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| Rev 150 | Rev 154 | ||
|---|---|---|---|
| Line 65... | Line 65... | ||
| 65 | #include "led.h" |
65 | #include "led.h" |
| 66 | #include "spi_slave.h" |
66 | #include "spi_slave.h" |
| Line 67... | Line 67... | ||
| 67 | 67 | ||
| 68 | 68 | ||
| Line 69... | Line 69... | ||
| 69 | volatile I2C_State_t I2C_State = I2C_OFF; |
69 | volatile I2C_State_t I2C_State = I2C_OFF; |
| 70 | u8 I2C_StopPolling = 1; |
70 | volatile u8 I2C_StopPolling = 1; |
| 71 | 71 | ||
| 72 | // rxbuffer |
72 | // rxbuffer |
| Line 188... | Line 188... | ||
| 188 | I2C1_Timeout = SetDelay(2*I2C1_TIMEOUT); |
188 | I2C1_Timeout = SetDelay(2*I2C1_TIMEOUT); |
| 189 | I2C_Heading.Heading = -1; |
189 | I2C_Heading.Heading = -1; |
| 190 | I2C_GenerateSTOP(I2C1, ENABLE); |
190 | I2C_GenerateSTOP(I2C1, ENABLE); |
| 191 | I2C_State = I2C_IDLE; |
191 | I2C_State = I2C_IDLE; |
| Line -... | Line 192... | ||
| - | 192 | ||
| - | 193 | I2C_StopPolling = 0; // start polling |
|
| 192 | 194 | ||
| 193 | UART1_PutString("ok"); |
195 | UART1_PutString("ok"); |
| Line 194... | Line 196... | ||
| 194 | } |
196 | } |
| 195 | 197 | ||
| 196 | 198 | ||
| 197 | //-------------------------------------------------------------- |
199 | //-------------------------------------------------------------- |
| 198 | void I2C1_Deinit(void) |
200 | void I2C1_Deinit(void) |
| 199 | { |
201 | { |
| 200 | GPIO_InitTypeDef GPIO_InitStructure; |
202 | GPIO_InitTypeDef GPIO_InitStructure; |
| 201 | I2C_State = I2C_OFF; |
203 | I2C_StopPolling = 1;// stop polling |
| 202 | UART1_PutString("\r\n I2C deinit..."); |
204 | UART1_PutString("\r\n I2C deinit..."); |
| - | 205 | I2C_GenerateStart(I2C1, DISABLE); |
|
| 203 | I2C_GenerateStart(I2C1, DISABLE); |
206 | I2C_GenerateSTOP(I2C1, ENABLE); |
| 204 | I2C_GenerateSTOP(I2C1, ENABLE); |
207 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
| 205 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
208 | I2C_State = I2C_OFF; |
| 206 | I2C_ITConfig(I2C1, DISABLE); |
209 | I2C_ITConfig(I2C1, DISABLE); |
| Line 463... | Line 466... | ||
| 463 | 466 | ||
| 464 | //---------------------------------------------------------------- |
467 | //---------------------------------------------------------------- |
| 465 | void I2C1_GetMK3MagVersion(void) |
468 | void I2C1_GetMK3MagVersion(void) |
| 466 | { |
469 | { |
| 467 | u8 msg[64]; |
470 | u8 msg[64]; |
| 468 | u8 repeat = 20; |
471 | u8 repeat; |
| Line -... | Line 472... | ||
| - | 472 | u32 timeout; |
|
| - | 473 | ||
| 469 | u32 timeout; |
474 | UART1_PutString("\r\n Getting Version from MK3MAG"); |
| Line 470... | Line 475... | ||
| 470 | 475 | // stop polling of other commands |
|
| 471 | I2C_StopPolling = 1; |
476 | I2C_StopPolling = 1; |
| 472 | 477 | ||
| 473 | MK3MAG_Version.Major = 0xFF; |
478 | MK3MAG_Version.Major = 0xFF; |
| 474 | MK3MAG_Version.Minor = 0xFF; |
479 | MK3MAG_Version.Minor = 0xFF; |
| 475 | MK3MAG_Version.Patch = 0xFF; |
480 | MK3MAG_Version.Patch = 0xFF; |
| - | 481 | MK3MAG_Version.Compatible = 0xFF; |
|
| 476 | MK3MAG_Version.Compatible = 0xFF; |
482 | // polling of version info |
| 477 | // polling of version info |
483 | repeat = 0; |
| 478 | while ((MK3MAG_Version.Major == 0xFF) && (repeat != 0)) |
484 | do |
| - | 485 | { |
|
| - | 486 | I2C1_SendCommand(I2C_CMD_VERSION); |
|
| 479 | { |
487 | timeout = SetDelay(250); |
| - | 488 | do |
|
| - | 489 | { |
|
| 480 | I2C1_SendCommand(I2C_CMD_VERSION); |
490 | if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
| - | 491 | }while (!CheckDelay(timeout)); |
|
| 481 | timeout = SetDelay(500); |
492 | UART1_PutString("."); |
| 482 | while (!CheckDelay(timeout)) if (MK3MAG_Version.Major != 0xFF) break; |
- | |
| 483 | repeat--; |
493 | repeat++; |
| 484 | } |
494 | }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
| 485 | 495 | // if we got it |
|
| 486 | if (MK3MAG_Version.Major != 0xFF) |
496 | if (MK3MAG_Version.Major != 0xFF) |
| 487 | { |
497 | { |
| 488 | sprintf(msg, "\n\r MK3Mag V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
498 | sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
| 489 | UART1_PutString(msg); |
499 | UART1_PutString(msg); |
| 490 | sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible); |
500 | sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible); |
| Line 491... | Line 501... | ||
| 491 | UART1_PutString(msg); |
501 | UART1_PutString(msg); |
| 492 | } |
502 | } |
| Line 493... | Line 503... | ||
| 493 | else UART1_PutString("\n\rNo version information from MK3Mag."); |
503 | else UART1_PutString("\n\r No version information from MK3Mag."); |
| 494 | 504 | ||
| 495 | I2C_StopPolling = 0; // enable polling of heading |
505 | I2C_StopPolling = 0; // enable polling of heading command |
| 496 | } |
506 | } |
| Line 497... | Line 507... | ||
| 497 | 507 | ||
| Line 498... | Line 508... | ||
| 498 | 508 | ||
| 499 | //---------------------------------------------------------------- |
509 | //---------------------------------------------------------------- |
| 500 | void I2C1_UpdateCompass(void) |
510 | void I2C1_UpdateCompass(void) |
| 501 | { |
511 | { |