/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
//
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <string.h>
#include "91x_lib.h"
#include "i2c.h"
#include "uart1.h"
#include "timer1.h"
#include "config.h"
#include "main.h"
#include "led.h"
#include "spi_slave.h"
#define I2C_SLAVE_ADDRESS 0x50
// I2C states
#define I2C_UNDEF 0
#define I2C_IDLE 1
#define I2C_TX_PROGRESS 2
#define I2C_RX_PENDING 3
#define I2C_RX_PROGRESS 4
#define I2C_OFF 5
volatile u8 I2C_State
= I2C_OFF
; // only on byte! because of sync by nesting irqs
u8 I2C_StopPolling
= 1;
// rxbuffer
volatile u8 I2C_RxBufferSize
;
volatile u8
*I2C_RxBuffer
;
// txbuffer
volatile u8 I2C_TxBufferSize
;
volatile u8
*I2C_TxBuffer
;
volatile u8 I2C_Direction
;
volatile u8 I2C_Command
;
// I2C Transfer buffers
volatile I2C_Heading_t I2C_Heading
;
volatile I2C_WriteAttitude_t I2C_WriteAttitude
;
volatile I2C_Mag_t I2C_Mag
;
volatile I2C_Version_t MK3MAG_Version
;
volatile I2C_Cal_t I2C_WriteCal
;
volatile I2C_Cal_t I2C_ReadCal
;
#define I2C1_TIMEOUT 500 // 500 ms
volatile u32 I2C1_Timeout
= 0;
//--------------------------------------------------------------
void I2C1_Init
(void)
{
I2C_InitTypeDef I2C_Struct
;
GPIO_InitTypeDef GPIO_InitStructure
;
I2C_State
= I2C_OFF
;
UART1_PutString
("\r\n I2C init...");
// enable Port 2 peripherie
SCU_APBPeriphClockConfig
(__GPIO2
, ENABLE
);
// disable a reset state
SCU_APBPeriphReset
(__GPIO2
, DISABLE
);
// free a busy bus
// At switch on I2C devices can get in a state where they
// are still waiting for a command due to all the bus lines bouncing
// around at startup have started clocking data into the device(s).
// Enable the ports as open collector port outputs
// and clock out at least 9 SCL pulses, then generate a stop
// condition and then leave the clock line high.
// configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation
GPIO_StructInit
(&GPIO_InitStructure
);
GPIO_InitStructure.
GPIO_Direction = GPIO_PinOutput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_2
| GPIO_Pin_3
;
GPIO_InitStructure.
GPIO_Type = GPIO_Type_OpenCollector
;
GPIO_InitStructure.
GPIO_IPInputConnected = GPIO_IPInputConnected_Disable
;
GPIO_InitStructure.
GPIO_Alternate = GPIO_OutputAlt1
;
GPIO_Init
(GPIO2
, &GPIO_InitStructure
);
u8 i
;
u32 delay
;
// set SCL high and then SDA to low (start condition)
GPIO_WriteBit
(GPIO2
, GPIO_Pin_2
, Bit_SET
);
delay
= SetDelay
(1);
while (!CheckDelay
(delay
));
GPIO_WriteBit
(GPIO2
, GPIO_Pin_3
, Bit_RESET
);
// toggle SCL at least 10 times from high to low to high
for(i
= 0; i
< 10; i
++)
{
delay
= SetDelay
(1);
while (!CheckDelay
(delay
));
GPIO_WriteBit
(GPIO2
, GPIO_Pin_2
, Bit_RESET
);
delay
= SetDelay
(1);
while (!CheckDelay
(delay
));
GPIO_WriteBit
(GPIO2
, GPIO_Pin_2
, Bit_SET
);
}
delay
= SetDelay
(1);
while (!CheckDelay
(delay
));
// create stop condition setting SDA HIGH when SCL is HIGH
GPIO_WriteBit
(GPIO2
, GPIO_Pin_3
, Bit_SET
);
// reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT
GPIO_StructInit
(&GPIO_InitStructure
);
GPIO_InitStructure.
GPIO_Direction = GPIO_PinOutput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_2
| GPIO_Pin_3
;
GPIO_InitStructure.
GPIO_Type = GPIO_Type_OpenCollector
;
GPIO_InitStructure.
GPIO_IPInputConnected = GPIO_IPInputConnected_Enable
;
GPIO_InitStructure.
GPIO_Alternate = GPIO_OutputAlt2
; //I2C1_CLKOUT, I2C1_DOUT
GPIO_Init
(GPIO2
, &GPIO_InitStructure
);
// enable I2C peripherie
SCU_APBPeriphClockConfig
(__I2C1
,ENABLE
);
// reset I2C peripherie
SCU_APBPeriphReset
(__I2C1
,ENABLE
);
SCU_APBPeriphReset
(__I2C1
,DISABLE
);
I2C_DeInit
(I2C1
);
I2C_StructInit
(&I2C_Struct
);
I2C_Struct.
I2C_GeneralCall = I2C_GeneralCall_Disable
;
I2C_Struct.
I2C_Ack = I2C_Ack_Enable
;
I2C_Struct.
I2C_CLKSpeed = I2C1_CLOCK
;
I2C_Struct.
I2C_OwnAddress = 0x00;
I2C_Init
(I2C1
, &I2C_Struct
);
I2C_TxBuffer
= NULL
;
I2C_TxBufferSize
= 0;
I2C_RxBuffer
= NULL
;
I2C_RxBufferSize
= 0;
I2C_Cmd
(I2C1
, ENABLE
);
I2C_ITConfig
(I2C1
, ENABLE
);
VIC_Config
(I2C1_ITLine
, VIC_IRQ
, PRIORITY_I2C1
);
I2C_Heading.
Heading = -1;
I2C1_Timeout
= SetDelay
(10*I2C1_TIMEOUT
);
I2C_GenerateSTOP
(I2C1
, ENABLE
);
I2C_State
= I2C_IDLE
;
I2C_StopPolling
= 0; // start polling
UART1_PutString
("ok");
}
//--------------------------------------------------------------
void I2C1_Deinit
(void)
{
GPIO_InitTypeDef GPIO_InitStructure
;
I2C_StopPolling
= 1;// stop polling
UART1_PutString
("\r\n I2C deinit...");
I2C_GenerateStart
(I2C1
, DISABLE
);
I2C_GenerateSTOP
(I2C1
, ENABLE
);
VIC_ITCmd
(I2C1_ITLine
, DISABLE
);
I2C_State
= I2C_OFF
;
I2C_ITConfig
(I2C1
, DISABLE
);
I2C_Cmd
(I2C1
, DISABLE
);
I2C_DeInit
(I2C1
);
SCU_APBPeriphClockConfig
(__I2C1
, DISABLE
);
// set ports to input
SCU_APBPeriphClockConfig
(__GPIO2
, ENABLE
);
GPIO_StructInit
(&GPIO_InitStructure
);
GPIO_InitStructure.
GPIO_Direction = GPIO_PinInput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_2
| GPIO_Pin_3
;
GPIO_InitStructure.
GPIO_Type = GPIO_Type_PushPull
;
GPIO_InitStructure.
GPIO_IPInputConnected = GPIO_IPInputConnected_Disable
;
GPIO_InitStructure.
GPIO_Alternate = GPIO_InputAlt1
;
GPIO_Init
(GPIO2
, &GPIO_InitStructure
);
I2C_TxBuffer
= NULL
;
I2C_TxBufferSize
= 0;
I2C_RxBuffer
= NULL
;
I2C_RxBufferSize
= 0;
I2C1_Timeout
= SetDelay
(10*I2C1_TIMEOUT
);
I2C_Heading.
Heading = -1;
UART1_PutString
("ok");
}
//--------------------------------------------------------------
void I2C1_IRQHandler
(void)
{
static u8 Rx_Idx
= 0, Tx_Idx
= 0, crc
= 0;
static u8 I2C_PrimRxBuffer
[10]; // must be larger than any of the secondary rx buffers
u16 status
;
//IENABLE; // do not enable IRQ nesting for I2C!!!!
// detemine I2C State
status
= I2C_GetLastEvent
(I2C1
);
if(status
& (I2C_FLAG_AF
|I2C_FLAG_BERR
)) // if an acknowledge failure or bus error occured
{ // Set and subsequently clear the STOP bit while BTF is set.
while(I2C_GetFlagStatus
(I2C1
, I2C_FLAG_BTF
) != RESET
)
{
I2C_GenerateSTOP
(I2C1
, ENABLE
); // free the bus
I2C_GenerateSTOP
(I2C1
, DISABLE
); // free the bus
}
I2C_State
= I2C_IDLE
;
VIC_ITCmd
(I2C1_ITLine
, DISABLE
);
LED_GRN_OFF
;
return;
}
else
{ // depending on current i2c state
switch (status
)
{
// the start condition was initiated on the bus
case I2C_EVENT_MASTER_MODE_SELECT
:
LED_GRN_ON
;
// update current bus state variable
switch(I2C_Direction
)
{
case I2C_MODE_TRANSMITTER
:
I2C_State
= I2C_TX_PROGRESS
;
break;
case I2C_MODE_RECEIVER
:
if ((I2C_RxBuffer
== NULL
) || (I2C_RxBufferSize
== 0))
{
I2C_GenerateSTOP
(I2C1
, ENABLE
);
VIC_ITCmd
(I2C1_ITLine
, DISABLE
);
LED_GRN_OFF
;
I2C_State
= I2C_IDLE
;
return;
}
else
{
I2C_State
= I2C_RX_PROGRESS
;
}
break;
default: // invalid direction
I2C_GenerateSTOP
(I2C1
, ENABLE
);
VIC_ITCmd
(I2C1_ITLine
, DISABLE
);
LED_GRN_OFF
;
I2C_State
= I2C_IDLE
;
return;
}
// enable acknowledge
I2C_AcknowledgeConfig
(I2C1
, ENABLE
);
// send address/direction byte on the bus
I2C_Send7bitAddress
(I2C1
, I2C_SLAVE_ADDRESS
, I2C_Direction
);
break;
// the address byte was send
case I2C_EVENT_MASTER_MODE_SELECTED
:
// Clear EV6 by set again the PE bit
I2C_Cmd
(I2C1
, ENABLE
);
// reset checksum
crc
= 0;
switch(I2C_State
)
{
case I2C_TX_PROGRESS
:
// send command 1st data byte (allways the command id)
I2C_SendData
(I2C1
, I2C_Command
);
crc
+= I2C_Command
;
Tx_Idx
= 0;
// reset timeout
I2C1_Timeout
= SetDelay
(I2C1_TIMEOUT
); // after inactivity the I2C1 bus will be reset
break;
case I2C_RX_PROGRESS
:
Rx_Idx
= 0;
break;
default: // unknown I2C state
// should never happen
I2C_GenerateSTOP
(I2C1
, ENABLE
);
LED_GRN_OFF
;
VIC_ITCmd
(I2C1_ITLine
, DISABLE
);
I2C_State
= I2C_IDLE
;
return;
break;
}
break;
// the master has transmitted a byte and slave has been acknowledged
case I2C_EVENT_MASTER_BYTE_TRANSMITTED
:
// some bytes have to be transmitted
if(Tx_Idx
< I2C_TxBufferSize
)
{
if(I2C_TxBuffer
!= NULL
)
{
I2C_SendData
(I2C1
, I2C_TxBuffer
[Tx_Idx
]);
crc
+= I2C_TxBuffer
[Tx_Idx
];
}
else
{
I2C_SendData
(I2C1
, 0x00);
}
}
else if(Tx_Idx
== I2C_TxBufferSize
) // the last tx buffer byte was send
{
// send crc byte at the end
crc
= ~crc
; // flip all bits in the checksum
I2C_SendData
(I2C1
, crc
);
}
else if(Tx_Idx
== (I2C_TxBufferSize
+1) )
{
I2C_SendData
(I2C1
, 0xAA); // send a dummybyte
}
else // last byte was send
{
// generate stop or repeated start condition
if ((I2C_RxBuffer
!= NULL
) && (I2C_RxBufferSize
> 0)) // is any answer byte expected?
{
I2C_Direction
= I2C_MODE_RECEIVER
; // switch to master receiver after repeated start condition
I2C_GenerateStart
(I2C1
, ENABLE
); // initiate repeated start condition on the bus
}
else
{ // stop communication
I2C_GenerateSTOP
(I2C1
, ENABLE
); // generate stop condition to free the bus
VIC_ITCmd
(I2C1_ITLine
, DISABLE
);
LED_GRN_OFF
;
DebugOut.
Analog[15]++;
I2C_State
= I2C_IDLE
; // ready for new actions
}
}
Tx_Idx
++;
break;
// the master has received a byte from the slave
case I2C_EVENT_MASTER_BYTE_RECEIVED
:
// some bytes have to be received
if (Rx_Idx
< I2C_RxBufferSize
)
{ // copy received byte from the data register to the rx-buffer
I2C_PrimRxBuffer
[Rx_Idx
] = I2C_ReceiveData
(I2C1
);
// update checksum
crc
+= I2C_PrimRxBuffer
[Rx_Idx
];
}
// if the last byte (crc) was received
else if ( Rx_Idx
== I2C_RxBufferSize
)
{
// generate a STOP condition on the bus before reading data register
I2C_GenerateSTOP
(I2C1
, ENABLE
);
// compare last byte with checksum
crc
= ~crc
;// flip all bits in calulated checksum
if(crc
== I2C_ReceiveData
(I2C1
))
{
// copy primary rx buffer content to rx buffer if exist
if(I2C_RxBuffer
!= NULL
)
{
memcpy((u8
*)I2C_RxBuffer
, (u8
*)I2C_PrimRxBuffer
, I2C_RxBufferSize
);
}
I2C1_Timeout
= SetDelay
(I2C1_TIMEOUT
);
DebugOut.
Analog[15]++;
}
else // checksum error detected
{
DebugOut.
Analog[14]++;
}
VIC_ITCmd
(I2C1_ITLine
, DISABLE
);
LED_GRN_OFF
;
I2C_State
= I2C_IDLE
;
return;
}
Rx_Idx
++;
// if the 2nd last byte was received disable acknowledge for the last one
if ( Rx_Idx
== I2C_RxBufferSize
)
{
I2C_AcknowledgeConfig
(I2C1
, DISABLE
);
}
break;
default:
break;
}
}
//IDISABLE; // do not enable IRQ nesting for I2C!!!!
}
//----------------------------------------------------------------
void I2C1_SendCommand
(u8 command
)
{
// disable I2C IRQ to check state
VIC_ITCmd
(I2C1_ITLine
, DISABLE
);
// If I2C transmission is in progress
if(I2C_State
== I2C_IDLE
)
{
// update current command id
I2C_Command
= command
;
// set pointers to data area with respect to the command id
switch (command
)
{
case I2C_CMD_VERSION
:
I2C_RxBuffer
= (u8
*)&MK3MAG_Version
;
I2C_RxBufferSize
= sizeof(MK3MAG_Version
);
I2C_TxBuffer
= NULL
;
I2C_TxBufferSize
= 0;
break;
case I2C_CMD_WRITE_CAL
:
I2C_RxBuffer
= (u8
*)&I2C_ReadCal
;
I2C_RxBufferSize
= sizeof(I2C_ReadCal
);
I2C_TxBuffer
= (u8
*)&I2C_WriteCal
;
I2C_TxBufferSize
= sizeof(I2C_WriteCal
);
break;
case I2C_CMD_READ_MAG
:
I2C_RxBuffer
= (u8
*)&I2C_Mag
;
I2C_RxBufferSize
= sizeof(I2C_Mag
);
I2C_TxBuffer
= NULL
;
I2C_TxBufferSize
= 0;
break;
case I2C_CMD_READ_HEADING
:
I2C_RxBuffer
= (u8
*)&I2C_Heading
;
I2C_RxBufferSize
= sizeof(I2C_Heading
);
I2C_TxBuffer
= (u8
*)&I2C_WriteAttitude
;
I2C_TxBufferSize
= sizeof(I2C_WriteAttitude
);
// update attitude from spi rx buffer
VIC_ITCmd
(SSP0_ITLine
, DISABLE
); // avoid spi buffer update during copy
I2C_WriteAttitude.
Roll = FromFlightCtrl.
AngleRoll;
I2C_WriteAttitude.
Nick = FromFlightCtrl.
AngleNick;
VIC_ITCmd
(SSP0_ITLine
, ENABLE
);
break;
default: // unknown command id
I2C_RxBuffer
= NULL
;
I2C_RxBufferSize
= 0;
I2C_TxBuffer
= NULL
;
I2C_TxBufferSize
= 0;
break;
}
// set direction to master transmitter
I2C_Direction
= I2C_MODE_TRANSMITTER
;
// test on busy flag and clear it
I2C_CheckEvent
( I2C1
, I2C_FLAG_BUSY
);
// enable I2C IRQ again
VIC_ITCmd
(I2C1_ITLine
, ENABLE
);
// initiate start condition on the bus
I2C_GenerateStart
(I2C1
, ENABLE
);
// to be continued in the I2C1_IRQHandler() above
} // EOF I2C_State == I2C_IDLE
else // I2C_State != I2C_IDLE
{
// re-enable I2C IRQ again
VIC_ITCmd
(I2C1_ITLine
, ENABLE
);
}
}
//----------------------------------------------------------------
void I2C1_GetMK3MagVersion
(void)
{
u8 msg
[64];
u8 repeat
;
u32 timeout
;
UART1_PutString
("\r\n Getting Version from MK3MAG");
// stop polling of other commands
I2C_StopPolling
= 1;
MK3MAG_Version.
Major = 0xFF;
MK3MAG_Version.
Minor = 0xFF;
MK3MAG_Version.
Patch = 0xFF;
MK3MAG_Version.
Compatible = 0xFF;
// polling of version info
repeat
= 0;
do
{
I2C1_SendCommand
(I2C_CMD_VERSION
);
timeout
= SetDelay
(250);
do
{
if (MK3MAG_Version.
Major != 0xFF) break; // break loop on success
}while (!CheckDelay
(timeout
));
UART1_PutString
(".");
repeat
++;
}while ((MK3MAG_Version.
Major == 0xFF) && (repeat
< 12)); // 12*250ms=3s
// if we got it
if (MK3MAG_Version.
Major != 0xFF)
{
sprintf(msg
, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.
Major, MK3MAG_Version.
Minor, 'a' + MK3MAG_Version.
Patch);
UART1_PutString
(msg
);
sprintf(msg
, " Compatible: %d", MK3MAG_Version.
Compatible);
UART1_PutString
(msg
);
}
else UART1_PutString
("\n\r No version information from MK3Mag.");
I2C_StopPolling
= 0; // enable polling of heading command
}
//----------------------------------------------------------------
void I2C1_UpdateCompass
(void)
{
static u32 TimerCompassUpdate
= 0;
if( (I2C_State
== I2C_OFF
) || I2C_StopPolling
) return;
if(CheckDelay
(TimerCompassUpdate
))
{
// check for incomming compass calibration request
// update CalByte from spi input queue
fifo_get
(&CompassCalcStateFiFo
, (u8
*)&(I2C_WriteCal.
CalByte));
// send new calstate
if(I2C_ReadCal.
CalByte != I2C_WriteCal.
CalByte)
{
I2C1_SendCommand
(I2C_CMD_WRITE_CAL
);
}
else // request current heading
{
I2C1_SendCommand
(I2C_CMD_READ_HEADING
);
}
TimerCompassUpdate
= SetDelay
(20); // every 20 ms are 50 Hz
}
}