WebSVN - NaviCtrl - Diff - Rev 119 and 136


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch
// + 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 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
// +     for non-commercial use (directly or indirectly)
// +     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
// +   * 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"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#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;
 
// 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;
 
volatile u8 I2C_ReadRequest = 0;
volatile u32 I2C1_Timeout = 0;
volatile u32 CheckI2COkay = 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;
 
        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(1000);
        I2C_Heading.Heading = -1;
        I2C_GenerateSTOP(I2C1, ENABLE);
        I2C_State = I2C_IDLE;
 
        UART1_PutString("ok");
}
 
 
//--------------------------------------------------------------
void I2C1_Deinit(void)
{
        GPIO_InitTypeDef  GPIO_InitStructure;
 
        UART1_PutString("\r\n I2C deinit...");
        I2C_GenerateStart(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);
 
        // 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;
 
        I2C_State = I2C_OFF;
 
        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
                                        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
                                        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]++;
                                                CheckI2COkay++;
                                        }
                                        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
        while (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;
        }
        // enable I2C IRQ again
        I2C_ITConfig(I2C1, ENABLE);
        // set direction to master transmitter
        I2C_Direction = I2C_MODE_TRANSMITTER;
        // 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
}
 
//----------------------------------------------------------------
void I2C1_GetMK3MagVersion(void)
{
        u8 msg[64];
        u8 repeat = 10;
 
        MK3MAG_Version.Major = 0xFF;
        MK3MAG_Version.Minor = 0xFF;
        MK3MAG_Version.Patch = 0xFF;
        MK3MAG_Version.Compatible = 0xFF;
 
        while ((MK3MAG_Version.Major == 0xFF)  && (repeat != 0))
        {
                I2C1_SendCommand(I2C_CMD_VERSION);
                I2C1_Timeout = SetDelay(500);
                while (!CheckDelay(I2C1_Timeout)) if (MK3MAG_Version.Major != 0xFF) break;
                repeat--;
        }
 
        if (MK3MAG_Version.Major != 0xFF)
        {
                sprintf(msg, "\n\r 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\rNo version information from MK3Mag.");
 
}
 

Rev 119	Rev 136
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	6	// + Nur für den privaten Gebrauch
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 der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die PORTIERUNG 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 this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed	43	// + * PORTING this software (or part of it) to systems (other than 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 "main.h"	64	#include "main.h"
64	#include "led.h"	65	#include "led.h"
65	#include "spi_slave.h"	66	#include "spi_slave.h"
66		67
67		68
68	volatile I2C_State_t I2C_State = I2C_OFF;	69	volatile I2C_State_t I2C_State = I2C_OFF;
69		70
70	// rxbuffer	71	// rxbuffer
71	volatile u8 I2C_RxBufferSize;	72	volatile u8 I2C_RxBufferSize;
72	volatile u8 *I2C_RxBuffer;	73	volatile u8 *I2C_RxBuffer;
73	volatile u8 Rx_Idx = 0;	74	volatile u8 Rx_Idx = 0;
74	// txbuffer	75	// txbuffer
75	volatile u8 I2C_TxBufferSize;	76	volatile u8 I2C_TxBufferSize;
76	volatile u8 *I2C_TxBuffer;	77	volatile u8 *I2C_TxBuffer;
77	volatile u8 Tx_Idx = 0;	78	volatile u8 Tx_Idx = 0;
78		79
79	volatile u8 I2C_Direction;	80	volatile u8 I2C_Direction;
80	volatile u8 I2C_Command;	81	volatile u8 I2C_Command;
81		82
82	volatile I2C_Heading_t I2C_Heading;	83	volatile I2C_Heading_t I2C_Heading;
83	volatile I2C_WriteAttitude_t I2C_WriteAttitude;	84	volatile I2C_WriteAttitude_t I2C_WriteAttitude;
84	volatile I2C_Mag_t I2C_Mag;	85	volatile I2C_Mag_t I2C_Mag;
85	volatile I2C_Version_t MK3MAG_Version;	86	volatile I2C_Version_t MK3MAG_Version;
86	volatile I2C_Cal_t I2C_WriteCal;	87	volatile I2C_Cal_t I2C_WriteCal;
87	volatile I2C_Cal_t I2C_ReadCal;	88	volatile I2C_Cal_t I2C_ReadCal;
88		89
89	volatile u8 I2C_ReadRequest = 0;	90	volatile u8 I2C_ReadRequest = 0;
90	volatile u32 I2C1_Timeout = 0;	91	volatile u32 I2C1_Timeout = 0;
91	volatile u32 CheckI2COkay = 0;	92	volatile u32 CheckI2COkay = 0;
92	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
93		94
94		95
95	//--------------------------------------------------------------	96	//--------------------------------------------------------------
96	void I2C1_Init(void)	97	void I2C1_Init(void)
97	{	98	{
98	I2C_InitTypeDef I2C_Struct;	99	I2C_InitTypeDef I2C_Struct;
99	GPIO_InitTypeDef GPIO_InitStructure;	100	GPIO_InitTypeDef GPIO_InitStructure;
100		101
101	UART1_PutString("\r\n I2C init...");	102	UART1_PutString("\r\n I2C init...");
102	// enable Port 2 peripherie	103	// enable Port 2 peripherie
103	SCU_APBPeriphClockConfig(__GPIO2, ENABLE);	104	SCU_APBPeriphClockConfig(__GPIO2, ENABLE);
104	// disable a reset state	105	// disable a reset state
105	SCU_APBPeriphReset(__GPIO2, DISABLE);	106	SCU_APBPeriphReset(__GPIO2, DISABLE);
106		107
107	// free a busy bus	108	// free a busy bus
108		109
109	// At switch on I2C devices can get in a state where they	110	// At switch on I2C devices can get in a state where they
110	// are still waiting for a command due to all the bus lines bouncing	111	// are still waiting for a command due to all the bus lines bouncing
111	// around at startup have started clocking data into the device(s).	112	// around at startup have started clocking data into the device(s).
112	// Enable the ports as open collector port outputs	113	// Enable the ports as open collector port outputs
113	// and clock out at least 9 SCL pulses, then generate a stop	114	// and clock out at least 9 SCL pulses, then generate a stop
114	// condition and then leave the clock line high.	115	// condition and then leave the clock line high.
115		116
116	// configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation	117	// configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation
117	GPIO_StructInit(&GPIO_InitStructure);	118	GPIO_StructInit(&GPIO_InitStructure);
118	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	119	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
119	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;	120	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;
120	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;	121	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;
121	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;	122	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;
122	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1;	123	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1;
123	GPIO_Init(GPIO2, &GPIO_InitStructure);	124	GPIO_Init(GPIO2, &GPIO_InitStructure);
124		125
125	u8 i;	126	u8 i;
126	u32 delay;	127	u32 delay;
127	// set SCL high and then SDA to low (start condition)	128	// set SCL high and then SDA to low (start condition)
128	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET);	129	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET);
129	delay = SetDelay(1);	130	delay = SetDelay(1);
130	while (!CheckDelay(delay));	131	while (!CheckDelay(delay));
131	GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET);	132	GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET);
132	// toggle SCL at least 10 times from high to low to high	133	// toggle SCL at least 10 times from high to low to high
133	for(i = 0; i < 10; i++)	134	for(i = 0; i < 10; i++)
134	{	135	{
135	delay = SetDelay(1);	136	delay = SetDelay(1);
136	while (!CheckDelay(delay));	137	while (!CheckDelay(delay));
137		138
138	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET);	139	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET);
139	delay = SetDelay(1);	140	delay = SetDelay(1);
140	while (!CheckDelay(delay));	141	while (!CheckDelay(delay));
141	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET);	142	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET);
142	}	143	}
143	delay = SetDelay(1);	144	delay = SetDelay(1);
144	while (!CheckDelay(delay));	145	while (!CheckDelay(delay));
145	// create stop condition setting SDA HIGH when SCL is HIGH	146	// create stop condition setting SDA HIGH when SCL is HIGH
146	GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET);	147	GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET);
147		148
148		149
149	// reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT	150	// reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT
150	GPIO_StructInit(&GPIO_InitStructure);	151	GPIO_StructInit(&GPIO_InitStructure);
151	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	152	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
152	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;	153	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;
153	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;	154	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;
154	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;	155	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
155	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT	156	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT
156	GPIO_Init(GPIO2, &GPIO_InitStructure);	157	GPIO_Init(GPIO2, &GPIO_InitStructure);
157		158
158	// enable I2C peripherie	159	// enable I2C peripherie
159	SCU_APBPeriphClockConfig(__I2C1,ENABLE);	160	SCU_APBPeriphClockConfig(__I2C1,ENABLE);
160	// reset I2C peripherie	161	// reset I2C peripherie
161	SCU_APBPeriphReset(__I2C1,ENABLE);	162	SCU_APBPeriphReset(__I2C1,ENABLE);
162	SCU_APBPeriphReset(__I2C1,DISABLE);	163	SCU_APBPeriphReset(__I2C1,DISABLE);
163		164
164	I2C_DeInit(I2C1);	165	I2C_DeInit(I2C1);
165	I2C_StructInit(&I2C_Struct);	166	I2C_StructInit(&I2C_Struct);
166	I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable;	167	I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable;
167	I2C_Struct.I2C_Ack = I2C_Ack_Enable;	168	I2C_Struct.I2C_Ack = I2C_Ack_Enable;
168	I2C_Struct.I2C_CLKSpeed = 20000;	169	I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK;
169	I2C_Struct.I2C_OwnAddress = 0x00;	170	I2C_Struct.I2C_OwnAddress = 0x00;
170	I2C_Init(I2C1, &I2C_Struct);	171	I2C_Init(I2C1, &I2C_Struct);
171		172
172	I2C_TxBuffer = NULL;	173	I2C_TxBuffer = NULL;
173	Tx_Idx = 0;	174	Tx_Idx = 0;
174	I2C_TxBufferSize = 0;	175	I2C_TxBufferSize = 0;
175		176
176	I2C_RxBuffer = NULL;	177	I2C_RxBuffer = NULL;
177	Rx_Idx = 0;	178	Rx_Idx = 0;
178	I2C_RxBufferSize = 0;	179	I2C_RxBufferSize = 0;
179		180
180	I2C_Cmd(I2C1, ENABLE);	181	I2C_Cmd(I2C1, ENABLE);
181	I2C_ITConfig(I2C1, ENABLE);	182	I2C_ITConfig(I2C1, ENABLE);
182		183
183	VIC_Config(I2C1_ITLine, VIC_IRQ , 0);	184	VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1);
184	VIC_ITCmd(I2C1_ITLine, ENABLE);	185	VIC_ITCmd(I2C1_ITLine, ENABLE);
185		186
186	I2C1_Timeout = SetDelay(1000);	187	I2C1_Timeout = SetDelay(1000);
187	I2C_Heading.Heading = -1;	188	I2C_Heading.Heading = -1;
188	I2C_GenerateSTOP(I2C1, ENABLE);	189	I2C_GenerateSTOP(I2C1, ENABLE);
189	I2C_State = I2C_IDLE;	190	I2C_State = I2C_IDLE;
190		191
191	UART1_PutString("ok");	192	UART1_PutString("ok");
192	}	193	}
193		194
194		195
195	//--------------------------------------------------------------	196	//--------------------------------------------------------------
196	void I2C1_Deinit(void)	197	void I2C1_Deinit(void)
197	{	198	{
198	GPIO_InitTypeDef GPIO_InitStructure;	199	GPIO_InitTypeDef GPIO_InitStructure;
199		200
200	UART1_PutString("\r\n I2C deinit...");	201	UART1_PutString("\r\n I2C deinit...");
201	I2C_GenerateStart(I2C1, DISABLE);	202	I2C_GenerateStart(I2C1, DISABLE);
202	I2C_GenerateSTOP(I2C1, ENABLE);	203	I2C_GenerateSTOP(I2C1, ENABLE);
203	VIC_ITCmd(I2C1_ITLine, DISABLE);	204	VIC_ITCmd(I2C1_ITLine, DISABLE);
204	I2C_ITConfig(I2C1, DISABLE);	205	I2C_ITConfig(I2C1, DISABLE);
205	I2C_Cmd(I2C1, DISABLE);	206	I2C_Cmd(I2C1, DISABLE);
206	I2C_DeInit(I2C1);	207	I2C_DeInit(I2C1);
207	SCU_APBPeriphClockConfig(__I2C1, DISABLE);	208	SCU_APBPeriphClockConfig(__I2C1, DISABLE);
208		209
209	// set ports to input	210	// set ports to input
210	SCU_APBPeriphClockConfig(__GPIO2, ENABLE);	211	SCU_APBPeriphClockConfig(__GPIO2, ENABLE);
211	GPIO_StructInit(&GPIO_InitStructure);	212	GPIO_StructInit(&GPIO_InitStructure);
212	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;	213	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
213	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;	214	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;
214	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	215	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
215	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;	216	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;
216	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;	217	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;
217	GPIO_Init(GPIO2, &GPIO_InitStructure);	218	GPIO_Init(GPIO2, &GPIO_InitStructure);
218		219
219	I2C_TxBuffer = NULL;	220	I2C_TxBuffer = NULL;
220	Tx_Idx = 0;	221	Tx_Idx = 0;
221	I2C_TxBufferSize = 0;	222	I2C_TxBufferSize = 0;
222		223
223	I2C_RxBuffer = NULL;	224	I2C_RxBuffer = NULL;
224	Rx_Idx = 0;	225	Rx_Idx = 0;
225	I2C_RxBufferSize = 0;	226	I2C_RxBufferSize = 0;
226		227
227	I2C_State = I2C_OFF;	228	I2C_State = I2C_OFF;
228		229
229	I2C1_Timeout = 0;	230	I2C1_Timeout = 0;
230	I2C_Heading.Heading = -1;	231	I2C_Heading.Heading = -1;
231		232
232	UART1_PutString("ok");	233	UART1_PutString("ok");
233	}	234	}
234		235
235		236
236	//--------------------------------------------------------------	237	//--------------------------------------------------------------
237	void I2C1_IRQHandler(void)	238	void I2C1_IRQHandler(void)
238	{	239	{
239	u16 status;	240	u16 status;
240	static u8 crc;	241	static u8 crc;
241	// detemine I2C State	242	// detemine I2C State
242	status = I2C_GetLastEvent(I2C1);	243	status = I2C_GetLastEvent(I2C1);
243		244
244	if(status & (I2C_FLAG_AF\|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured	245	if(status & (I2C_FLAG_AF\|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured
245	{ // Set and subsequently clear the STOP bit while BTF is set.	246	{ // Set and subsequently clear the STOP bit while BTF is set.
246	while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET)	247	while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET)
247	{	248	{
248	I2C_GenerateSTOP (I2C1, ENABLE); // free the bus	249	I2C_GenerateSTOP (I2C1, ENABLE); // free the bus
249	I2C_GenerateSTOP (I2C1, DISABLE); // free the bus	250	I2C_GenerateSTOP (I2C1, DISABLE); // free the bus
250	}	251	}
251	I2C_State = I2C_IDLE;	252	I2C_State = I2C_IDLE;
252	LED_GRN_OFF;	253	LED_GRN_OFF;
253	}	254	}
254	else	255	else
255	{ // depending on current i2c state	256	{ // depending on current i2c state
256	switch (status)	257	switch (status)
257	{	258	{
258	// the start condition was initiated on the bus	259	// the start condition was initiated on the bus
259	case I2C_EVENT_MASTER_MODE_SELECT:	260	case I2C_EVENT_MASTER_MODE_SELECT:
260	LED_GRN_ON;	261	LED_GRN_ON;
261	// update current bus state variable	262	// update current bus state variable
262	switch(I2C_Direction)	263	switch(I2C_Direction)
263	{	264	{
264	case I2C_MODE_TRANSMITTER:	265	case I2C_MODE_TRANSMITTER:
265	I2C_State = I2C_TX_PROGRESS;	266	I2C_State = I2C_TX_PROGRESS;
266	break;	267	break;
267		268
268	case I2C_MODE_RECEIVER:	269	case I2C_MODE_RECEIVER:
269	if ((I2C_RxBuffer == NULL) \|\| (I2C_RxBufferSize == 0))	270	if ((I2C_RxBuffer == NULL) \|\| (I2C_RxBufferSize == 0))
270	{	271	{
271	I2C_GenerateSTOP (I2C1, ENABLE);	272	I2C_GenerateSTOP (I2C1, ENABLE);
272	I2C_State = I2C_IDLE;	273	I2C_State = I2C_IDLE;
273	return;	274	return;
274	}	275	}
275	else	276	else
276	{	277	{
277	I2C_State = I2C_RX_PROGRESS;	278	I2C_State = I2C_RX_PROGRESS;
278	}	279	}
279	break;	280	break;
280		281
281	default: // invalid direction	282	default: // invalid direction
282	I2C_GenerateSTOP (I2C1, ENABLE);	283	I2C_GenerateSTOP (I2C1, ENABLE);
283	I2C_State = I2C_IDLE;	284	I2C_State = I2C_IDLE;
284	LED_GRN_OFF;	285	LED_GRN_OFF;
285	return;	286	return;
286	}	287	}
287	// enable acknowledge	288	// enable acknowledge
288	I2C_AcknowledgeConfig (I2C1, ENABLE);	289	I2C_AcknowledgeConfig (I2C1, ENABLE);
289	// send address/direction byte on the bus	290	// send address/direction byte on the bus
290	I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction);	291	I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction);
291	break;	292	break;
292		293
293	// the address byte was send	294	// the address byte was send
294	case I2C_EVENT_MASTER_MODE_SELECTED:	295	case I2C_EVENT_MASTER_MODE_SELECTED:
295	// Clear EV6 by set again the PE bit	296	// Clear EV6 by set again the PE bit
296	I2C_Cmd(I2C1, ENABLE);	297	I2C_Cmd(I2C1, ENABLE);
297	// reset checksum	298	// reset checksum
298	crc = 0;	299	crc = 0;
299	switch(I2C_State)	300	switch(I2C_State)
300	{	301	{
301	case I2C_TX_PROGRESS:	302	case I2C_TX_PROGRESS:
302	// send command 1st data byte (allways the command id)	303	// send command 1st data byte (allways the command id)
303	I2C_SendData(I2C1, I2C_Command);	304	I2C_SendData(I2C1, I2C_Command);
304	crc += I2C_Command;	305	crc += I2C_Command;
305	Tx_Idx = 0;	306	Tx_Idx = 0;
306	// reset timeout	307	// reset timeout
307	I2C1_Timeout = SetDelay(500); // after 500 ms of inactivity the I2C1 bus will be reset	308	I2C1_Timeout = SetDelay(500); // after 500 ms of inactivity the I2C1 bus will be reset
308	break;	309	break;
309		310
310	case I2C_RX_PROGRESS:	311	case I2C_RX_PROGRESS:
311	Rx_Idx = 0;	312	Rx_Idx = 0;
312	break;	313	break;
313		314
314	default: // unknown I2C state	315	default: // unknown I2C state
315	// should never happen	316	// should never happen
316	I2C_GenerateSTOP (I2C1, ENABLE);	317	I2C_GenerateSTOP (I2C1, ENABLE);
317	I2C_State = I2C_IDLE;	318	I2C_State = I2C_IDLE;
318	break;	319	break;
319	}	320	}
320	break;	321	break;
321		322
322	// the master has transmitted a byte and slave has been acknowledged	323	// the master has transmitted a byte and slave has been acknowledged
323	case I2C_EVENT_MASTER_BYTE_TRANSMITTED:	324	case I2C_EVENT_MASTER_BYTE_TRANSMITTED:
324		325
325	// some bytes have to be transmitted	326	// some bytes have to be transmitted
326	if(Tx_Idx < I2C_TxBufferSize)	327	if(Tx_Idx < I2C_TxBufferSize)
327	{	328	{
328	if(I2C_TxBuffer != NULL)	329	if(I2C_TxBuffer != NULL)
329	{	330	{
330	I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]);	331	I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]);
331	crc += I2C_TxBuffer[Tx_Idx];	332	crc += I2C_TxBuffer[Tx_Idx];
332	}	333	}
333	else	334	else
334	{	335	{
335	I2C_SendData(I2C1, 0x00);	336	I2C_SendData(I2C1, 0x00);
336	}	337	}
337	}	338	}
338	else // the last tx buffer byte was send	339	else // the last tx buffer byte was send
339	{	340	{
340	// send crc byte at the end	341	// send crc byte at the end
341	I2C_SendData(I2C1, crc);	342	I2C_SendData(I2C1, crc);
342	// generate stop or repeated start condition	343	// generate stop or repeated start condition
343	if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected?	344	if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected?
344	{	345	{
345	I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition	346	I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition
346	I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus	347	I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus
347	}	348	}
348	else	349	else
349	{ // stop communication	350	{ // stop communication
350	I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus	351	I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus
351	I2C_State = I2C_IDLE; // ready for new actions	352	I2C_State = I2C_IDLE; // ready for new actions
352	LED_GRN_OFF;	353	LED_GRN_OFF;
353	DebugOut.Analog[15]++;	354	DebugOut.Analog[15]++;
354	}	355	}
355	}	356	}
356	Tx_Idx++;	357	Tx_Idx++;
357	break;	358	break;
358		359
359	// the master has received a byte from the slave	360	// the master has received a byte from the slave
360	case I2C_EVENT_MASTER_BYTE_RECEIVED:	361	case I2C_EVENT_MASTER_BYTE_RECEIVED:
361	// some bytes have to be received	362	// some bytes have to be received
362	if (Rx_Idx < I2C_RxBufferSize)	363	if (Rx_Idx < I2C_RxBufferSize)
363	{ // copy received byte from the data register to the rx-buffer	364	{ // copy received byte from the data register to the rx-buffer
364	I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1);	365	I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1);
365	// update checksum	366	// update checksum
366	crc += I2C_PrimRxBuffer[Rx_Idx];	367	crc += I2C_PrimRxBuffer[Rx_Idx];
367	}	368	}
368	// if the last byte (crc) was received	369	// if the last byte (crc) was received
369	else if ( Rx_Idx == I2C_RxBufferSize)	370	else if ( Rx_Idx == I2C_RxBufferSize)
370	{	371	{
371	// generate a STOP condition on the bus before reading data register	372	// generate a STOP condition on the bus before reading data register
372	I2C_GenerateSTOP(I2C1, ENABLE);	373	I2C_GenerateSTOP(I2C1, ENABLE);
373	// compare last byte with checksum	374	// compare last byte with checksum
374	if(crc == I2C_ReceiveData(I2C1))	375	if(crc == I2C_ReceiveData(I2C1))
375	{ // copy primary rx buffer content to rx buffer if exist	376	{ // copy primary rx buffer content to rx buffer if exist
376	if(I2C_RxBuffer != NULL)	377	if(I2C_RxBuffer != NULL)
377	{	378	{
378	memcpy((u8 )I2C_RxBuffer, (u8 )I2C_PrimRxBuffer, I2C_RxBufferSize);	379	memcpy((u8 )I2C_RxBuffer, (u8 )I2C_PrimRxBuffer, I2C_RxBufferSize);
379	}	380	}
380	DebugOut.Analog[15]++;	381	DebugOut.Analog[15]++;
381	CheckI2COkay++;	382	CheckI2COkay++;
382	}	383	}
383	else // checksum error detected	384	else // checksum error detected
384	{	385	{
385	DebugOut.Analog[14]++;	386	DebugOut.Analog[14]++;
386	}	387	}
387	I2C_State = I2C_IDLE;	388	I2C_State = I2C_IDLE;
388	LED_GRN_OFF;	389	LED_GRN_OFF;
389	}	390	}
390	Rx_Idx++;	391	Rx_Idx++;
391	// if the 2nd last byte was received disable acknowledge for the last one	392	// if the 2nd last byte was received disable acknowledge for the last one
392	if ( Rx_Idx == I2C_RxBufferSize )	393	if ( Rx_Idx == I2C_RxBufferSize )
393	{	394	{
394	I2C_AcknowledgeConfig (I2C1, DISABLE);	395	I2C_AcknowledgeConfig (I2C1, DISABLE);
395	}	396	}
396	break;	397	break;
397		398
398	default:	399	default:
399	break;	400	break;
400	}	401	}
401	}	402	}
402	}	403	}
403	//----------------------------------------------------------------	404	//----------------------------------------------------------------
404	void I2C1_SendCommand(u8 command)	405	void I2C1_SendCommand(u8 command)
405	{	406	{
406	// If I2C transmission is in progress	407	// If I2C transmission is in progress
407	while (I2C_State != I2C_IDLE) return; // return imediatly if a transfer is still in progress	408	while (I2C_State != I2C_IDLE) return; // return imediatly if a transfer is still in progress
408	// disable I2C IRQ to avoid read/write access to the tx/rx buffer pointers during	409	// disable I2C IRQ to avoid read/write access to the tx/rx buffer pointers during
409	// update of that buffer pointers and length	410	// update of that buffer pointers and length
410	I2C_ITConfig(I2C1, DISABLE);	411	I2C_ITConfig(I2C1, DISABLE);
411	// update current command id	412	// update current command id
412	I2C_Command = command;	413	I2C_Command = command;
413	// set pointers to data area with respect to the command id	414	// set pointers to data area with respect to the command id
414	switch (command)	415	switch (command)
415	{	416	{
416	case I2C_CMD_VERSION:	417	case I2C_CMD_VERSION:
417	I2C_RxBuffer = (u8 *)&MK3MAG_Version;	418	I2C_RxBuffer = (u8 *)&MK3MAG_Version;
418	I2C_RxBufferSize = sizeof(MK3MAG_Version);	419	I2C_RxBufferSize = sizeof(MK3MAG_Version);
419	I2C_TxBuffer = NULL;	420	I2C_TxBuffer = NULL;
420	I2C_TxBufferSize = 0;	421	I2C_TxBufferSize = 0;
421	break;	422	break;
422	case I2C_CMD_WRITE_CAL:	423	case I2C_CMD_WRITE_CAL:
423	I2C_RxBuffer = (u8 *)&I2C_ReadCal;	424	I2C_RxBuffer = (u8 *)&I2C_ReadCal;
424	I2C_RxBufferSize = sizeof(I2C_ReadCal);	425	I2C_RxBufferSize = sizeof(I2C_ReadCal);
425	I2C_TxBuffer = (u8 *)&I2C_WriteCal;	426	I2C_TxBuffer = (u8 *)&I2C_WriteCal;
426	I2C_TxBufferSize = sizeof(I2C_WriteCal);	427	I2C_TxBufferSize = sizeof(I2C_WriteCal);
427	break;	428	break;
428	case I2C_CMD_READ_MAG:	429	case I2C_CMD_READ_MAG:
429	I2C_RxBuffer = (u8 *)&I2C_Mag;	430	I2C_RxBuffer = (u8 *)&I2C_Mag;
430	I2C_RxBufferSize = sizeof(I2C_Mag);	431	I2C_RxBufferSize = sizeof(I2C_Mag);
431	I2C_TxBuffer = NULL;	432	I2C_TxBuffer = NULL;
432	I2C_TxBufferSize = 0;	433	I2C_TxBufferSize = 0;
433	break;	434	break;
434	case I2C_CMD_READ_HEADING:	435	case I2C_CMD_READ_HEADING:
435	DebugOut.Analog[10] = I2C_Heading.Heading;	436	DebugOut.Analog[10] = I2C_Heading.Heading;
436	I2C_RxBuffer = (u8 *)&I2C_Heading;	437	I2C_RxBuffer = (u8 *)&I2C_Heading;
437	I2C_RxBufferSize = sizeof(I2C_Heading);	438	I2C_RxBufferSize = sizeof(I2C_Heading);
438	// updat atitude from spi rx buffer	439	// updat atitude from spi rx buffer
439	I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll;	440	I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll;
440	I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick;	441	I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick;
441	I2C_TxBuffer = (u8 *)&I2C_WriteAttitude;	442	I2C_TxBuffer = (u8 *)&I2C_WriteAttitude;
442	I2C_TxBufferSize = sizeof(I2C_WriteAttitude);	443	I2C_TxBufferSize = sizeof(I2C_WriteAttitude);
443	break;	444	break;
444	default: // unknown command id	445	default: // unknown command id
445	I2C_RxBuffer = NULL;	446	I2C_RxBuffer = NULL;
446	I2C_RxBufferSize = 0;	447	I2C_RxBufferSize = 0;
447	I2C_TxBuffer = NULL;	448	I2C_TxBuffer = NULL;
448	I2C_TxBufferSize = 0;	449	I2C_TxBufferSize = 0;
449	break;	450	break;
450	}	451	}
451	// enable I2C IRQ again	452	// enable I2C IRQ again
452	I2C_ITConfig(I2C1, ENABLE);	453	I2C_ITConfig(I2C1, ENABLE);
453	// set direction to master transmitter	454	// set direction to master transmitter
454	I2C_Direction = I2C_MODE_TRANSMITTER;	455	I2C_Direction = I2C_MODE_TRANSMITTER;
455	// test on busy flag and clear it	456	// test on busy flag and clear it
456	I2C_CheckEvent( I2C1, I2C_FLAG_BUSY );	457	I2C_CheckEvent( I2C1, I2C_FLAG_BUSY );
457	// initiale start condition on the bus	458	// initiale start condition on the bus
458	I2C_GenerateStart(I2C1, ENABLE);	459	I2C_GenerateStart(I2C1, ENABLE);
459	// to be continued in the I2C1_IRQHandler() above	460	// to be continued in the I2C1_IRQHandler() above
460	}	461	}
461		462
462	//----------------------------------------------------------------	463	//----------------------------------------------------------------
463	void I2C1_GetMK3MagVersion(void)	464	void I2C1_GetMK3MagVersion(void)
464	{	465	{
465	u8 msg[64];	466	u8 msg[64];
466	u8 repeat = 10;	467	u8 repeat = 10;
467		468
468	MK3MAG_Version.Major = 0xFF;	469	MK3MAG_Version.Major = 0xFF;
469	MK3MAG_Version.Minor = 0xFF;	470	MK3MAG_Version.Minor = 0xFF;
470	MK3MAG_Version.Patch = 0xFF;	471	MK3MAG_Version.Patch = 0xFF;
471	MK3MAG_Version.Compatible = 0xFF;	472	MK3MAG_Version.Compatible = 0xFF;
472		473
473	while ((MK3MAG_Version.Major == 0xFF) && (repeat != 0))	474	while ((MK3MAG_Version.Major == 0xFF) && (repeat != 0))
474	{	475	{
475	I2C1_SendCommand(I2C_CMD_VERSION);	476	I2C1_SendCommand(I2C_CMD_VERSION);
476	I2C1_Timeout = SetDelay(500);	477	I2C1_Timeout = SetDelay(500);
477	while (!CheckDelay(I2C1_Timeout)) if (MK3MAG_Version.Major != 0xFF) break;	478	while (!CheckDelay(I2C1_Timeout)) if (MK3MAG_Version.Major != 0xFF) break;
478	repeat--;	479	repeat--;
479	}	480	}
480		481
481	if (MK3MAG_Version.Major != 0xFF)	482	if (MK3MAG_Version.Major != 0xFF)
482	{	483	{
483	sprintf(msg, "\n\r MK3Mag V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);	484	sprintf(msg, "\n\r MK3Mag V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
484	UART1_PutString(msg);	485	UART1_PutString(msg);
485	sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible);	486	sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible);
486	UART1_PutString(msg);	487	UART1_PutString(msg);
487	}	488	}
488	else UART1_PutString("\n\rNo version information from MK3Mag.");	489	else UART1_PutString("\n\rNo version information from MK3Mag.");
489		490
490	}	491	}
491		492

Subversion Repositories NaviCtrl

(root)/tags/V0.17e/i2c.c @ 214 - Rev 119 → 136