WebSVN - NaviCtrl - Diff - Rev 362 and 378


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <string.h>
#include "91x_lib.h"
#include "i2c.h"
#include "uart1.h"
#include "timer1.h"
#include "config.h"
#include "led.h"
 
 
volatile u8 I2C_State = I2C_STATE_OFF;          // only one byte, because of sync by nesting irqs
volatile u8 I2C_Error = I2C_ERROR_NOACK;    // only one byte!
 
// number of bytes to send
volatile u8 I2C_TxBufferSize;
// number of bytes to receive
volatile u8 I2C_RxBufferSize;
// the transfer buffer
volatile u8 I2C_Buffer[I2C_BUFFER_LEN];
// the transfer direction 
volatile u8 I2C_Direction;
// the slave address
volatile u8 I2C_SlaveAddress = 0x00;
// function pointer to process the received bytes
I2C_pRxHandler_t I2C_pRxHandler = NULL;
// goblal timeout 
volatile u32 I2C1_Timeout = 0;
 
//--------------------------------------------------------------
void I2C1_Init(void)
{
        I2C_InitTypeDef   I2C_Struct;
        GPIO_InitTypeDef  GPIO_InitStructure;
       
        I2C_State = I2C_STATE_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);
 
        // empty rx and tx buffer counters
        I2C_TxBufferSize = 0;
        I2C_RxBufferSize = 0;
 
        I2C_Cmd(I2C1, ENABLE);
        I2C_ITConfig(I2C1, ENABLE);
 
        VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1);
 
        I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT);
        I2C_GenerateSTOP(I2C1, ENABLE);
        I2C_State = I2C_STATE_IDLE;
 
        // start some dummy transmissions cycles
        // to get the irq routine to work
        for(i=0;i<10;i++)
        {
                I2C_State = I2C_STATE_BUFFBUSY;
                I2C_Transmission(0,1,0,1);
                if(I2C_WaitForEndOfTransmission(10)) break;
                UART1_Putchar('.');
        }
        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_State = I2C_STATE_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);
 
        // empty rx and tx buffer
        I2C_TxBufferSize = 0;
        I2C_RxBufferSize = 0;
 
        I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT);
 
        UART1_PutString("ok");
}
 
//--------------------------------------------------------------
void I2C1_IRQHandler(void)
{
        static u8 Rx_Idx = 0, Tx_Idx = 0;
        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_STATE_IDLE;
                I2C_Error = I2C_ERROR_NOACK;
                VIC_ITCmd(I2C1_ITLine, DISABLE);
                return;
        }
        else
        {       // depending on current i2c state
                switch(status)
                {
                        // the start condition was initiated on the bus
                        case I2C_EVENT_MASTER_MODE_SELECT:
                                // update current bus state variable
                                // jump to rx state if there is nothing to send
                                switch(I2C_Direction)
                                {
                                        case I2C_MODE_TRANSMITTER:
                                                I2C_State = I2C_STATE_TX_PROGRESS;
                                                break;
 
                                        case I2C_MODE_RECEIVER:
                                                if (I2C_RxBufferSize == 0) // nothing to send?
                                                {
                                                        I2C_GenerateSTOP (I2C1, ENABLE);
                                                        VIC_ITCmd(I2C1_ITLine, DISABLE);
                                                        I2C_State = I2C_STATE_IDLE;
                                                        I2C_Error = I2C_ERROR_NONE;
                                                        return;
                                                }
                                                else
                                                {
                                                        I2C_State = I2C_STATE_RX_PROGRESS;
                                                }
                                                break;
 
                                        default: // invalid direction
                                                I2C_GenerateSTOP (I2C1, ENABLE);
                                                VIC_ITCmd(I2C1_ITLine, DISABLE);
                                                I2C_State = I2C_STATE_IDLE;
                                                I2C_Error = I2C_ERROR_UNKNOWN;
                                                return;
                                }
                                // enable acknowledge
                                I2C_AcknowledgeConfig (I2C1, ENABLE);
                                // send address/direction byte on the bus
                                I2C_Send7bitAddress(I2C1, I2C_SlaveAddress, 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);
                                switch(I2C_State)
                                {
                                        case I2C_STATE_TX_PROGRESS:
                                        // send 1st data byte
                                        Tx_Idx = 0;
                                        I2C_SendData(I2C1, I2C_Buffer[Tx_Idx]);
                                        Tx_Idx++;
                                        // reset timeout
                                        I2C1_Timeout = SetDelay(I2C1_TIMEOUT); // after inactivity the I2C1 bus will be reset
                                        break;
 
                                        case I2C_STATE_RX_PROGRESS:
                                        Rx_Idx = 0;
                                        // disable acknoledge if only one byte has to be read
                                        if(I2C_RxBufferSize == 1) I2C_AcknowledgeConfig (I2C1, DISABLE);               
                                        break;
 
                                        default: // unknown I2C state
                                        // should never happen
                                        I2C_GenerateSTOP (I2C1, ENABLE);
                                        VIC_ITCmd(I2C1_ITLine, DISABLE);
                                        I2C_State = I2C_STATE_IDLE;
                                        I2C_Error = I2C_ERROR_UNKNOWN;
                                        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)
                                {
                                        I2C_SendData(I2C1, I2C_Buffer[Tx_Idx]);
                                        Tx_Idx++;
                                }
                                else // last byte was send
                                {
                                        // generate stop or repeated start condition
                                        if (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);
                                                I2C_State = I2C_STATE_IDLE;                     // ready for new actions
                                                I2C_Error = I2C_ERROR_NONE;    
                                        }
                                }
                                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+1 < I2C_RxBufferSize)
                                {       // copy received byte  from the data register to the rx-buffer
                                        I2C_Buffer[Rx_Idx] = I2C_ReceiveData(I2C1);
                                }
                                else // if the last byte was received
                                {
                                        // generate a STOP condition on the bus before reading data register
                                        I2C_GenerateSTOP(I2C1, ENABLE);
                                        I2C_Buffer[Rx_Idx] = I2C_ReceiveData(I2C1);
                                        // call the rx handler function to process recieved data
                                        if(I2C_pRxHandler != NULL) (*I2C_pRxHandler)((u8*)I2C_Buffer, I2C_RxBufferSize);
                                        I2C1_Timeout = SetDelay(I2C1_TIMEOUT);
                                        DebugOut.Analog[15]++;
                                        VIC_ITCmd(I2C1_ITLine, DISABLE);
                                        I2C_State = I2C_STATE_IDLE;
                                        I2C_Error = I2C_ERROR_NONE;
                                        return;
                                }
                                Rx_Idx++;
                                // if the 2nd last byte was received disable acknowledge for the last one
                                if ( (Rx_Idx + 1) == I2C_RxBufferSize )
                                {
                                        I2C_AcknowledgeConfig(I2C1, DISABLE);
                                }
                                break;
 
                        default:// unknown event
                                // should never happen
                                I2C_GenerateSTOP (I2C1, ENABLE);
                                VIC_ITCmd(I2C1_ITLine, DISABLE);
                                I2C_State = I2C_STATE_IDLE;
                                I2C_Error = I2C_ERROR_UNKNOWN;
                                break;
                }
        }
        //IDISABLE;      // do not enable IRQ nesting for I2C!!!!
        VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register
}
 
// ----------------------------------------------------------------------------------------
// wait for end of transmission
u8 I2C_WaitForEndOfTransmission(u32 timeout)
{
        u32 time = SetDelay(timeout);
        while(I2C_State != I2C_STATE_IDLE)
        {
                if(CheckDelay(time)) return(0);
        }
        return(1);
}
 
// ----------------------------------------------------------------------------------------
// try to get access to the transfer buffer      within a timeout limit
// returs 1 on success and 0 on error/timeout
u8 I2C_LockBuffer(u32 timeout)
{      
        if(I2C_WaitForEndOfTransmission(timeout))
        {
                I2C_State = I2C_STATE_BUFFBUSY;
                I2C_Error = I2C_ERROR_UNKNOWN;
                return(1);
        }
        else return(0);
}
// ----------------------------------------------------------------------------------------
// initate an i2c transmission
u8 I2C_Transmission(u8 SlaveAddr, u8 TxBytes, I2C_pRxHandler_t pRxHandler, u8 RxBytes)
{
        u8 retval = 0;
        if(I2C_State == I2C_STATE_BUFFBUSY)
        {
                if((RxBytes > I2C_BUFFER_LEN) || (TxBytes > I2C_BUFFER_LEN))
                {
                        I2C_State = I2C_STATE_IDLE;
                        return(retval);
                }      
                I2C_RxBufferSize = RxBytes;
                I2C_TxBufferSize = TxBytes;
                // set direction to master transmitter
                if( (I2C_TxBufferSize > 0) && (I2C_TxBufferSize < I2C_BUFFER_LEN) ) I2C_Direction = I2C_MODE_TRANSMITTER;
                else if (( I2C_RxBufferSize > 0 ) && (I2C_RxBufferSize < I2C_BUFFER_LEN) ) I2C_Direction = I2C_MODE_RECEIVER;
                else // nothing to send or receive
                {
                        I2C_State = I2C_STATE_IDLE;
                        I2C_Error = I2C_ERROR_NONE;
                        I2C_TxBufferSize = 0;
                        I2C_RxBufferSize = 0;
                        return(retval);
                }
                // update slave address and rx data handler     funbction pointer
                I2C_SlaveAddress = SlaveAddr;
                I2C_pRxHandler = pRxHandler;
                // test on busy flag and clear it
                I2C_CheckEvent( I2C1, I2C_FLAG_BUSY );
                // enable I2C IRQ
                VIC_ITCmd(I2C1_ITLine, ENABLE);
                // initiate start condition on the bus
                I2C_GenerateStart(I2C1, ENABLE);
                retval = 1;
         }
         return(retval);
}
 
Subversion Repositories NaviCtrl

(root)/tags/V0.28n/i2c.c @ 518 - Rev 362 → 378
