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| Rev 146 | Rev 149 | ||
|---|---|---|---|
| Line 85... | Line 85... | ||
| 85 | volatile I2C_Mag_t I2C_Mag; |
85 | volatile I2C_Mag_t I2C_Mag; |
| 86 | volatile I2C_Version_t MK3MAG_Version; |
86 | volatile I2C_Version_t MK3MAG_Version; |
| 87 | volatile I2C_Cal_t I2C_WriteCal; |
87 | volatile I2C_Cal_t I2C_WriteCal; |
| 88 | volatile I2C_Cal_t I2C_ReadCal; |
88 | volatile I2C_Cal_t I2C_ReadCal; |
| Line 89... | Line -... | ||
| 89 | - | ||
| 90 | volatile u8 I2C_ReadRequest = 0; |
89 | |
| 91 | #define I2C1_TIMEOUT 500 // 500 ms |
90 | #define I2C1_TIMEOUT 500 // 500 ms |
| 92 | volatile u32 I2C1_Timeout = 0; |
91 | volatile u32 I2C1_Timeout = 0; |
| Line 93... | Line 92... | ||
| 93 | volatile u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers |
92 | volatile u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers |
| 94 | 93 | ||
| 95 | 94 | ||
| 96 | //-------------------------------------------------------------- |
95 | //-------------------------------------------------------------- |
| 97 | void I2C1_Init(void) |
96 | void I2C1_Init(void) |
| - | 97 | { |
|
| - | 98 | I2C_InitTypeDef I2C_Struct; |
|
| Line 98... | Line 99... | ||
| 98 | { |
99 | GPIO_InitTypeDef GPIO_InitStructure; |
| 99 | I2C_InitTypeDef I2C_Struct; |
100 | |
| 100 | GPIO_InitTypeDef GPIO_InitStructure; |
101 | I2C_State = I2C_OFF; |
| 101 | 102 | ||
| Line 195... | Line 196... | ||
| 195 | 196 | ||
| 196 | //-------------------------------------------------------------- |
197 | //-------------------------------------------------------------- |
| 197 | void I2C1_Deinit(void) |
198 | void I2C1_Deinit(void) |
| 198 | { |
199 | { |
| 199 | GPIO_InitTypeDef GPIO_InitStructure; |
- | |
| - | 200 | GPIO_InitTypeDef GPIO_InitStructure; |
|
| 200 | 201 | I2C_State = I2C_OFF; |
|
| 201 | UART1_PutString("\r\n I2C deinit..."); |
202 | UART1_PutString("\r\n I2C deinit..."); |
| 202 | I2C_GenerateStart(I2C1, DISABLE); |
203 | I2C_GenerateStart(I2C1, DISABLE); |
| 203 | I2C_GenerateSTOP(I2C1, ENABLE); |
204 | I2C_GenerateSTOP(I2C1, ENABLE); |
| 204 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
205 | VIC_ITCmd(I2C1_ITLine, DISABLE); |
| Line 223... | Line 224... | ||
| 223 | 224 | ||
| 224 | I2C_RxBuffer = NULL; |
225 | I2C_RxBuffer = NULL; |
| 225 | Rx_Idx = 0; |
226 | Rx_Idx = 0; |
| Line 226... | Line -... | ||
| 226 | I2C_RxBufferSize = 0; |
- | |
| 227 | - | ||
| 228 | I2C_State = I2C_OFF; |
227 | I2C_RxBufferSize = 0; |
| 229 | 228 | ||
| Line 230... | Line 229... | ||
| 230 | I2C1_Timeout = 0; |
229 | I2C1_Timeout = 0; |
| 231 | I2C_Heading.Heading = -1; |
230 | I2C_Heading.Heading = -1; |
| Line 405... | Line 404... | ||
| 405 | } |
404 | } |
| 406 | //---------------------------------------------------------------- |
405 | //---------------------------------------------------------------- |
| 407 | void I2C1_SendCommand(u8 command) |
406 | void I2C1_SendCommand(u8 command) |
| 408 | { |
407 | { |
| 409 | // If I2C transmission is in progress |
408 | // If I2C transmission is in progress |
| 410 | while (I2C_State != I2C_IDLE) return; // return imediatly if a transfer is still in progress |
409 | if(I2C_State != I2C_IDLE) return; // return imediatly if a transfer is still in progress |
| 411 | // disable I2C IRQ to avoid read/write access to the tx/rx buffer pointers during |
410 | // disable I2C IRQ to avoid read/write access to the tx/rx buffer pointers during |
| 412 | // update of that buffer pointers and length |
411 | // update of that buffer pointers and length |
| 413 | I2C_ITConfig(I2C1, DISABLE); |
412 | I2C_ITConfig(I2C1, DISABLE); |
| 414 | // update current command id |
413 | // update current command id |
| 415 | I2C_Command = command; |
414 | I2C_Command = command; |
| Line 449... | Line 448... | ||
| 449 | I2C_RxBufferSize = 0; |
448 | I2C_RxBufferSize = 0; |
| 450 | I2C_TxBuffer = NULL; |
449 | I2C_TxBuffer = NULL; |
| 451 | I2C_TxBufferSize = 0; |
450 | I2C_TxBufferSize = 0; |
| 452 | break; |
451 | break; |
| 453 | } |
452 | } |
| 454 | // enable I2C IRQ again |
- | |
| 455 | I2C_ITConfig(I2C1, ENABLE); |
- | |
| 456 | // set direction to master transmitter |
453 | // set direction to master transmitter |
| 457 | I2C_Direction = I2C_MODE_TRANSMITTER; |
454 | I2C_Direction = I2C_MODE_TRANSMITTER; |
| 458 | // test on busy flag and clear it |
455 | // test on busy flag and clear it |
| 459 | I2C_CheckEvent( I2C1, I2C_FLAG_BUSY ); |
456 | I2C_CheckEvent( I2C1, I2C_FLAG_BUSY ); |
| - | 457 | // enable I2C IRQ again |
|
| - | 458 | I2C_ITConfig(I2C1, ENABLE); |
|
| 460 | // initiale start condition on the bus |
459 | // initiale start condition on the bus |
| 461 | I2C_GenerateStart(I2C1, ENABLE); |
460 | I2C_GenerateStart(I2C1, ENABLE); |
| 462 | // to be continued in the I2C1_IRQHandler() above |
461 | // to be continued in the I2C1_IRQHandler() above |
| 463 | } |
462 | } |
| Line 464... | Line 463... | ||
| 464 | 463 | ||
| 465 | //---------------------------------------------------------------- |
464 | //---------------------------------------------------------------- |
| 466 | void I2C1_GetMK3MagVersion(void) |
465 | void I2C1_GetMK3MagVersion(void) |
| 467 | { |
466 | { |
| 468 | u8 msg[64]; |
467 | u8 msg[64]; |
| - | 468 | u8 repeat = 20; |
|
| Line 469... | Line 469... | ||
| 469 | u8 repeat = 10; |
469 | u32 timeout; |
| 470 | 470 | ||
| 471 | MK3MAG_Version.Major = 0xFF; |
471 | MK3MAG_Version.Major = 0xFF; |
| 472 | MK3MAG_Version.Minor = 0xFF; |
472 | MK3MAG_Version.Minor = 0xFF; |
| Line 473... | Line 473... | ||
| 473 | MK3MAG_Version.Patch = 0xFF; |
473 | MK3MAG_Version.Patch = 0xFF; |
| 474 | MK3MAG_Version.Compatible = 0xFF; |
474 | MK3MAG_Version.Compatible = 0xFF; |
| 475 | 475 | ||
| 476 | while ((MK3MAG_Version.Major == 0xFF) && (repeat != 0)) |
476 | while ((MK3MAG_Version.Major == 0xFF) && (repeat != 0)) |
| 477 | { |
477 | { |
| 478 | I2C1_SendCommand(I2C_CMD_VERSION); |
478 | I2C1_SendCommand(I2C_CMD_VERSION); |
| 479 | I2C1_Timeout = SetDelay(500); |
479 | timeout = SetDelay(200); |
| Line 480... | Line 480... | ||
| 480 | while (!CheckDelay(I2C1_Timeout)) if (MK3MAG_Version.Major != 0xFF) break; |
480 | while (!CheckDelay(timeout)) if (MK3MAG_Version.Major != 0xFF) break; |
| 481 | repeat--; |
481 | repeat--; |
| Line 495... | Line 495... | ||
| 495 | //---------------------------------------------------------------- |
495 | //---------------------------------------------------------------- |
| 496 | void I2C1_UpdateCompass(void) |
496 | void I2C1_UpdateCompass(void) |
| 497 | { |
497 | { |
| 498 | static u32 TimerCompassUpdate = 0; |
498 | static u32 TimerCompassUpdate = 0; |
| Line 499... | Line 499... | ||
| 499 | 499 | ||
| - | 500 | if(I2C_State == I2C_OFF) return; |
|
| - | 501 | ||
| 500 | if(I2C_State != I2C_OFF) |
502 | if(CheckDelay(TimerCompassUpdate)) |
| - | 503 | { |
|
| 501 | { |
504 | // check for incomming compass calibration request |
| - | 505 | // update CalByte from spi input queue |
|
| - | 506 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
|
| - | 507 | // send new calstate |
|
| 502 | if (CheckDelay(TimerCompassUpdate)) |
508 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
| 503 | { |
- | |
| 504 | if(CheckDelay(I2C1_Timeout)) |
- | |
| 505 | { |
- | |
| 506 | // reset I2C |
- | |
| 507 | I2C1_Deinit(); |
- | |
| 508 | I2C1_Init(); |
- | |
| 509 | } |
- | |
| 510 | else |
- | |
| 511 | { |
- | |
| 512 | // check for incomming compass calibration request |
- | |
| 513 | // update CalByte from spi input queue |
- | |
| 514 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
- | |
| 515 | // send new calstate |
- | |
| 516 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
- | |
| 517 | { |
509 | { |
| 518 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
510 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
| 519 | } |
511 | } |
| 520 | else // request current heading |
512 | else // request current heading |
| 521 | { |
513 | { |
| 522 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
- | |
| 523 | } |
- | |
| 524 | } |
- | |
| 525 | TimerCompassUpdate = SetDelay(25); // every 25 ms |
514 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
| - | 515 | } |
|
| 526 | } |
516 | TimerCompassUpdate = SetDelay(25); // every 25 ms |
| 527 | } |
517 | } |