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| Rev 25 | Rev 26 | ||
|---|---|---|---|
| Line 66... | Line 66... | ||
| 66 | 66 | ||
| 67 | volatile uint8_t I2C_RxBufferSize = 0, I2C_TxBufferSize = 0; |
67 | volatile uint8_t I2C_RxBufferSize = 0, I2C_TxBufferSize = 0; |
| 68 | volatile uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0; |
68 | volatile uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0; |
| Line 69... | Line -... | ||
| 69 | volatile uint8_t Tx_Idx = 0, Rx_Idx = 0; |
- | |
| - | 69 | volatile uint8_t Tx_Idx = 0, Rx_Idx = 0; |
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| Line 70... | Line 70... | ||
| 70 | 70 | ||
| 71 | 71 | volatile uint8_t I2C_PrimRxBuffer[10]; |
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| 72 | 72 | ||
| 73 | struct I2C_Heading_t I2C_Heading; |
73 | struct I2C_Heading_t I2C_Heading; |
| Line 183... | Line 183... | ||
| 183 | case I2C_CMD_READ_HEADING: |
183 | case I2C_CMD_READ_HEADING: |
| 184 | I2C_TxBuffer = (uint8_t *)&I2C_Heading; |
184 | I2C_TxBuffer = (uint8_t *)&I2C_Heading; |
| 185 | I2C_TxBufferSize = sizeof(I2C_Heading); |
185 | I2C_TxBufferSize = sizeof(I2C_Heading); |
| 186 | I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude; |
186 | I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude; |
| 187 | I2C_RxBufferSize = sizeof(I2C_WriteAttitude); |
187 | I2C_RxBufferSize = sizeof(I2C_WriteAttitude); |
| 188 | // update heading from global variable |
- | |
| 189 | I2C_Heading.Heading = Heading; |
188 | I2C_Heading.Heading = Heading; |
| 190 | // copy current attitude from I2C rx buffer to uart rx buffer (this is used for the calulation of the heading) |
- | |
| 191 | ExternData.Attitude[NICK] = I2C_WriteAttitude.Nick; |
189 | ExternData.Attitude[NICK] = I2C_WriteAttitude.Nick; |
| 192 | ExternData.Attitude[ROLL] = I2C_WriteAttitude.Roll; |
190 | ExternData.Attitude[ROLL] = I2C_WriteAttitude.Roll; |
| 193 | break; |
191 | break; |
| 194 | default: // unknown command id |
192 | default: // unknown command id |
| 195 | I2C_RxBuffer = 0; |
193 | I2C_RxBuffer = 0; |
| Line 203... | Line 201... | ||
| 203 | } |
201 | } |
| 204 | else // Rx_Idx != 0xFF |
202 | else // Rx_Idx != 0xFF |
| 205 | { |
203 | { |
| 206 | // fill receiver buffer with the byte that has been received |
204 | // fill receiver buffer with the byte that has been received |
| 207 | // if buffer exist and there is still some free space |
205 | // if buffer exist and there is still some free space |
| 208 | if((I2C_RxBuffer != 0) && (Rx_Idx < I2C_RxBufferSize)) |
206 | if(Rx_Idx < I2C_RxBufferSize) |
| 209 | { |
207 | { |
| 210 | I2C_RxBuffer[Rx_Idx] = data; |
208 | I2C_PrimRxBuffer[Rx_Idx] = data; |
| 211 | crc += data; |
209 | crc += data; |
| 212 | } |
210 | } |
| 213 | else if (Rx_Idx == I2C_RxBufferSize) // crc byte was transferred |
211 | else if (Rx_Idx == I2C_RxBufferSize) // crc byte was transfered |
| 214 | { |
212 | { // if checksum matched |
| 215 | if(crc == data) |
213 | if(crc == data) |
| - | 214 | { // and RxBuffer exist |
|
| - | 215 | if(I2C_RxBuffer != 0) |
|
| - | 216 | { // copy data to rx buffer |
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| - | 217 | for(data = 0; data < I2C_RxBufferSize; data++) |
|
| - | 218 | { |
|
| - | 219 | I2C_RxBuffer[data] = I2C_PrimRxBuffer[data]; |
|
| - | 220 | } |
|
| - | 221 | } |
|
| - | 222 | DebugOut.Analog[31]++; |
|
| - | 223 | } |
|
| - | 224 | else |
|
| 216 | { |
225 | { |
| 217 | // copy primary rx buffer to target |
226 | DebugOut.Analog[30]++; |
| 218 | } |
227 | } |
| 219 | } |
228 | } |
| 220 | // else ignore data |
229 | // else ignore data |
| 221 | Rx_Idx++; |
230 | Rx_Idx++; |
| 222 | } |
231 | } |