
| // function pointer to process the received bytes |
| I2C_pRxHandler_t I2C1_pRxHandler = NULL; |
| // goblal timeout |
| volatile u32 I2C1_Timeout = 0; |
| |
| //-------------------------------------------------------------- |
| void I2C1_Init(void) |
| { |
| I2C_InitTypeDef I2C_Struct; |
| GPIO_InitTypeDef GPIO_InitStructure; |
| |
| I2C1_State = I2C_STATE_OFF; |
| |
| UART1_PutString("\r\n I2C1 init..."); |
| // enable Port 2 peripherie |
| SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
| // disable a reset state |
| SCU_APBPeriphReset(__GPIO2, DISABLE); |
| |
| // free a busy bus |
| |
| // At switch on I2C devices can get in a state where they |
| // are still waiting for a command due to all the bus lines bouncing |
| // around at startup have started clocking data into the device(s). |
| // Enable the ports as open collector port outputs |
| // and clock out at least 9 SCL pulses, then generate a stop |
| // condition and then leave the clock line high. |
| |
| // configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
| GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
| GPIO_Init(GPIO2, &GPIO_InitStructure); |
| |
| u8 i; |
| u32 delay; |
| // set SCL high and then SDA to low (start condition) |
| GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
| delay = SetDelay(1); |
| while (!CheckDelay(delay)); |
| GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET); |
| // toggle SCL at least 10 times from high to low to high |
| for(i = 0; i < 10; i++) |
| { |
| delay = SetDelay(1); |
| while (!CheckDelay(delay)); |
| |
| GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET); |
| delay = SetDelay(1); |
| while (!CheckDelay(delay)); |
| GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
| } |
| delay = SetDelay(1); |
| while (!CheckDelay(delay)); |
| // create stop condition setting SDA HIGH when SCL is HIGH |
| GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET); |
| |
| |
| // reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
| GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT |
| GPIO_Init(GPIO2, &GPIO_InitStructure); |
| |
| // enable I2C peripherie |
| SCU_APBPeriphClockConfig(__I2C1,ENABLE); |
| // reset I2C peripherie |
| SCU_APBPeriphReset(__I2C1,ENABLE); |
| SCU_APBPeriphReset(__I2C1,DISABLE); |
| |
| I2C_DeInit(I2C1); |
| I2C_StructInit(&I2C_Struct); |
| I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable; |
| I2C_Struct.I2C_Ack = I2C_Ack_Enable; |
| I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK; |
| I2C_Struct.I2C_OwnAddress = 0x00; |
| I2C_Init(I2C1, &I2C_Struct); |
| |
| // empty rx and tx buffer counters |
| I2C1_TxBufferSize = 0; |
| I2C1_RxBufferSize = 0; |
| |
| I2C_Cmd(I2C1, ENABLE); |
| I2C_ITConfig(I2C1, ENABLE); |
| |
| VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1); |
| |
| I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT); |
| I2C_GenerateSTOP(I2C1, ENABLE); |
| I2C1_State = I2C_STATE_IDLE; |
| |
| // start some dummy transmissions cycles |
| // to get the irq routine to work |
| for(i=0;i<10;i++) |
| { |
| I2C1_State = I2C_STATE_BUFFBUSY; |
| I2C1_Transmission(0,1,0,1); |
| if(I2C1_WaitForEndOfTransmission(10)) break; |
| UART1_Putchar('.'); |
| } |
| UART1_PutString("ok"); |
| } |
| |
| |
| //-------------------------------------------------------------- |
| void I2C1_Deinit(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| UART1_PutString("\r\n I2C1 deinit..."); |
| I2C_GenerateStart(I2C1, DISABLE); |
| I2C_GenerateSTOP(I2C1, ENABLE); |
| VIC_ITCmd(I2C1_ITLine, DISABLE); |
| I2C1_State = I2C_STATE_OFF; |
| I2C_ITConfig(I2C1, DISABLE); |
| I2C_Cmd(I2C1, DISABLE); |
| I2C_DeInit(I2C1); |
| SCU_APBPeriphClockConfig(__I2C1, DISABLE); |
| |
| // set ports to input |
| SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| GPIO_Init(GPIO2, &GPIO_InitStructure); |
| |
| // empty rx and tx buffer |
| I2C1_TxBufferSize = 0; |
| I2C1_RxBufferSize = 0; |
| |
| I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT); |
| |
| UART1_PutString("ok"); |
| } |
| |
| //-------------------------------------------------------------- |
| void I2C1_IRQHandler(void) |
| { |
| static u8 Rx_Idx = 0, Tx_Idx = 0; |
| u16 status; |
| |
| //IENABLE; // do not enable IRQ nesting for I2C!!!! |
| // detemine I2C State |
| status = I2C_GetLastEvent(I2C1); |
| |
| if(status & (I2C_FLAG_AF|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured |
| { // Set and subsequently clear the STOP bit while BTF is set. |
| while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET) |
| { |
| I2C_GenerateSTOP (I2C1, ENABLE); // free the bus |
| I2C_GenerateSTOP (I2C1, DISABLE); // free the bus |
| } |
| I2C1_State = I2C_STATE_IDLE; |
| I2C1_Error = I2C_ERROR_NOACK; |
| VIC_ITCmd(I2C1_ITLine, DISABLE); |
| return; |
| } |
| else |
| { // depending on current i2c state |
| switch(status) |
| { |
| // the start condition was initiated on the bus |
| case I2C_EVENT_MASTER_MODE_SELECT: |
| // update current bus state variable |
| // jump to rx state if there is nothing to send |
| switch(I2C1_Direction) |
| { |
| case I2C_MODE_TRANSMITTER: |
| I2C1_State = I2C_STATE_TX_PROGRESS; |
| break; |
| |
| case I2C_MODE_RECEIVER: |
| if (I2C1_RxBufferSize == 0) // nothing to send? |
| { |
| I2C_GenerateSTOP (I2C1, ENABLE); |
| VIC_ITCmd(I2C1_ITLine, DISABLE); |
| I2C1_State = I2C_STATE_IDLE; |
| I2C1_Error = I2C_ERROR_NONE; |
| return; |
| } |
| else |
| { |
| I2C1_State = I2C_STATE_RX_PROGRESS; |
| } |
| break; |
| |
| default: // invalid direction |
| I2C_GenerateSTOP (I2C1, ENABLE); |
| VIC_ITCmd(I2C1_ITLine, DISABLE); |
| I2C1_State = I2C_STATE_IDLE; |
| I2C1_Error = I2C_ERROR_UNKNOWN; |
| return; |
| } |
| // enable acknowledge |
| I2C_AcknowledgeConfig (I2C1, ENABLE); |
| // send address/direction byte on the bus |
| I2C_Send7bitAddress(I2C1, I2C1_SlaveAddress, I2C1_Direction); |
| break; |
| |
| // the address byte was send |
| case I2C_EVENT_MASTER_MODE_SELECTED: |
| // Clear EV6 by set again the PE bit |
| I2C_Cmd(I2C1, ENABLE); |
| switch(I2C1_State) |
| { |
| case I2C_STATE_TX_PROGRESS: |
| // send 1st data byte |
| Tx_Idx = 0; |
| I2C_SendData(I2C1, I2C1_Buffer[Tx_Idx]); |
| Tx_Idx++; |
| // reset timeout |
| I2C1_Timeout = SetDelay(I2C1_TIMEOUT); // after inactivity the I2C1 bus will be reset |
| break; |
| |
| case I2C_STATE_RX_PROGRESS: |
| Rx_Idx = 0; |
| // disable acknoledge if only one byte has to be read |
| if(I2C1_RxBufferSize == 1) I2C_AcknowledgeConfig (I2C1, DISABLE); |
| break; |
| |
| default: // unknown I2C state |
| // should never happen |
| I2C_GenerateSTOP (I2C1, ENABLE); |
| VIC_ITCmd(I2C1_ITLine, DISABLE); |
| I2C1_State = I2C_STATE_IDLE; |
| I2C1_Error = I2C_ERROR_UNKNOWN; |
| return; |
| break; |
| } |
| break; |
| |
| // the master has transmitted a byte and slave has been acknowledged |
| case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
| |
| // some bytes have to be transmitted |
| if(Tx_Idx < I2C1_TxBufferSize) |
| { |
| I2C_SendData(I2C1, I2C1_Buffer[Tx_Idx]); |
| Tx_Idx++; |
| } |
| else // last byte was send |
| { |
| // generate stop or repeated start condition |
| if (I2C1_RxBufferSize > 0) // is any answer byte expected? |
| { |
| I2C1_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
| I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
| } |
| else |
| { // stop communication |
| I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
| VIC_ITCmd(I2C1_ITLine, DISABLE); |
| I2C1_State = I2C_STATE_IDLE; // ready for new actions |
| I2C1_Error = I2C_ERROR_NONE; |
| } |
| } |
| break; |
| |
| // the master has received a byte from the slave |
| case I2C_EVENT_MASTER_BYTE_RECEIVED: |
| // some bytes have to be received |
| if ( Rx_Idx+1 < I2C1_RxBufferSize) |
| { // copy received byte from the data register to the rx-buffer |
| I2C1_Buffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
| } |
| else // if the last byte was received |
| { |
| // generate a STOP condition on the bus before reading data register |
| I2C_GenerateSTOP(I2C1, ENABLE); |
| I2C1_Buffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
| // call the rx handler function to process recieved data |
| if(I2C1_pRxHandler != NULL) (*I2C1_pRxHandler)((u8*)I2C1_Buffer, I2C1_RxBufferSize); |
| I2C1_Timeout = SetDelay(I2C1_TIMEOUT); |
| DebugOut.Analog[15]++; |
| VIC_ITCmd(I2C1_ITLine, DISABLE); |
| I2C1_State = I2C_STATE_IDLE; |
| I2C1_Error = I2C_ERROR_NONE; |
| return; |
| } |
| Rx_Idx++; |
| // if the 2nd last byte was received disable acknowledge for the last one |
| if ( (Rx_Idx + 1) == I2C1_RxBufferSize ) |
| { |
| I2C_AcknowledgeConfig(I2C1, DISABLE); |
| } |
| break; |
| |
| default:// unknown event |
| // should never happen |
| I2C_GenerateSTOP (I2C1, ENABLE); |
| VIC_ITCmd(I2C1_ITLine, DISABLE); |
| I2C1_State = I2C_STATE_IDLE; |
| I2C1_Error = I2C_ERROR_UNKNOWN; |
| break; |
| } |
| } |
| //IDISABLE; // do not enable IRQ nesting for I2C!!!! |
| VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
| } |
| |
| // ---------------------------------------------------------------------------------------- |
| // wait for end of transmission |
| u8 I2C1_WaitForEndOfTransmission(u32 timeout) |
| { |
| u32 time = SetDelay(timeout); |
| while(I2C1_State != I2C_STATE_IDLE) |
| { |
| if(CheckDelay(time)) return(0); |
| } |
| return(1); |
| } |
| |
| // ---------------------------------------------------------------------------------------- |
| // try to get access to the transfer buffer within a timeout limit |
| // returs 1 on success and 0 on error/timeout |
| u8 I2C1_LockBuffer(u32 timeout) |
| { |
| if(I2C1_WaitForEndOfTransmission(timeout)) |
| { |
| I2C1_State = I2C_STATE_BUFFBUSY; |
| I2C1_Error = I2C_ERROR_UNKNOWN; |
| return(1); |
| } |
| else return(0); |
| } |
| // ---------------------------------------------------------------------------------------- |
| // initate an i2c transmission |
| u8 I2C1_Transmission(u8 SlaveAddr, u8 TxBytes, I2C_pRxHandler_t pRxHandler, u8 RxBytes) |
| { |
| u8 retval = 0; |
| if(I2C1_State == I2C_STATE_BUFFBUSY) |
| { |
| if((RxBytes > I2C1_BUFFER_LEN) || (TxBytes > I2C1_BUFFER_LEN)) |
| { |
| I2C1_State = I2C_STATE_IDLE; |
| return(retval); |
| } |
| I2C1_RxBufferSize = RxBytes; |
| I2C1_TxBufferSize = TxBytes; |
| // set direction to master transmitter |
| if( (I2C1_TxBufferSize > 0) && (I2C1_TxBufferSize < I2C1_BUFFER_LEN) ) I2C1_Direction = I2C_MODE_TRANSMITTER; |
| else if (( I2C1_RxBufferSize > 0 ) && (I2C1_RxBufferSize < I2C1_BUFFER_LEN) ) I2C1_Direction = I2C_MODE_RECEIVER; |
| else // nothing to send or receive |
| { |
| I2C1_State = I2C_STATE_IDLE; |
| I2C1_Error = I2C_ERROR_NONE; |
| I2C1_TxBufferSize = 0; |
| I2C1_RxBufferSize = 0; |
| return(retval); |
| } |
| // update slave address and rx data handler function pointer |
| I2C1_SlaveAddress = SlaveAddr; |
| I2C1_pRxHandler = pRxHandler; |
| // test on busy flag and clear it |
| I2C_ClearFlag(I2C0, I2C_FLAG_BUSY); |
| // enable I2C IRQ |
| VIC_ITCmd(I2C1_ITLine, ENABLE); |
| // initiate start condition on the bus |
| I2C_GenerateStart(I2C1, ENABLE); |
| retval = 1; |
| } |
| return(retval); |
| } |