Rev 486 | Rev 493 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 486 | Rev 489 | ||
---|---|---|---|
Line 55... | Line 55... | ||
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <stdio.h> |
56 | #include <stdio.h> |
57 | #include <string.h> |
57 | #include <string.h> |
58 | #include "91x_lib.h" |
58 | #include "91x_lib.h" |
59 | #include "mk3mag.h" |
59 | #include "mk3mag.h" |
60 | #include "i2c1.h" |
- | |
61 | #include "i2c0.h" |
60 | #include "i2c.h" |
62 | #include "timer1.h" |
61 | #include "timer1.h" |
63 | #include "led.h" |
62 | #include "led.h" |
64 | #include "main.h" |
63 | #include "main.h" |
65 | #include "uart1.h" |
64 | #include "uart1.h" |
66 | #include "compass.h" |
65 | #include "compass.h" |
Line 172... | Line 171... | ||
172 | 171 | ||
173 | // use I2C1 for communication |
172 | // use I2C1 for communication |
174 | void MK3MAG_SendCommand(u8 command) |
173 | void MK3MAG_SendCommand(u8 command) |
175 | { |
174 | { |
176 | // try to catch the I2C buffer |
175 | // try to catch the I2C buffer |
177 | if(I2C1_LockBuffer(0)) |
176 | if(I2CBus_LockBuffer(I2C1, 0)) |
- | 177 | { |
|
178 | { |
178 | u8 TxData[100]; |
179 | u16 TxBytes = 0; |
179 | u16 TxBytes = 0; |
180 | u16 RxBytes = 0; |
180 | u16 RxBytes = 0; |
Line 181... | Line 181... | ||
181 | I2C_pRxHandler_t pRxHandlerFunc = NULL; |
181 | I2C_pRxHandler_t pRxHandlerFunc = NULL; |
182 | 182 | ||
Line 183... | Line 183... | ||
183 | // update current command id |
183 | // update current command id |
184 | I2C1_Buffer[TxBytes++] = command; |
184 | TxData[TxBytes++] = command; |
185 | 185 | ||
186 | // set pointers to data area with respect to the command id |
186 | // set pointers to data area with respect to the command id |
Line 191... | Line 191... | ||
191 | pRxHandlerFunc = &MK3MAG_UpdateVersion; |
191 | pRxHandlerFunc = &MK3MAG_UpdateVersion; |
192 | break; |
192 | break; |
193 | case MK3MAG_CMD_WRITE_CAL: |
193 | case MK3MAG_CMD_WRITE_CAL: |
194 | RxBytes = sizeof(MK3MAG_ReadCal)+1; |
194 | RxBytes = sizeof(MK3MAG_ReadCal)+1; |
195 | pRxHandlerFunc = &MK3MAG_UpdateCalibration; |
195 | pRxHandlerFunc = &MK3MAG_UpdateCalibration; |
196 | memcpy((u8*)I2C1_Buffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal)); |
196 | memcpy(TxData+TxBytes, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal)); |
197 | TxBytes += sizeof(MK3MAG_WriteCal); |
197 | TxBytes += sizeof(MK3MAG_WriteCal); |
198 | break; |
198 | break; |
199 | case MK3MAG_CMD_READ_MAGVECT: |
199 | case MK3MAG_CMD_READ_MAGVECT: |
200 | RxBytes = sizeof(MagVector)+1; |
200 | RxBytes = sizeof(MagVector)+1; |
201 | pRxHandlerFunc = &MK3MAG_UpdateMagVector; |
201 | pRxHandlerFunc = &MK3MAG_UpdateMagVector; |
Line 204... | Line 204... | ||
204 | RxBytes = 0; |
204 | RxBytes = 0; |
205 | pRxHandlerFunc = NULL; |
205 | pRxHandlerFunc = NULL; |
206 | break; |
206 | break; |
207 | } |
207 | } |
208 | // update packet checksum |
208 | // update packet checksum |
209 | I2C1_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C1_Buffer, TxBytes); |
209 | TxData[TxBytes] = MK3MAG_CalcCRC(TxData, TxBytes); |
210 | TxBytes++; |
210 | TxBytes++; |
211 | // initiate I2C transmission |
211 | // initiate I2C transmission |
212 | I2C1_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes); |
212 | I2CBus_Transmission(I2C1, MK3MAG_SLAVE_ADDRESS, TxData, TxBytes, pRxHandlerFunc, RxBytes); |
213 | } // EOF I2C_State == I2C_IDLE |
213 | } // EOF I2C_State == I2C_IDLE |
214 | } |
214 | } |
Line 215... | Line 215... | ||
215 | 215 | ||
216 | 216 | ||
217 | //---------------------------------------------------------------- |
217 | //---------------------------------------------------------------- |
- | 218 | u8 MK3MAG_Init(void) |
|
- | 219 | { |
|
- | 220 | if(MK3MAG_Present) // do only short init ! , full init was called before |
|
- | 221 | { |
|
- | 222 | // try reconnect by reseting the I2C bus |
|
- | 223 | I2CBus_Deinit(I2C1); |
|
- | 224 | I2CBus_Init(I2C1); |
|
- | 225 | } |
|
218 | u8 MK3MAG_Init(void) |
226 | else // full init |
219 | { |
227 | { |
220 | u8 msg[64]; |
228 | u8 msg[64]; |
Line -... | Line 229... | ||
- | 229 | u8 repeat; |
|
221 | u8 repeat; |
230 | u32 timeout; |
Line 222... | Line 231... | ||
222 | u32 timeout; |
231 | |
223 | 232 | Compass_I2CPort = I2C1; |
|
224 | MK3MAG_Present = 0; |
233 | MK3MAG_Present = 0; |
225 | 234 | ||
Line 226... | Line -... | ||
226 | MK3MAG_Version.Major = 0xFF; |
- | |
227 | MK3MAG_Version.Minor = 0xFF; |
- | |
228 | MK3MAG_Version.Patch = 0xFF; |
235 | MK3MAG_Version.Major = 0xFF; |
229 | MK3MAG_Version.Compatible = 0xFF; |
236 | MK3MAG_Version.Minor = 0xFF; |
230 | 237 | MK3MAG_Version.Patch = 0xFF; |
|
231 | Compass_Heading = -1; |
238 | MK3MAG_Version.Compatible = 0xFF; |
232 | 239 | ||
233 | // polling of version info |
240 | // polling of version info |
234 | repeat = 0; |
241 | repeat = 0; |
Line 235... | Line 242... | ||
235 | do |
242 | do |
236 | { |
243 | { |
237 | MK3MAG_SendCommand(MK3MAG_CMD_VERSION); |
244 | MK3MAG_SendCommand(MK3MAG_CMD_VERSION); |
Line 259... | Line 266... | ||
259 | else |
266 | else |
260 | { // version ok |
267 | { // version ok |
261 | MK3MAG_Present = 1; |
268 | MK3MAG_Present = 1; |
262 | } |
269 | } |
263 | } |
270 | } |
- | 271 | } |
|
264 | return(MK3MAG_Present); |
272 | return(MK3MAG_Present); |
265 | } |
273 | } |
Line 266... | Line 274... | ||
266 | 274 | ||
267 | //---------------------------------------------------------------- |
275 | //---------------------------------------------------------------- |
Line 271... | Line 279... | ||
271 | static s16 x_max,y_max,z_max,x_min,y_min,z_min; |
279 | static s16 x_max,y_max,z_max,x_min,y_min,z_min; |
272 | static u8 last_state,speak = 0; |
280 | static u8 last_state,speak = 0; |
273 | u8 msg[64]; |
281 | u8 msg[64]; |
274 | u16 MinCaclibration = 500; |
282 | u16 MinCaclibration = 500; |
Line 275... | Line 283... | ||
275 | 283 | ||
Line 276... | Line 284... | ||
276 | if( (I2C1_State == I2C_STATE_OFF) || !MK3MAG_Present ) return; |
284 | if( (I2CBus(I2C1)->State == I2C_STATE_UNDEF) || !MK3MAG_Present ) return; |
277 | 285 | ||
278 | if(CheckDelay(TimerUpdate)) |
286 | if(CheckDelay(TimerUpdate)) |
279 | { |
287 | { |