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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 <stdlib.h> |
- | |
58 | #include <string.h> |
57 | #include <string.h> |
59 | #include "91x_lib.h" |
58 | #include "91x_lib.h" |
60 | #include "i2c.h" |
59 | #include "i2c.h" |
61 | #include "uart1.h" |
60 | #include "uart1.h" |
62 | #include "timer1.h" |
61 | #include "timer1.h" |
63 | #include "config.h" |
62 | #include "config.h" |
64 | #include "main.h" |
63 | #include "main.h" |
65 | #include "led.h" |
64 | #include "led.h" |
66 | #include "spi_slave.h" |
65 | #include "spi_slave.h" |
- | 66 | ||
- | 67 | #define I2C_SLAVE_ADDRESS 0x50 |
|
- | 68 | ||
- | 69 | // I2C states |
|
- | 70 | #define I2C_UNDEF 0 |
|
- | 71 | #define I2C_IDLE 1 |
|
- | 72 | #define I2C_TX_PROGRESS 2 |
|
- | 73 | #define I2C_RX_PENDING 3 |
|
- | 74 | #define I2C_RX_PROGRESS 4 |
|
67 | 75 | #define I2C_OFF 5 |
|
68 | 76 | ||
69 | volatile I2C_State_t I2C_State = I2C_OFF; |
77 | volatile u8 I2C_State = I2C_OFF; // only on byte! because of sync by nesting irqs |
70 | volatile u8 I2C_StopPolling = 1; |
78 | u8 I2C_StopPolling = 1; |
71 | 79 | ||
72 | // rxbuffer |
80 | // rxbuffer |
73 | volatile u8 I2C_RxBufferSize; |
81 | volatile u8 I2C_RxBufferSize; |
74 | volatile u8 *I2C_RxBuffer; |
82 | volatile u8 *I2C_RxBuffer; |
75 | volatile u8 Rx_Idx = 0; |
- | |
76 | // txbuffer |
83 | // txbuffer |
77 | volatile u8 I2C_TxBufferSize; |
84 | volatile u8 I2C_TxBufferSize; |
78 | volatile u8 *I2C_TxBuffer; |
85 | volatile u8 *I2C_TxBuffer; |
79 | volatile u8 Tx_Idx = 0; |
- | |
80 | 86 | ||
81 | volatile u8 I2C_Direction; |
87 | volatile u8 I2C_Direction; |
82 | volatile u8 I2C_Command; |
88 | volatile u8 I2C_Command; |
83 | - | ||
- | 89 | // I2C Transfer buffers |
|
84 | volatile I2C_Heading_t I2C_Heading; |
90 | volatile I2C_Heading_t I2C_Heading; |
85 | volatile I2C_WriteAttitude_t I2C_WriteAttitude; |
91 | volatile I2C_WriteAttitude_t I2C_WriteAttitude; |
86 | volatile I2C_Mag_t I2C_Mag; |
92 | volatile I2C_Mag_t I2C_Mag; |
87 | volatile I2C_Version_t MK3MAG_Version; |
93 | volatile I2C_Version_t MK3MAG_Version; |
88 | volatile I2C_Cal_t I2C_WriteCal; |
94 | volatile I2C_Cal_t I2C_WriteCal; |
89 | volatile I2C_Cal_t I2C_ReadCal; |
95 | volatile I2C_Cal_t I2C_ReadCal; |
90 | 96 | ||
91 | #define I2C1_TIMEOUT 500 // 500 ms |
97 | #define I2C1_TIMEOUT 500 // 500 ms |
92 | volatile u32 I2C1_Timeout = 0; |
98 | volatile u32 I2C1_Timeout = 0; |
93 | volatile u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers |
- | |
94 | 99 | ||
95 | //-------------------------------------------------------------- |
100 | //-------------------------------------------------------------- |
96 | void I2C1_Init(void) |
101 | void I2C1_Init(void) |
97 | { |
102 | { |
98 | I2C_InitTypeDef I2C_Struct; |
103 | I2C_InitTypeDef I2C_Struct; |
99 | GPIO_InitTypeDef GPIO_InitStructure; |
104 | GPIO_InitTypeDef GPIO_InitStructure; |
100 | 105 | ||
101 | I2C_State = I2C_OFF; |
106 | I2C_State = I2C_OFF; |
102 | 107 | ||
103 | UART1_PutString("\r\n I2C init..."); |
108 | UART1_PutString("\r\n I2C init..."); |
104 | // enable Port 2 peripherie |
109 | // enable Port 2 peripherie |
105 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
110 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
106 | // disable a reset state |
111 | // disable a reset state |
107 | SCU_APBPeriphReset(__GPIO2, DISABLE); |
112 | SCU_APBPeriphReset(__GPIO2, DISABLE); |
108 | 113 | ||
109 | // free a busy bus |
114 | // free a busy bus |
110 | 115 | ||
111 | // 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 |
112 | // 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 |
113 | // around at startup have started clocking data into the device(s). |
118 | // around at startup have started clocking data into the device(s). |
114 | // Enable the ports as open collector port outputs |
119 | // Enable the ports as open collector port outputs |
115 | // 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 |
116 | // condition and then leave the clock line high. |
121 | // condition and then leave the clock line high. |
117 | 122 | ||
118 | // 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 |
119 | GPIO_StructInit(&GPIO_InitStructure); |
124 | GPIO_StructInit(&GPIO_InitStructure); |
120 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
125 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
121 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
126 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
122 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
127 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
123 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
128 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
124 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
129 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
125 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
130 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
126 | 131 | ||
127 | u8 i; |
132 | u8 i; |
128 | u32 delay; |
133 | u32 delay; |
129 | // set SCL high and then SDA to low (start condition) |
134 | // set SCL high and then SDA to low (start condition) |
130 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
135 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
131 | delay = SetDelay(1); |
136 | delay = SetDelay(1); |
132 | while (!CheckDelay(delay)); |
137 | while (!CheckDelay(delay)); |
133 | GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET); |
138 | GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET); |
134 | // 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 |
135 | for(i = 0; i < 10; i++) |
140 | for(i = 0; i < 10; i++) |
136 | { |
141 | { |
137 | delay = SetDelay(1); |
142 | delay = SetDelay(1); |
138 | while (!CheckDelay(delay)); |
143 | while (!CheckDelay(delay)); |
139 | 144 | ||
140 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET); |
145 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET); |
141 | delay = SetDelay(1); |
146 | delay = SetDelay(1); |
142 | while (!CheckDelay(delay)); |
147 | while (!CheckDelay(delay)); |
143 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
148 | GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
144 | } |
149 | } |
145 | delay = SetDelay(1); |
150 | delay = SetDelay(1); |
146 | while (!CheckDelay(delay)); |
151 | while (!CheckDelay(delay)); |
147 | // create stop condition setting SDA HIGH when SCL is HIGH |
152 | // create stop condition setting SDA HIGH when SCL is HIGH |
148 | GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET); |
153 | GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET); |
149 | 154 | ||
150 | 155 | ||
151 | // reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT |
156 | // reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT |
152 | GPIO_StructInit(&GPIO_InitStructure); |
157 | GPIO_StructInit(&GPIO_InitStructure); |
153 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
158 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
154 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
159 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
155 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
160 | GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
156 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
161 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
157 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT |
162 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT |
158 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
163 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
159 | 164 | ||
160 | // enable I2C peripherie |
165 | // enable I2C peripherie |
161 | SCU_APBPeriphClockConfig(__I2C1,ENABLE); |
166 | SCU_APBPeriphClockConfig(__I2C1,ENABLE); |
162 | // reset I2C peripherie |
167 | // reset I2C peripherie |
163 | SCU_APBPeriphReset(__I2C1,ENABLE); |
168 | SCU_APBPeriphReset(__I2C1,ENABLE); |
164 | SCU_APBPeriphReset(__I2C1,DISABLE); |
169 | SCU_APBPeriphReset(__I2C1,DISABLE); |
165 | 170 | ||
166 | I2C_DeInit(I2C1); |
171 | I2C_DeInit(I2C1); |
167 | I2C_StructInit(&I2C_Struct); |
172 | I2C_StructInit(&I2C_Struct); |
168 | I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable; |
173 | I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable; |
169 | I2C_Struct.I2C_Ack = I2C_Ack_Enable; |
174 | I2C_Struct.I2C_Ack = I2C_Ack_Enable; |
170 | I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK; |
175 | I2C_Struct.I2C_CLKSpeed = I2C1_CLOCK; |
171 | I2C_Struct.I2C_OwnAddress = 0x00; |
176 | I2C_Struct.I2C_OwnAddress = 0x00; |
172 | I2C_Init(I2C1, &I2C_Struct); |
177 | I2C_Init(I2C1, &I2C_Struct); |
173 | 178 | ||
174 | I2C_TxBuffer = NULL; |
179 | I2C_TxBuffer = NULL; |
175 | Tx_Idx = 0; |
- | |
176 | I2C_TxBufferSize = 0; |
180 | I2C_TxBufferSize = 0; |
177 | 181 | ||
178 | I2C_RxBuffer = NULL; |
182 | I2C_RxBuffer = NULL; |
179 | Rx_Idx = 0; |
- | |
180 | I2C_RxBufferSize = 0; |
183 | I2C_RxBufferSize = 0; |
181 | 184 | ||
182 | I2C_Cmd(I2C1, ENABLE); |
185 | I2C_Cmd(I2C1, ENABLE); |
183 | I2C_ITConfig(I2C1, ENABLE); |
186 | I2C_ITConfig(I2C1, ENABLE); |
184 | 187 | ||
185 | VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1); |
188 | VIC_Config(I2C1_ITLine, VIC_IRQ , PRIORITY_I2C1); |
186 | VIC_ITCmd(I2C1_ITLine, ENABLE); |
- | |
187 | 189 | ||
188 | I2C1_Timeout = SetDelay(2*I2C1_TIMEOUT); |
190 | I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT); |
189 | I2C_Heading.Heading = -1; |
191 | I2C_Heading.Heading = -1; |
190 | I2C_GenerateSTOP(I2C1, ENABLE); |
192 | I2C_GenerateSTOP(I2C1, ENABLE); |
191 | I2C_State = I2C_IDLE; |
193 | I2C_State = I2C_IDLE; |
192 | 194 | ||
193 | I2C_StopPolling = 0; // start polling |
195 | I2C_StopPolling = 0; // start polling |
194 | 196 | ||
195 | UART1_PutString("ok"); |
197 | UART1_PutString("ok"); |
196 | } |
198 | } |
197 | 199 | ||
198 | 200 | ||
199 | //-------------------------------------------------------------- |
201 | //-------------------------------------------------------------- |
200 | void I2C1_Deinit(void) |
202 | void I2C1_Deinit(void) |
201 | { |
203 | { |
202 | GPIO_InitTypeDef GPIO_InitStructure; |
204 | GPIO_InitTypeDef GPIO_InitStructure; |
203 | I2C_StopPolling = 1;// stop polling |
205 | I2C_StopPolling = 1;// stop polling |
204 | UART1_PutString("\r\n I2C deinit..."); |
206 | UART1_PutString("\r\n I2C deinit..."); |
205 | I2C_GenerateStart(I2C1, DISABLE); |
207 | I2C_GenerateStart(I2C1, DISABLE); |
206 | I2C_GenerateSTOP(I2C1, ENABLE); |
208 | I2C_GenerateSTOP(I2C1, ENABLE); |
207 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
209 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
208 | I2C_State = I2C_OFF; |
210 | I2C_State = I2C_OFF; |
209 | I2C_ITConfig(I2C1, DISABLE); |
211 | I2C_ITConfig(I2C1, DISABLE); |
210 | I2C_Cmd(I2C1, DISABLE); |
212 | I2C_Cmd(I2C1, DISABLE); |
211 | I2C_DeInit(I2C1); |
213 | I2C_DeInit(I2C1); |
212 | SCU_APBPeriphClockConfig(__I2C1, DISABLE); |
214 | SCU_APBPeriphClockConfig(__I2C1, DISABLE); |
213 | 215 | ||
214 | // set ports to input |
216 | // set ports to input |
215 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
217 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
216 | GPIO_StructInit(&GPIO_InitStructure); |
218 | GPIO_StructInit(&GPIO_InitStructure); |
217 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
219 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
218 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
220 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
219 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
221 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
220 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
222 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
221 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
223 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
222 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
224 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
223 | 225 | ||
224 | I2C_TxBuffer = NULL; |
226 | I2C_TxBuffer = NULL; |
225 | Tx_Idx = 0; |
- | |
226 | I2C_TxBufferSize = 0; |
227 | I2C_TxBufferSize = 0; |
227 | 228 | ||
228 | I2C_RxBuffer = NULL; |
229 | I2C_RxBuffer = NULL; |
229 | Rx_Idx = 0; |
- | |
230 | I2C_RxBufferSize = 0; |
230 | I2C_RxBufferSize = 0; |
231 | 231 | ||
232 | I2C1_Timeout = 0; |
232 | I2C1_Timeout = SetDelay(10*I2C1_TIMEOUT); |
233 | I2C_Heading.Heading = -1; |
233 | I2C_Heading.Heading = -1; |
234 | 234 | ||
235 | UART1_PutString("ok"); |
235 | UART1_PutString("ok"); |
236 | } |
236 | } |
237 | 237 | ||
238 | 238 | ||
239 | //-------------------------------------------------------------- |
239 | //-------------------------------------------------------------- |
240 | void I2C1_IRQHandler(void) |
240 | void I2C1_IRQHandler(void) |
241 | { |
241 | { |
- | 242 | static u8 Rx_Idx = 0, Tx_Idx = 0, crc = 0; |
|
- | 243 | static u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers |
|
242 | u16 status; |
244 | u16 status; |
243 | static u8 crc; |
245 | |
244 | // detemine I2C State |
246 | // detemine I2C State |
245 | status = I2C_GetLastEvent(I2C1); |
247 | status = I2C_GetLastEvent(I2C1); |
246 | 248 | ||
247 | if(status & (I2C_FLAG_AF|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured |
249 | if(status & (I2C_FLAG_AF|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured |
248 | { // Set and subsequently clear the STOP bit while BTF is set. |
250 | { // Set and subsequently clear the STOP bit while BTF is set. |
249 | while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET) |
251 | while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET) |
250 | { |
252 | { |
251 | I2C_GenerateSTOP (I2C1, ENABLE); // free the bus |
253 | I2C_GenerateSTOP (I2C1, ENABLE); // free the bus |
252 | I2C_GenerateSTOP (I2C1, DISABLE); // free the bus |
254 | I2C_GenerateSTOP (I2C1, DISABLE); // free the bus |
253 | } |
255 | } |
254 | I2C_State = I2C_IDLE; |
256 | I2C_State = I2C_IDLE; |
- | 257 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
|
255 | LED_GRN_OFF; |
258 | LED_GRN_OFF; |
- | 259 | return; |
|
256 | } |
260 | } |
257 | else |
261 | else |
258 | { // depending on current i2c state |
262 | { // depending on current i2c state |
259 | switch (status) |
263 | switch (status) |
260 | { |
264 | { |
261 | // the start condition was initiated on the bus |
265 | // the start condition was initiated on the bus |
262 | case I2C_EVENT_MASTER_MODE_SELECT: |
266 | case I2C_EVENT_MASTER_MODE_SELECT: |
263 | LED_GRN_ON; |
267 | LED_GRN_ON; |
264 | // update current bus state variable |
268 | // update current bus state variable |
265 | switch(I2C_Direction) |
269 | switch(I2C_Direction) |
266 | { |
270 | { |
267 | case I2C_MODE_TRANSMITTER: |
271 | case I2C_MODE_TRANSMITTER: |
268 | I2C_State = I2C_TX_PROGRESS; |
272 | I2C_State = I2C_TX_PROGRESS; |
269 | break; |
273 | break; |
270 | 274 | ||
271 | case I2C_MODE_RECEIVER: |
275 | case I2C_MODE_RECEIVER: |
272 | if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0)) |
276 | if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0)) |
273 | { |
277 | { |
274 | I2C_GenerateSTOP (I2C1, ENABLE); |
278 | I2C_GenerateSTOP (I2C1, ENABLE); |
- | 279 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
|
- | 280 | LED_GRN_OFF; |
|
275 | I2C_State = I2C_IDLE; |
281 | I2C_State = I2C_IDLE; |
276 | return; |
282 | return; |
277 | } |
283 | } |
278 | else |
284 | else |
279 | { |
285 | { |
280 | I2C_State = I2C_RX_PROGRESS; |
286 | I2C_State = I2C_RX_PROGRESS; |
281 | } |
287 | } |
282 | break; |
288 | break; |
283 | 289 | ||
284 | default: // invalid direction |
290 | default: // invalid direction |
285 | I2C_GenerateSTOP (I2C1, ENABLE); |
291 | I2C_GenerateSTOP (I2C1, ENABLE); |
286 | I2C_State = I2C_IDLE; |
292 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
287 | LED_GRN_OFF; |
293 | LED_GRN_OFF; |
- | 294 | I2C_State = I2C_IDLE; |
|
288 | return; |
295 | return; |
289 | } |
296 | } |
290 | // enable acknowledge |
297 | // enable acknowledge |
291 | I2C_AcknowledgeConfig (I2C1, ENABLE); |
298 | I2C_AcknowledgeConfig (I2C1, ENABLE); |
292 | // send address/direction byte on the bus |
299 | // send address/direction byte on the bus |
293 | I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction); |
300 | I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction); |
294 | break; |
301 | break; |
295 | 302 | ||
296 | // the address byte was send |
303 | // the address byte was send |
297 | case I2C_EVENT_MASTER_MODE_SELECTED: |
304 | case I2C_EVENT_MASTER_MODE_SELECTED: |
298 | // Clear EV6 by set again the PE bit |
305 | // Clear EV6 by set again the PE bit |
299 | I2C_Cmd(I2C1, ENABLE); |
306 | I2C_Cmd(I2C1, ENABLE); |
300 | // reset checksum |
307 | // reset checksum |
301 | crc = 0; |
308 | crc = 0; |
302 | switch(I2C_State) |
309 | switch(I2C_State) |
303 | { |
310 | { |
304 | case I2C_TX_PROGRESS: |
311 | case I2C_TX_PROGRESS: |
305 | // send command 1st data byte (allways the command id) |
312 | // send command 1st data byte (allways the command id) |
306 | I2C_SendData(I2C1, I2C_Command); |
313 | I2C_SendData(I2C1, I2C_Command); |
307 | crc += I2C_Command; |
314 | crc += I2C_Command; |
308 | Tx_Idx = 0; |
315 | Tx_Idx = 0; |
309 | // reset timeout |
316 | // reset timeout |
310 | I2C1_Timeout = SetDelay(500); // after 500 ms of inactivity the I2C1 bus will be reset |
317 | I2C1_Timeout = SetDelay(I2C1_TIMEOUT); // after inactivity the I2C1 bus will be reset |
311 | break; |
318 | break; |
312 | 319 | ||
313 | case I2C_RX_PROGRESS: |
320 | case I2C_RX_PROGRESS: |
314 | Rx_Idx = 0; |
321 | Rx_Idx = 0; |
315 | break; |
322 | break; |
316 | 323 | ||
317 | default: // unknown I2C state |
324 | default: // unknown I2C state |
318 | // should never happen |
325 | // should never happen |
319 | I2C_GenerateSTOP (I2C1, ENABLE); |
326 | I2C_GenerateSTOP (I2C1, ENABLE); |
- | 327 | LED_GRN_OFF; |
|
- | 328 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
|
320 | I2C_State = I2C_IDLE; |
329 | I2C_State = I2C_IDLE; |
- | 330 | return; |
|
321 | break; |
331 | break; |
322 | } |
332 | } |
323 | break; |
333 | break; |
324 | 334 | ||
325 | // the master has transmitted a byte and slave has been acknowledged |
335 | // the master has transmitted a byte and slave has been acknowledged |
326 | case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
336 | case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
327 | 337 | ||
328 | // some bytes have to be transmitted |
338 | // some bytes have to be transmitted |
329 | if(Tx_Idx < I2C_TxBufferSize) |
339 | if(Tx_Idx < I2C_TxBufferSize) |
330 | { |
340 | { |
331 | if(I2C_TxBuffer != NULL) |
341 | if(I2C_TxBuffer != NULL) |
332 | { |
342 | { |
333 | I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]); |
343 | I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]); |
334 | crc += I2C_TxBuffer[Tx_Idx]; |
344 | crc += I2C_TxBuffer[Tx_Idx]; |
335 | } |
345 | } |
336 | else |
346 | else |
337 | { |
347 | { |
338 | I2C_SendData(I2C1, 0x00); |
348 | I2C_SendData(I2C1, 0x00); |
339 | } |
349 | } |
340 | } |
350 | } |
341 | else // the last tx buffer byte was send |
351 | else if(Tx_Idx == I2C_TxBufferSize) // the last tx buffer byte was send |
342 | { |
352 | { |
343 | // send crc byte at the end |
353 | // send crc byte at the end |
344 | crc = ~crc; // flip all bits in the checksum |
354 | crc = ~crc; // flip all bits in the checksum |
345 | I2C_SendData(I2C1, crc); |
355 | I2C_SendData(I2C1, crc); |
- | 356 | } |
|
- | 357 | else if(Tx_Idx == (I2C_TxBufferSize+1) ) |
|
- | 358 | { |
|
- | 359 | I2C_SendData(I2C1, 0xAA); // send a dummybyte |
|
- | 360 | } |
|
- | 361 | else // last byte was send |
|
- | 362 | { |
|
346 | // generate stop or repeated start condition |
363 | // generate stop or repeated start condition |
347 | if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected? |
364 | if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected? |
348 | { |
365 | { |
349 | I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
366 | I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
350 | I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
367 | I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
351 | } |
368 | } |
352 | else |
369 | else |
353 | { // stop communication |
370 | { // stop communication |
354 | I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
371 | I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
355 | I2C_State = I2C_IDLE; // ready for new actions |
372 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
356 | LED_GRN_OFF; |
373 | LED_GRN_OFF; |
357 | DebugOut.Analog[15]++; |
374 | DebugOut.Analog[15]++; |
- | 375 | I2C_State = I2C_IDLE; // ready for new actions |
|
- | 376 | ||
358 | } |
377 | } |
359 | } |
378 | } |
360 | Tx_Idx++; |
379 | Tx_Idx++; |
361 | break; |
380 | break; |
362 | 381 | ||
363 | // the master has received a byte from the slave |
382 | // the master has received a byte from the slave |
364 | case I2C_EVENT_MASTER_BYTE_RECEIVED: |
383 | case I2C_EVENT_MASTER_BYTE_RECEIVED: |
365 | // some bytes have to be received |
384 | // some bytes have to be received |
366 | if (Rx_Idx < I2C_RxBufferSize) |
385 | if (Rx_Idx < I2C_RxBufferSize) |
367 | { // copy received byte from the data register to the rx-buffer |
386 | { // copy received byte from the data register to the rx-buffer |
368 | I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
387 | I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
369 | // update checksum |
388 | // update checksum |
370 | crc += I2C_PrimRxBuffer[Rx_Idx]; |
389 | crc += I2C_PrimRxBuffer[Rx_Idx]; |
371 | } |
390 | } |
372 | // if the last byte (crc) was received |
391 | // if the last byte (crc) was received |
373 | else if ( Rx_Idx == I2C_RxBufferSize) |
392 | else if ( Rx_Idx == I2C_RxBufferSize) |
374 | { |
393 | { |
375 | // generate a STOP condition on the bus before reading data register |
394 | // generate a STOP condition on the bus before reading data register |
376 | I2C_GenerateSTOP(I2C1, ENABLE); |
395 | I2C_GenerateSTOP(I2C1, ENABLE); |
377 | // compare last byte with checksum |
396 | // compare last byte with checksum |
378 | crc = ~crc;// flip all bits in calulated checksum |
397 | crc = ~crc;// flip all bits in calulated checksum |
379 | if(crc == I2C_ReceiveData(I2C1)) |
398 | if(crc == I2C_ReceiveData(I2C1)) |
- | 399 | { |
|
380 | { // copy primary rx buffer content to rx buffer if exist |
400 | // copy primary rx buffer content to rx buffer if exist |
381 | if(I2C_RxBuffer != NULL) |
401 | if(I2C_RxBuffer != NULL) |
382 | { |
402 | { |
383 | memcpy((u8 *)I2C_RxBuffer, (u8 *)I2C_PrimRxBuffer, I2C_RxBufferSize); |
403 | memcpy((u8 *)I2C_RxBuffer, (u8 *)I2C_PrimRxBuffer, I2C_RxBufferSize); |
384 | } |
404 | } |
385 | I2C1_Timeout = SetDelay(500); |
405 | I2C1_Timeout = SetDelay(I2C1_TIMEOUT); |
386 | DebugOut.Analog[15]++; |
406 | DebugOut.Analog[15]++; |
387 | } |
407 | } |
388 | else // checksum error detected |
408 | else // checksum error detected |
389 | { |
409 | { |
390 | // DebugOut.Analog[14]++; |
410 | DebugOut.Analog[14]++; |
391 | } |
411 | } |
392 | I2C_State = I2C_IDLE; |
412 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
393 | LED_GRN_OFF; |
413 | LED_GRN_OFF; |
- | 414 | I2C_State = I2C_IDLE; |
|
- | 415 | return; |
|
394 | } |
416 | } |
395 | Rx_Idx++; |
417 | Rx_Idx++; |
396 | // if the 2nd last byte was received disable acknowledge for the last one |
418 | // if the 2nd last byte was received disable acknowledge for the last one |
397 | if ( Rx_Idx == I2C_RxBufferSize ) |
419 | if ( Rx_Idx == I2C_RxBufferSize ) |
398 | { |
420 | { |
399 | I2C_AcknowledgeConfig (I2C1, DISABLE); |
421 | I2C_AcknowledgeConfig (I2C1, DISABLE); |
400 | } |
422 | } |
401 | break; |
423 | break; |
402 | 424 | ||
403 | default: |
425 | default: |
404 | break; |
426 | break; |
405 | } |
427 | } |
406 | } |
428 | } |
407 | } |
429 | } |
408 | //---------------------------------------------------------------- |
430 | //---------------------------------------------------------------- |
409 | void I2C1_SendCommand(u8 command) |
431 | void I2C1_SendCommand(u8 command) |
410 | { |
432 | { |
- | 433 | // disable I2C IRQ to check state |
|
- | 434 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
|
411 | // If I2C transmission is in progress |
435 | // If I2C transmission is in progress |
412 | if(I2C_State != I2C_IDLE) return; // return imediatly if a transfer is still in progress |
- | |
413 | // disable I2C IRQ to avoid read/write access to the tx/rx buffer pointers during |
- | |
414 | // update of that buffer pointers and length |
- | |
415 | I2C_ITConfig(I2C1, DISABLE); |
436 | if(I2C_State == I2C_IDLE) |
416 | // update current command id |
- | |
417 | I2C_Command = command; |
- | |
418 | // set pointers to data area with respect to the command id |
- | |
419 | switch (command) |
- | |
420 | { |
437 | { |
- | 438 | // update current command id |
|
- | 439 | I2C_Command = command; |
|
- | 440 | // set pointers to data area with respect to the command id |
|
- | 441 | switch (command) |
|
- | 442 | { |
|
421 | case I2C_CMD_VERSION: |
443 | case I2C_CMD_VERSION: |
422 | I2C_RxBuffer = (u8 *)&MK3MAG_Version; |
444 | I2C_RxBuffer = (u8 *)&MK3MAG_Version; |
423 | I2C_RxBufferSize = sizeof(MK3MAG_Version); |
445 | I2C_RxBufferSize = sizeof(MK3MAG_Version); |
424 | I2C_TxBuffer = NULL; |
446 | I2C_TxBuffer = NULL; |
425 | I2C_TxBufferSize = 0; |
447 | I2C_TxBufferSize = 0; |
426 | break; |
448 | break; |
427 | case I2C_CMD_WRITE_CAL: |
449 | case I2C_CMD_WRITE_CAL: |
428 | I2C_RxBuffer = (u8 *)&I2C_ReadCal; |
450 | I2C_RxBuffer = (u8 *)&I2C_ReadCal; |
429 | I2C_RxBufferSize = sizeof(I2C_ReadCal); |
451 | I2C_RxBufferSize = sizeof(I2C_ReadCal); |
430 | I2C_TxBuffer = (u8 *)&I2C_WriteCal; |
452 | I2C_TxBuffer = (u8 *)&I2C_WriteCal; |
431 | I2C_TxBufferSize = sizeof(I2C_WriteCal); |
453 | I2C_TxBufferSize = sizeof(I2C_WriteCal); |
432 | break; |
454 | break; |
433 | case I2C_CMD_READ_MAG: |
455 | case I2C_CMD_READ_MAG: |
434 | I2C_RxBuffer = (u8 *)&I2C_Mag; |
456 | I2C_RxBuffer = (u8 *)&I2C_Mag; |
435 | I2C_RxBufferSize = sizeof(I2C_Mag); |
457 | I2C_RxBufferSize = sizeof(I2C_Mag); |
436 | I2C_TxBuffer = NULL; |
458 | I2C_TxBuffer = NULL; |
437 | I2C_TxBufferSize = 0; |
459 | I2C_TxBufferSize = 0; |
438 | break; |
460 | break; |
439 | case I2C_CMD_READ_HEADING: |
461 | case I2C_CMD_READ_HEADING: |
440 | DebugOut.Analog[10] = I2C_Heading.Heading; |
462 | I2C_RxBuffer = (u8 *)&I2C_Heading; |
441 | I2C_RxBuffer = (u8 *)&I2C_Heading; |
463 | I2C_RxBufferSize = sizeof(I2C_Heading); |
- | 464 | I2C_TxBuffer = (u8 *)&I2C_WriteAttitude; |
|
442 | I2C_RxBufferSize = sizeof(I2C_Heading); |
465 | I2C_TxBufferSize = sizeof(I2C_WriteAttitude); |
443 | // updat atitude from spi rx buffer |
466 | // update attitude from spi rx buffer |
- | 467 | VIC_ITCmd(SSP0_ITLine, DISABLE); // avoid spi buffer update during copy |
|
444 | I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll; |
468 | I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll; |
445 | I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick; |
469 | I2C_WriteAttitude.Nick = FromFlightCtrl.AngleNick; |
446 | I2C_TxBuffer = (u8 *)&I2C_WriteAttitude; |
470 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
447 | I2C_TxBufferSize = sizeof(I2C_WriteAttitude); |
- | |
448 | break; |
471 | break; |
449 | default: // unknown command id |
472 | default: // unknown command id |
450 | I2C_RxBuffer = NULL; |
473 | I2C_RxBuffer = NULL; |
451 | I2C_RxBufferSize = 0; |
474 | I2C_RxBufferSize = 0; |
452 | I2C_TxBuffer = NULL; |
475 | I2C_TxBuffer = NULL; |
453 | I2C_TxBufferSize = 0; |
476 | I2C_TxBufferSize = 0; |
454 | break; |
477 | break; |
455 | } |
478 | } |
456 | // set direction to master transmitter |
479 | // set direction to master transmitter |
457 | I2C_Direction = I2C_MODE_TRANSMITTER; |
480 | I2C_Direction = I2C_MODE_TRANSMITTER; |
458 | // test on busy flag and clear it |
481 | // test on busy flag and clear it |
459 | I2C_CheckEvent( I2C1, I2C_FLAG_BUSY ); |
482 | I2C_CheckEvent( I2C1, I2C_FLAG_BUSY ); |
460 | // enable I2C IRQ again |
483 | // enable I2C IRQ again |
461 | I2C_ITConfig(I2C1, ENABLE); |
484 | VIC_ITCmd(I2C1_ITLine, ENABLE); |
462 | // initiale start condition on the bus |
485 | // initiate start condition on the bus |
463 | I2C_GenerateStart(I2C1, ENABLE); |
486 | I2C_GenerateStart(I2C1, ENABLE); |
464 | // to be continued in the I2C1_IRQHandler() above |
487 | // to be continued in the I2C1_IRQHandler() above |
- | 488 | } // EOF I2C_State == I2C_IDLE |
|
- | 489 | else // I2C_State != I2C_IDLE |
|
- | 490 | { |
|
- | 491 | // re-enable I2C IRQ again |
|
- | 492 | VIC_ITCmd(I2C1_ITLine, ENABLE); |
|
- | 493 | } |
|
465 | } |
494 | } |
466 | 495 | ||
467 | //---------------------------------------------------------------- |
496 | //---------------------------------------------------------------- |
468 | void I2C1_GetMK3MagVersion(void) |
497 | void I2C1_GetMK3MagVersion(void) |
469 | { |
498 | { |
470 | u8 msg[64]; |
499 | u8 msg[64]; |
471 | u8 repeat; |
500 | u8 repeat; |
472 | u32 timeout; |
501 | u32 timeout; |
473 | 502 | ||
474 | UART1_PutString("\r\n Getting Version from MK3MAG"); |
503 | UART1_PutString("\r\n Getting Version from MK3MAG"); |
475 | // stop polling of other commands |
504 | // stop polling of other commands |
476 | I2C_StopPolling = 1; |
505 | I2C_StopPolling = 1; |
477 | 506 | ||
478 | MK3MAG_Version.Major = 0xFF; |
507 | MK3MAG_Version.Major = 0xFF; |
479 | MK3MAG_Version.Minor = 0xFF; |
508 | MK3MAG_Version.Minor = 0xFF; |
480 | MK3MAG_Version.Patch = 0xFF; |
509 | MK3MAG_Version.Patch = 0xFF; |
481 | MK3MAG_Version.Compatible = 0xFF; |
510 | MK3MAG_Version.Compatible = 0xFF; |
482 | // polling of version info |
511 | // polling of version info |
483 | repeat = 0; |
512 | repeat = 0; |
484 | do |
513 | do |
485 | { |
514 | { |
486 | I2C1_SendCommand(I2C_CMD_VERSION); |
515 | I2C1_SendCommand(I2C_CMD_VERSION); |
487 | timeout = SetDelay(250); |
516 | timeout = SetDelay(250); |
488 | do |
517 | do |
489 | { |
518 | { |
490 | if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
519 | if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
491 | }while (!CheckDelay(timeout)); |
520 | }while (!CheckDelay(timeout)); |
492 | UART1_PutString("."); |
521 | UART1_PutString("."); |
493 | repeat++; |
522 | repeat++; |
494 | }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
523 | }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
495 | // if we got it |
524 | // if we got it |
496 | if (MK3MAG_Version.Major != 0xFF) |
525 | if (MK3MAG_Version.Major != 0xFF) |
497 | { |
526 | { |
498 | sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
527 | sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
499 | UART1_PutString(msg); |
528 | UART1_PutString(msg); |
500 | sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible); |
529 | sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible); |
501 | UART1_PutString(msg); |
530 | UART1_PutString(msg); |
502 | } |
531 | } |
503 | else UART1_PutString("\n\r No version information from MK3Mag."); |
532 | else UART1_PutString("\n\r No version information from MK3Mag."); |
504 | 533 | ||
505 | I2C_StopPolling = 0; // enable polling of heading command |
534 | I2C_StopPolling = 0; // enable polling of heading command |
506 | } |
535 | } |
507 | 536 | ||
508 | 537 | ||
509 | //---------------------------------------------------------------- |
538 | //---------------------------------------------------------------- |
510 | void I2C1_UpdateCompass(void) |
539 | void I2C1_UpdateCompass(void) |
511 | { |
540 | { |
512 | static u32 TimerCompassUpdate = 0; |
541 | static u32 TimerCompassUpdate = 0; |
513 | 542 | ||
514 | if( (I2C_State == I2C_OFF) || I2C_StopPolling ) return; |
543 | if( (I2C_State == I2C_OFF) || I2C_StopPolling ) return; |
515 | 544 | ||
516 | if(CheckDelay(TimerCompassUpdate)) |
545 | if(CheckDelay(TimerCompassUpdate)) |
517 | { |
546 | { |
518 | // check for incomming compass calibration request |
547 | // check for incomming compass calibration request |
519 | // update CalByte from spi input queue |
548 | // update CalByte from spi input queue |
520 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
549 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
521 | // send new calstate |
550 | // send new calstate |
522 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
551 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
523 | { |
552 | { |
524 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
553 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
525 | } |
554 | } |
526 | else // request current heading |
555 | else // request current heading |
527 | { |
556 | { |
528 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
557 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
529 | } |
558 | } |
530 | TimerCompassUpdate = SetDelay(25); // every 25 ms |
559 | TimerCompassUpdate = SetDelay(40); // every 40 ms are 25 Hz |
531 | } |
560 | } |
532 | } |
561 | } |
533 | 562 |