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| Rev 78 | Rev 79 | ||
|---|---|---|---|
| Line 193... | Line 193... | ||
| 193 | 193 | ||
| 194 | 194 | ||
| 195 | //-------------------------------------------------------------- |
195 | //-------------------------------------------------------------- |
| 196 | void I2C1_Deinit(void) |
196 | void I2C1_Deinit(void) |
| Line 197... | Line 197... | ||
| 197 | { |
197 | { |
| 198 | GPIO_InitTypeDef GPIO_InitStructure; |
198 | GPIO_InitTypeDef GPIO_InitStructure; |
| 199 | 199 | ||
| 200 | SerialPutString("\r\n I2C deinit..."); |
200 | SerialPutString("\r\n I2C deinit..."); |
| 201 | I2C_GenerateStart(I2C1, DISABLE); |
201 | I2C_GenerateStart(I2C1, DISABLE); |
| 202 | I2C_GenerateSTOP(I2C1, ENABLE); |
202 | I2C_GenerateSTOP(I2C1, ENABLE); |
| 203 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
203 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
| 204 | I2C_ITConfig(I2C1, DISABLE); |
204 | I2C_ITConfig(I2C1, DISABLE); |
| 205 | I2C_Cmd(I2C1, DISABLE); |
205 | I2C_Cmd(I2C1, DISABLE); |
| 206 | I2C_DeInit(I2C1); |
206 | I2C_DeInit(I2C1); |
| 207 | SCU_APBPeriphClockConfig(__I2C1, DISABLE); |
207 | SCU_APBPeriphClockConfig(__I2C1, DISABLE); |
| 208 | 208 | ||
| 209 | // set ports to input |
209 | // set ports to input |
| 210 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
210 | SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
| 211 | GPIO_StructInit(&GPIO_InitStructure); |
211 | GPIO_StructInit(&GPIO_InitStructure); |
| 212 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
212 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| 213 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
213 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
| 214 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
214 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| Line 215... | Line 215... | ||
| 215 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
215 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
| 216 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
216 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| 217 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
217 | GPIO_Init(GPIO2, &GPIO_InitStructure); |
| Line 218... | Line 218... | ||
| 218 | 218 | ||
| 219 | I2C_TxBuffer = NULL; |
219 | I2C_TxBuffer = NULL; |
| 220 | Tx_Idx = 0; |
220 | Tx_Idx = 0; |
| Line 240... | Line 240... | ||
| 240 | static u8 crc; |
240 | static u8 crc; |
| 241 | // detemine I2C State |
241 | // detemine I2C State |
| 242 | status = I2C_GetLastEvent(I2C1); |
242 | status = I2C_GetLastEvent(I2C1); |
| Line 243... | Line 243... | ||
| 243 | 243 | ||
| 244 | if(status & (I2C_FLAG_AF|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured |
244 | if(status & (I2C_FLAG_AF|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured |
| 245 | { // Set and subsequently clear the STOP bit while BTF is set. |
245 | { // Set and subsequently clear the STOP bit while BTF is set. |
| 246 | while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET) |
246 | while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET) |
| 247 | { |
247 | { |
| 248 | I2C_GenerateSTOP (I2C1, ENABLE); // free the bus |
248 | I2C_GenerateSTOP (I2C1, ENABLE); // free the bus |
| 249 | I2C_GenerateSTOP (I2C1, DISABLE); // free the bus |
249 | I2C_GenerateSTOP (I2C1, DISABLE); // free the bus |
| Line 262... | Line 262... | ||
| 262 | switch(I2C_Direction) |
262 | switch(I2C_Direction) |
| 263 | { |
263 | { |
| 264 | case I2C_MODE_TRANSMITTER: |
264 | case I2C_MODE_TRANSMITTER: |
| 265 | I2C_State = I2C_TX_PROGRESS; |
265 | I2C_State = I2C_TX_PROGRESS; |
| 266 | break; |
266 | break; |
| 267 | 267 | ||
| 268 | case I2C_MODE_RECEIVER: |
268 | case I2C_MODE_RECEIVER: |
| 269 | if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0)) |
269 | if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0)) |
| 270 | { |
270 | { |
| 271 | I2C_GenerateSTOP (I2C1, ENABLE); |
271 | I2C_GenerateSTOP (I2C1, ENABLE); |
| 272 | I2C_State = I2C_IDLE; |
272 | I2C_State = I2C_IDLE; |
| Line 275... | Line 275... | ||
| 275 | else |
275 | else |
| 276 | { |
276 | { |
| 277 | I2C_State = I2C_RX_PROGRESS; |
277 | I2C_State = I2C_RX_PROGRESS; |
| 278 | } |
278 | } |
| 279 | break; |
279 | break; |
| 280 | 280 | ||
| 281 | default: // invalid direction |
281 | default: // invalid direction |
| 282 | I2C_GenerateSTOP (I2C1, ENABLE); |
282 | I2C_GenerateSTOP (I2C1, ENABLE); |
| 283 | I2C_State = I2C_IDLE; |
283 | I2C_State = I2C_IDLE; |
| 284 | LED_GRN_OFF; |
284 | LED_GRN_OFF; |
| 285 | return; |
285 | return; |
| Line 287... | Line 287... | ||
| 287 | // enable acknowledge |
287 | // enable acknowledge |
| 288 | I2C_AcknowledgeConfig (I2C1, ENABLE); |
288 | I2C_AcknowledgeConfig (I2C1, ENABLE); |
| 289 | // send address/direction byte on the bus |
289 | // send address/direction byte on the bus |
| 290 | I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction); |
290 | I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction); |
| 291 | break; |
291 | break; |
| 292 | 292 | ||
| 293 | // the address byte was send |
293 | // the address byte was send |
| 294 | case I2C_EVENT_MASTER_MODE_SELECTED: |
294 | case I2C_EVENT_MASTER_MODE_SELECTED: |
| 295 | // Clear EV6 by set again the PE bit |
295 | // Clear EV6 by set again the PE bit |
| 296 | I2C_Cmd(I2C1, ENABLE); |
296 | I2C_Cmd(I2C1, ENABLE); |
| 297 | // reset checksum |
297 | // reset checksum |
| 298 | crc = 0; |
298 | crc = 0; |
| 299 | switch(I2C_State) |
299 | switch(I2C_State) |
| 300 | { |
300 | { |
| 301 | case I2C_TX_PROGRESS: |
301 | case I2C_TX_PROGRESS: |
| 302 | // send command 1st data byte (allways the command id) |
302 | // send command 1st data byte (allways the command id) |
| 303 | I2C_SendData(I2C1, I2C_Command); |
303 | I2C_SendData(I2C1, I2C_Command); |
| 304 | crc += I2C_Command; |
304 | crc += I2C_Command; |
| 305 | Tx_Idx = 0; |
305 | Tx_Idx = 0; |
| 306 | // reset timeout |
306 | // reset timeout |
| 307 | I2C1_Timeout = SetDelay(500); // after 500 ms of inactivity the I2C1 bus will be reset |
307 | I2C1_Timeout = SetDelay(500); // after 500 ms of inactivity the I2C1 bus will be reset |
| 308 | break; |
308 | break; |
| 309 | 309 | ||
| 310 | case I2C_RX_PROGRESS: |
310 | case I2C_RX_PROGRESS: |
| 311 | Rx_Idx = 0; |
311 | Rx_Idx = 0; |
| 312 | break; |
312 | break; |
| 313 | 313 | ||
| 314 | default: // unknown I2C state |
314 | default: // unknown I2C state |
| 315 | // should never happen |
315 | // should never happen |
| 316 | I2C_GenerateSTOP (I2C1, ENABLE); |
316 | I2C_GenerateSTOP (I2C1, ENABLE); |
| 317 | I2C_State = I2C_IDLE; |
317 | I2C_State = I2C_IDLE; |
| 318 | break; |
318 | break; |
| 319 | } |
319 | } |
| 320 | break; |
320 | break; |
| 321 | 321 | ||
| 322 | // the master has transmitted a byte and slave has been acknowledged |
322 | // the master has transmitted a byte and slave has been acknowledged |
| 323 | case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
323 | case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
| 324 | 324 | ||
| 325 | // some bytes have to be transmitted |
325 | // some bytes have to be transmitted |
| 326 | if(Tx_Idx < I2C_TxBufferSize) |
326 | if(Tx_Idx < I2C_TxBufferSize) |
| 327 | { |
327 | { |
| 328 | if(I2C_TxBuffer != NULL) |
328 | if(I2C_TxBuffer != NULL) |
| 329 | { |
329 | { |
| Line 340... | Line 340... | ||
| 340 | // send crc byte at the end |
340 | // send crc byte at the end |
| 341 | I2C_SendData(I2C1, crc); |
341 | I2C_SendData(I2C1, crc); |
| 342 | // generate stop or repeated start condition |
342 | // generate stop or repeated start condition |
| 343 | if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected? |
343 | if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected? |
| 344 | { |
344 | { |
| 345 | I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
345 | I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
| 346 | I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
346 | I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
| 347 | } |
347 | } |
| 348 | else |
348 | else |
| 349 | { // stop communication |
349 | { // stop communication |
| 350 | I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
350 | I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
| 351 | I2C_State = I2C_IDLE; // ready for new actions |
351 | I2C_State = I2C_IDLE; // ready for new actions |
| 352 | LED_GRN_OFF; |
352 | LED_GRN_OFF; |
| 353 | DebugOut.Analog[15]++; |
353 | DebugOut.Analog[15]++; |
| 354 | } |
354 | } |
| 355 | } |
355 | } |
| 356 | Tx_Idx++; |
356 | Tx_Idx++; |
| 357 | break; |
357 | break; |
| 358 | 358 | ||
| 359 | // the master has received a byte from the slave |
359 | // the master has received a byte from the slave |
| 360 | case I2C_EVENT_MASTER_BYTE_RECEIVED: |
360 | case I2C_EVENT_MASTER_BYTE_RECEIVED: |
| 361 | // some bytes have to be received |
361 | // some bytes have to be received |
| 362 | if (Rx_Idx < I2C_RxBufferSize) |
362 | if (Rx_Idx < I2C_RxBufferSize) |
| 363 | { // copy received byte from the data register to the rx-buffer |
363 | { // copy received byte from the data register to the rx-buffer |
| 364 | I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
364 | I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
| 365 | // update checksum |
365 | // update checksum |
| 366 | crc += I2C_PrimRxBuffer[Rx_Idx]; |
366 | crc += I2C_PrimRxBuffer[Rx_Idx]; |
| 367 | } |
367 | } |
| 368 | // if the last byte (crc) was received |
368 | // if the last byte (crc) was received |
| 369 | else if ( Rx_Idx == I2C_RxBufferSize) |
369 | else if ( Rx_Idx == I2C_RxBufferSize) |
| 370 | { |
370 | { |
| 371 | // generate a STOP condition on the bus before reading data register |
371 | // generate a STOP condition on the bus before reading data register |
| 372 | I2C_GenerateSTOP(I2C1, ENABLE); |
372 | I2C_GenerateSTOP(I2C1, ENABLE); |
| 373 | // compare last byte with checksum |
373 | // compare last byte with checksum |
| 374 | if(crc == I2C_ReceiveData(I2C1)) |
374 | if(crc == I2C_ReceiveData(I2C1)) |
| Line 383... | Line 383... | ||
| 383 | else // checksum error detected |
383 | else // checksum error detected |
| 384 | { |
384 | { |
| 385 | DebugOut.Analog[14]++; |
385 | DebugOut.Analog[14]++; |
| 386 | } |
386 | } |
| 387 | I2C_State = I2C_IDLE; |
387 | I2C_State = I2C_IDLE; |
| 388 | LED_GRN_OFF; |
388 | LED_GRN_OFF; |
| 389 | } |
389 | } |
| 390 | Rx_Idx++; |
390 | Rx_Idx++; |
| 391 | // if the 2nd last byte was received disable acknowledge for the last one |
391 | // if the 2nd last byte was received disable acknowledge for the last one |
| 392 | if ( Rx_Idx == I2C_RxBufferSize ) |
392 | if ( Rx_Idx == I2C_RxBufferSize ) |
| 393 | { |
393 | { |
| 394 | I2C_AcknowledgeConfig (I2C1, DISABLE); |
394 | I2C_AcknowledgeConfig (I2C1, DISABLE); |
| 395 | } |
395 | } |
| 396 | break; |
396 | break; |
| 397 | 397 | ||
| 398 | default: |
398 | default: |
| 399 | break; |
399 | break; |
| 400 | } |
400 | } |
| 401 | } |
401 | } |
| 402 | } |
402 | } |
| Line 411... | Line 411... | ||
| 411 | // update current command id |
411 | // update current command id |
| 412 | I2C_Command = command; |
412 | I2C_Command = command; |
| 413 | // set pointers to data area with respect to the command id |
413 | // set pointers to data area with respect to the command id |
| 414 | switch (command) |
414 | switch (command) |
| 415 | { |
415 | { |
| 416 | case I2C_CMD_VERSION: |
416 | case I2C_CMD_VERSION: |
| 417 | I2C_RxBuffer = (u8 *)&MK3MAG_Version; |
417 | I2C_RxBuffer = (u8 *)&MK3MAG_Version; |
| 418 | I2C_RxBufferSize = sizeof(MK3MAG_Version); |
418 | I2C_RxBufferSize = sizeof(MK3MAG_Version); |
| 419 | I2C_TxBuffer = NULL; |
419 | I2C_TxBuffer = NULL; |
| 420 | I2C_TxBufferSize = 0; |
420 | I2C_TxBufferSize = 0; |
| 421 | break; |
421 | break; |
| Line 423... | Line 423... | ||
| 423 | I2C_RxBuffer = (u8 *)&I2C_ReadCal; |
423 | I2C_RxBuffer = (u8 *)&I2C_ReadCal; |
| 424 | I2C_RxBufferSize = sizeof(I2C_ReadCal); |
424 | I2C_RxBufferSize = sizeof(I2C_ReadCal); |
| 425 | I2C_TxBuffer = (u8 *)&I2C_WriteCal; |
425 | I2C_TxBuffer = (u8 *)&I2C_WriteCal; |
| 426 | I2C_TxBufferSize = sizeof(I2C_WriteCal); |
426 | I2C_TxBufferSize = sizeof(I2C_WriteCal); |
| 427 | break; |
427 | break; |
| 428 | case I2C_CMD_READ_MAG: |
428 | case I2C_CMD_READ_MAG: |
| 429 | I2C_RxBuffer = (u8 *)&I2C_Mag; |
429 | I2C_RxBuffer = (u8 *)&I2C_Mag; |
| 430 | I2C_RxBufferSize = sizeof(I2C_Mag); |
430 | I2C_RxBufferSize = sizeof(I2C_Mag); |
| 431 | I2C_TxBuffer = NULL; |
431 | I2C_TxBuffer = NULL; |
| 432 | I2C_TxBufferSize = 0; |
432 | I2C_TxBufferSize = 0; |
| 433 | break; |
433 | break; |
| 434 | case I2C_CMD_READ_HEADING: |
434 | case I2C_CMD_READ_HEADING: |
| 435 | DebugOut.Analog[10] = I2C_Heading.Heading; |
435 | DebugOut.Analog[10] = I2C_Heading.Heading; |
| 436 | I2C_RxBuffer = (u8 *)&I2C_Heading; |
436 | I2C_RxBuffer = (u8 *)&I2C_Heading; |
| 437 | I2C_RxBufferSize = sizeof(I2C_Heading); |
437 | I2C_RxBufferSize = sizeof(I2C_Heading); |
| 438 | // updat atitude from spi rx buffer |
438 | // updat atitude from spi rx buffer |
| 439 | I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll; |
439 | I2C_WriteAttitude.Roll = FromFlightCtrl.AngleRoll; |
| Line 450... | Line 450... | ||
| 450 | } |
450 | } |
| 451 | // enable I2C IRQ again |
451 | // enable I2C IRQ again |
| 452 | I2C_ITConfig(I2C1, ENABLE); |
452 | I2C_ITConfig(I2C1, ENABLE); |
| 453 | // set direction to master transmitter |
453 | // set direction to master transmitter |
| 454 | I2C_Direction = I2C_MODE_TRANSMITTER; |
454 | I2C_Direction = I2C_MODE_TRANSMITTER; |
| 455 | // test on busy flag and clear it |
455 | // test on busy flag and clear it |
| 456 | I2C_CheckEvent( I2C1, I2C_FLAG_BUSY ); |
456 | I2C_CheckEvent( I2C1, I2C_FLAG_BUSY ); |
| 457 | // initiale start condition on the bus |
457 | // initiale start condition on the bus |
| 458 | I2C_GenerateStart(I2C1, ENABLE); |
458 | I2C_GenerateStart(I2C1, ENABLE); |
| 459 | // to be continued in the I2C1_IRQHandler() above |
459 | // to be continued in the I2C1_IRQHandler() above |
| 460 | - | ||
| 461 | - | ||
| 462 | - | ||
| 463 | } |
460 | } |
| Line 464... | Line 461... | ||
| 464 | 461 | ||
| 465 | //---------------------------------------------------------------- |
462 | //---------------------------------------------------------------- |
| 466 | void I2C1_GetMK3MagVersion(void) |
463 | void I2C1_GetMK3MagVersion(void) |
| 467 | { |
464 | { |
| 468 | u8 msg[64]; |
465 | u8 msg[64]; |
| Line 469... | Line 466... | ||
| 469 | u8 repeat = 10; |
466 | u8 repeat = 10; |
| 470 | 467 | ||
| 471 | MK3MAG_Version.Major = 0xFF; |
468 | MK3MAG_Version.Major = 0xFF; |
| 472 | MK3MAG_Version.Minor = 0xFF; |
469 | MK3MAG_Version.Minor = 0xFF; |
| Line 473... | Line 470... | ||
| 473 | MK3MAG_Version.Patch = 0xFF; |
470 | MK3MAG_Version.Patch = 0xFF; |
| 474 | MK3MAG_Version.Compatible = 0xFF; |
471 | MK3MAG_Version.Compatible = 0xFF; |
| 475 | 472 | ||
| 476 | while ((MK3MAG_Version.Major == 0xFF) && (repeat != 0)) |
473 | while ((MK3MAG_Version.Major == 0xFF) && (repeat != 0)) |
| 477 | { |
474 | { |
| 478 | I2C1_SendCommand(I2C_CMD_VERSION); |
475 | I2C1_SendCommand(I2C_CMD_VERSION); |
| 479 | I2C1_Timeout = SetDelay(500); |
476 | I2C1_Timeout = SetDelay(500); |
| 480 | while (!CheckDelay(I2C1_Timeout)) if (MK3MAG_Version.Major != 0xFF) break; |
477 | while (!CheckDelay(I2C1_Timeout)) if (MK3MAG_Version.Major != 0xFF) break; |
| 481 | repeat--; |
478 | repeat--; |
| 482 | } |
479 | } |
| 483 | 480 | ||
| 484 | if (MK3MAG_Version.Major != 0xFF) |
481 | if (MK3MAG_Version.Major != 0xFF) |
| 485 | { |
482 | { |
| 486 | sprintf(msg, "\n\r MK3Mag V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
483 | sprintf(msg, "\n\r MK3Mag V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
| 487 | SerialPutString(msg); |
484 | SerialPutString(msg); |
| 488 | sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible); |
485 | sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible); |
| Line 489... | Line 486... | ||
| 489 | SerialPutString(msg); |
486 | SerialPutString(msg); |