| 88,7 → 88,7 |
|---|
| volatile u8 I2C_ReadRequest = 0; |
| volatile u32 I2C1_Timeout = 0; |
| |
| volatile u8 I2C_PrimRxBuffer[10]; |
| volatile u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers |
| |
| |
| //-------------------------------------------------------------- |
| 222,7 → 222,6 |
|---|
| //-------------------------------------------------------------- |
| void I2C1_IRQHandler(void) |
| { |
| u8 data; |
| u16 status; |
| static u8 crc; |
| // detemine I2C State |
| 239,11 → 238,11 |
|---|
| LED_GRN_OFF; |
| } |
| else |
| { |
| { // depending on current i2c state |
| switch (status) |
| { |
| // the start condition was initiated on the bus |
| case I2C_EVENT_MASTER_MODE_SELECT: // EV5 |
| case I2C_EVENT_MASTER_MODE_SELECT: |
| LED_GRN_ON; |
| // update current bus state variable |
| switch(I2C_Direction) |
| 265,12 → 264,13 |
|---|
| } |
| break; |
| |
| default: |
| default: // invalid direction |
| I2C_GenerateSTOP (I2C1, ENABLE); |
| I2C_State = I2C_IDLE; |
| LED_GRN_OFF; |
| return; |
| } |
| // enable acknowledge |
| I2C_AcknowledgeConfig (I2C1, ENABLE); |
| // send address/direction byte on the bus |
| I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction); |
| 277,9 → 277,10 |
|---|
| break; |
| |
| // the address byte was send |
| case I2C_EVENT_MASTER_MODE_SELECTED: // EV6 |
| case I2C_EVENT_MASTER_MODE_SELECTED: |
| // Clear EV6 by set again the PE bit |
| I2C1->CR |= 0x20; |
| I2C_Cmd(I2C1, ENABLE); |
| // reset checksum |
| crc = 0; |
| switch(I2C_State) |
| { |
| 293,15 → 294,10 |
|---|
| break; |
| |
| case I2C_RX_PROGRESS: |
| // 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: |
| default: // unknown I2C state |
| // should never happen |
| I2C_GenerateSTOP (I2C1, ENABLE); |
| I2C_State = I2C_IDLE; |
| 310,13 → 306,28 |
|---|
| break; |
| |
| // the master has transmitted a byte and slave has been acknowledged |
| case I2C_EVENT_MASTER_BYTE_TRANSMITTED: // EV8 |
| // if all bytes incl. crc are transmitted |
| if ( (Tx_Idx >= I2C_TxBufferSize + 1) || (I2C_TxBuffer == NULL) ) // all bytes transmitted |
| case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
| |
| // some bytes have to be transmitted |
| if(Tx_Idx < I2C_TxBufferSize) |
| { |
| |
| if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected? |
| if(I2C_TxBuffer != NULL) |
| { |
| I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]); |
| crc += I2C_TxBuffer[Tx_Idx]; |
| } |
| else |
| { |
| I2C_SendData(I2C1, 0x00); |
| } |
| } |
| else // the last tx buffer byte was send |
| { |
| // send crc byte at the end |
| I2C_SendData(I2C1, crc); |
| // generate stop or repeated start condition |
| if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected? |
| { |
| I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
| I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
| } |
| 325,61 → 336,48 |
|---|
| I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
| I2C_State = I2C_IDLE; // ready for new actions |
| LED_GRN_OFF; |
| DebugOut.Analog[15]++; |
| } |
| } |
| else // some bytes have to be transmitted |
| { |
| if(Tx_Idx < I2C_TxBufferSize) |
| { |
| if(I2C_TxBuffer != NULL) data = I2C_TxBuffer[Tx_Idx]; |
| else data = 0x00; |
| crc += data; |
| } |
| else // the last tx buffer byte was send |
| { |
| data = crc; |
| } |
| I2C_SendData(I2C1, data); // send next byte |
| Tx_Idx++; |
| } |
| Tx_Idx++; |
| break; |
| |
| // the master has received a byte from the slave |
| case I2C_EVENT_MASTER_BYTE_RECEIVED: // EV7 |
| data = I2C_ReceiveData(I2C1); |
| DebugOut.Analog[16]++; |
| DebugOut.Analog[6] = Rx_Idx; |
| // as long as not all bytes are collected |
| case I2C_EVENT_MASTER_BYTE_RECEIVED: |
| // some bytes have to be received |
| if (Rx_Idx < I2C_RxBufferSize) |
| { // copy received byte from the data register to the rx-buffer |
| I2C_PrimRxBuffer[Rx_Idx] = data; |
| crc += data; |
| I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
| // update checksum |
| crc += I2C_PrimRxBuffer[Rx_Idx]; |
| } |
| Rx_Idx++; |
| // if the 2nd last byte was received disable acknowledge for the last one |
| if ( Rx_Idx == I2C_RxBufferSize ) |
| // if the last byte (crc) was received |
| else if ( Rx_Idx == I2C_RxBufferSize) |
| { |
| I2C_AcknowledgeConfig (I2C1, DISABLE); |
| } |
| // if the last byte was received |
| if ( Rx_Idx == (I2C_RxBufferSize + 1)) |
| { |
| if(data == crc) |
| { |
| // generate a STOP condition on the bus before reading data register |
| I2C_GenerateSTOP(I2C1, ENABLE); |
| // compare last byte with checksum |
| if(crc == I2C_ReceiveData(I2C1)) |
| { // copy primary rx buffer content to rx buffer if exist |
| if(I2C_RxBuffer != NULL) |
| { |
| memcpy((u8 *)I2C_RxBuffer, (u8 *)I2C_PrimRxBuffer, I2C_RxBufferSize); |
| } |
| DebugOut.Analog[15]++; |
| } |
| else // crc error |
| else // checksum error detected |
| { |
| DebugOut.Analog[15]++; |
| DebugOut.Analog[14]++; |
| } |
| // generate a STOP condition on the bus |
| I2C_GenerateSTOP(I2C1, ENABLE); |
| I2C_State = I2C_IDLE; |
| LED_GRN_OFF; |
| } |
| Rx_Idx++; |
| // if the 2nd last byte was received disable acknowledge for the last one |
| if ( Rx_Idx == I2C_RxBufferSize ) |
| { |
| I2C_AcknowledgeConfig (I2C1, DISABLE); |
| } |
| break; |
| |
| default: |
| 409,8 → 407,8 |
|---|
| case I2C_CMD_WRITE_CAL: |
| I2C_RxBuffer = NULL; |
| I2C_RxBufferSize = 0; |
| // update CalByte from spi input queue |
| fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
| DebugOut.Analog[14] = I2C_WriteCal.CalByte; |
| I2C_TxBuffer = (u8 *)&I2C_WriteCal; |
| I2C_TxBufferSize = sizeof(I2C_WriteCal); |
| break; |
| 424,6 → 422,9 |
|---|
| DebugOut.Analog[26] = I2C_Heading.Heading; |
| I2C_RxBuffer = (u8 *)&I2C_Heading; |
| I2C_RxBufferSize = sizeof(I2C_Heading); |
| // updat atitude from spi rx buffer |
| I2C_WriteAttitude.Roll = FromFlightCtrl.IntegralRoll; |
| I2C_WriteAttitude.Nick = FromFlightCtrl.IntegralNick; |
| I2C_TxBuffer = (u8 *)&I2C_WriteAttitude; |
| I2C_TxBufferSize = sizeof(I2C_WriteAttitude); |
| break; |
| 438,7 → 439,9 |
|---|
| I2C_ITConfig(I2C1, ENABLE); |
| // set direction to master transmitter |
| I2C_Direction = I2C_MODE_TRANSMITTER; |
| // initiale start condition on the bus |
| // test on busy flag and clear it |
| I2C_CheckEvent( I2C1, I2C_FLAG_BUSY ); |
| // initiale start condition on the bus |
| I2C_GenerateStart(I2C1, ENABLE); |
| // to be continued in the I2C1_IRQHandler() above |
| } |