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| Rev 189 | Rev 195 | ||
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| Line 241... | Line 241... | ||
| 241 | { |
241 | { |
| 242 | static u8 Rx_Idx = 0, Tx_Idx = 0, crc = 0; |
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 |
243 | static u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers |
| 244 | u16 status; |
244 | u16 status; |
| Line -... | Line 245... | ||
| - | 245 | ||
| - | 246 | //IENABLE; // do not enable IRQ nesting for I2C!!!! |
|
| 245 | 247 | ||
| 246 | // detemine I2C State |
248 | // detemine I2C State |
| Line 247... | Line 249... | ||
| 247 | status = I2C_GetLastEvent(I2C1); |
249 | status = I2C_GetLastEvent(I2C1); |
| 248 | 250 | ||
| Line 424... | Line 426... | ||
| 424 | 426 | ||
| 425 | default: |
427 | default: |
| 426 | break; |
428 | break; |
| 427 | } |
429 | } |
| - | 430 | } |
|
| - | 431 | ||
| 428 | } |
432 | //IDISABLE; // do not enable IRQ nesting for I2C!!!! |
| 429 | } |
433 | } |
| 430 | //---------------------------------------------------------------- |
434 | //---------------------------------------------------------------- |
| 431 | void I2C1_SendCommand(u8 command) |
435 | void I2C1_SendCommand(u8 command) |
| 432 | { |
436 | { |
| Line 554... | Line 558... | ||
| 554 | } |
558 | } |
| 555 | else // request current heading |
559 | else // request current heading |
| 556 | { |
560 | { |
| 557 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
561 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
| 558 | } |
562 | } |
| 559 | TimerCompassUpdate = SetDelay(40); // every 40 ms are 25 Hz |
563 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
| 560 | } |
564 | } |
| 561 | } |
565 | } |