Rev 228 | Rev 238 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 228 | Rev 229 | ||
---|---|---|---|
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 <string.h> |
57 | #include <string.h> |
58 | #include "91x_lib.h" |
58 | #include "91x_lib.h" |
59 | #include "i2c.h" |
59 | #include "i2c.h" |
60 | #include "uart1.h" |
60 | #include "uart1.h" |
61 | #include "timer1.h" |
61 | #include "timer1.h" |
62 | #include "config.h" |
62 | #include "config.h" |
63 | #include "main.h" |
63 | #include "main.h" |
64 | #include "led.h" |
64 | #include "led.h" |
65 | #include "spi_slave.h" |
65 | #include "spi_slave.h" |
66 | 66 | ||
67 | #define I2C_SLAVE_ADDRESS 0x50 |
67 | #define I2C_SLAVE_ADDRESS 0x50 |
68 | 68 | ||
69 | // I2C states |
69 | // I2C states |
70 | #define I2C_UNDEF 0 |
70 | #define I2C_UNDEF 0 |
71 | #define I2C_IDLE 1 |
71 | #define I2C_IDLE 1 |
72 | #define I2C_TX_PROGRESS 2 |
72 | #define I2C_TX_PROGRESS 2 |
73 | #define I2C_RX_PENDING 3 |
73 | #define I2C_RX_PENDING 3 |
74 | #define I2C_RX_PROGRESS 4 |
74 | #define I2C_RX_PROGRESS 4 |
75 | #define I2C_OFF 5 |
75 | #define I2C_OFF 5 |
76 | 76 | ||
77 | volatile u8 I2C_State = I2C_OFF; // only on byte! because of sync by nesting irqs |
77 | volatile u8 I2C_State = I2C_OFF; // only on byte! because of sync by nesting irqs |
78 | u8 I2C_StopPolling = 1; |
78 | u8 I2C_StopPolling = 1; |
79 | 79 | ||
80 | // rxbuffer |
80 | // rxbuffer |
81 | volatile u8 I2C_RxBufferSize; |
81 | volatile u8 I2C_RxBufferSize; |
82 | volatile u8 *I2C_RxBuffer; |
82 | volatile u8 *I2C_RxBuffer; |
83 | // txbuffer |
83 | // txbuffer |
84 | volatile u8 I2C_TxBufferSize; |
84 | volatile u8 I2C_TxBufferSize; |
85 | volatile u8 *I2C_TxBuffer; |
85 | volatile u8 *I2C_TxBuffer; |
86 | 86 | ||
87 | volatile u8 I2C_Direction; |
87 | volatile u8 I2C_Direction; |
88 | volatile u8 I2C_Command; |
88 | volatile u8 I2C_Command; |
89 | // I2C Transfer buffers |
89 | // I2C Transfer buffers |
90 | volatile I2C_Heading_t I2C_Heading; |
90 | volatile I2C_Heading_t I2C_Heading; |
91 | volatile I2C_WriteAttitude_t I2C_WriteAttitude; |
91 | volatile I2C_WriteAttitude_t I2C_WriteAttitude; |
92 | volatile I2C_Mag_t I2C_Mag; |
92 | volatile I2C_Mag_t I2C_Mag; |
93 | volatile I2C_Version_t MK3MAG_Version; |
93 | volatile I2C_Version_t MK3MAG_Version; |
94 | volatile I2C_Cal_t I2C_WriteCal; |
94 | volatile I2C_Cal_t I2C_WriteCal; |
95 | volatile I2C_Cal_t I2C_ReadCal; |
95 | volatile I2C_Cal_t I2C_ReadCal; |
96 | 96 | ||
97 | #define I2C1_TIMEOUT 500 // 500 ms |
97 | #define I2C1_TIMEOUT 500 // 500 ms |
98 | volatile u32 I2C1_Timeout = 0; |
98 | volatile u32 I2C1_Timeout = 0; |
99 | 99 | ||
100 | //-------------------------------------------------------------- |
100 | //-------------------------------------------------------------- |
101 | void I2C1_Init(void) |
101 | void I2C1_Init(void) |
102 | { |
102 | { |
103 | I2C_InitTypeDef I2C_Struct; |
103 | I2C_InitTypeDef I2C_Struct; |
104 | GPIO_InitTypeDef GPIO_InitStructure; |
104 | GPIO_InitTypeDef GPIO_InitStructure; |
105 | 105 | ||
106 | I2C_State = I2C_OFF; |
106 | I2C_State = I2C_OFF; |
107 | 107 | ||
108 | UART1_PutString("\r\n I2C init..."); |
108 | UART1_PutString("\r\n I2C init..."); |
109 | // enable Port 2 peripherie |
109 | // enable Port 2 peripherie |
110 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
110 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
111 | // disable a reset state |
111 | // disable a reset state |
112 | SCU_APBPeriphReset(__GPIO2, DISABLE); |
112 | SCU_APBPeriphReset(__GPIO2, DISABLE); |
113 | 113 | ||
114 | // free a busy bus |
114 | // free a busy bus |
115 | 115 | ||
116 | // At switch on I2C devices can get in a state where they |
116 | // At switch on I2C devices can get in a state where they |
117 | // are still waiting for a command due to all the bus lines bouncing |
117 | // are still waiting for a command due to all the bus lines bouncing |
118 | // around at startup have started clocking data into the device(s). |
118 | // around at startup have started clocking data into the device(s). |
119 | // Enable the ports as open collector port outputs |
119 | // Enable the ports as open collector port outputs |
120 | // and clock out at least 9 SCL pulses, then generate a stop |
120 | // and clock out at least 9 SCL pulses, then generate a stop |
121 | // condition and then leave the clock line high. |
121 | // condition and then leave the clock line high. |
122 | 122 | ||
123 | // configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation |
123 | // configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation |
124 | GPIO_StructInit(&GPIO_InitStructure); |
124 | GPIO_StructInit(&GPIO_InitStructure); |
125 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
125 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
126 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
126 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
127 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
127 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
128 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
128 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
129 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
129 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
130 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
130 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
131 | 131 | ||
132 | u8 i; |
132 | u8 i; |
133 | u32 delay; |
133 | u32 delay; |
134 | // set SCL high and then SDA to low (start condition) |
134 | // set SCL high and then SDA to low (start condition) |
135 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
135 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
136 | delay = SetDelay(1); |
136 | delay = SetDelay(1); |
137 | while (!CheckDelay(delay)); |
137 | while (!CheckDelay(delay)); |
138 | GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET); |
138 | GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET); |
139 | // toggle SCL at least 10 times from high to low to high |
139 | // toggle SCL at least 10 times from high to low to high |
140 | for(i = 0; i < 10; i++) |
140 | for(i = 0; i < 10; i++) |
141 | { |
141 | { |
142 | delay = SetDelay(1); |
142 | delay = SetDelay(1); |
143 | while (!CheckDelay(delay)); |
143 | while (!CheckDelay(delay)); |
144 | 144 | ||
145 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET); |
145 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET); |
146 | delay = SetDelay(1); |
146 | delay = SetDelay(1); |
147 | while (!CheckDelay(delay)); |
147 | while (!CheckDelay(delay)); |
148 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
148 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
149 | } |
149 | } |
150 | delay = SetDelay(1); |
150 | delay = SetDelay(1); |
151 | while (!CheckDelay(delay)); |
151 | while (!CheckDelay(delay)); |
152 | // create stop condition setting SDA HIGH when SCL is HIGH |
152 | // create stop condition setting SDA HIGH when SCL is HIGH |
153 | GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET); |
153 | GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET); |
154 | 154 | ||
155 | 155 | ||
156 | // reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT |
156 | // reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT |
157 | GPIO_StructInit(&GPIO_InitStructure); |
157 | GPIO_StructInit(&GPIO_InitStructure); |
158 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
158 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
159 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
159 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
160 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
160 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
161 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
161 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
162 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT |
162 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT |
163 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
163 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
164 | 164 | ||
165 | // enable I2C peripherie |
165 | // enable I2C peripherie |
166 | SCU_APBPeriphClockConfig(__I2C1,ENABLE); |
166 | SCU_APBPeriphClockConfig(__I2C1,ENABLE); |
167 | // reset I2C peripherie |
167 | // reset I2C peripherie |
168 | SCU_APBPeriphReset(__I2C1,ENABLE); |
168 | SCU_APBPeriphReset(__I2C1,ENABLE); |
169 | SCU_APBPeriphReset(__I2C1,DISABLE); |
169 | SCU_APBPeriphReset(__I2C1,DISABLE); |
170 | 170 | ||
171 | I2C_DeInit(I2C1); |
171 | I2C_DeInit(I2C1); |
172 | I2C_StructInit(&I2C_Struct); |
172 | I2C_StructInit(&I2C_Struct); |
173 | I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable; |
173 | I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable; |
174 | I2C_Struct.I2C_Ack = I2C_Ack_Enable; |
174 | I2C_Struct.I2C_Ack = I2C_Ack_Enable; |
175 | I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK; |
175 | I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK; |
176 | I2C_Struct.I2C_OwnAddress = 0x00; |
176 | I2C_Struct.I2C_OwnAddress = 0x00; |
177 | I2C_Init(I2C1, &I2C_Struct); |
177 | I2C_Init(I2C1, &I2C_Struct); |
178 | 178 | ||
179 | I2C_TxBuffer = NULL; |
179 | I2C_TxBuffer = NULL; |
180 | I2C_TxBufferSize = 0; |
180 | I2C_TxBufferSize = 0; |
181 | 181 | ||
182 | I2C_RxBuffer = NULL; |
182 | I2C_RxBuffer = NULL; |
183 | I2C_RxBufferSize = 0; |
183 | I2C_RxBufferSize = 0; |
184 | 184 | ||
185 | I2C_Cmd(I2C1, ENABLE); |
185 | I2C_Cmd(I2C1, ENABLE); |
186 | I2C_ITConfig(I2C1, ENABLE); |
186 | I2C_ITConfig(I2C1, ENABLE); |
187 | 187 | ||
188 | VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1); |
188 | VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1); |
- | 189 | I2C_Heading.Heading = -1; |
|
189 | 190 | ||
190 | I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT); |
191 | I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT); |
191 | I2C_GenerateSTOP(I2C1, ENABLE); |
192 | I2C_GenerateSTOP(I2C1, ENABLE); |
192 | I2C_State = I2C_IDLE; |
193 | I2C_State = I2C_IDLE; |
193 | 194 | ||
194 | I2C_StopPolling = 0; // start polling |
195 | I2C_StopPolling = 0; // start polling |
195 | 196 | ||
196 | UART1_PutString("ok"); |
197 | UART1_PutString("ok"); |
197 | } |
198 | } |
198 | 199 | ||
199 | 200 | ||
200 | //-------------------------------------------------------------- |
201 | //-------------------------------------------------------------- |
201 | void I2C1_Deinit(void) |
202 | void I2C1_Deinit(void) |
202 | { |
203 | { |
203 | GPIO_InitTypeDef GPIO_InitStructure; |
204 | GPIO_InitTypeDef GPIO_InitStructure; |
204 | I2C_StopPolling = 1;// stop polling |
205 | I2C_StopPolling = 1;// stop polling |
205 | UART1_PutString("\r\n I2C deinit..."); |
206 | UART1_PutString("\r\n I2C deinit..."); |
206 | I2C_GenerateStart(I2C1, DISABLE); |
207 | I2C_GenerateStart(I2C1, DISABLE); |
207 | I2C_GenerateSTOP(I2C1, ENABLE); |
208 | I2C_GenerateSTOP(I2C1, ENABLE); |
208 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
209 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
209 | I2C_State = I2C_OFF; |
210 | I2C_State = I2C_OFF; |
210 | I2C_ITConfig(I2C1, DISABLE); |
211 | I2C_ITConfig(I2C1, DISABLE); |
211 | I2C_Cmd(I2C1, DISABLE); |
212 | I2C_Cmd(I2C1, DISABLE); |
212 | I2C_DeInit(I2C1); |
213 | I2C_DeInit(I2C1); |
213 | SCU_APBPeriphClockConfig(__I2C1, DISABLE); |
214 | SCU_APBPeriphClockConfig(__I2C1, DISABLE); |
214 | 215 | ||
215 | // set ports to input |
216 | // set ports to input |
216 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
217 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
217 | GPIO_StructInit(&GPIO_InitStructure); |
218 | GPIO_StructInit(&GPIO_InitStructure); |
218 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
219 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
219 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
220 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
220 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
221 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
221 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
222 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
222 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
223 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
223 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
224 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
224 | 225 | ||
225 | I2C_TxBuffer = NULL; |
226 | I2C_TxBuffer = NULL; |
226 | I2C_TxBufferSize = 0; |
227 | I2C_TxBufferSize = 0; |
227 | 228 | ||
228 | I2C_RxBuffer = NULL; |
229 | I2C_RxBuffer = NULL; |
229 | I2C_RxBufferSize = 0; |
230 | I2C_RxBufferSize = 0; |
230 | 231 | ||
231 | I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT); |
232 | I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT); |
232 | I2C_Heading.Heading = -2; |
233 | I2C_Heading.Heading = -1; |
233 | 234 | ||
234 | UART1_PutString("ok"); |
235 | UART1_PutString("ok"); |
235 | } |
236 | } |
236 | 237 | ||
237 | 238 | ||
238 | //-------------------------------------------------------------- |
239 | //-------------------------------------------------------------- |
239 | void I2C1_IRQHandler(void) |
240 | void I2C1_IRQHandler(void) |
240 | { |
241 | { |
241 | static u8 Rx_Idx = 0, Tx_Idx = 0, crc = 0; |
242 | static u8 Rx_Idx = 0, Tx_Idx = 0, crc = 0; |
242 | static u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers |
243 | static u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers |
243 | u16 status; |
244 | u16 status; |
244 | 245 | ||
245 | //IENABLE; // do not enable IRQ nesting for I2C!!!! |
246 | //IENABLE; // do not enable IRQ nesting for I2C!!!! |
246 | 247 | ||
247 | // detemine I2C State |
248 | // detemine I2C State |
248 | status = I2C_GetLastEvent(I2C1); |
249 | status = I2C_GetLastEvent(I2C1); |
249 | 250 | ||
250 | if(status & (I2C_FLAG_AF|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured |
251 | if(status & (I2C_FLAG_AF|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured |
251 | { // Set and subsequently clear the STOP bit while BTF is set. |
252 | { // Set and subsequently clear the STOP bit while BTF is set. |
252 | while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET) |
253 | while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET) |
253 | { |
254 | { |
254 | I2C_GenerateSTOP (I2C1, ENABLE); // free the bus |
255 | I2C_GenerateSTOP (I2C1, ENABLE); // free the bus |
255 | I2C_GenerateSTOP (I2C1, DISABLE); // free the bus |
256 | I2C_GenerateSTOP (I2C1, DISABLE); // free the bus |
256 | } |
257 | } |
257 | I2C_State = I2C_IDLE; |
258 | I2C_State = I2C_IDLE; |
258 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
259 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
259 | LED_GRN_OFF; |
260 | LED_GRN_OFF; |
260 | return; |
261 | return; |
261 | } |
262 | } |
262 | else |
263 | else |
263 | { // depending on current i2c state |
264 | { // depending on current i2c state |
264 | switch (status) |
265 | switch (status) |
265 | { |
266 | { |
266 | // the start condition was initiated on the bus |
267 | // the start condition was initiated on the bus |
267 | case I2C_EVENT_MASTER_MODE_SELECT: |
268 | case I2C_EVENT_MASTER_MODE_SELECT: |
268 | LED_GRN_ON; |
269 | LED_GRN_ON; |
269 | // update current bus state variable |
270 | // update current bus state variable |
270 | switch(I2C_Direction) |
271 | switch(I2C_Direction) |
271 | { |
272 | { |
272 | case I2C_MODE_TRANSMITTER: |
273 | case I2C_MODE_TRANSMITTER: |
273 | I2C_State = I2C_TX_PROGRESS; |
274 | I2C_State = I2C_TX_PROGRESS; |
274 | break; |
275 | break; |
275 | 276 | ||
276 | case I2C_MODE_RECEIVER: |
277 | case I2C_MODE_RECEIVER: |
277 | if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0)) |
278 | if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0)) |
278 | { |
279 | { |
279 | I2C_GenerateSTOP (I2C1, ENABLE); |
280 | I2C_GenerateSTOP (I2C1, ENABLE); |
280 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
281 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
281 | LED_GRN_OFF; |
282 | LED_GRN_OFF; |
282 | I2C_State = I2C_IDLE; |
283 | I2C_State = I2C_IDLE; |
283 | return; |
284 | return; |
284 | } |
285 | } |
285 | else |
286 | else |
286 | { |
287 | { |
287 | I2C_State = I2C_RX_PROGRESS; |
288 | I2C_State = I2C_RX_PROGRESS; |
288 | } |
289 | } |
289 | break; |
290 | break; |
290 | 291 | ||
291 | default: // invalid direction |
292 | default: // invalid direction |
292 | I2C_GenerateSTOP (I2C1, ENABLE); |
293 | I2C_GenerateSTOP (I2C1, ENABLE); |
293 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
294 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
294 | LED_GRN_OFF; |
295 | LED_GRN_OFF; |
295 | I2C_State = I2C_IDLE; |
296 | I2C_State = I2C_IDLE; |
296 | return; |
297 | return; |
297 | } |
298 | } |
298 | // enable acknowledge |
299 | // enable acknowledge |
299 | I2C_AcknowledgeConfig (I2C1, ENABLE); |
300 | I2C_AcknowledgeConfig (I2C1, ENABLE); |
300 | // send address/direction byte on the bus |
301 | // send address/direction byte on the bus |
301 | I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction); |
302 | I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction); |
302 | break; |
303 | break; |
303 | 304 | ||
304 | // the address byte was send |
305 | // the address byte was send |
305 | case I2C_EVENT_MASTER_MODE_SELECTED: |
306 | case I2C_EVENT_MASTER_MODE_SELECTED: |
306 | // Clear EV6 by set again the PE bit |
307 | // Clear EV6 by set again the PE bit |
307 | I2C_Cmd(I2C1, ENABLE); |
308 | I2C_Cmd(I2C1, ENABLE); |
308 | // reset checksum |
309 | // reset checksum |
309 | crc = 0; |
310 | crc = 0; |
310 | switch(I2C_State) |
311 | switch(I2C_State) |
311 | { |
312 | { |
312 | case I2C_TX_PROGRESS: |
313 | case I2C_TX_PROGRESS: |
313 | // send command 1st data byte (allways the command id) |
314 | // send command 1st data byte (allways the command id) |
314 | I2C_SendData(I2C1, I2C_Command); |
315 | I2C_SendData(I2C1, I2C_Command); |
315 | crc += I2C_Command; |
316 | crc += I2C_Command; |
316 | Tx_Idx = 0; |
317 | Tx_Idx = 0; |
317 | // reset timeout |
318 | // reset timeout |
318 | I2C1_Timeout = SetDelay(I2C1_TIMEOUT); // after inactivity the I2C1 bus will be reset |
319 | I2C1_Timeout = SetDelay(I2C1_TIMEOUT); // after inactivity the I2C1 bus will be reset |
319 | break; |
320 | break; |
320 | 321 | ||
321 | case I2C_RX_PROGRESS: |
322 | case I2C_RX_PROGRESS: |
322 | Rx_Idx = 0; |
323 | Rx_Idx = 0; |
323 | break; |
324 | break; |
324 | 325 | ||
325 | default: // unknown I2C state |
326 | default: // unknown I2C state |
326 | // should never happen |
327 | // should never happen |
327 | I2C_GenerateSTOP (I2C1, ENABLE); |
328 | I2C_GenerateSTOP (I2C1, ENABLE); |
328 | LED_GRN_OFF; |
329 | LED_GRN_OFF; |
329 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
330 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
330 | I2C_State = I2C_IDLE; |
331 | I2C_State = I2C_IDLE; |
331 | return; |
332 | return; |
332 | break; |
333 | break; |
333 | } |
334 | } |
334 | break; |
335 | break; |
335 | 336 | ||
336 | // the master has transmitted a byte and slave has been acknowledged |
337 | // the master has transmitted a byte and slave has been acknowledged |
337 | case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
338 | case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
338 | 339 | ||
339 | // some bytes have to be transmitted |
340 | // some bytes have to be transmitted |
340 | if(Tx_Idx < I2C_TxBufferSize) |
341 | if(Tx_Idx < I2C_TxBufferSize) |
341 | { |
342 | { |
342 | if(I2C_TxBuffer != NULL) |
343 | if(I2C_TxBuffer != NULL) |
343 | { |
344 | { |
344 | I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]); |
345 | I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]); |
345 | crc += I2C_TxBuffer[Tx_Idx]; |
346 | crc += I2C_TxBuffer[Tx_Idx]; |
346 | } |
347 | } |
347 | else |
348 | else |
348 | { |
349 | { |
349 | I2C_SendData(I2C1, 0x00); |
350 | I2C_SendData(I2C1, 0x00); |
350 | } |
351 | } |
351 | } |
352 | } |
352 | else if(Tx_Idx == I2C_TxBufferSize) // the last tx buffer byte was send |
353 | else if(Tx_Idx == I2C_TxBufferSize) // the last tx buffer byte was send |
353 | { |
354 | { |
354 | // send crc byte at the end |
355 | // send crc byte at the end |
355 | crc = ~crc; // flip all bits in the checksum |
356 | crc = ~crc; // flip all bits in the checksum |
356 | I2C_SendData(I2C1, crc); |
357 | I2C_SendData(I2C1, crc); |
357 | } |
358 | } |
358 | else if(Tx_Idx == (I2C_TxBufferSize+1) ) |
359 | else if(Tx_Idx == (I2C_TxBufferSize+1) ) |
359 | { |
360 | { |
360 | I2C_SendData(I2C1, 0xAA); // send a dummybyte |
361 | I2C_SendData(I2C1, 0xAA); // send a dummybyte |
361 | } |
362 | } |
362 | else // last byte was send |
363 | else // last byte was send |
363 | { |
364 | { |
364 | // generate stop or repeated start condition |
365 | // generate stop or repeated start condition |
365 | if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected? |
366 | if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected? |
366 | { |
367 | { |
367 | I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
368 | I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
368 | I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
369 | I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
369 | } |
370 | } |
370 | else |
371 | else |
371 | { // stop communication |
372 | { // stop communication |
372 | I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
373 | I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
373 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
374 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
374 | LED_GRN_OFF; |
375 | LED_GRN_OFF; |
375 | DebugOut.Analog[15]++; |
376 | DebugOut.Analog[15]++; |
376 | I2C_State = I2C_IDLE; // ready for new actions |
377 | I2C_State = I2C_IDLE; // ready for new actions |
377 | 378 | ||
378 | } |
379 | } |
379 | } |
380 | } |
380 | Tx_Idx++; |
381 | Tx_Idx++; |
381 | break; |
382 | break; |
382 | 383 | ||
383 | // the master has received a byte from the slave |
384 | // the master has received a byte from the slave |
384 | case I2C_EVENT_MASTER_BYTE_RECEIVED: |
385 | case I2C_EVENT_MASTER_BYTE_RECEIVED: |
385 | // some bytes have to be received |
386 | // some bytes have to be received |
386 | if (Rx_Idx < I2C_RxBufferSize) |
387 | if (Rx_Idx < I2C_RxBufferSize) |
387 | { // copy received byte from the data register to the rx-buffer |
388 | { // copy received byte from the data register to the rx-buffer |
388 | I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
389 | I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
389 | // update checksum |
390 | // update checksum |
390 | crc += I2C_PrimRxBuffer[Rx_Idx]; |
391 | crc += I2C_PrimRxBuffer[Rx_Idx]; |
391 | } |
392 | } |
392 | // if the last byte (crc) was received |
393 | // if the last byte (crc) was received |
393 | else if ( Rx_Idx == I2C_RxBufferSize) |
394 | else if ( Rx_Idx == I2C_RxBufferSize) |
394 | { |
395 | { |
395 | // generate a STOP condition on the bus before reading data register |
396 | // generate a STOP condition on the bus before reading data register |
396 | I2C_GenerateSTOP(I2C1, ENABLE); |
397 | I2C_GenerateSTOP(I2C1, ENABLE); |
397 | // compare last byte with checksum |
398 | // compare last byte with checksum |
398 | crc = ~crc;// flip all bits in calulated checksum |
399 | crc = ~crc;// flip all bits in calulated checksum |
399 | if(crc == I2C_ReceiveData(I2C1)) |
400 | if(crc == I2C_ReceiveData(I2C1)) |
400 | { |
401 | { |
401 | // copy primary rx buffer content to rx buffer if exist |
402 | // copy primary rx buffer content to rx buffer if exist |
402 | if(I2C_RxBuffer != NULL) |
403 | if(I2C_RxBuffer != NULL) |
403 | { |
404 | { |
404 | memcpy((u8 *)I2C_RxBuffer, (u8 *)I2C_PrimRxBuffer, I2C_RxBufferSize); |
405 | memcpy((u8 *)I2C_RxBuffer, (u8 *)I2C_PrimRxBuffer, I2C_RxBufferSize); |
405 | } |
406 | } |
406 | I2C1_Timeout = SetDelay(I2C1_TIMEOUT); |
407 | I2C1_Timeout = SetDelay(I2C1_TIMEOUT); |
407 | DebugOut.Analog[15]++; |
408 | DebugOut.Analog[15]++; |
408 | } |
409 | } |
409 | else // checksum error detected |
410 | else // checksum error detected |
410 | { |
411 | { |
411 | DebugOut.Analog[14]++; |
412 | DebugOut.Analog[14]++; |
412 | } |
413 | } |
413 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
414 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
414 | LED_GRN_OFF; |
415 | LED_GRN_OFF; |
415 | I2C_State = I2C_IDLE; |
416 | I2C_State = I2C_IDLE; |
416 | return; |
417 | return; |
417 | } |
418 | } |
418 | Rx_Idx++; |
419 | Rx_Idx++; |
419 | // if the 2nd last byte was received disable acknowledge for the last one |
420 | // if the 2nd last byte was received disable acknowledge for the last one |
420 | if ( Rx_Idx == I2C_RxBufferSize ) |
421 | if ( Rx_Idx == I2C_RxBufferSize ) |
421 | { |
422 | { |
422 | I2C_AcknowledgeConfig (I2C1, DISABLE); |
423 | I2C_AcknowledgeConfig (I2C1, DISABLE); |
423 | } |
424 | } |
424 | break; |
425 | break; |
425 | 426 | ||
426 | default: |
427 | default: |
427 | break; |
428 | break; |
428 | } |
429 | } |
429 | } |
430 | } |
430 | 431 | ||
431 | //IDISABLE; // do not enable IRQ nesting for I2C!!!! |
432 | //IDISABLE; // do not enable IRQ nesting for I2C!!!! |
432 | } |
433 | } |
433 | //---------------------------------------------------------------- |
434 | //---------------------------------------------------------------- |
434 | void I2C1_SendCommand(u8 command) |
435 | void I2C1_SendCommand(u8 command) |
435 | { |
436 | { |
436 | // disable I2C IRQ to check state |
437 | // disable I2C IRQ to check state |
437 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
438 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
438 | // If I2C transmission is in progress |
439 | // If I2C transmission is in progress |
439 | if(I2C_State == I2C_IDLE) |
440 | if(I2C_State == I2C_IDLE) |
440 | { |
441 | { |
441 | // update current command id |
442 | // update current command id |
442 | I2C_Command = command; |
443 | I2C_Command = command; |
443 | // set pointers to data area with respect to the command id |
444 | // set pointers to data area with respect to the command id |
444 | switch (command) |
445 | switch (command) |
445 | { |
446 | { |
446 | case I2C_CMD_VERSION: |
447 | case I2C_CMD_VERSION: |
447 | I2C_RxBuffer = (u8 *)&MK3MAG_Version; |
448 | I2C_RxBuffer = (u8 *)&MK3MAG_Version; |
448 | I2C_RxBufferSize = sizeof(MK3MAG_Version); |
449 | I2C_RxBufferSize = sizeof(MK3MAG_Version); |
449 | I2C_TxBuffer = NULL; |
450 | I2C_TxBuffer = NULL; |
450 | I2C_TxBufferSize = 0; |
451 | I2C_TxBufferSize = 0; |
451 | break; |
452 | break; |
452 | case I2C_CMD_WRITE_CAL: |
453 | case I2C_CMD_WRITE_CAL: |
453 | I2C_RxBuffer = (u8 *)&I2C_ReadCal; |
454 | I2C_RxBuffer = (u8 *)&I2C_ReadCal; |
454 | I2C_RxBufferSize = sizeof(I2C_ReadCal); |
455 | I2C_RxBufferSize = sizeof(I2C_ReadCal); |
455 | I2C_TxBuffer = (u8 *)&I2C_WriteCal; |
456 | I2C_TxBuffer = (u8 *)&I2C_WriteCal; |
456 | I2C_TxBufferSize = sizeof(I2C_WriteCal); |
457 | I2C_TxBufferSize = sizeof(I2C_WriteCal); |
457 | break; |
458 | break; |
458 | case I2C_CMD_READ_MAG: |
459 | case I2C_CMD_READ_MAG: |
459 | I2C_RxBuffer = (u8 *)&I2C_Mag; |
460 | I2C_RxBuffer = (u8 *)&I2C_Mag; |
460 | I2C_RxBufferSize = sizeof(I2C_Mag); |
461 | I2C_RxBufferSize = sizeof(I2C_Mag); |
461 | I2C_TxBuffer = NULL; |
462 | I2C_TxBuffer = NULL; |
462 | I2C_TxBufferSize = 0; |
463 | I2C_TxBufferSize = 0; |
463 | break; |
464 | break; |
464 | case I2C_CMD_READ_HEADING: |
465 | case I2C_CMD_READ_HEADING: |
465 | I2C_RxBuffer = (u8 *)&I2C_Heading; |
466 | I2C_RxBuffer = (u8 *)&I2C_Heading; |
466 | I2C_RxBufferSize = sizeof(I2C_Heading); |
467 | I2C_RxBufferSize = sizeof(I2C_Heading); |
467 | I2C_TxBuffer = (u8 *)&I2C_WriteAttitude; |
468 | I2C_TxBuffer = (u8 *)&I2C_WriteAttitude; |
468 | I2C_TxBufferSize = sizeof(I2C_WriteAttitude); |
469 | I2C_TxBufferSize = sizeof(I2C_WriteAttitude); |
469 | // update attitude from spi rx buffer |
470 | // update attitude from spi rx buffer |
470 | VIC_ITCmd(SSP0_ITLine, DISABLE); // avoid spi buffer update during copy |
471 | VIC_ITCmd(SSP0_ITLine, DISABLE); // avoid spi buffer update during copy |
471 | I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll; |
472 | I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll; |
472 | I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick; |
473 | I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick; |
473 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
474 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
474 | break; |
475 | break; |
475 | default: // unknown command id |
476 | default: // unknown command id |
476 | I2C_RxBuffer = NULL; |
477 | I2C_RxBuffer = NULL; |
477 | I2C_RxBufferSize = 0; |
478 | I2C_RxBufferSize = 0; |
478 | I2C_TxBuffer = NULL; |
479 | I2C_TxBuffer = NULL; |
479 | I2C_TxBufferSize = 0; |
480 | I2C_TxBufferSize = 0; |
480 | break; |
481 | break; |
481 | } |
482 | } |
482 | // set direction to master transmitter |
483 | // set direction to master transmitter |
483 | I2C_Direction = I2C_MODE_TRANSMITTER; |
484 | I2C_Direction = I2C_MODE_TRANSMITTER; |
484 | // test on busy flag and clear it |
485 | // test on busy flag and clear it |
485 | I2C_CheckEvent( I2C1, I2C_FLAG_BUSY ); |
486 | I2C_CheckEvent( I2C1, I2C_FLAG_BUSY ); |
486 | // enable I2C IRQ again |
487 | // enable I2C IRQ again |
487 | VIC_ITCmd(I2C1_ITLine, ENABLE); |
488 | VIC_ITCmd(I2C1_ITLine, ENABLE); |
488 | // initiate start condition on the bus |
489 | // initiate start condition on the bus |
489 | I2C_GenerateStart(I2C1, ENABLE); |
490 | I2C_GenerateStart(I2C1, ENABLE); |
490 | // to be continued in the I2C1_IRQHandler() above |
491 | // to be continued in the I2C1_IRQHandler() above |
491 | } // EOF I2C_State == I2C_IDLE |
492 | } // EOF I2C_State == I2C_IDLE |
492 | else // I2C_State != I2C_IDLE |
493 | else // I2C_State != I2C_IDLE |
493 | { |
494 | { |
494 | // re-enable I2C IRQ again |
495 | // re-enable I2C IRQ again |
495 | VIC_ITCmd(I2C1_ITLine, ENABLE); |
496 | VIC_ITCmd(I2C1_ITLine, ENABLE); |
496 | } |
497 | } |
497 | } |
498 | } |
498 | 499 | ||
499 | //---------------------------------------------------------------- |
500 | //---------------------------------------------------------------- |
500 | void I2C1_GetMK3MagVersion(void) |
501 | void I2C1_GetMK3MagVersion(void) |
501 | { |
502 | { |
502 | u8 msg[64]; |
503 | u8 msg[64]; |
503 | u8 repeat; |
504 | u8 repeat; |
504 | u32 timeout; |
505 | u32 timeout; |
505 | 506 | ||
506 | UART1_PutString("\r\n Getting Version from MK3MAG"); |
507 | UART1_PutString("\r\n Getting Version from MK3MAG"); |
507 | // stop polling of other commands |
508 | // stop polling of other commands |
508 | I2C_StopPolling = 1; |
509 | I2C_StopPolling = 1; |
509 | 510 | ||
510 | MK3MAG_Version.Major = 0xFF; |
511 | MK3MAG_Version.Major = 0xFF; |
511 | MK3MAG_Version.Minor = 0xFF; |
512 | MK3MAG_Version.Minor = 0xFF; |
512 | MK3MAG_Version.Patch = 0xFF; |
513 | MK3MAG_Version.Patch = 0xFF; |
513 | MK3MAG_Version.Compatible = 0xFF; |
514 | MK3MAG_Version.Compatible = 0xFF; |
514 | // polling of version info |
515 | // polling of version info |
515 | repeat = 0; |
516 | repeat = 0; |
516 | do |
517 | do |
517 | { |
518 | { |
518 | I2C1_SendCommand(I2C_CMD_VERSION); |
519 | I2C1_SendCommand(I2C_CMD_VERSION); |
519 | timeout = SetDelay(250); |
520 | timeout = SetDelay(250); |
520 | do |
521 | do |
521 | { |
522 | { |
522 | if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
523 | if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
523 | }while (!CheckDelay(timeout)); |
524 | }while (!CheckDelay(timeout)); |
524 | UART1_PutString("."); |
525 | UART1_PutString("."); |
525 | repeat++; |
526 | repeat++; |
526 | }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
527 | }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
527 | // if we got it |
528 | // if we got it |
528 | if (MK3MAG_Version.Major != 0xFF) |
529 | if (MK3MAG_Version.Major != 0xFF) |
529 | { |
530 | { |
530 | sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
531 | sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
531 | UART1_PutString(msg); |
532 | UART1_PutString(msg); |
532 | sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible); |
533 | sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible); |
533 | UART1_PutString(msg); |
534 | UART1_PutString(msg); |
534 | } |
535 | } |
535 | else UART1_PutString("\n\r No version information from MK3Mag."); |
536 | else UART1_PutString("\n\r No version information from MK3Mag."); |
536 | 537 | ||
537 | I2C_StopPolling = 0; // enable polling of heading command |
538 | I2C_StopPolling = 0; // enable polling of heading command |
538 | } |
539 | } |
539 | 540 | ||
540 | 541 | ||
541 | //---------------------------------------------------------------- |
542 | //---------------------------------------------------------------- |
542 | void I2C1_UpdateCompass(void) |
543 | void I2C1_UpdateCompass(void) |
543 | { |
544 | { |
544 | static u32 TimerCompassUpdate = 0; |
545 | static u32 TimerCompassUpdate = 0; |
545 | 546 | ||
546 | if( (I2C_State == I2C_OFF) || I2C_StopPolling ) return; |
547 | if( (I2C_State == I2C_OFF) || I2C_StopPolling ) return; |
547 | 548 | ||
548 | if(CheckDelay(TimerCompassUpdate)) |
549 | if(CheckDelay(TimerCompassUpdate)) |
549 | { |
550 | { |
550 | // check for incomming compass calibration request |
551 | // check for incomming compass calibration request |
551 | // update CalByte from spi input queue |
552 | // update CalByte from spi input queue |
552 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
553 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
553 | // send new calstate |
554 | // send new calstate |
554 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
555 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
555 | { |
556 | { |
556 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
557 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
557 | } |
558 | } |
558 | else // request current heading |
559 | else // request current heading |
559 | { |
560 | { |
560 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
561 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
561 | } |
562 | } |
562 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
563 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
563 | } |
564 | } |
564 | } |
565 | } |
565 | 566 |