Subversion Repositories NaviCtrl

Rev

Rev 41 | Rev 189 | Go to most recent revision | Only display areas with differences | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 41 Rev 146
1 
#ifndef __I2C_H
 1 
#ifndef __I2C_H
2 
#define __I2C_H
 2 
#define __I2C_H
3 
 
 3 
 
4 
 
 4 
 
5 
#define I2C_SLAVE_ADDRESS               0x50
 5 
#define I2C_SLAVE_ADDRESS               0x50
6 
 
 6 
 
7 
#define I2C_CMD_VERSION                 0x01
 7 
#define I2C_CMD_VERSION                 0x01
8 
#define I2C_CMD_READ_MAG        0x02
 8 
#define I2C_CMD_READ_MAG        0x02
9 
#define I2C_CMD_READ_HEADING    0x03
 9 
#define I2C_CMD_READ_HEADING    0x03
10 
#define I2C_CMD_WRITE_CAL       0x04
 10 
#define I2C_CMD_WRITE_CAL       0x04
11 
 
 11 
 
12 
 
 12 
 
13 
typedef struct
 13 
typedef struct
14 
{
 14 
{
15 
  u8 Major;
 15 
  u8 Major;
16 
  u8 Minor;
 16 
  u8 Minor;
17 
  u8 Patch;
 17 
  u8 Patch;
18 
  u8 Compatible;
 18 
  u8 Compatible;
19 
} __attribute__((packed)) I2C_Version_t;
 19 
} __attribute__((packed)) I2C_Version_t;
20 
 
 20 
 
21 
typedef struct
 21 
typedef struct
22 
{
 22 
{
23 
  s16 MagX;
 23 
  s16 MagX;
24 
  s16 MagY;
 24 
  s16 MagY;
25 
  s16 MagZ;
 25 
  s16 MagZ;
26 
} __attribute__((packed)) I2C_Mag_t;
 26 
} __attribute__((packed)) I2C_Mag_t;
27 
 
 27 
 
28 
 
 28 
 
29 
typedef struct
 29 
typedef struct
30 
{
 30 
{
31 
  s16 Nick;
 31 
  s16 Nick;
32 
  s16 Roll;
 32 
  s16 Roll;
33 
} __attribute__((packed)) I2C_WriteAttitude_t;
 33 
} __attribute__((packed)) I2C_WriteAttitude_t;
34 
 
 34 
 
35 
 
 35 
 
36 
typedef struct
 36 
typedef struct
37 
{
 37 
{
38 
  u8 CalByte;
 38 
  u8 CalByte;
39 
  u8 Dummy1;
 39 
  u8 Dummy1;
40 
  u8 Dummy2;
 40 
  u8 Dummy2;
41 
} __attribute__((packed)) I2C_Cal_t;
 41 
} __attribute__((packed)) I2C_Cal_t;
42 
 
 42 
 
43 
typedef struct
 43 
typedef struct
44 
{
 44 
{
45 
  s16 Heading;
 45 
  s16 Heading;
46 
} __attribute__((packed)) I2C_Heading_t;
 46 
} __attribute__((packed)) I2C_Heading_t;
47 
 
 47 
 
48 
typedef enum
 48 
typedef enum
49 
{
 49 
{
50 
        I2C_UNDEF,
 50 
        I2C_UNDEF,
51 
        I2C_IDLE,
 51 
        I2C_IDLE,
52 
        I2C_TX_PROGRESS,
 52 
        I2C_TX_PROGRESS,
53 
        I2C_RX_PENDING,
 53 
        I2C_RX_PENDING,
54 
        I2C_RX_PROGRESS,
 54 
        I2C_RX_PROGRESS,
55 
        I2C_OFF
 55 
        I2C_OFF
56 
} I2C_State_t;
 56 
} I2C_State_t;
57 
 
 57 
 
58 
extern volatile I2C_State_t I2C_State;
 58 
extern volatile I2C_State_t I2C_State;
59 
extern volatile u8 I2C_Direction;
 59 
extern volatile u8 I2C_Direction;
60 
extern volatile u32 I2C1_Timeout;
 60 
extern volatile u32 I2C1_Timeout;
61 
 
 61 
 
62 
extern volatile I2C_Heading_t           I2C_Heading;
 62 
extern volatile I2C_Heading_t           I2C_Heading;
63 
extern volatile I2C_WriteAttitude_t I2C_WriteAttitude;
 63 
extern volatile I2C_WriteAttitude_t I2C_WriteAttitude;
64 
extern volatile I2C_Mag_t                       I2C_Mag;
 64 
extern volatile I2C_Mag_t                       I2C_Mag;
65 
extern volatile I2C_Version_t           MK3MAG_Version;
 65 
extern volatile I2C_Version_t           MK3MAG_Version;
66 
extern volatile I2C_Cal_t                       I2C_WriteCal;
 66 
extern volatile I2C_Cal_t                       I2C_WriteCal;
67 
extern volatile I2C_Cal_t                       I2C_ReadCal;
 67 
extern volatile I2C_Cal_t                       I2C_ReadCal;
68 
extern volatile u32 CheckI2COkay;
 - 
 
69 
 
 68 
 
70 
void I2C1_Init(void);
 69 
void I2C1_Init(void);
71 
void I2C1_Deinit(void);
 70 
void I2C1_Deinit(void);
72 
void I2C1_SendCommand(u8 command);
 71 
void I2C1_SendCommand(u8 command);
73 
void I2C1_GetMK3MagVersion(void);
 72 
void I2C1_GetMK3MagVersion(void);
- 
 
 73 
void I2C1_UpdateCompass(void);
74 
 
 74 
 
75 
#endif // I2C_H
 75 
#endif // I2C_H
76 
 
 76 
 
77 
 
 77