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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!!!! |
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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 | } |
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- | 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 | } |