WebSVN - NaviCtrl - Diff - Rev 171 and 184


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + 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.
// + 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,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung 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,
// + 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
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//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include <string.h>
#include "91x_lib.h"
#include "i2c.h"
#include "uart1.h"
#include "timer1.h"
#include "config.h"
#include "main.h"
#include "led.h"
#include "spi_slave.h"
 
 
volatile I2C_State_t I2C_State = I2C_OFF;
volatile u8 I2C_StopPolling = 1;
 
// rxbuffer
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_Direction;
volatile u8 I2C_Command;
 
volatile I2C_Heading_t                  I2C_Heading;
volatile I2C_WriteAttitude_t    I2C_WriteAttitude;
volatile I2C_Mag_t                              I2C_Mag;
volatile I2C_Version_t                  MK3MAG_Version;
volatile I2C_Cal_t                              I2C_WriteCal;
volatile I2C_Cal_t                              I2C_ReadCal;
 
#define I2C1_TIMEOUT 500 // 500 ms
volatile u32 I2C1_Timeout = 0;
volatile u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers
 
//--------------------------------------------------------------
void I2C1_Init(void)
{
        I2C_InitTypeDef   I2C_Struct;
        GPIO_InitTypeDef  GPIO_InitStructure;
       
        I2C_State = I2C_OFF;
 
        UART1_PutString("\r\n I2C 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_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_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);
 
        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 , PRIORITY_I2C1);
        VIC_ITCmd(I2C1_ITLine, ENABLE);
 
        I2C1_Timeout = SetDelay(2*I2C1_TIMEOUT);
        I2C_Heading.Heading = -1;
        I2C_GenerateSTOP(I2C1, ENABLE);
        I2C_State = I2C_IDLE;
 
        I2C_StopPolling = 0; // start polling
 
        UART1_PutString("ok");
}
 
 
//--------------------------------------------------------------
void I2C1_Deinit(void)
{
        GPIO_InitTypeDef  GPIO_InitStructure;
        I2C_StopPolling = 1;// stop polling
        UART1_PutString("\r\n I2C deinit...");
        I2C_GenerateStart(I2C1, DISABLE);
        I2C_GenerateSTOP(I2C1, ENABLE);
        VIC_ITCmd(I2C1_ITLine, DISABLE);
        I2C_State = I2C_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_IPConnected =   GPIO_IPConnected_Disable;
        GPIO_InitStructure.GPIO_Alternate =     GPIO_InputAlt1;
        GPIO_Init(GPIO2, &GPIO_InitStructure);
 
        I2C_TxBuffer = NULL;
        Tx_Idx = 0;
        I2C_TxBufferSize = 0;
 
        I2C_RxBuffer = NULL;
        Rx_Idx = 0;
        I2C_RxBufferSize = 0;
 
        I2C1_Timeout = 0;
        I2C_Heading.Heading = -1;
 
        UART1_PutString("ok");
}
 
 
//--------------------------------------------------------------
void I2C1_IRQHandler(void)
{
        u16 status;
        static u8 crc;
        // 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
                }
                I2C_State = I2C_IDLE;
                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:
                                LED_GRN_ON;
                                // update current bus state variable
                                switch(I2C_Direction)
                                {
                                        case I2C_MODE_TRANSMITTER:
                                                I2C_State = I2C_TX_PROGRESS;
                                                break;
 
                                        case I2C_MODE_RECEIVER:
                                                if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0))
                                                {
                                                        I2C_GenerateSTOP (I2C1, ENABLE);
                                                        I2C_State = I2C_IDLE;
                                                        return;
                                                }
                                                else
                                                {
                                                        I2C_State = I2C_RX_PROGRESS;
                                                }
                                                break;
 
                                        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);
                                break;
 
                        // the address byte was send
                        case I2C_EVENT_MASTER_MODE_SELECTED:
                                // Clear EV6 by set again the PE bit
                                I2C_Cmd(I2C1, ENABLE);
                                // reset checksum
                                crc = 0;
                                switch(I2C_State)
                                {
                                        case I2C_TX_PROGRESS:
                                        // send command 1st data byte (allways the command id)
                                        I2C_SendData(I2C1, I2C_Command);
                                        crc += 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:
                                        Rx_Idx = 0;
                                        break;
 
                                        default: // unknown I2C state
                                        // should never happen
                                        I2C_GenerateSTOP (I2C1, ENABLE);
                                        I2C_State = I2C_IDLE;
                                        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 < I2C_TxBufferSize)
                                {
                                        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
                                        crc = ~crc; // flip all bits in the checksum
                                        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
                                        }
                                        else
                                        {   // stop communication
                                                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]++;
                                        }
                                }
                                Tx_Idx++;
                                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 < I2C_RxBufferSize)
                                {       // copy received byte  from the data register to the rx-buffer
                                        I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1);
                                        // update checksum
                                        crc += I2C_PrimRxBuffer[Rx_Idx];
                                }
                                // if the last byte (crc) was received
                                else if ( Rx_Idx == I2C_RxBufferSize)
                                {
                                        // generate a STOP condition on the bus before reading data register
                                        I2C_GenerateSTOP(I2C1, ENABLE);
                                        // compare last byte with checksum
                                        crc = ~crc;// flip all bits in calulated 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);
                                                }
                                                I2C1_Timeout = SetDelay(500);
                                                DebugOut.Analog[15]++;
                                        }
                                        else // checksum error detected
                                        {
//                                              DebugOut.Analog[14]++;
                                        }
                                        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:
                                break;
                }
        }
}
//----------------------------------------------------------------
void I2C1_SendCommand(u8 command)
{
        // If I2C transmission is in progress
        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);
        // update current command id
        I2C_Command = command;
        // set pointers to data area with respect to the command id
        switch (command)
        {
                case I2C_CMD_VERSION:
                        I2C_RxBuffer = (u8 *)&MK3MAG_Version;
                        I2C_RxBufferSize = sizeof(MK3MAG_Version);
                        I2C_TxBuffer = NULL;
                        I2C_TxBufferSize = 0;
                        break;
                case I2C_CMD_WRITE_CAL:
                        I2C_RxBuffer = (u8 *)&I2C_ReadCal;
                        I2C_RxBufferSize = sizeof(I2C_ReadCal);
                        I2C_TxBuffer = (u8 *)&I2C_WriteCal;
                        I2C_TxBufferSize = sizeof(I2C_WriteCal);
                        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:
                        DebugOut.Analog[10] = I2C_Heading.Heading;
                        I2C_RxBuffer = (u8 *)&I2C_Heading;
                        I2C_RxBufferSize = sizeof(I2C_Heading);
                        // updat atitude from spi rx buffer
                        I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll;
                        I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick;
                        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;
        }
        // set direction to master transmitter
        I2C_Direction = I2C_MODE_TRANSMITTER;
        // test on busy flag and clear it
        I2C_CheckEvent( I2C1, I2C_FLAG_BUSY );
        // enable I2C IRQ again
        I2C_ITConfig(I2C1, ENABLE);
        // initiale start condition on the bus
        I2C_GenerateStart(I2C1, ENABLE);
        // to be continued in the I2C1_IRQHandler() above
}
 
//----------------------------------------------------------------
void I2C1_GetMK3MagVersion(void)
{
        u8 msg[64];
        u8 repeat;
        u32 timeout;
       
        UART1_PutString("\r\n Getting Version from MK3MAG");
        // stop polling of other commands
        I2C_StopPolling = 1;
 
        MK3MAG_Version.Major = 0xFF;
        MK3MAG_Version.Minor = 0xFF;
        MK3MAG_Version.Patch = 0xFF;
        MK3MAG_Version.Compatible = 0xFF;
        // polling of version info
        repeat = 0;
        do
        {
                I2C1_SendCommand(I2C_CMD_VERSION);
                timeout = SetDelay(250);
                do
                {
                        if (MK3MAG_Version.Major != 0xFF) break; // break loop on success
                }while (!CheckDelay(timeout));
                UART1_PutString(".");
                repeat++;
        }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s
        // if we got it
        if (MK3MAG_Version.Major != 0xFF)
        {
                sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
                UART1_PutString(msg);
                sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible);
                UART1_PutString(msg);
        }
        else UART1_PutString("\n\r No version information from MK3Mag.");
 
        I2C_StopPolling = 0; // enable polling of heading command
}
 
 
//----------------------------------------------------------------
void I2C1_UpdateCompass(void)
{
        static u32 TimerCompassUpdate = 0;
 
        if( (I2C_State == I2C_OFF) || I2C_StopPolling ) return;
       
        if(CheckDelay(TimerCompassUpdate))
        {
                // check for incomming compass calibration request
                // update CalByte from spi input queue
                fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte));
                // send new calstate
                if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte)
                {
                        I2C1_SendCommand(I2C_CMD_WRITE_CAL);
                }
                else // request current heading
                {
                        I2C1_SendCommand(I2C_CMD_READ_HEADING);
                }
                TimerCompassUpdate = SetDelay(25);    // every 25 ms
        }
}
 

Rev 171	Rev 184
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
34	// + this list of conditions and the following disclaimer.	34	// + this list of conditions and the following disclaimer.
35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36	// + from this software without specific prior written permission.	36	// + from this software without specific prior written permission.
37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
38	// + for non-commercial use (directly or indirectly)	38	// + for non-commercial use (directly or indirectly)
39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
40	// + with our written permission	40	// + with our written permission
41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
42	// + clearly linked as origin	42	// + clearly linked as origin
43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
44	//	44	//
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
55	// + POSSIBILITY OF SUCH DAMAGE.	55	// + POSSIBILITY OF SUCH DAMAGE.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
57	#include <stdlib.h>	57	#include <stdlib.h>
58	#include <string.h>	58	#include <string.h>
59	#include "91x_lib.h"	59	#include "91x_lib.h"
60	#include "i2c.h"	60	#include "i2c.h"
61	#include "uart1.h"	61	#include "uart1.h"
62	#include "timer1.h"	62	#include "timer1.h"
63	#include "config.h"	63	#include "config.h"
64	#include "main.h"	64	#include "main.h"
65	#include "led.h"	65	#include "led.h"
66	#include "spi_slave.h"	66	#include "spi_slave.h"
67		67
68		68
69	volatile I2C_State_t I2C_State = I2C_OFF;	69	volatile I2C_State_t I2C_State = I2C_OFF;
70	volatile u8 I2C_StopPolling = 1;	70	volatile u8 I2C_StopPolling = 1;
71		71
72	// rxbuffer	72	// rxbuffer
73	volatile u8 I2C_RxBufferSize;	73	volatile u8 I2C_RxBufferSize;
74	volatile u8 *I2C_RxBuffer;	74	volatile u8 *I2C_RxBuffer;
75	volatile u8 Rx_Idx = 0;	75	volatile u8 Rx_Idx = 0;
76	// txbuffer	76	// txbuffer
77	volatile u8 I2C_TxBufferSize;	77	volatile u8 I2C_TxBufferSize;
78	volatile u8 *I2C_TxBuffer;	78	volatile u8 *I2C_TxBuffer;
79	volatile u8 Tx_Idx = 0;	79	volatile u8 Tx_Idx = 0;
80		80
81	volatile u8 I2C_Direction;	81	volatile u8 I2C_Direction;
82	volatile u8 I2C_Command;	82	volatile u8 I2C_Command;
83		83
84	volatile I2C_Heading_t I2C_Heading;	84	volatile I2C_Heading_t I2C_Heading;
85	volatile I2C_WriteAttitude_t I2C_WriteAttitude;	85	volatile I2C_WriteAttitude_t I2C_WriteAttitude;
86	volatile I2C_Mag_t I2C_Mag;	86	volatile I2C_Mag_t I2C_Mag;
87	volatile I2C_Version_t MK3MAG_Version;	87	volatile I2C_Version_t MK3MAG_Version;
88	volatile I2C_Cal_t I2C_WriteCal;	88	volatile I2C_Cal_t I2C_WriteCal;
89	volatile I2C_Cal_t I2C_ReadCal;	89	volatile I2C_Cal_t I2C_ReadCal;
90		90
91	#define I2C1_TIMEOUT 500 // 500 ms	91	#define I2C1_TIMEOUT 500 // 500 ms
92	volatile u32 I2C1_Timeout = 0;	92	volatile u32 I2C1_Timeout = 0;
93	volatile u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers	93	volatile u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers
94		94
95	//--------------------------------------------------------------	95	//--------------------------------------------------------------
96	void I2C1_Init(void)	96	void I2C1_Init(void)
97	{	97	{
98	I2C_InitTypeDef I2C_Struct;	98	I2C_InitTypeDef I2C_Struct;
99	GPIO_InitTypeDef GPIO_InitStructure;	99	GPIO_InitTypeDef GPIO_InitStructure;
100		100
101	I2C_State = I2C_OFF;	101	I2C_State = I2C_OFF;
102		102
103	UART1_PutString("\r\n I2C init...");	103	UART1_PutString("\r\n I2C init...");
104	// enable Port 2 peripherie	104	// enable Port 2 peripherie
105	SCU_APBPeriphClockConfig(__GPIO2, ENABLE);	105	SCU_APBPeriphClockConfig(__GPIO2, ENABLE);
106	// disable a reset state	106	// disable a reset state
107	SCU_APBPeriphReset(__GPIO2, DISABLE);	107	SCU_APBPeriphReset(__GPIO2, DISABLE);
108		108
109	// free a busy bus	109	// free a busy bus
110		110
111	// At switch on I2C devices can get in a state where they	111	// At switch on I2C devices can get in a state where they
112	// are still waiting for a command due to all the bus lines bouncing	112	// are still waiting for a command due to all the bus lines bouncing
113	// around at startup have started clocking data into the device(s).	113	// around at startup have started clocking data into the device(s).
114	// Enable the ports as open collector port outputs	114	// Enable the ports as open collector port outputs
115	// and clock out at least 9 SCL pulses, then generate a stop	115	// and clock out at least 9 SCL pulses, then generate a stop
116	// condition and then leave the clock line high.	116	// condition and then leave the clock line high.
117		117
118	// configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation	118	// configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation
119	GPIO_StructInit(&GPIO_InitStructure);	119	GPIO_StructInit(&GPIO_InitStructure);
120	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	120	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
121	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;	121	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;
122	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;	122	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;
123	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;	123	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;
124	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1;	124	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1;
125	GPIO_Init(GPIO2, &GPIO_InitStructure);	125	GPIO_Init(GPIO2, &GPIO_InitStructure);
126		126
127	u8 i;	127	u8 i;
128	u32 delay;	128	u32 delay;
129	// set SCL high and then SDA to low (start condition)	129	// set SCL high and then SDA to low (start condition)
130	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET);	130	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET);
131	delay = SetDelay(1);	131	delay = SetDelay(1);
132	while (!CheckDelay(delay));	132	while (!CheckDelay(delay));
133	GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET);	133	GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET);
134	// toggle SCL at least 10 times from high to low to high	134	// toggle SCL at least 10 times from high to low to high
135	for(i = 0; i < 10; i++)	135	for(i = 0; i < 10; i++)
136	{	136	{
137	delay = SetDelay(1);	137	delay = SetDelay(1);
138	while (!CheckDelay(delay));	138	while (!CheckDelay(delay));
139		139
140	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET);	140	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET);
141	delay = SetDelay(1);	141	delay = SetDelay(1);
142	while (!CheckDelay(delay));	142	while (!CheckDelay(delay));
143	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET);	143	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET);
144	}	144	}
145	delay = SetDelay(1);	145	delay = SetDelay(1);
146	while (!CheckDelay(delay));	146	while (!CheckDelay(delay));
147	// create stop condition setting SDA HIGH when SCL is HIGH	147	// create stop condition setting SDA HIGH when SCL is HIGH
148	GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET);	148	GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET);
149		149
150		150
151	// reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT	151	// reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT
152	GPIO_StructInit(&GPIO_InitStructure);	152	GPIO_StructInit(&GPIO_InitStructure);
153	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	153	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
154	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;	154	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;
155	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;	155	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;
156	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;	156	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
157	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT	157	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT
158	GPIO_Init(GPIO2, &GPIO_InitStructure);	158	GPIO_Init(GPIO2, &GPIO_InitStructure);
159		159
160	// enable I2C peripherie	160	// enable I2C peripherie
161	SCU_APBPeriphClockConfig(__I2C1,ENABLE);	161	SCU_APBPeriphClockConfig(__I2C1,ENABLE);
162	// reset I2C peripherie	162	// reset I2C peripherie
163	SCU_APBPeriphReset(__I2C1,ENABLE);	163	SCU_APBPeriphReset(__I2C1,ENABLE);
164	SCU_APBPeriphReset(__I2C1,DISABLE);	164	SCU_APBPeriphReset(__I2C1,DISABLE);
165		165
166	I2C_DeInit(I2C1);	166	I2C_DeInit(I2C1);
167	I2C_StructInit(&I2C_Struct);	167	I2C_StructInit(&I2C_Struct);
168	I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable;	168	I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable;
169	I2C_Struct.I2C_Ack = I2C_Ack_Enable;	169	I2C_Struct.I2C_Ack = I2C_Ack_Enable;
170	I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK;	170	I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK;
171	I2C_Struct.I2C_OwnAddress = 0x00;	171	I2C_Struct.I2C_OwnAddress = 0x00;
172	I2C_Init(I2C1, &I2C_Struct);	172	I2C_Init(I2C1, &I2C_Struct);
173		173
174	I2C_TxBuffer = NULL;	174	I2C_TxBuffer = NULL;
175	Tx_Idx = 0;	175	Tx_Idx = 0;
176	I2C_TxBufferSize = 0;	176	I2C_TxBufferSize = 0;
177		177
178	I2C_RxBuffer = NULL;	178	I2C_RxBuffer = NULL;
179	Rx_Idx = 0;	179	Rx_Idx = 0;
180	I2C_RxBufferSize = 0;	180	I2C_RxBufferSize = 0;
181		181
182	I2C_Cmd(I2C1, ENABLE);	182	I2C_Cmd(I2C1, ENABLE);
183	I2C_ITConfig(I2C1, ENABLE);	183	I2C_ITConfig(I2C1, ENABLE);
184		184
185	VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1);	185	VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1);
186	VIC_ITCmd(I2C1_ITLine, ENABLE);	186	VIC_ITCmd(I2C1_ITLine, ENABLE);
187		187
188	I2C1_Timeout = SetDelay(2*I2C1_TIMEOUT);	188	I2C1_Timeout = SetDelay(2*I2C1_TIMEOUT);
189	I2C_Heading.Heading = -1;	189	I2C_Heading.Heading = -1;
190	I2C_GenerateSTOP(I2C1, ENABLE);	190	I2C_GenerateSTOP(I2C1, ENABLE);
191	I2C_State = I2C_IDLE;	191	I2C_State = I2C_IDLE;
192		192
193	I2C_StopPolling = 0; // start polling	193	I2C_StopPolling = 0; // start polling
194		194
195	UART1_PutString("ok");	195	UART1_PutString("ok");
196	}	196	}
197		197
198		198
199	//--------------------------------------------------------------	199	//--------------------------------------------------------------
200	void I2C1_Deinit(void)	200	void I2C1_Deinit(void)
201	{	201	{
202	GPIO_InitTypeDef GPIO_InitStructure;	202	GPIO_InitTypeDef GPIO_InitStructure;
203	I2C_StopPolling = 1;// stop polling	203	I2C_StopPolling = 1;// stop polling
204	UART1_PutString("\r\n I2C deinit...");	204	UART1_PutString("\r\n I2C deinit...");
205	I2C_GenerateStart(I2C1, DISABLE);	205	I2C_GenerateStart(I2C1, DISABLE);
206	I2C_GenerateSTOP(I2C1, ENABLE);	206	I2C_GenerateSTOP(I2C1, ENABLE);
207	VIC_ITCmd(I2C1_ITLine, DISABLE);	207	VIC_ITCmd(I2C1_ITLine, DISABLE);
208	I2C_State = I2C_OFF;	208	I2C_State = I2C_OFF;
209	I2C_ITConfig(I2C1, DISABLE);	209	I2C_ITConfig(I2C1, DISABLE);
210	I2C_Cmd(I2C1, DISABLE);	210	I2C_Cmd(I2C1, DISABLE);
211	I2C_DeInit(I2C1);	211	I2C_DeInit(I2C1);
212	SCU_APBPeriphClockConfig(__I2C1, DISABLE);	212	SCU_APBPeriphClockConfig(__I2C1, DISABLE);
213		213
214	// set ports to input	214	// set ports to input
215	SCU_APBPeriphClockConfig(__GPIO2, ENABLE);	215	SCU_APBPeriphClockConfig(__GPIO2, ENABLE);
216	GPIO_StructInit(&GPIO_InitStructure);	216	GPIO_StructInit(&GPIO_InitStructure);
217	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;	217	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
218	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;	218	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;
219	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	219	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
220	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;	220	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;
221	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;	221	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;
222	GPIO_Init(GPIO2, &GPIO_InitStructure);	222	GPIO_Init(GPIO2, &GPIO_InitStructure);
223		223
224	I2C_TxBuffer = NULL;	224	I2C_TxBuffer = NULL;
225	Tx_Idx = 0;	225	Tx_Idx = 0;
226	I2C_TxBufferSize = 0;	226	I2C_TxBufferSize = 0;
227		227
228	I2C_RxBuffer = NULL;	228	I2C_RxBuffer = NULL;
229	Rx_Idx = 0;	229	Rx_Idx = 0;
230	I2C_RxBufferSize = 0;	230	I2C_RxBufferSize = 0;
231		231
232	I2C1_Timeout = 0;	232	I2C1_Timeout = 0;
233	I2C_Heading.Heading = -1;	233	I2C_Heading.Heading = -1;
234		234
235	UART1_PutString("ok");	235	UART1_PutString("ok");
236	}	236	}
237		237
238		238
239	//--------------------------------------------------------------	239	//--------------------------------------------------------------
240	void I2C1_IRQHandler(void)	240	void I2C1_IRQHandler(void)
241	{	241	{
242	u16 status;	242	u16 status;
243	static u8 crc;	243	static u8 crc;
244	// detemine I2C State	244	// detemine I2C State
245	status = I2C_GetLastEvent(I2C1);	245	status = I2C_GetLastEvent(I2C1);
246		246
247	if(status & (I2C_FLAG_AF\|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured	247	if(status & (I2C_FLAG_AF\|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured
248	{ // Set and subsequently clear the STOP bit while BTF is set.	248	{ // Set and subsequently clear the STOP bit while BTF is set.
249	while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET)	249	while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET)
250	{	250	{
251	I2C_GenerateSTOP (I2C1, ENABLE); // free the bus	251	I2C_GenerateSTOP (I2C1, ENABLE); // free the bus
252	I2C_GenerateSTOP (I2C1, DISABLE); // free the bus	252	I2C_GenerateSTOP (I2C1, DISABLE); // free the bus
253	}	253	}
254	I2C_State = I2C_IDLE;	254	I2C_State = I2C_IDLE;
255	LED_GRN_OFF;	255	LED_GRN_OFF;
256	}	256	}
257	else	257	else
258	{ // depending on current i2c state	258	{ // depending on current i2c state
259	switch (status)	259	switch (status)
260	{	260	{
261	// the start condition was initiated on the bus	261	// the start condition was initiated on the bus
262	case I2C_EVENT_MASTER_MODE_SELECT:	262	case I2C_EVENT_MASTER_MODE_SELECT:
263	LED_GRN_ON;	263	LED_GRN_ON;
264	// update current bus state variable	264	// update current bus state variable
265	switch(I2C_Direction)	265	switch(I2C_Direction)
266	{	266	{
267	case I2C_MODE_TRANSMITTER:	267	case I2C_MODE_TRANSMITTER:
268	I2C_State = I2C_TX_PROGRESS;	268	I2C_State = I2C_TX_PROGRESS;
269	break;	269	break;
270		270
271	case I2C_MODE_RECEIVER:	271	case I2C_MODE_RECEIVER:
272	if ((I2C_RxBuffer == NULL) \|\| (I2C_RxBufferSize == 0))	272	if ((I2C_RxBuffer == NULL) \|\| (I2C_RxBufferSize == 0))
273	{	273	{
274	I2C_GenerateSTOP (I2C1, ENABLE);	274	I2C_GenerateSTOP (I2C1, ENABLE);
275	I2C_State = I2C_IDLE;	275	I2C_State = I2C_IDLE;
276	return;	276	return;
277	}	277	}
278	else	278	else
279	{	279	{
280	I2C_State = I2C_RX_PROGRESS;	280	I2C_State = I2C_RX_PROGRESS;
281	}	281	}
282	break;	282	break;
283		283
284	default: // invalid direction	284	default: // invalid direction
285	I2C_GenerateSTOP (I2C1, ENABLE);	285	I2C_GenerateSTOP (I2C1, ENABLE);
286	I2C_State = I2C_IDLE;	286	I2C_State = I2C_IDLE;
287	LED_GRN_OFF;	287	LED_GRN_OFF;
288	return;	288	return;
289	}	289	}
290	// enable acknowledge	290	// enable acknowledge
291	I2C_AcknowledgeConfig (I2C1, ENABLE);	291	I2C_AcknowledgeConfig (I2C1, ENABLE);
292	// send address/direction byte on the bus	292	// send address/direction byte on the bus
293	I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction);	293	I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction);
294	break;	294	break;
295		295
296	// the address byte was send	296	// the address byte was send
297	case I2C_EVENT_MASTER_MODE_SELECTED:	297	case I2C_EVENT_MASTER_MODE_SELECTED:
298	// Clear EV6 by set again the PE bit	298	// Clear EV6 by set again the PE bit
299	I2C_Cmd(I2C1, ENABLE);	299	I2C_Cmd(I2C1, ENABLE);
300	// reset checksum	300	// reset checksum
301	crc = 0;	301	crc = 0;
302	switch(I2C_State)	302	switch(I2C_State)
303	{	303	{
304	case I2C_TX_PROGRESS:	304	case I2C_TX_PROGRESS:
305	// send command 1st data byte (allways the command id)	305	// send command 1st data byte (allways the command id)
306	I2C_SendData(I2C1, I2C_Command);	306	I2C_SendData(I2C1, I2C_Command);
307	crc += I2C_Command;	307	crc += I2C_Command;
308	Tx_Idx = 0;	308	Tx_Idx = 0;
309	// reset timeout	309	// reset timeout
310	I2C1_Timeout = SetDelay(500); // after 500 ms of inactivity the I2C1 bus will be reset	310	I2C1_Timeout = SetDelay(500); // after 500 ms of inactivity the I2C1 bus will be reset
311	break;	311	break;
312		312
313	case I2C_RX_PROGRESS:	313	case I2C_RX_PROGRESS:
314	Rx_Idx = 0;	314	Rx_Idx = 0;
315	break;	315	break;
316		316
317	default: // unknown I2C state	317	default: // unknown I2C state
318	// should never happen	318	// should never happen
319	I2C_GenerateSTOP (I2C1, ENABLE);	319	I2C_GenerateSTOP (I2C1, ENABLE);
320	I2C_State = I2C_IDLE;	320	I2C_State = I2C_IDLE;
321	break;	321	break;
322	}	322	}
323	break;	323	break;
324		324
325	// the master has transmitted a byte and slave has been acknowledged	325	// the master has transmitted a byte and slave has been acknowledged
326	case I2C_EVENT_MASTER_BYTE_TRANSMITTED:	326	case I2C_EVENT_MASTER_BYTE_TRANSMITTED:
327		327
328	// some bytes have to be transmitted	328	// some bytes have to be transmitted
329	if(Tx_Idx < I2C_TxBufferSize)	329	if(Tx_Idx < I2C_TxBufferSize)
330	{	330	{
331	if(I2C_TxBuffer != NULL)	331	if(I2C_TxBuffer != NULL)
332	{	332	{
333	I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]);	333	I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]);
334	crc += I2C_TxBuffer[Tx_Idx];	334	crc += I2C_TxBuffer[Tx_Idx];
335	}	335	}
336	else	336	else
337	{	337	{
338	I2C_SendData(I2C1, 0x00);	338	I2C_SendData(I2C1, 0x00);
339	}	339	}
340	}	340	}
341	else // the last tx buffer byte was send	341	else // the last tx buffer byte was send
342	{	342	{
343	// send crc byte at the end	343	// send crc byte at the end
344	crc = ~crc; // flip all bits in the checksum	344	crc = ~crc; // flip all bits in the checksum
345	I2C_SendData(I2C1, crc);	345	I2C_SendData(I2C1, crc);
346	// generate stop or repeated start condition	346	// generate stop or repeated start condition
347	if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected?	347	if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected?
348	{	348	{
349	I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition	349	I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition
350	I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus	350	I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus
351	}	351	}
352	else	352	else
353	{ // stop communication	353	{ // stop communication
354	I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus	354	I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus
355	I2C_State = I2C_IDLE; // ready for new actions	355	I2C_State = I2C_IDLE; // ready for new actions
356	LED_GRN_OFF;	356	LED_GRN_OFF;
357	DebugOut.Analog[15]++;	357	DebugOut.Analog[15]++;
358	}	358	}
359	}	359	}
360	Tx_Idx++;	360	Tx_Idx++;
361	break;	361	break;
362		362
363	// the master has received a byte from the slave	363	// the master has received a byte from the slave
364	case I2C_EVENT_MASTER_BYTE_RECEIVED:	364	case I2C_EVENT_MASTER_BYTE_RECEIVED:
365	// some bytes have to be received	365	// some bytes have to be received
366	if (Rx_Idx < I2C_RxBufferSize)	366	if (Rx_Idx < I2C_RxBufferSize)
367	{ // copy received byte from the data register to the rx-buffer	367	{ // copy received byte from the data register to the rx-buffer
368	I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1);	368	I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1);
369	// update checksum	369	// update checksum
370	crc += I2C_PrimRxBuffer[Rx_Idx];	370	crc += I2C_PrimRxBuffer[Rx_Idx];
371	}	371	}
372	// if the last byte (crc) was received	372	// if the last byte (crc) was received
373	else if ( Rx_Idx == I2C_RxBufferSize)	373	else if ( Rx_Idx == I2C_RxBufferSize)
374	{	374	{
375	// generate a STOP condition on the bus before reading data register	375	// generate a STOP condition on the bus before reading data register
376	I2C_GenerateSTOP(I2C1, ENABLE);	376	I2C_GenerateSTOP(I2C1, ENABLE);
377	// compare last byte with checksum	377	// compare last byte with checksum
378	crc = ~crc;// flip all bits in calulated checksum	378	crc = ~crc;// flip all bits in calulated checksum
379	if(crc == I2C_ReceiveData(I2C1))	379	if(crc == I2C_ReceiveData(I2C1))
380	{ // copy primary rx buffer content to rx buffer if exist	380	{ // copy primary rx buffer content to rx buffer if exist
381	if(I2C_RxBuffer != NULL)	381	if(I2C_RxBuffer != NULL)
382	{	382	{
383	memcpy((u8 )I2C_RxBuffer, (u8 )I2C_PrimRxBuffer, I2C_RxBufferSize);	383	memcpy((u8 )I2C_RxBuffer, (u8 )I2C_PrimRxBuffer, I2C_RxBufferSize);
384	}	384	}
385	I2C1_Timeout = SetDelay(500);	385	I2C1_Timeout = SetDelay(500);
386	DebugOut.Analog[15]++;	386	DebugOut.Analog[15]++;
387	}	387	}
388	else // checksum error detected	388	else // checksum error detected
389	{	389	{
390	DebugOut.Analog[14]++;	390	// DebugOut.Analog[14]++;
391	}	391	}
392	I2C_State = I2C_IDLE;	392	I2C_State = I2C_IDLE;
393	LED_GRN_OFF;	393	LED_GRN_OFF;
394	}	394	}
395	Rx_Idx++;	395	Rx_Idx++;
396	// if the 2nd last byte was received disable acknowledge for the last one	396	// if the 2nd last byte was received disable acknowledge for the last one
397	if ( Rx_Idx == I2C_RxBufferSize )	397	if ( Rx_Idx == I2C_RxBufferSize )
398	{	398	{
399	I2C_AcknowledgeConfig (I2C1, DISABLE);	399	I2C_AcknowledgeConfig (I2C1, DISABLE);
400	}	400	}
401	break;	401	break;
402		402
403	default:	403	default:
404	break;	404	break;
405	}	405	}
406	}	406	}
407	}	407	}
408	//----------------------------------------------------------------	408	//----------------------------------------------------------------
409	void I2C1_SendCommand(u8 command)	409	void I2C1_SendCommand(u8 command)
410	{	410	{
411	// If I2C transmission is in progress	411	// If I2C transmission is in progress
412	if(I2C_State != I2C_IDLE) return; // return imediatly if a transfer is still in progress	412	if(I2C_State != I2C_IDLE) return; // return imediatly if a transfer is still in progress
413	// disable I2C IRQ to avoid read/write access to the tx/rx buffer pointers during	413	// disable I2C IRQ to avoid read/write access to the tx/rx buffer pointers during
414	// update of that buffer pointers and length	414	// update of that buffer pointers and length
415	I2C_ITConfig(I2C1, DISABLE);	415	I2C_ITConfig(I2C1, DISABLE);
416	// update current command id	416	// update current command id
417	I2C_Command = command;	417	I2C_Command = command;
418	// set pointers to data area with respect to the command id	418	// set pointers to data area with respect to the command id
419	switch (command)	419	switch (command)
420	{	420	{
421	case I2C_CMD_VERSION:	421	case I2C_CMD_VERSION:
422	I2C_RxBuffer = (u8 *)&MK3MAG_Version;	422	I2C_RxBuffer = (u8 *)&MK3MAG_Version;
423	I2C_RxBufferSize = sizeof(MK3MAG_Version);	423	I2C_RxBufferSize = sizeof(MK3MAG_Version);
424	I2C_TxBuffer = NULL;	424	I2C_TxBuffer = NULL;
425	I2C_TxBufferSize = 0;	425	I2C_TxBufferSize = 0;
426	break;	426	break;
427	case I2C_CMD_WRITE_CAL:	427	case I2C_CMD_WRITE_CAL:
428	I2C_RxBuffer = (u8 *)&I2C_ReadCal;	428	I2C_RxBuffer = (u8 *)&I2C_ReadCal;
429	I2C_RxBufferSize = sizeof(I2C_ReadCal);	429	I2C_RxBufferSize = sizeof(I2C_ReadCal);
430	I2C_TxBuffer = (u8 *)&I2C_WriteCal;	430	I2C_TxBuffer = (u8 *)&I2C_WriteCal;
431	I2C_TxBufferSize = sizeof(I2C_WriteCal);	431	I2C_TxBufferSize = sizeof(I2C_WriteCal);
432	break;	432	break;
433	case I2C_CMD_READ_MAG:	433	case I2C_CMD_READ_MAG:
434	I2C_RxBuffer = (u8 *)&I2C_Mag;	434	I2C_RxBuffer = (u8 *)&I2C_Mag;
435	I2C_RxBufferSize = sizeof(I2C_Mag);	435	I2C_RxBufferSize = sizeof(I2C_Mag);
436	I2C_TxBuffer = NULL;	436	I2C_TxBuffer = NULL;
437	I2C_TxBufferSize = 0;	437	I2C_TxBufferSize = 0;
438	break;	438	break;
439	case I2C_CMD_READ_HEADING:	439	case I2C_CMD_READ_HEADING:
440	DebugOut.Analog[10] = I2C_Heading.Heading;	440	DebugOut.Analog[10] = I2C_Heading.Heading;
441	I2C_RxBuffer = (u8 *)&I2C_Heading;	441	I2C_RxBuffer = (u8 *)&I2C_Heading;
442	I2C_RxBufferSize = sizeof(I2C_Heading);	442	I2C_RxBufferSize = sizeof(I2C_Heading);
443	// updat atitude from spi rx buffer	443	// updat atitude from spi rx buffer
444	I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll;	444	I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll;
445	I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick;	445	I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick;
446	I2C_TxBuffer = (u8 *)&I2C_WriteAttitude;	446	I2C_TxBuffer = (u8 *)&I2C_WriteAttitude;
447	I2C_TxBufferSize = sizeof(I2C_WriteAttitude);	447	I2C_TxBufferSize = sizeof(I2C_WriteAttitude);
448	break;	448	break;
449	default: // unknown command id	449	default: // unknown command id
450	I2C_RxBuffer = NULL;	450	I2C_RxBuffer = NULL;
451	I2C_RxBufferSize = 0;	451	I2C_RxBufferSize = 0;
452	I2C_TxBuffer = NULL;	452	I2C_TxBuffer = NULL;
453	I2C_TxBufferSize = 0;	453	I2C_TxBufferSize = 0;
454	break;	454	break;
455	}	455	}
456	// set direction to master transmitter	456	// set direction to master transmitter
457	I2C_Direction = I2C_MODE_TRANSMITTER;	457	I2C_Direction = I2C_MODE_TRANSMITTER;
458	// test on busy flag and clear it	458	// test on busy flag and clear it
459	I2C_CheckEvent( I2C1, I2C_FLAG_BUSY );	459	I2C_CheckEvent( I2C1, I2C_FLAG_BUSY );
460	// enable I2C IRQ again	460	// enable I2C IRQ again
461	I2C_ITConfig(I2C1, ENABLE);	461	I2C_ITConfig(I2C1, ENABLE);
462	// initiale start condition on the bus	462	// initiale start condition on the bus
463	I2C_GenerateStart(I2C1, ENABLE);	463	I2C_GenerateStart(I2C1, ENABLE);
464	// to be continued in the I2C1_IRQHandler() above	464	// to be continued in the I2C1_IRQHandler() above
465	}	465	}
466		466
467	//----------------------------------------------------------------	467	//----------------------------------------------------------------
468	void I2C1_GetMK3MagVersion(void)	468	void I2C1_GetMK3MagVersion(void)
469	{	469	{
470	u8 msg[64];	470	u8 msg[64];
471	u8 repeat;	471	u8 repeat;
472	u32 timeout;	472	u32 timeout;
473		473
474	UART1_PutString("\r\n Getting Version from MK3MAG");	474	UART1_PutString("\r\n Getting Version from MK3MAG");
475	// stop polling of other commands	475	// stop polling of other commands
476	I2C_StopPolling = 1;	476	I2C_StopPolling = 1;
477		477
478	MK3MAG_Version.Major = 0xFF;	478	MK3MAG_Version.Major = 0xFF;
479	MK3MAG_Version.Minor = 0xFF;	479	MK3MAG_Version.Minor = 0xFF;
480	MK3MAG_Version.Patch = 0xFF;	480	MK3MAG_Version.Patch = 0xFF;
481	MK3MAG_Version.Compatible = 0xFF;	481	MK3MAG_Version.Compatible = 0xFF;
482	// polling of version info	482	// polling of version info
483	repeat = 0;	483	repeat = 0;
484	do	484	do
485	{	485	{
486	I2C1_SendCommand(I2C_CMD_VERSION);	486	I2C1_SendCommand(I2C_CMD_VERSION);
487	timeout = SetDelay(250);	487	timeout = SetDelay(250);
488	do	488	do
489	{	489	{
490	if (MK3MAG_Version.Major != 0xFF) break; // break loop on success	490	if (MK3MAG_Version.Major != 0xFF) break; // break loop on success
491	}while (!CheckDelay(timeout));	491	}while (!CheckDelay(timeout));
492	UART1_PutString(".");	492	UART1_PutString(".");
493	repeat++;	493	repeat++;
494	}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s	494	}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s
495	// if we got it	495	// if we got it
496	if (MK3MAG_Version.Major != 0xFF)	496	if (MK3MAG_Version.Major != 0xFF)
497	{	497	{
498	sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);	498	sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
499	UART1_PutString(msg);	499	UART1_PutString(msg);
500	sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible);	500	sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible);

Subversion Repositories NaviCtrl

(root)/tags/V0.24b/i2c.c @ 656 - Rev 171 → 184