WebSVN - NaviCtrl - Diff - Rev 137 and 141


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
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//
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include <string.h>
#include "91x_lib.h"
#include "i2c.h"
#include "uart1.h"
#include "timer1.h"
#include "config.h"
#include "main.h"
#include "led.h"
#include "spi_slave.h"
 
 
volatile I2C_State_t I2C_State = I2C_OFF;
 
// rxbuffer
volatile u8 I2C_RxBufferSize;
volatile u8 *I2C_RxBuffer;
volatile u8 Rx_Idx = 0;
// txbuffer
volatile u8 I2C_TxBufferSize;
volatile u8 *I2C_TxBuffer;
volatile u8 Tx_Idx = 0;
 
volatile u8 I2C_Direction;
volatile u8 I2C_Command;
 
volatile I2C_Heading_t                  I2C_Heading;
volatile I2C_WriteAttitude_t    I2C_WriteAttitude;
volatile I2C_Mag_t                              I2C_Mag;
volatile I2C_Version_t                  MK3MAG_Version;
volatile I2C_Cal_t                              I2C_WriteCal;
volatile I2C_Cal_t                              I2C_ReadCal;
 
volatile u8 I2C_ReadRequest = 0;
volatile u32 I2C1_Timeout = 0;
volatile u32 CheckI2COkay = 0;
volatile u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers
 
 
//--------------------------------------------------------------
void I2C1_Init(void)
{
        I2C_InitTypeDef   I2C_Struct;
        GPIO_InitTypeDef  GPIO_InitStructure;
 
        UART1_PutString("\r\n I2C init...");
        // enable Port 2 peripherie
        SCU_APBPeriphClockConfig(__GPIO2, ENABLE);
        // disable a reset state
        SCU_APBPeriphReset(__GPIO2, DISABLE);
 
        // free a busy bus
 
        // At switch on I2C devices can get in a state where they
        // are still waiting for a command due to all the bus lines bouncing
        // around at startup have started clocking data into the device(s).
        // Enable the ports as open collector port outputs
        // and clock out at least 9 SCL pulses, then generate a stop
        // condition and then leave the clock line high.
 
        // configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3;
        GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;
        GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;
        GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1;
        GPIO_Init(GPIO2, &GPIO_InitStructure);
 
        u8 i;
        u32 delay;
        // set SCL high and then SDA to low (start condition)
        GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET);
        delay = SetDelay(1);
        while (!CheckDelay(delay));
        GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET);
        // toggle SCL at least 10 times from high to low to high
        for(i = 0; i < 10; i++)
        {
                delay = SetDelay(1);
                while (!CheckDelay(delay));
 
                GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET);
                delay = SetDelay(1);
                while (!CheckDelay(delay));
                GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET);
        }
        delay = SetDelay(1);
        while (!CheckDelay(delay));
        // create stop condition setting SDA HIGH when SCL is HIGH
        GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET);
 
 
        // reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3;
        GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;
        GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
        GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT
        GPIO_Init(GPIO2, &GPIO_InitStructure);
 
        // enable I2C peripherie
        SCU_APBPeriphClockConfig(__I2C1,ENABLE);
        // reset I2C peripherie
        SCU_APBPeriphReset(__I2C1,ENABLE);
        SCU_APBPeriphReset(__I2C1,DISABLE);
 
        I2C_DeInit(I2C1);
        I2C_StructInit(&I2C_Struct);
        I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable;
        I2C_Struct.I2C_Ack = I2C_Ack_Enable;
        I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK;
        I2C_Struct.I2C_OwnAddress = 0x00;
        I2C_Init(I2C1, &I2C_Struct);
 
        I2C_TxBuffer = NULL;
        Tx_Idx = 0;
        I2C_TxBufferSize = 0;
 
        I2C_RxBuffer = NULL;
        Rx_Idx = 0;
        I2C_RxBufferSize = 0;
 
        I2C_Cmd(I2C1, ENABLE);
        I2C_ITConfig(I2C1, ENABLE);
 
        VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1);
        VIC_ITCmd(I2C1_ITLine, ENABLE);
 
        I2C1_Timeout = SetDelay(1000);
        I2C_Heading.Heading = -1;
        I2C_GenerateSTOP(I2C1, ENABLE);
        I2C_State = I2C_IDLE;
 
        UART1_PutString("ok");
}
 
 
//--------------------------------------------------------------
void I2C1_Deinit(void)
{
        GPIO_InitTypeDef  GPIO_InitStructure;
 
        UART1_PutString("\r\n I2C deinit...");
        I2C_GenerateStart(I2C1, DISABLE);
        I2C_GenerateSTOP(I2C1, ENABLE);
        VIC_ITCmd(I2C1_ITLine, DISABLE);
        I2C_ITConfig(I2C1, DISABLE);
        I2C_Cmd(I2C1, DISABLE);
        I2C_DeInit(I2C1);
        SCU_APBPeriphClockConfig(__I2C1, DISABLE);
 
        // set ports to input
        SCU_APBPeriphClockConfig(__GPIO2, ENABLE);
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
        GPIO_InitStructure.GPIO_Pin =                   GPIO_Pin_2 | GPIO_Pin_3;
        GPIO_InitStructure.GPIO_Type =                  GPIO_Type_PushPull;
        GPIO_InitStructure.GPIO_IPConnected =   GPIO_IPConnected_Disable;
        GPIO_InitStructure.GPIO_Alternate =     GPIO_InputAlt1;
        GPIO_Init(GPIO2, &GPIO_InitStructure);
 
        I2C_TxBuffer = NULL;
        Tx_Idx = 0;
        I2C_TxBufferSize = 0;
 
        I2C_RxBuffer = NULL;
        Rx_Idx = 0;
        I2C_RxBufferSize = 0;
 
        I2C_State = I2C_OFF;
 
        I2C1_Timeout = 0;
        I2C_Heading.Heading = -1;
 
        UART1_PutString("ok");
}
 
 
//--------------------------------------------------------------
void I2C1_IRQHandler(void)
{
        u16 status;
        static u8 crc;
        // detemine I2C State
        status = I2C_GetLastEvent(I2C1);
 
        if(status & (I2C_FLAG_AF|I2C_FLAG_BERR))  // if an acknowledge failure or bus error occured
        {       // Set and subsequently clear the STOP bit while BTF is set.
                while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET)
                {
                        I2C_GenerateSTOP (I2C1, ENABLE); // free the bus
                        I2C_GenerateSTOP (I2C1, DISABLE); // free the bus
                }
                I2C_State = I2C_IDLE;
                LED_GRN_OFF;
        }
        else
        {       // depending on current i2c state
                switch (status)
                {
                        // the start condition was initiated on the bus
                        case I2C_EVENT_MASTER_MODE_SELECT:
                                LED_GRN_ON;
                                // update current bus state variable
                                switch(I2C_Direction)
                                {
                                        case I2C_MODE_TRANSMITTER:
                                                I2C_State = I2C_TX_PROGRESS;
                                                break;
 
                                        case I2C_MODE_RECEIVER:
                                                if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0))
                                                {
                                                        I2C_GenerateSTOP (I2C1, ENABLE);
                                                        I2C_State = I2C_IDLE;
                                                        return;
                                                }
                                                else
                                                {
                                                        I2C_State = I2C_RX_PROGRESS;
                                                }
                                                break;
 
                                        default: // invalid direction
                                                I2C_GenerateSTOP (I2C1, ENABLE);
                                                I2C_State = I2C_IDLE;
                                                LED_GRN_OFF;
                                                return;
                                }
                                // enable acknowledge
                                I2C_AcknowledgeConfig (I2C1, ENABLE);
                                // send address/direction byte on the bus
                                I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction);
                                break;
 
                        // the address byte was send
                        case I2C_EVENT_MASTER_MODE_SELECTED:
                                // Clear EV6 by set again the PE bit
                                I2C_Cmd(I2C1, ENABLE);
                                // reset checksum
                                crc = 0;
                                switch(I2C_State)
                                {
                                        case I2C_TX_PROGRESS:
                                        // send command 1st data byte (allways the command id)
                                        I2C_SendData(I2C1, I2C_Command);
                                        crc += I2C_Command;
                                        Tx_Idx = 0;
                                        // reset timeout
                                        I2C1_Timeout = SetDelay(500); // after 500 ms of inactivity the I2C1 bus will be reset
                                        break;
 
                                        case I2C_RX_PROGRESS:
                                        Rx_Idx = 0;
                                        break;
 
                                        default: // unknown I2C state
                                        // should never happen
                                        I2C_GenerateSTOP (I2C1, ENABLE);
                                        I2C_State = I2C_IDLE;
                                        break;
                                }
                                break;
 
                        // the master has transmitted a byte and slave has been acknowledged
                        case I2C_EVENT_MASTER_BYTE_TRANSMITTED:
 
                                // some bytes have to be transmitted
                                if(Tx_Idx < I2C_TxBufferSize)
                                {
                                        if(I2C_TxBuffer != NULL)
                                        {
                                                I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]);
                                                crc += I2C_TxBuffer[Tx_Idx];
                                        }
                                        else
                                        {
                                                I2C_SendData(I2C1, 0x00);
                                        }
                                }
                                else // the last tx buffer byte was send
                                {
                                        // send crc byte at the end
                                        crc = ~crc; // flip all bits in the checksum
                                        I2C_SendData(I2C1, crc);
                                        // generate stop or repeated start condition
                                        if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected?
                                        {
                                                I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition
                                                I2C_GenerateStart(I2C1, ENABLE);   // initiate repeated start condition on the bus
                                        }
                                        else
                                        {   // stop communication
                                                I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus
                                                I2C_State = I2C_IDLE;                   // ready for new actions
                                                LED_GRN_OFF;
                                                DebugOut.Analog[15]++;
                                        }
                                }
                                Tx_Idx++;
                                break;
 
                        // the master has received a byte from the slave
                        case I2C_EVENT_MASTER_BYTE_RECEIVED:
                                // some bytes have to be received
                                if (Rx_Idx < I2C_RxBufferSize)
                                {       // copy received byte  from the data register to the rx-buffer
                                        I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1);
                                        // update checksum
                                        crc += I2C_PrimRxBuffer[Rx_Idx];
                                }
                                // if the last byte (crc) was received
                                else if ( Rx_Idx == I2C_RxBufferSize)
                                {
                                        // generate a STOP condition on the bus before reading data register
                                        I2C_GenerateSTOP(I2C1, ENABLE);
                                        // compare last byte with checksum
                                        crc = ~crc;// flip all bits in calulated checksum
                                        if(crc == I2C_ReceiveData(I2C1))
                                        {       // copy primary rx buffer content to rx buffer if exist
                                                if(I2C_RxBuffer != NULL)
                                                {
                                                        memcpy((u8 *)I2C_RxBuffer, (u8 *)I2C_PrimRxBuffer, I2C_RxBufferSize);
                                                }
                                                I2C1_Timeout = SetDelay(500);
                                                DebugOut.Analog[15]++;
                                                CheckI2COkay++;
                                        }
                                        else // checksum error detected
                                        {
                                                DebugOut.Analog[14]++;
                                        }
                                        I2C_State = I2C_IDLE;
                                        LED_GRN_OFF;
                                }
                                Rx_Idx++;
                                // if the 2nd last byte was received disable acknowledge for the last one
                                if ( Rx_Idx == I2C_RxBufferSize )
                                {
                                        I2C_AcknowledgeConfig (I2C1, DISABLE);
                                }
                                break;
 
                        default:
                                break;
                }
        }
}
//----------------------------------------------------------------
void I2C1_SendCommand(u8 command)
{
        // If I2C transmission is in progress
        while (I2C_State != I2C_IDLE) return; // return imediatly if a transfer is still in progress
        // disable I2C IRQ to avoid read/write access to the tx/rx buffer pointers during
        // update of that buffer pointers and length
        I2C_ITConfig(I2C1, DISABLE);
        // update current command id
        I2C_Command = command;
        // set pointers to data area with respect to the command id
        switch (command)
        {
                case I2C_CMD_VERSION:
                        I2C_RxBuffer = (u8 *)&MK3MAG_Version;
                        I2C_RxBufferSize = sizeof(MK3MAG_Version);
                        I2C_TxBuffer = NULL;
                        I2C_TxBufferSize = 0;
                        break;
                case I2C_CMD_WRITE_CAL:
                        I2C_RxBuffer = (u8 *)&I2C_ReadCal;
                        I2C_RxBufferSize = sizeof(I2C_ReadCal);
                        I2C_TxBuffer = (u8 *)&I2C_WriteCal;
                        I2C_TxBufferSize = sizeof(I2C_WriteCal);
                        break;
                case I2C_CMD_READ_MAG:
                        I2C_RxBuffer = (u8 *)&I2C_Mag;
                        I2C_RxBufferSize = sizeof(I2C_Mag);
                        I2C_TxBuffer = NULL;
                        I2C_TxBufferSize = 0;
                        break;
                case I2C_CMD_READ_HEADING:
                        DebugOut.Analog[10] = I2C_Heading.Heading;
                        I2C_RxBuffer = (u8 *)&I2C_Heading;
                        I2C_RxBufferSize = sizeof(I2C_Heading);
                        // updat atitude from spi rx buffer
                        I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll;
                        I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick;
                        I2C_TxBuffer =  (u8 *)&I2C_WriteAttitude;
                        I2C_TxBufferSize = sizeof(I2C_WriteAttitude);
                        break;
                default: // unknown command id
                        I2C_RxBuffer = NULL;
                        I2C_RxBufferSize = 0;
                        I2C_TxBuffer =  NULL;
                        I2C_TxBufferSize = 0;
                        break;
        }
        // enable I2C IRQ again
        I2C_ITConfig(I2C1, ENABLE);
        // set direction to master transmitter
        I2C_Direction = I2C_MODE_TRANSMITTER;
        // test on busy flag and clear it
        I2C_CheckEvent( I2C1, I2C_FLAG_BUSY );
        // initiale start condition on the bus
        I2C_GenerateStart(I2C1, ENABLE);
        // to be continued in the I2C1_IRQHandler() above
}
 
//----------------------------------------------------------------
void I2C1_GetMK3MagVersion(void)
{
        u8 msg[64];
        u8 repeat = 10;
 
        MK3MAG_Version.Major = 0xFF;
        MK3MAG_Version.Minor = 0xFF;
        MK3MAG_Version.Patch = 0xFF;
        MK3MAG_Version.Compatible = 0xFF;
 
        while ((MK3MAG_Version.Major == 0xFF)  && (repeat != 0))
        {
                I2C1_SendCommand(I2C_CMD_VERSION);
                I2C1_Timeout = SetDelay(500);
                while (!CheckDelay(I2C1_Timeout)) if (MK3MAG_Version.Major != 0xFF) break;
                repeat--;
        }
 
        if (MK3MAG_Version.Major != 0xFF)
        {
                sprintf(msg, "\n\r MK3Mag V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
                UART1_PutString(msg);
                sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible);
                UART1_PutString(msg);
        }
        else UART1_PutString("\n\rNo version information from MK3Mag.");
 
}
 

Rev 137	Rev 141
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch	6	// + Nur für den privaten Gebrauch
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
34	// + this list of conditions and the following disclaimer.	34	// + this list of conditions and the following disclaimer.
35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36	// + from this software without specific prior written permission.	36	// + from this software without specific prior written permission.
37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
38	// + for non-commercial use (directly or indirectly)	38	// + for non-commercial use (directly or indirectly)
39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
40	// + with our written permission	40	// + with our written permission
41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
42	// + clearly linked as origin	42	// + clearly linked as origin
43	// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed	43	// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
44	//	44	//
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
55	// + POSSIBILITY OF SUCH DAMAGE.	55	// + POSSIBILITY OF SUCH DAMAGE.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
57	#include <stdlib.h>	57	#include <stdlib.h>
58	#include <string.h>	58	#include <string.h>
59	#include "91x_lib.h"	59	#include "91x_lib.h"
60	#include "i2c.h"	60	#include "i2c.h"
61	#include "uart1.h"	61	#include "uart1.h"
62	#include "timer1.h"	62	#include "timer1.h"
63	#include "config.h"	63	#include "config.h"
64	#include "main.h"	64	#include "main.h"
65	#include "led.h"	65	#include "led.h"
66	#include "spi_slave.h"	66	#include "spi_slave.h"
67		67
68		68
69	volatile I2C_State_t I2C_State = I2C_OFF;	69	volatile I2C_State_t I2C_State = I2C_OFF;
70		70
71	// rxbuffer	71	// rxbuffer
72	volatile u8 I2C_RxBufferSize;	72	volatile u8 I2C_RxBufferSize;
73	volatile u8 *I2C_RxBuffer;	73	volatile u8 *I2C_RxBuffer;
74	volatile u8 Rx_Idx = 0;	74	volatile u8 Rx_Idx = 0;
75	// txbuffer	75	// txbuffer
76	volatile u8 I2C_TxBufferSize;	76	volatile u8 I2C_TxBufferSize;
77	volatile u8 *I2C_TxBuffer;	77	volatile u8 *I2C_TxBuffer;
78	volatile u8 Tx_Idx = 0;	78	volatile u8 Tx_Idx = 0;
79		79
80	volatile u8 I2C_Direction;	80	volatile u8 I2C_Direction;
81	volatile u8 I2C_Command;	81	volatile u8 I2C_Command;
82		82
83	volatile I2C_Heading_t I2C_Heading;	83	volatile I2C_Heading_t I2C_Heading;
84	volatile I2C_WriteAttitude_t I2C_WriteAttitude;	84	volatile I2C_WriteAttitude_t I2C_WriteAttitude;
85	volatile I2C_Mag_t I2C_Mag;	85	volatile I2C_Mag_t I2C_Mag;
86	volatile I2C_Version_t MK3MAG_Version;	86	volatile I2C_Version_t MK3MAG_Version;
87	volatile I2C_Cal_t I2C_WriteCal;	87	volatile I2C_Cal_t I2C_WriteCal;
88	volatile I2C_Cal_t I2C_ReadCal;	88	volatile I2C_Cal_t I2C_ReadCal;
89		89
90	volatile u8 I2C_ReadRequest = 0;	90	volatile u8 I2C_ReadRequest = 0;
91	volatile u32 I2C1_Timeout = 0;	91	volatile u32 I2C1_Timeout = 0;
92	volatile u32 CheckI2COkay = 0;	92	volatile u32 CheckI2COkay = 0;
93	volatile u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers	93	volatile u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers
94		94
95		95
96	//--------------------------------------------------------------	96	//--------------------------------------------------------------
97	void I2C1_Init(void)	97	void I2C1_Init(void)
98	{	98	{
99	I2C_InitTypeDef I2C_Struct;	99	I2C_InitTypeDef I2C_Struct;
100	GPIO_InitTypeDef GPIO_InitStructure;	100	GPIO_InitTypeDef GPIO_InitStructure;
101		101
102	UART1_PutString("\r\n I2C init...");	102	UART1_PutString("\r\n I2C init...");
103	// enable Port 2 peripherie	103	// enable Port 2 peripherie
104	SCU_APBPeriphClockConfig(__GPIO2, ENABLE);	104	SCU_APBPeriphClockConfig(__GPIO2, ENABLE);
105	// disable a reset state	105	// disable a reset state
106	SCU_APBPeriphReset(__GPIO2, DISABLE);	106	SCU_APBPeriphReset(__GPIO2, DISABLE);
107		107
108	// free a busy bus	108	// free a busy bus
109		109
110	// At switch on I2C devices can get in a state where they	110	// At switch on I2C devices can get in a state where they
111	// are still waiting for a command due to all the bus lines bouncing	111	// are still waiting for a command due to all the bus lines bouncing
112	// around at startup have started clocking data into the device(s).	112	// around at startup have started clocking data into the device(s).
113	// Enable the ports as open collector port outputs	113	// Enable the ports as open collector port outputs
114	// and clock out at least 9 SCL pulses, then generate a stop	114	// and clock out at least 9 SCL pulses, then generate a stop
115	// condition and then leave the clock line high.	115	// condition and then leave the clock line high.
116		116
117	// configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation	117	// configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation
118	GPIO_StructInit(&GPIO_InitStructure);	118	GPIO_StructInit(&GPIO_InitStructure);
119	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	119	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
120	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;	120	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;
121	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;	121	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;
122	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;	122	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;
123	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1;	123	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1;
124	GPIO_Init(GPIO2, &GPIO_InitStructure);	124	GPIO_Init(GPIO2, &GPIO_InitStructure);
125		125
126	u8 i;	126	u8 i;
127	u32 delay;	127	u32 delay;
128	// set SCL high and then SDA to low (start condition)	128	// set SCL high and then SDA to low (start condition)
129	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET);	129	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET);
130	delay = SetDelay(1);	130	delay = SetDelay(1);
131	while (!CheckDelay(delay));	131	while (!CheckDelay(delay));
132	GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET);	132	GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET);
133	// toggle SCL at least 10 times from high to low to high	133	// toggle SCL at least 10 times from high to low to high
134	for(i = 0; i < 10; i++)	134	for(i = 0; i < 10; i++)
135	{	135	{
136	delay = SetDelay(1);	136	delay = SetDelay(1);
137	while (!CheckDelay(delay));	137	while (!CheckDelay(delay));
138		138
139	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET);	139	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET);
140	delay = SetDelay(1);	140	delay = SetDelay(1);
141	while (!CheckDelay(delay));	141	while (!CheckDelay(delay));
142	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET);	142	GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET);
143	}	143	}
144	delay = SetDelay(1);	144	delay = SetDelay(1);
145	while (!CheckDelay(delay));	145	while (!CheckDelay(delay));
146	// create stop condition setting SDA HIGH when SCL is HIGH	146	// create stop condition setting SDA HIGH when SCL is HIGH
147	GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET);	147	GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET);
148		148
149		149
150	// reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT	150	// reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT
151	GPIO_StructInit(&GPIO_InitStructure);	151	GPIO_StructInit(&GPIO_InitStructure);
152	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	152	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
153	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;	153	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;
154	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;	154	GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;
155	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;	155	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
156	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT	156	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT
157	GPIO_Init(GPIO2, &GPIO_InitStructure);	157	GPIO_Init(GPIO2, &GPIO_InitStructure);
158		158
159	// enable I2C peripherie	159	// enable I2C peripherie
160	SCU_APBPeriphClockConfig(__I2C1,ENABLE);	160	SCU_APBPeriphClockConfig(__I2C1,ENABLE);
161	// reset I2C peripherie	161	// reset I2C peripherie
162	SCU_APBPeriphReset(__I2C1,ENABLE);	162	SCU_APBPeriphReset(__I2C1,ENABLE);
163	SCU_APBPeriphReset(__I2C1,DISABLE);	163	SCU_APBPeriphReset(__I2C1,DISABLE);
164		164
165	I2C_DeInit(I2C1);	165	I2C_DeInit(I2C1);
166	I2C_StructInit(&I2C_Struct);	166	I2C_StructInit(&I2C_Struct);
167	I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable;	167	I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable;
168	I2C_Struct.I2C_Ack = I2C_Ack_Enable;	168	I2C_Struct.I2C_Ack = I2C_Ack_Enable;
169	I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK;	169	I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK;
170	I2C_Struct.I2C_OwnAddress = 0x00;	170	I2C_Struct.I2C_OwnAddress = 0x00;
171	I2C_Init(I2C1, &I2C_Struct);	171	I2C_Init(I2C1, &I2C_Struct);
172		172
173	I2C_TxBuffer = NULL;	173	I2C_TxBuffer = NULL;
174	Tx_Idx = 0;	174	Tx_Idx = 0;
175	I2C_TxBufferSize = 0;	175	I2C_TxBufferSize = 0;
176		176
177	I2C_RxBuffer = NULL;	177	I2C_RxBuffer = NULL;
178	Rx_Idx = 0;	178	Rx_Idx = 0;
179	I2C_RxBufferSize = 0;	179	I2C_RxBufferSize = 0;
180		180
181	I2C_Cmd(I2C1, ENABLE);	181	I2C_Cmd(I2C1, ENABLE);
182	I2C_ITConfig(I2C1, ENABLE);	182	I2C_ITConfig(I2C1, ENABLE);
183		183
184	VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1);	184	VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1);
185	VIC_ITCmd(I2C1_ITLine, ENABLE);	185	VIC_ITCmd(I2C1_ITLine, ENABLE);
186		186
187	I2C1_Timeout = SetDelay(1000);	187	I2C1_Timeout = SetDelay(1000);
188	I2C_Heading.Heading = -1;	188	I2C_Heading.Heading = -1;
189	I2C_GenerateSTOP(I2C1, ENABLE);	189	I2C_GenerateSTOP(I2C1, ENABLE);
190	I2C_State = I2C_IDLE;	190	I2C_State = I2C_IDLE;
191		191
192	UART1_PutString("ok");	192	UART1_PutString("ok");
193	}	193	}
194		194
195		195
196	//--------------------------------------------------------------	196	//--------------------------------------------------------------
197	void I2C1_Deinit(void)	197	void I2C1_Deinit(void)
198	{	198	{
199	GPIO_InitTypeDef GPIO_InitStructure;	199	GPIO_InitTypeDef GPIO_InitStructure;
200		200
201	UART1_PutString("\r\n I2C deinit...");	201	UART1_PutString("\r\n I2C deinit...");
202	I2C_GenerateStart(I2C1, DISABLE);	202	I2C_GenerateStart(I2C1, DISABLE);
203	I2C_GenerateSTOP(I2C1, ENABLE);	203	I2C_GenerateSTOP(I2C1, ENABLE);
204	VIC_ITCmd(I2C1_ITLine, DISABLE);	204	VIC_ITCmd(I2C1_ITLine, DISABLE);
205	I2C_ITConfig(I2C1, DISABLE);	205	I2C_ITConfig(I2C1, DISABLE);
206	I2C_Cmd(I2C1, DISABLE);	206	I2C_Cmd(I2C1, DISABLE);
207	I2C_DeInit(I2C1);	207	I2C_DeInit(I2C1);
208	SCU_APBPeriphClockConfig(__I2C1, DISABLE);	208	SCU_APBPeriphClockConfig(__I2C1, DISABLE);
209		209
210	// set ports to input	210	// set ports to input
211	SCU_APBPeriphClockConfig(__GPIO2, ENABLE);	211	SCU_APBPeriphClockConfig(__GPIO2, ENABLE);
212	GPIO_StructInit(&GPIO_InitStructure);	212	GPIO_StructInit(&GPIO_InitStructure);
213	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;	213	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
214	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;	214	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 \| GPIO_Pin_3;
215	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	215	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
216	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;	216	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;
217	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;	217	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;
218	GPIO_Init(GPIO2, &GPIO_InitStructure);	218	GPIO_Init(GPIO2, &GPIO_InitStructure);
219		219
220	I2C_TxBuffer = NULL;	220	I2C_TxBuffer = NULL;
221	Tx_Idx = 0;	221	Tx_Idx = 0;
222	I2C_TxBufferSize = 0;	222	I2C_TxBufferSize = 0;
223		223
224	I2C_RxBuffer = NULL;	224	I2C_RxBuffer = NULL;
225	Rx_Idx = 0;	225	Rx_Idx = 0;
226	I2C_RxBufferSize = 0;	226	I2C_RxBufferSize = 0;
227		227
228	I2C_State = I2C_OFF;	228	I2C_State = I2C_OFF;
229		229
230	I2C1_Timeout = 0;	230	I2C1_Timeout = 0;
231	I2C_Heading.Heading = -1;	231	I2C_Heading.Heading = -1;
232		232
233	UART1_PutString("ok");	233	UART1_PutString("ok");
234	}	234	}
235		235
236		236
237	//--------------------------------------------------------------	237	//--------------------------------------------------------------
238	void I2C1_IRQHandler(void)	238	void I2C1_IRQHandler(void)
239	{	239	{
240	u16 status;	240	u16 status;
241	static u8 crc;	241	static u8 crc;
242	// detemine I2C State	242	// detemine I2C State
243	status = I2C_GetLastEvent(I2C1);	243	status = I2C_GetLastEvent(I2C1);
244		244
245	if(status & (I2C_FLAG_AF\|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured	245	if(status & (I2C_FLAG_AF\|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured
246	{ // Set and subsequently clear the STOP bit while BTF is set.	246	{ // Set and subsequently clear the STOP bit while BTF is set.
247	while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET)	247	while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET)
248	{	248	{
249	I2C_GenerateSTOP (I2C1, ENABLE); // free the bus	249	I2C_GenerateSTOP (I2C1, ENABLE); // free the bus
250	I2C_GenerateSTOP (I2C1, DISABLE); // free the bus	250	I2C_GenerateSTOP (I2C1, DISABLE); // free the bus
251	}	251	}
252	I2C_State = I2C_IDLE;	252	I2C_State = I2C_IDLE;
253	LED_GRN_OFF;	253	LED_GRN_OFF;
254	}	254	}
255	else	255	else
256	{ // depending on current i2c state	256	{ // depending on current i2c state
257	switch (status)	257	switch (status)
258	{	258	{
259	// the start condition was initiated on the bus	259	// the start condition was initiated on the bus
260	case I2C_EVENT_MASTER_MODE_SELECT:	260	case I2C_EVENT_MASTER_MODE_SELECT:
261	LED_GRN_ON;	261	LED_GRN_ON;
262	// update current bus state variable	262	// update current bus state variable
263	switch(I2C_Direction)	263	switch(I2C_Direction)
264	{	264	{
265	case I2C_MODE_TRANSMITTER:	265	case I2C_MODE_TRANSMITTER:
266	I2C_State = I2C_TX_PROGRESS;	266	I2C_State = I2C_TX_PROGRESS;
267	break;	267	break;
268		268
269	case I2C_MODE_RECEIVER:	269	case I2C_MODE_RECEIVER:
270	if ((I2C_RxBuffer == NULL) \|\| (I2C_RxBufferSize == 0))	270	if ((I2C_RxBuffer == NULL) \|\| (I2C_RxBufferSize == 0))
271	{	271	{
272	I2C_GenerateSTOP (I2C1, ENABLE);	272	I2C_GenerateSTOP (I2C1, ENABLE);
273	I2C_State = I2C_IDLE;	273	I2C_State = I2C_IDLE;
274	return;	274	return;
275	}	275	}
276	else	276	else
277	{	277	{
278	I2C_State = I2C_RX_PROGRESS;	278	I2C_State = I2C_RX_PROGRESS;
279	}	279	}
280	break;	280	break;
281		281
282	default: // invalid direction	282	default: // invalid direction
283	I2C_GenerateSTOP (I2C1, ENABLE);	283	I2C_GenerateSTOP (I2C1, ENABLE);
284	I2C_State = I2C_IDLE;	284	I2C_State = I2C_IDLE;
285	LED_GRN_OFF;	285	LED_GRN_OFF;
286	return;	286	return;
287	}	287	}
288	// enable acknowledge	288	// enable acknowledge
289	I2C_AcknowledgeConfig (I2C1, ENABLE);	289	I2C_AcknowledgeConfig (I2C1, ENABLE);
290	// send address/direction byte on the bus	290	// send address/direction byte on the bus
291	I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction);	291	I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction);
292	break;	292	break;
293		293
294	// the address byte was send	294	// the address byte was send
295	case I2C_EVENT_MASTER_MODE_SELECTED:	295	case I2C_EVENT_MASTER_MODE_SELECTED:
296	// Clear EV6 by set again the PE bit	296	// Clear EV6 by set again the PE bit
297	I2C_Cmd(I2C1, ENABLE);	297	I2C_Cmd(I2C1, ENABLE);
298	// reset checksum	298	// reset checksum
299	crc = 0;	299	crc = 0;
300	switch(I2C_State)	300	switch(I2C_State)
301	{	301	{
302	case I2C_TX_PROGRESS:	302	case I2C_TX_PROGRESS:
303	// send command 1st data byte (allways the command id)	303	// send command 1st data byte (allways the command id)
304	I2C_SendData(I2C1, I2C_Command);	304	I2C_SendData(I2C1, I2C_Command);
305	crc += I2C_Command;	305	crc += I2C_Command;
306	Tx_Idx = 0;	306	Tx_Idx = 0;
307	// reset timeout	307	// reset timeout
308	I2C1_Timeout = SetDelay(500); // after 500 ms of inactivity the I2C1 bus will be reset	308	I2C1_Timeout = SetDelay(500); // after 500 ms of inactivity the I2C1 bus will be reset
309	break;	309	break;
310		310
311	case I2C_RX_PROGRESS:	311	case I2C_RX_PROGRESS:
312	Rx_Idx = 0;	312	Rx_Idx = 0;
313	break;	313	break;
314		314
315	default: // unknown I2C state	315	default: // unknown I2C state
316	// should never happen	316	// should never happen
317	I2C_GenerateSTOP (I2C1, ENABLE);	317	I2C_GenerateSTOP (I2C1, ENABLE);
318	I2C_State = I2C_IDLE;	318	I2C_State = I2C_IDLE;
319	break;	319	break;
320	}	320	}
321	break;	321	break;
322		322
323	// the master has transmitted a byte and slave has been acknowledged	323	// the master has transmitted a byte and slave has been acknowledged
324	case I2C_EVENT_MASTER_BYTE_TRANSMITTED:	324	case I2C_EVENT_MASTER_BYTE_TRANSMITTED:
325		325
326	// some bytes have to be transmitted	326	// some bytes have to be transmitted
327	if(Tx_Idx < I2C_TxBufferSize)	327	if(Tx_Idx < I2C_TxBufferSize)
328	{	328	{
329	if(I2C_TxBuffer != NULL)	329	if(I2C_TxBuffer != NULL)
330	{	330	{
331	I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]);	331	I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]);
332	crc += I2C_TxBuffer[Tx_Idx];	332	crc += I2C_TxBuffer[Tx_Idx];
333	}	333	}
334	else	334	else
335	{	335	{
336	I2C_SendData(I2C1, 0x00);	336	I2C_SendData(I2C1, 0x00);
337	}	337	}
338	}	338	}
339	else // the last tx buffer byte was send	339	else // the last tx buffer byte was send
340	{	340	{
341	// send crc byte at the end	341	// send crc byte at the end
342	crc = ~crc; // flip all bits in the checksum	342	crc = ~crc; // flip all bits in the checksum
343	I2C_SendData(I2C1, crc);	343	I2C_SendData(I2C1, crc);
344	// generate stop or repeated start condition	344	// generate stop or repeated start condition
345	if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected?	345	if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected?
346	{	346	{
347	I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition	347	I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition
348	I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus	348	I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus
349	}	349	}
350	else	350	else
351	{ // stop communication	351	{ // stop communication
352	I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus	352	I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus
353	I2C_State = I2C_IDLE; // ready for new actions	353	I2C_State = I2C_IDLE; // ready for new actions
354	LED_GRN_OFF;	354	LED_GRN_OFF;
355	DebugOut.Analog[15]++;	355	DebugOut.Analog[15]++;
356	}	356	}
357	}	357	}
358	Tx_Idx++;	358	Tx_Idx++;
359	break;	359	break;
360		360
361	// the master has received a byte from the slave	361	// the master has received a byte from the slave
362	case I2C_EVENT_MASTER_BYTE_RECEIVED:	362	case I2C_EVENT_MASTER_BYTE_RECEIVED:
363	// some bytes have to be received	363	// some bytes have to be received
364	if (Rx_Idx < I2C_RxBufferSize)	364	if (Rx_Idx < I2C_RxBufferSize)
365	{ // copy received byte from the data register to the rx-buffer	365	{ // copy received byte from the data register to the rx-buffer
366	I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1);	366	I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1);
367	// update checksum	367	// update checksum
368	crc += I2C_PrimRxBuffer[Rx_Idx];	368	crc += I2C_PrimRxBuffer[Rx_Idx];
369	}	369	}
370	// if the last byte (crc) was received	370	// if the last byte (crc) was received
371	else if ( Rx_Idx == I2C_RxBufferSize)	371	else if ( Rx_Idx == I2C_RxBufferSize)
372	{	372	{
373	// generate a STOP condition on the bus before reading data register	373	// generate a STOP condition on the bus before reading data register
374	I2C_GenerateSTOP(I2C1, ENABLE);	374	I2C_GenerateSTOP(I2C1, ENABLE);
375	// compare last byte with checksum	375	// compare last byte with checksum
376	crc = ~crc;// flip all bits in calulated checksum	376	crc = ~crc;// flip all bits in calulated checksum
377	if(crc == I2C_ReceiveData(I2C1))	377	if(crc == I2C_ReceiveData(I2C1))
378	{ // copy primary rx buffer content to rx buffer if exist	378	{ // copy primary rx buffer content to rx buffer if exist
379	if(I2C_RxBuffer != NULL)	379	if(I2C_RxBuffer != NULL)
380	{	380	{
381	memcpy((u8 )I2C_RxBuffer, (u8 )I2C_PrimRxBuffer, I2C_RxBufferSize);	381	memcpy((u8 )I2C_RxBuffer, (u8 )I2C_PrimRxBuffer, I2C_RxBufferSize);
382	}	382	}
-		383	I2C1_Timeout = SetDelay(500);
383	DebugOut.Analog[15]++;	384	DebugOut.Analog[15]++;
384	CheckI2COkay++;	385	CheckI2COkay++;
385	}	386	}
386	else // checksum error detected	387	else // checksum error detected
387	{	388	{
388	DebugOut.Analog[14]++;	389	DebugOut.Analog[14]++;
389	}	390	}
390	I2C_State = I2C_IDLE;	391	I2C_State = I2C_IDLE;
391	LED_GRN_OFF;	392	LED_GRN_OFF;
392	}	393	}
393	Rx_Idx++;	394	Rx_Idx++;
394	// if the 2nd last byte was received disable acknowledge for the last one	395	// if the 2nd last byte was received disable acknowledge for the last one
395	if ( Rx_Idx == I2C_RxBufferSize )	396	if ( Rx_Idx == I2C_RxBufferSize )
396	{	397	{
397	I2C_AcknowledgeConfig (I2C1, DISABLE);	398	I2C_AcknowledgeConfig (I2C1, DISABLE);
398	}	399	}
399	break;	400	break;
400		401
401	default:	402	default:
402	break;	403	break;
403	}	404	}
404	}	405	}
405	}	406	}
406	//----------------------------------------------------------------	407	//----------------------------------------------------------------
407	void I2C1_SendCommand(u8 command)	408	void I2C1_SendCommand(u8 command)
408	{	409	{
409	// If I2C transmission is in progress	410	// If I2C transmission is in progress
410	while (I2C_State != I2C_IDLE) return; // return imediatly if a transfer is still in progress	411	while (I2C_State != I2C_IDLE) return; // return imediatly if a transfer is still in progress
411	// disable I2C IRQ to avoid read/write access to the tx/rx buffer pointers during	412	// disable I2C IRQ to avoid read/write access to the tx/rx buffer pointers during
412	// update of that buffer pointers and length	413	// update of that buffer pointers and length
413	I2C_ITConfig(I2C1, DISABLE);	414	I2C_ITConfig(I2C1, DISABLE);
414	// update current command id	415	// update current command id
415	I2C_Command = command;	416	I2C_Command = command;
416	// set pointers to data area with respect to the command id	417	// set pointers to data area with respect to the command id
417	switch (command)	418	switch (command)
418	{	419	{
419	case I2C_CMD_VERSION:	420	case I2C_CMD_VERSION:
420	I2C_RxBuffer = (u8 *)&MK3MAG_Version;	421	I2C_RxBuffer = (u8 *)&MK3MAG_Version;
421	I2C_RxBufferSize = sizeof(MK3MAG_Version);	422	I2C_RxBufferSize = sizeof(MK3MAG_Version);
422	I2C_TxBuffer = NULL;	423	I2C_TxBuffer = NULL;
423	I2C_TxBufferSize = 0;	424	I2C_TxBufferSize = 0;
424	break;	425	break;
425	case I2C_CMD_WRITE_CAL:	426	case I2C_CMD_WRITE_CAL:
426	I2C_RxBuffer = (u8 *)&I2C_ReadCal;	427	I2C_RxBuffer = (u8 *)&I2C_ReadCal;
427	I2C_RxBufferSize = sizeof(I2C_ReadCal);	428	I2C_RxBufferSize = sizeof(I2C_ReadCal);
428	I2C_TxBuffer = (u8 *)&I2C_WriteCal;	429	I2C_TxBuffer = (u8 *)&I2C_WriteCal;
429	I2C_TxBufferSize = sizeof(I2C_WriteCal);	430	I2C_TxBufferSize = sizeof(I2C_WriteCal);
430	break;	431	break;
431	case I2C_CMD_READ_MAG:	432	case I2C_CMD_READ_MAG:
432	I2C_RxBuffer = (u8 *)&I2C_Mag;	433	I2C_RxBuffer = (u8 *)&I2C_Mag;
433	I2C_RxBufferSize = sizeof(I2C_Mag);	434	I2C_RxBufferSize = sizeof(I2C_Mag);
434	I2C_TxBuffer = NULL;	435	I2C_TxBuffer = NULL;
435	I2C_TxBufferSize = 0;	436	I2C_TxBufferSize = 0;
436	break;	437	break;
437	case I2C_CMD_READ_HEADING:	438	case I2C_CMD_READ_HEADING:
438	DebugOut.Analog[10] = I2C_Heading.Heading;	439	DebugOut.Analog[10] = I2C_Heading.Heading;
439	I2C_RxBuffer = (u8 *)&I2C_Heading;	440	I2C_RxBuffer = (u8 *)&I2C_Heading;
440	I2C_RxBufferSize = sizeof(I2C_Heading);	441	I2C_RxBufferSize = sizeof(I2C_Heading);
441	// updat atitude from spi rx buffer	442	// updat atitude from spi rx buffer
442	I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll;	443	I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll;
443	I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick;	444	I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick;
444	I2C_TxBuffer = (u8 *)&I2C_WriteAttitude;	445	I2C_TxBuffer = (u8 *)&I2C_WriteAttitude;
445	I2C_TxBufferSize = sizeof(I2C_WriteAttitude);	446	I2C_TxBufferSize = sizeof(I2C_WriteAttitude);
446	break;	447	break;
447	default: // unknown command id	448	default: // unknown command id
448	I2C_RxBuffer = NULL;	449	I2C_RxBuffer = NULL;
449	I2C_RxBufferSize = 0;	450	I2C_RxBufferSize = 0;
450	I2C_TxBuffer = NULL;	451	I2C_TxBuffer = NULL;
451	I2C_TxBufferSize = 0;	452	I2C_TxBufferSize = 0;
452	break;	453	break;
453	}	454	}
454	// enable I2C IRQ again	455	// enable I2C IRQ again
455	I2C_ITConfig(I2C1, ENABLE);	456	I2C_ITConfig(I2C1, ENABLE);
456	// set direction to master transmitter	457	// set direction to master transmitter
457	I2C_Direction = I2C_MODE_TRANSMITTER;	458	I2C_Direction = I2C_MODE_TRANSMITTER;
458	// test on busy flag and clear it	459	// test on busy flag and clear it
459	I2C_CheckEvent( I2C1, I2C_FLAG_BUSY );	460	I2C_CheckEvent( I2C1, I2C_FLAG_BUSY );
460	// initiale start condition on the bus	461	// initiale start condition on the bus
461	I2C_GenerateStart(I2C1, ENABLE);	462	I2C_GenerateStart(I2C1, ENABLE);
462	// to be continued in the I2C1_IRQHandler() above	463	// to be continued in the I2C1_IRQHandler() above
463	}	464	}
464		465
465	//----------------------------------------------------------------	466	//----------------------------------------------------------------
466	void I2C1_GetMK3MagVersion(void)	467	void I2C1_GetMK3MagVersion(void)
467	{	468	{
468	u8 msg[64];	469	u8 msg[64];
469	u8 repeat = 10;	470	u8 repeat = 10;
470		471
471	MK3MAG_Version.Major = 0xFF;	472	MK3MAG_Version.Major = 0xFF;
472	MK3MAG_Version.Minor = 0xFF;	473	MK3MAG_Version.Minor = 0xFF;
473	MK3MAG_Version.Patch = 0xFF;	474	MK3MAG_Version.Patch = 0xFF;
474	MK3MAG_Version.Compatible = 0xFF;	475	MK3MAG_Version.Compatible = 0xFF;
475		476
476	while ((MK3MAG_Version.Major == 0xFF) && (repeat != 0))	477	while ((MK3MAG_Version.Major == 0xFF) && (repeat != 0))
477	{	478	{
478	I2C1_SendCommand(I2C_CMD_VERSION);	479	I2C1_SendCommand(I2C_CMD_VERSION);
479	I2C1_Timeout = SetDelay(500);	480	I2C1_Timeout = SetDelay(500);
480	while (!CheckDelay(I2C1_Timeout)) if (MK3MAG_Version.Major != 0xFF) break;	481	while (!CheckDelay(I2C1_Timeout)) if (MK3MAG_Version.Major != 0xFF) break;
481	repeat--;	482	repeat--;
482	}	483	}
483		484
484	if (MK3MAG_Version.Major != 0xFF)	485	if (MK3MAG_Version.Major != 0xFF)
485	{	486	{
486	sprintf(msg, "\n\r MK3Mag V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);	487	sprintf(msg, "\n\r MK3Mag V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
487	UART1_PutString(msg);	488	UART1_PutString(msg);
488	sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible);	489	sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible);
489	UART1_PutString(msg);	490	UART1_PutString(msg);
490	}	491	}
491	else UART1_PutString("\n\rNo version information from MK3Mag.");	492	else UART1_PutString("\n\rNo version information from MK3Mag.");
492		493
493	}	494	}
494		495

Subversion Repositories NaviCtrl

(root)/tags/V0.24b/i2c.c @ 891 - Rev 137 → 141