| 80,12 → 80,9 |
|---|
| 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_Version_t I2C_Version; |
| volatile I2C_WriteCal_t I2C_WriteCal; |
| |
| u8 CompassCalState = 0; |
| |
| volatile u8 I2C_ReadRequest = 0; |
| volatile u32 I2C1_Timeout = 0; |
| |
| 214,7 → 211,7 |
|---|
| I2C_State = I2C_UNDEF; |
| |
| I2C1_Timeout = 0; |
| I2C_Heading.Heading = 0; |
| I2C_Heading.Heading = -1; |
| |
| SerialPutString("ok"); |
| } |
| 224,9 → 221,24 |
|---|
| void I2C1_IRQHandler(void) |
| { |
| u8 data; |
| u16 status; |
| // detemine I2C State |
| status = I2C_GetLastEvent(I2C1); |
| |
| switch (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 |
| } |
| I2C_State = I2C_IDLE; |
| LED_GRN_OFF; |
| } |
| else |
| { |
| switch (status) |
| { |
| // the start condition was initiated on the bus |
| case I2C_EVENT_MASTER_MODE_SELECT: // EV5 |
| LED_GRN_ON; |
| 238,33 → 250,30 |
|---|
| break; |
| |
| case I2C_MODE_RECEIVER: |
| if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0)) |
| { |
| 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_GenerateSTOP (I2C1, ENABLE); |
| I2C_State = I2C_IDLE; |
| LED_GRN_OFF; |
| return; |
| } |
| else |
| { |
| I2C_State = I2C_RX_PROGRESS; |
| } |
| break; |
| |
| default: |
| I2C_GenerateSTOP (I2C1, ENABLE); |
| I2C_State = I2C_IDLE; |
| LED_GRN_OFF; |
| return; |
| |
| break; |
| } |
| 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; |
| // the address byte was send and slave has been acknowledged |
| |
| // the address byte was send |
| case I2C_EVENT_MASTER_MODE_SELECTED: // EV6 |
| // Clear EV6 by set again the PE bit |
| I2C1->CR |= 0x20; |
| 274,6 → 283,8 |
|---|
| // send command 1st data byte (allways the command id) |
| I2C_SendData(I2C1, I2C_Command); |
| Tx_Idx = 0; |
| // reset timeout |
| I2C1_Timeout = SetDelay(500); // after 500 ms of inactivity the I2C1 bus will be reset |
| break; |
| |
| case I2C_RX_PROGRESS: |
| 293,21 → 304,21 |
|---|
| } |
| break; |
| |
| // the master has transmitted a byte to the slave |
| // the master has transmitted a byte and slave has been acknowledged |
| case I2C_EVENT_MASTER_BYTE_TRANSMITTED: // EV8 |
| // 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_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 |
| I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
| I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
| } |
| else |
| { |
| I2C_State = I2C_IDLE; // ready for new actions |
| { // stop communication |
| I2C_GenerateSTOP (I2C1, ENABLE); // generate stop condition to free the bus |
| I2C_State = I2C_IDLE; // ready for new actions |
| LED_GRN_OFF; |
| } |
| } |
| 353,12 → 364,13 |
|---|
| default: |
| break; |
| } |
| } |
| } |
| //---------------------------------------------------------------- |
| void I2C1_SendCommand(u8 command) |
| { |
| // If I2C transmission is in progress |
| if (I2C_State != I2C_IDLE) return; // return |
| if (I2C_State != I2C_IDLE) return; // return imediatly if a transfer is still in progress |
| // disable I2C IRQ to avoid read/write access to the tx/rx buffer pointers during |
| // update of that buffer pointers and length |
| I2C_ITConfig(I2C1, DISABLE); |
| 373,12 → 385,6 |
|---|
| 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; |
| 386,12 → 392,6 |
|---|
| 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); |
| 399,6 → 399,7 |
|---|
| I2C_TxBufferSize = 0; |
| break; |
| case I2C_CMD_READ_HEADING: |
| DebugOut.Analog[26] = I2C_Heading.Heading; |
| I2C_RxBuffer = (u8 *)&I2C_Heading; |
| I2C_RxBufferSize = sizeof(I2C_Heading); |
| I2C_TxBuffer = (u8 *)&I2C_WriteAttitude; |
| 415,13 → 416,11 |
|---|
| I2C_ITConfig(I2C1, ENABLE); |
| // set direction to master transmitter |
| I2C_Direction = I2C_MODE_TRANSMITTER; |
| // enable acknowledge |
| //I2C_AcknowledgeConfig(I2C1, ENABLE); |
| // initiale start condition on the bus |
| I2C_GenerateStart(I2C1, ENABLE); |
| // to be continued in the I2C1_IRQHandler() above |
| } |
| |
| /* |
| void I2C1_ReadAnswer(void) |
| { |
| // only if the bus state is matching |
| 429,10 → 428,8 |
|---|
| { |
| // set direction to master receiver |
| I2C_Direction = I2C_MODE_RECEIVER; |
| // enable acknowledge |
| //I2C_AcknowledgeConfig(I2C1, ENABLE); |
| // initiale start condition on the bus |
| I2C_GenerateStart(I2C1, ENABLE); |
| // to be continued in the I2C1_IRQHandler() above |
| } |
| } |
| } */ |