WebSVN - NaviCtrl - Diff - Rev 228 and 229


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
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//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#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"
 
#define I2C_SLAVE_ADDRESS               0x50
 
// I2C states
#define I2C_UNDEF               0
#define I2C_IDLE                1
#define I2C_TX_PROGRESS 2
#define I2C_RX_PENDING  3
#define I2C_RX_PROGRESS 4
#define I2C_OFF                 5
 
volatile u8 I2C_State = I2C_OFF; // only on byte! because of sync by nesting irqs
u8 I2C_StopPolling = 1;
 
// rxbuffer
volatile u8 I2C_RxBufferSize;
volatile u8 *I2C_RxBuffer;
// txbuffer
volatile u8 I2C_TxBufferSize;
volatile u8 *I2C_TxBuffer;
 
volatile u8 I2C_Direction;
volatile u8 I2C_Command;
// I2C Transfer buffers
volatile I2C_Heading_t                  I2C_Heading;
volatile I2C_WriteAttitude_t    I2C_WriteAttitude;
volatile I2C_Mag_t                              I2C_Mag;
volatile I2C_Version_t                  MK3MAG_Version;
volatile I2C_Cal_t                              I2C_WriteCal;
volatile I2C_Cal_t                              I2C_ReadCal;
 
#define I2C1_TIMEOUT 500 // 500 ms
volatile u32 I2C1_Timeout = 0;
 
//--------------------------------------------------------------
void I2C1_Init(void)
{
        I2C_InitTypeDef   I2C_Struct;
        GPIO_InitTypeDef  GPIO_InitStructure;
       
        I2C_State = I2C_OFF;
 
        UART1_PutString("\r\n I2C init...");
        // enable Port 2 peripherie
        SCU_APBPeriphClockConfig(__GPIO2, ENABLE);
        // disable a reset state
        SCU_APBPeriphReset(__GPIO2, DISABLE);
 
        // free a busy bus
 
        // At switch on I2C devices can get in a state where they
        // are still waiting for a command due to all the bus lines bouncing
        // around at startup have started clocking data into the device(s).
        // Enable the ports as open collector port outputs
        // and clock out at least 9 SCL pulses, then generate a stop
        // condition and then leave the clock line high.
 
        // configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3;
        GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;
        GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_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_IPInputConnected = GPIO_IPInputConnected_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;
        I2C_TxBufferSize = 0;
 
        I2C_RxBuffer = NULL;
        I2C_RxBufferSize = 0;
 
        I2C_Cmd(I2C1, ENABLE);
        I2C_ITConfig(I2C1, ENABLE);
 
        VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1);
        I2C_Heading.Heading = -1;
 
        I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT);
        I2C_GenerateSTOP(I2C1, ENABLE);
        I2C_State = I2C_IDLE;
 
        I2C_StopPolling = 0; // start polling
 
        UART1_PutString("ok");
}
 
 
//--------------------------------------------------------------
void I2C1_Deinit(void)
{
        GPIO_InitTypeDef  GPIO_InitStructure;
        I2C_StopPolling = 1;// stop polling
        UART1_PutString("\r\n I2C deinit...");
        I2C_GenerateStart(I2C1, DISABLE);
        I2C_GenerateSTOP(I2C1, ENABLE);
        VIC_ITCmd(I2C1_ITLine, DISABLE);
        I2C_State = I2C_OFF;
        I2C_ITConfig(I2C1, DISABLE);
        I2C_Cmd(I2C1, DISABLE);
        I2C_DeInit(I2C1);
        SCU_APBPeriphClockConfig(__I2C1, DISABLE);
 
        // set ports to input
        SCU_APBPeriphClockConfig(__GPIO2, ENABLE);
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
        GPIO_InitStructure.GPIO_Pin =                   GPIO_Pin_2 | GPIO_Pin_3;
        GPIO_InitStructure.GPIO_Type =                  GPIO_Type_PushPull;
        GPIO_InitStructure.GPIO_IPInputConnected =      GPIO_IPInputConnected_Disable;
        GPIO_InitStructure.GPIO_Alternate =     GPIO_InputAlt1;
        GPIO_Init(GPIO2, &GPIO_InitStructure);
 
        I2C_TxBuffer = NULL;
        I2C_TxBufferSize = 0;
 
        I2C_RxBuffer = NULL;
        I2C_RxBufferSize = 0;
 
        I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT);
        I2C_Heading.Heading = -1;
 
        UART1_PutString("ok");
}
 
 
//--------------------------------------------------------------
void I2C1_IRQHandler(void)
{
        static u8 Rx_Idx = 0, Tx_Idx = 0, crc = 0;
        static u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers
        u16 status;
 
        //IENABLE;  // do not enable IRQ nesting for I2C!!!!
 
        // 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;
                VIC_ITCmd(I2C1_ITLine, DISABLE);
                LED_GRN_OFF;
                return;
        }
        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);
                                                        VIC_ITCmd(I2C1_ITLine, DISABLE);
                                                        LED_GRN_OFF;
                                                        I2C_State = I2C_IDLE;
                                                        return;
                                                }
                                                else
                                                {
                                                        I2C_State = I2C_RX_PROGRESS;
                                                }
                                                break;
 
                                        default: // invalid direction
                                                I2C_GenerateSTOP (I2C1, ENABLE);
                                                VIC_ITCmd(I2C1_ITLine, DISABLE);
                                                LED_GRN_OFF;
                                                I2C_State = I2C_IDLE;
                                                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(I2C1_TIMEOUT); // after 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);
                                        LED_GRN_OFF;
                                        VIC_ITCmd(I2C1_ITLine, DISABLE);
                                        I2C_State = I2C_IDLE;
                                        return;
                                        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 if(Tx_Idx == I2C_TxBufferSize) // the last tx buffer byte was send
                                {
                                        // send crc byte at the end
                                        crc = ~crc; // flip all bits in the checksum
                                        I2C_SendData(I2C1, crc);
                                }
                                else if(Tx_Idx == (I2C_TxBufferSize+1) )
                                {
                                        I2C_SendData(I2C1, 0xAA); // send a dummybyte
                                }
                                else // last byte was send
                                {
                                        // 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
                                                VIC_ITCmd(I2C1_ITLine, DISABLE);
                                                LED_GRN_OFF;
                                                DebugOut.Analog[15]++;
                                                I2C_State = I2C_IDLE;                   // ready for new actions
                                               
                                        }
                                }
                                Tx_Idx++;
                                break;
 
                        // the master has received a byte from the slave
                        case I2C_EVENT_MASTER_BYTE_RECEIVED:
                                // some bytes have to be received
                                if (Rx_Idx < I2C_RxBufferSize)
                                {       // copy received byte  from the data register to the rx-buffer
                                        I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1);
                                        // update checksum
                                        crc += I2C_PrimRxBuffer[Rx_Idx];
                                }
                                // if the last byte (crc) was received
                                else if ( Rx_Idx == I2C_RxBufferSize)
                                {
                                        // generate a STOP condition on the bus before reading data register
                                        I2C_GenerateSTOP(I2C1, ENABLE);
                                        // compare last byte with checksum
                                        crc = ~crc;// flip all bits in calulated checksum
                                        if(crc == I2C_ReceiveData(I2C1))
                                        {      
                                                // copy primary rx buffer content to rx buffer if exist
                                                if(I2C_RxBuffer != NULL)
                                                {
                                                        memcpy((u8 *)I2C_RxBuffer, (u8 *)I2C_PrimRxBuffer, I2C_RxBufferSize);
                                                }
                                                I2C1_Timeout = SetDelay(I2C1_TIMEOUT);
                                                DebugOut.Analog[15]++;
                                        }
                                        else // checksum error detected
                                        {
                                                DebugOut.Analog[14]++;
                                        }
                                        VIC_ITCmd(I2C1_ITLine, DISABLE);
                                        LED_GRN_OFF;
                                        I2C_State = I2C_IDLE;
                                        return;
                                }
                                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;
                }
        }
 
        //IDISABLE;      // do not enable IRQ nesting for I2C!!!!
}
//----------------------------------------------------------------
void I2C1_SendCommand(u8 command)
{
        // disable I2C IRQ to check state
        VIC_ITCmd(I2C1_ITLine, DISABLE);
        // If I2C transmission is in progress
        if(I2C_State == I2C_IDLE)
        {
                // 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:
                                I2C_RxBuffer = (u8 *)&I2C_Heading;
                                I2C_RxBufferSize = sizeof(I2C_Heading);
                                I2C_TxBuffer =  (u8 *)&I2C_WriteAttitude;
                                I2C_TxBufferSize = sizeof(I2C_WriteAttitude);
                                // update attitude from spi rx buffer
                                VIC_ITCmd(SSP0_ITLine, DISABLE); // avoid spi buffer update during copy
                                I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll;
                                I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick;
                                VIC_ITCmd(SSP0_ITLine, ENABLE);
                                break;
                        default: // unknown command id
                                I2C_RxBuffer = NULL;
                                I2C_RxBufferSize = 0;
                                I2C_TxBuffer =  NULL;
                                I2C_TxBufferSize = 0;
                                break;
                }
                // set direction to master transmitter
                I2C_Direction = I2C_MODE_TRANSMITTER;
                // test on busy flag and clear it
                I2C_CheckEvent( I2C1, I2C_FLAG_BUSY );
                // enable I2C IRQ again
                VIC_ITCmd(I2C1_ITLine, ENABLE);
                // initiate start condition on the bus
                I2C_GenerateStart(I2C1, ENABLE);
                // to be continued in the I2C1_IRQHandler() above
        } // EOF I2C_State == I2C_IDLE
        else // I2C_State != I2C_IDLE
        {
                // re-enable I2C IRQ again
                VIC_ITCmd(I2C1_ITLine, ENABLE);
        }      
}
 
//----------------------------------------------------------------
void I2C1_GetMK3MagVersion(void)
{
        u8 msg[64];
        u8 repeat;
        u32 timeout;
       
        UART1_PutString("\r\n Getting Version from MK3MAG");
        // stop polling of other commands
        I2C_StopPolling = 1;
 
        MK3MAG_Version.Major = 0xFF;
        MK3MAG_Version.Minor = 0xFF;
        MK3MAG_Version.Patch = 0xFF;
        MK3MAG_Version.Compatible = 0xFF;
        // polling of version info
        repeat = 0;
        do
        {
                I2C1_SendCommand(I2C_CMD_VERSION);
                timeout = SetDelay(250);
                do
                {
                        if (MK3MAG_Version.Major != 0xFF) break; // break loop on success
                }while (!CheckDelay(timeout));
                UART1_PutString(".");
                repeat++;
        }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s
        // if we got it
        if (MK3MAG_Version.Major != 0xFF)
        {
                sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
                UART1_PutString(msg);
                sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible);
                UART1_PutString(msg);
        }
        else UART1_PutString("\n\r No version information from MK3Mag.");
 
        I2C_StopPolling = 0; // enable polling of heading command
}
 
 
//----------------------------------------------------------------
void I2C1_UpdateCompass(void)
{
        static u32 TimerCompassUpdate = 0;
 
        if( (I2C_State == I2C_OFF) || I2C_StopPolling ) return;
       
        if(CheckDelay(TimerCompassUpdate))
        {
                // check for incomming compass calibration request
                // update CalByte from spi input queue
                fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte));
                // send new calstate
                if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte)
                {
                        I2C1_SendCommand(I2C_CMD_WRITE_CAL);
                }
                else // request current heading
                {
                        I2C1_SendCommand(I2C_CMD_READ_HEADING);
                }
                TimerCompassUpdate = SetDelay(20);    // every 20 ms are 50 Hz
        }
}
 

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	//----------------------------------------------------------------

Subversion Repositories NaviCtrl

(root)/tags/V0.20c/i2c.c @ 357 - Rev 228 → 229