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Ignore whitespace Rev 29 → Rev 30

/branches/V0.1 killagreg/i2c.c
7,14 → 7,14
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
25,21 → 25,21
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
//
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
52,8 → 52,9
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include "91x_lib.h"
#include "i2c.h"
#include "uart1.h"
65,13 → 66,13
volatile I2C_State_t I2C_State;
 
// rxbuffer
volatile u8 I2C_RxBufferSize;
volatile u8 I2C_RxBufferSize;
volatile u8 *I2C_RxBuffer;
volatile u8 Rx_Idx = 0;
// txbuffer
volatile u8 I2C_TxBufferSize;
volatile u8 *I2C_TxBuffer;
volatile u8 Tx_Idx = 0;
volatile u8 *I2C_TxBuffer;
volatile u8 Tx_Idx = 0;
 
volatile u8 I2C_Direction;
volatile u8 I2C_Command;
79,7 → 80,7
volatile I2C_Heading_t I2C_Heading;
volatile I2C_WriteAttitude_t I2C_WriteAttitude;
volatile I2C_Mag_t I2C_Mag;
volatile I2C_EEPROM_t I2C_ReadEEPROM, I2C_WriteEEPROM;
volatile I2C_EEPROM_t I2C_ReadEEPROM, I2C_WriteEEPROM;
volatile I2C_Version_t I2C_Version;
volatile I2C_WriteCal_t I2C_WriteCal;
 
95,34 → 96,96
void I2C1_Init(void)
{
I2C_InitTypeDef I2C_Struct;
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
 
SerialPutString("\r\n I2C init...");
SCU_APBPeriphClockConfig(__I2C1,ENABLE);
I2C_DeInit(I2C1);
// configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT
// 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_IPConnected = GPIO_IPConnected_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_IPConnected = GPIO_IPConnected_Enable;
GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT
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 = 20000;
I2C_Struct.I2C_OwnAddress = 0x00; //??
I2C_Struct.I2C_OwnAddress = 0x00;
I2C_Init(I2C1, &I2C_Struct);
 
I2C_TxBuffer = NULL;
Tx_Idx = 0;
I2C_TxBufferSize = 0;
 
I2C_RxBuffer = NULL;
Rx_Idx = 0;
I2C_RxBufferSize = 0;
 
I2C_Cmd(I2C1, ENABLE);
I2C_ITConfig(I2C1, ENABLE);
 
VIC_Config(I2C1_ITLine, VIC_IRQ , 0);
VIC_ITCmd(I2C1_ITLine, ENABLE);
 
I2C1_Timeout = SetDelay(1000);
I2C_Heading.Heading = -1;
I2C_GenerateSTOP(I2C1, ENABLE);
I2C_State = I2C_IDLE;
SerialPutString("ok");
}
133,16 → 196,26
{
SerialPutString("\r\n I2C deinit...");
I2C_GenerateStart(I2C1, DISABLE);
I2C_GenerateSTOP(I2C1, ENABLE);
VIC_ITCmd(I2C1_ITLine, DISABLE);
I2C_ITConfig(I2C1, DISABLE);
I2C_GenerateSTOP(I2C1, ENABLE);
VIC_ITCmd(I2C1_ITLine, DISABLE);
I2C_ITConfig(I2C1, DISABLE);
I2C_Cmd(I2C1, DISABLE);
I2C_DeInit(I2C1);
SCU_APBPeriphClockConfig(__I2C1,DISABLE);
SCU_APBPeriphClockConfig(__I2C1, DISABLE);
 
I2C_TxBuffer = NULL;
Tx_Idx = 0;
I2C_TxBufferSize = 0;
 
I2C_RxBuffer = NULL;
Rx_Idx = 0;
I2C_RxBufferSize = 0;
 
I2C_State = I2C_UNDEF;
 
I2C1_Timeout = 0;
I2C_Heading.Heading = 0;
 
SerialPutString("ok");
}
 
150,34 → 223,48
//--------------------------------------------------------------
void I2C1_IRQHandler(void)
{
u8 data;
 
switch (I2C_GetLastEvent(I2C1))
{
// the start condition was initiated on the bus
case I2C_EVENT_MASTER_MODE_SELECT: // EV5
// reset TX/RX buffer indices
Tx_Idx = 0;
Rx_Idx = 0;
LED_GRN_ON;
// update current bus state variable
switch(I2C_Direction)
{
case I2C_MODE_TRANSMITTER:
I2C_State = I2C_TX_PROGRESS;
break;
I2C_State = I2C_TX_PROGRESS;
break;
 
case I2C_MODE_RECEIVER:
I2C_State = I2C_RX_PROGRESS;
if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0))
{
I2C_GenerateSTOP (I2C1, ENABLE);
I2C_State = I2C_IDLE;
return;
}
else
{
I2C_State = I2C_RX_PROGRESS;
}
break;
 
default:
I2C_State = I2C_UNDEF;
I2C_GenerateSTOP (I2C1, ENABLE);
I2C_State = I2C_IDLE;
LED_GRN_OFF;
return;
 
break;
}
// send address/direction byte on the bus
I2C_AcknowledgeConfig (I2C1, ENABLE);
// send address/direction byte on the bus
I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction);
// reset timeout
I2C1_Timeout = SetDelay(500); // after 500 ms of inactivity the I2C1 bus will be reset
break;
// tha address byte was send
// the address byte was send and slave has been acknowledged
case I2C_EVENT_MASTER_MODE_SELECTED: // EV6
// Clear EV6 by set again the PE bit
I2C1->CR |= 0x20;
186,14 → 273,16
case I2C_TX_PROGRESS:
// send command 1st data byte (allways the command id)
I2C_SendData(I2C1, I2C_Command);
Tx_Idx = 0;
break;
 
case I2C_RX_PROGRESS:
// before the last byte is received the master should disable
// the acknowledge bit to signal the slave that
// no more bytes
// the ACK is disabled here only if 1 byte is expected
if(I2C_RxBufferSize == 1) I2C_AcknowledgeConfig(I2C1, DISABLE);
// if only one byte should be received
if (I2C_RxBufferSize == 1)
{ // send no acknowledge after reception of the first byte
I2C_AcknowledgeConfig (I2C1, DISABLE);
}
Rx_Idx = 0;
break;
 
default:
201,58 → 290,69
I2C_GenerateSTOP (I2C1, ENABLE);
I2C_State = I2C_IDLE;
break;
}
}
break;
 
// the master has transmitted a byte to the slave
case I2C_EVENT_MASTER_BYTE_TRANSMITTED: // EV8
// if all bytes are transmitted
if ( Tx_Idx >= I2C_TxBufferSize ) // all bytes transmitted
// if all bytes are transmitted
if ( (Tx_Idx >= I2C_TxBufferSize) || (I2C_TxBuffer == NULL) ) // all bytes transmitted
{
// generate a STOP condition on the bus
I2C_GenerateSTOP (I2C1, ENABLE); // generate stop condition to free the bus
if (I2C_RxBufferSize > 0) // is any answer byte expected?
if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected?
{
I2C_State = I2C_RX_PENDING; // data can be read back
TimerI2CReadDelay = SetDelay(10); // start master receiver sequence in 10 ms
}
else I2C_State = I2C_IDLE; // ready for new actions
else
{
I2C_State = I2C_IDLE; // ready for new actions
LED_GRN_OFF;
}
}
else // some bytes have to be transmitted
{
I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]); // send next byte
Tx_Idx++;
if(I2C_TxBuffer != NULL)
{
I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx++]); // send next byte
}
else
{ // send a dummy byte (should never happen)
I2C_SendData(I2C1, 0x00);
}
}
break;
// the master has received a byte from the slave
 
// the master has received a byte from the slave
case I2C_EVENT_MASTER_BYTE_RECEIVED: // EV7
data = I2C_ReceiveData(I2C1);
DebugOut.Analog[16]++;
// before the last byte
if ( (Rx_Idx + 2) >= I2C_RxBufferSize )
{ // disable the ACK to signal the slave that the next received byte is the last one
 
// as long as there is some space in the rx-buffer
if ((I2C_RxBuffer != NULL) && (Rx_Idx < I2C_RxBufferSize))
{ // copy received byte from the data register to the rx-buffer
I2C_RxBuffer[Rx_Idx] = data;
}
Rx_Idx++;
// if the 2nd last byte was received disable acknowledge for the last one
if ( (Rx_Idx+1) >= I2C_RxBufferSize )
{
I2C_AcknowledgeConfig (I2C1, DISABLE);
}
// if the last byte was received
if ( (Rx_Idx + 1) >= I2C_RxBufferSize )
// if the last byte was received
if ( Rx_Idx >= I2C_RxBufferSize )
{
// generate a STOP condition on the bus
// generate a STOP condition on the bus
I2C_GenerateSTOP(I2C1, ENABLE);
I2C_State = I2C_IDLE;
LED_GRN_TOGGLE;
LED_GRN_OFF;
}
// as long as there is some space in the rx-buffer
if (Rx_Idx < I2C_RxBufferSize)
{ // copy received byte from the data register to the rx-buffer
I2C_RxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1);
}
else I2C_ReceiveData(I2C1); // just read the data register
Rx_Idx++; // set index to next byte
break;
 
default:
break;
}
}
}
//----------------------------------------------------------------
void I2C1_SendCommand(u8 command)
264,43 → 364,52
I2C_ITConfig(I2C1, DISABLE);
// update current command id
I2C_Command = command;
// set pointers to data area with respect to the command id
// set pointers to data area with respect to the command id
switch (command)
{
case I2C_CMD_VERSION:
I2C_RxBuffer = (u8 *)&I2C_Version;
I2C_RxBufferSize = sizeof(I2C_Version);
I2C_TxBufferSize = 0;
break;
case I2C_CMD_WRITE_EEPROM:
I2C_RxBufferSize = 0;
I2C_TxBuffer = (u8 *)&I2C_WriteEEPROM;
I2C_TxBufferSize = sizeof(I2C_WriteEEPROM);
break;
case I2C_CMD_WRITE_CAL:
I2C_RxBufferSize = 0;
I2C_WriteCal.CalByte = CompassCalState;
I2C_TxBuffer = (u8 *)&I2C_WriteCal;
I2C_TxBufferSize = sizeof(I2C_WriteCal);
break;
case I2C_CMD_READ_EEPROM:
I2C_RxBuffer = (u8 *)&I2C_ReadEEPROM.Content;
I2C_RxBufferSize = 2;
I2C_TxBuffer = (u8 *)&I2C_ReadEEPROM;
I2C_TxBufferSize = 1;
break;
case I2C_CMD_READ_MAG:
I2C_RxBuffer = (u8 *)&I2C_Mag;
I2C_RxBufferSize = sizeof(I2C_Mag);
I2C_TxBufferSize = 0;
break;
case I2C_CMD_READ_HEADING:
I2C_RxBuffer = (u8 *)&I2C_Heading;
I2C_RxBufferSize = sizeof(I2C_Heading);
I2C_TxBuffer = (u8 *)&I2C_WriteAttitude;
I2C_TxBufferSize = sizeof(I2C_WriteAttitude);
break;
 
case I2C_CMD_VERSION:
I2C_RxBuffer = (u8 *)&I2C_Version;
I2C_RxBufferSize = sizeof(I2C_Version);
I2C_TxBuffer = NULL;
I2C_TxBufferSize = 0;
break;
case I2C_CMD_WRITE_EEPROM:
I2C_RxBuffer = NULL;
I2C_RxBufferSize = 0;
I2C_TxBuffer = (u8 *)&I2C_WriteEEPROM;
I2C_TxBufferSize = sizeof(I2C_WriteEEPROM);
break;
case I2C_CMD_WRITE_CAL:
I2C_RxBuffer = NULL;
I2C_RxBufferSize = 0;
I2C_WriteCal.CalByte = CompassCalState;
I2C_TxBuffer = (u8 *)&I2C_WriteCal;
I2C_TxBufferSize = sizeof(I2C_WriteCal);
break;
case I2C_CMD_READ_EEPROM:
I2C_RxBuffer = (u8 *)&I2C_ReadEEPROM.Content;
I2C_RxBufferSize = 2;
I2C_TxBuffer = (u8 *)&I2C_ReadEEPROM;
I2C_TxBufferSize = 1;
break;
case I2C_CMD_READ_MAG:
I2C_RxBuffer = (u8 *)&I2C_Mag;
I2C_RxBufferSize = sizeof(I2C_Mag);
I2C_TxBuffer = NULL;
I2C_TxBufferSize = 0;
break;
case I2C_CMD_READ_HEADING:
I2C_RxBuffer = (u8 *)&I2C_Heading;
I2C_RxBufferSize = sizeof(I2C_Heading);
I2C_TxBuffer = (u8 *)&I2C_WriteAttitude;
I2C_TxBufferSize = sizeof(I2C_WriteAttitude);
break;
default: // unknown command id
I2C_RxBuffer = NULL;
I2C_RxBufferSize = 0;
I2C_TxBuffer = NULL;
I2C_TxBufferSize = 0;
break;
}
// enable I2C IRQ again
I2C_ITConfig(I2C1, ENABLE);
307,8 → 416,8
// set direction to master transmitter
I2C_Direction = I2C_MODE_TRANSMITTER;
// enable acknowledge
I2C_AcknowledgeConfig(I2C1, ENABLE);
// initiale start condition on the bus
//I2C_AcknowledgeConfig(I2C1, ENABLE);
// initiale start condition on the bus
I2C_GenerateStart(I2C1, ENABLE);
// to be continued in the I2C1_IRQHandler() above
}
321,8 → 430,8
// set direction to master receiver
I2C_Direction = I2C_MODE_RECEIVER;
// enable acknowledge
I2C_AcknowledgeConfig(I2C1, ENABLE);
// initiale start condition on the bus
//I2C_AcknowledgeConfig(I2C1, ENABLE);
// initiale start condition on the bus
I2C_GenerateStart(I2C1, ENABLE);
// to be continued in the I2C1_IRQHandler() above
}
/branches/V0.1 killagreg/main.c
167,12 → 167,12
I2C_Version.Major = 0xFF;
I2C_Version.Minor = 0xFF;
I2C_Version.Patch = 0xFF;
I2C1_SendCommand(I2C_CMD_VERSION);
 
TimerCompassUpdate = SetDelay(50);
while (!CheckDelay(TimerCompassUpdate));
while (!CheckDelay(TimerCompassUpdate));
I2C1_SendCommand(I2C_CMD_VERSION);
 
TimerCompassUpdate = SetDelay(5);
TimerI2CReadDelay = SetDelay(5);
TimerKmlAddPointDelay = SetDelay(250);
202,7 → 202,7
I2C1_Deinit();
I2C1_Init();
}
else
else
{
if(oldCompassCalState != CompassCalState)
{
/branches/V0.1 killagreg/timer.c
129,9 → 129,9
}
 
// -----------------------------------------------------------------------
void Delay_ms(u32 wait)
void Delay_ms(u32 w)
{
u32 akt;
akt = SetDelay(wait);
static u32 akt;
akt = SetDelay(w);
while (!CheckDelay(akt));
}