David Giles
This is a complete listing of the RS-EDP software for the mbed module to support the RS-EDP platform.
SourceFiles/MC2_Motor_Driver_I2C_Master.cpp@0:5b7639d1f2c4, 2010-11-19 (annotated)
- Committer:
- DavidGilesHitex
- Date:
- Fri Nov 19 09:49:16 2010 +0000
- Revision:
- 0:5b7639d1f2c4
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| DavidGilesHitex | 0:5b7639d1f2c4 | 1 | /* Motor Drive Master Functions */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 2 | /* **************************** */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 3 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 4 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 5 | /* This module allows the MCU to act as a Master Controller in the system */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 6 | /* It transmitts data down to the other Slave Modules and can also read parameters from the other dsPIC Slave Modules */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 7 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 8 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 9 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 10 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 11 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 12 | /* Includes Here */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 13 | #include "mbed.h" /* mbed header file */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 14 | #include "misra_types.h" /* MISRA Types header file */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 15 | #include "defines.h" |
| DavidGilesHitex | 0:5b7639d1f2c4 | 16 | #include "RSEDP_Slave_Address_Defines.h" /* Slave address of I2C Peripherals */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 17 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 18 | #include "RSEDP_CNTRL_I2C.h" /* Control I2C Driver */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 19 | #include "RS-EDP_AM_MC2_Globals.h" /* Global variables referenced here for MC2 Motor Drive Module */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 20 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 21 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 22 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 23 | /* Function Prototypes */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 24 | /* Write Functions */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 25 | uint8_t I2C0_dsPIC_Reset(uint8_t slave_address); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 26 | uint8_t I2C0_dsPIC_Emergency_Stop(uint8_t slave_address); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 27 | uint8_t I2C0_dsPIC_Normal_Stop(uint8_t slave_address); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 28 | uint8_t I2C0_dsPIC_Ping(uint8_t slave_address); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 29 | uint8_t I2C0_dsPIC_Set_Motor_Speed_Demand_Forward(uint8_t slave_address, uint16_t motor_speed_Demand); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 30 | uint8_t I2C0_dsPIC_Set_Motor_Speed_Demand_Reverse(uint8_t slave_address, uint16_t motor_speed_Demand); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 31 | uint8_t I2C0_dsPIC_Set_Ramp_Up_Speed(uint8_t slave_address, uint16_t ramp_up_speed); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 32 | uint8_t I2C0_dsPIC_Set_Ramp_Down_Speed(uint8_t slave_address, uint16_t ramp_down_speed); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 33 | uint8_t I2C0_dsPIC_Set_Motor_Direction(uint8_t slave_address, uint8_t direction); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 34 | uint8_t I2C0_dsPIC_Start_Motor_Rotation(uint8_t slave_address); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 35 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 36 | uint8_t I2C0_dsPIC_Set_Rotation_Counts(uint8_t slave_address, uint32_t motor_rotation_counts); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 37 | static uint8_t I2C0_dsPIC_Set_Rotation_Counts_High_Word(uint8_t slave_address, uint16_t motor_rotation_counts_high); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 38 | static uint8_t I2C0_dsPIC_Set_Rotation_Counts_Low_Word(uint8_t slave_address, uint16_t motor_rotation_counts_low); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 39 | uint8_t I2C0_dsPIC_Goto_Home(uint8_t slave_address, uint8_t home_direction, uint8_t home_speed); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 40 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 41 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 42 | /* Read Functions */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 43 | uint8_t I2C0_dsPIC_Read_Tacho_Speed_Instantaneous(uint8_t slave_address, uint8_t *rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 44 | uint8_t I2C0_dsPIC_Read_Tacho_Speed_Average(uint8_t slave_address, uint8_t *rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 45 | uint8_t I2C0_dsPIC_Read_Motor_Current_Instantaneous(uint8_t slave_address, uint8_t *rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 46 | uint8_t I2C0_dsPIC_Read_Motor_Current_Average(uint8_t slave_address, uint8_t *rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 47 | uint8_t I2C0_dsPIC_Read_Vbus_Instantaneous(uint8_t slave_address, uint8_t *rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 48 | uint8_t I2C0_dsPIC_Read_Vbus_Average(uint8_t slave_address, uint8_t *rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 49 | uint8_t I2C0_dsPIC_Read_Demand_Pot_Instantaneous(uint8_t slave_address, uint8_t *rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 50 | uint8_t I2C0_dsPIC_Read_Demand_Pot_Average(uint8_t slave_address, uint8_t *rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 51 | uint8_t I2C0_dsPIC_Read_Hall_Sensor_Positions(uint8_t slave_address, uint8_t *rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 52 | uint8_t I2C0_dsPIC_Read_Motor_Status(uint8_t slave_address, uint8_t *rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 53 | uint8_t I2C0_dsPIC_Read_Maximum_RPM(uint8_t slave_address, uint8_t *rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 54 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 55 | uint8_t I2C0_dsPIC_Read_Quad_Encoder_Counter(uint8_t slave_address, uint8_t *rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 56 | static uint8_t I2C0_dsPIC_Read_Quad_Encoder_Counter_High(uint8_t slave_address, uint8_t *rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 57 | static uint8_t I2C0_dsPIC_Read_Quad_Encoder_Counter_Low(uint8_t slave_address, uint8_t *rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 58 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 59 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 60 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 61 | /* Reset A Slave Unit */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 62 | uint8_t I2C0_dsPIC_Reset(uint8_t slave_address) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 63 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 64 | /* 00 - Reset The Processor */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 65 | /* data bytes to follow will be */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 66 | /* databyte0 - 0x55 */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 67 | /* databyte1 - 0xaa */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 68 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 69 | sint8_t Tx_Array[3] = {0x00u, 0x55u, 0xaau}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 70 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 71 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 72 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 73 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 74 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 75 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 76 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 77 | /* Generate an emergency Stop */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 78 | uint8_t I2C0_dsPIC_Emergency_Stop(uint8_t slave_address) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 79 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 80 | /* 01 - Emergency Stop */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 81 | /* data bytes to follow will be */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 82 | /* databyte0 - 0x00 */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 83 | /* databyte1 - 0x00 */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 84 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 85 | sint8_t Tx_Array[3] = {0x01u, 0x00u, 0x00u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 86 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 87 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 88 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 89 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 90 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 91 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 92 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 93 | /* Generate a normal stop condition */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 94 | uint8_t I2C0_dsPIC_Normal_Stop(uint8_t slave_address) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 95 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 96 | /* 02 - Normal Stop */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 97 | /* data bytes to follow will be */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 98 | /* databyte0 - 0x00 */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 99 | /* databyte1 - 0x00 */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 100 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 101 | sint8_t Tx_Array[3] = {0x02u, 0x00u, 0x00u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 102 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 103 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 104 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 105 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 106 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 107 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 108 | /* Ping the Processor to see if it is attached to the bus */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 109 | uint8_t I2C0_dsPIC_Ping(uint8_t slave_address) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 110 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 111 | /* 03 - Ping Stop */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 112 | /* data bytes to follow will be */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 113 | /* databyte0 - don't care */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 114 | /* databyte1 - don't care */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 115 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 116 | sint8_t Tx_Array[3] = {0x03u, 0x00u, 0x00u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 117 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 118 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 119 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 120 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 121 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 122 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 123 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 124 | /* Set the motor speed demand Forward */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 125 | uint8_t I2C0_dsPIC_Set_Motor_Speed_Demand_Forward(uint8_t slave_address, uint16_t motor_speed_demand) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 126 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 127 | /* 10 - Set motor Speed Demand Forward */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 128 | /* data bytes to follow will be a 16bit value in the range 0 - 1023 */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 129 | /* databyte0 - highbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 130 | /* databyte1 - lowbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 131 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 132 | sint8_t Tx_Array[3] = {10u, 0x00u, 0x00u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 133 | Tx_Array[1] = (uint8_t)(motor_speed_demand / 256u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 134 | Tx_Array[2] = (uint8_t)(motor_speed_demand % 256u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 135 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 136 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 137 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 138 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 139 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 140 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 141 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 142 | /* Set the motor speed demand Reverse */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 143 | uint8_t I2C0_dsPIC_Set_Motor_Speed_Demand_Reverse(uint8_t slave_address, uint16_t motor_speed_demand) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 144 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 145 | /* 11 - Set motor Speed Demand Forward */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 146 | /* data bytes to follow will be a 16bit value in the range 0 - 1023 */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 147 | /* databyte0 - highbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 148 | /* databyte1 - lowbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 149 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 150 | sint8_t Tx_Array[3] = {11u, 0x00u, 0x00u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 151 | Tx_Array[1] = (uint8_t)(motor_speed_demand / 256u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 152 | Tx_Array[2] = (uint8_t)(motor_speed_demand % 256u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 153 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 154 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 155 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 156 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 157 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 158 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 159 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 160 | /* Set the ramp up speed */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 161 | uint8_t I2C0_dsPIC_Set_Ramp_Up_Speed(uint8_t slave_address, uint16_t ramp_up_speed) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 162 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 163 | /* 12 - Set Ramp Up Speed */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 164 | /* data bytes to follow will be a 16bit value in the range 0 - 1023 */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 165 | /* databyte0 - highbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 166 | /* databyte1 - lowbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 167 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 168 | sint8_t Tx_Array[3] = {12u, 0x00u, 0x00u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 169 | Tx_Array[1] = (uint8_t)(ramp_up_speed / 256u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 170 | Tx_Array[2] = (uint8_t)(ramp_up_speed % 256u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 171 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 172 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 173 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 174 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 175 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 176 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 177 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 178 | /* Set the ramp down speed */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 179 | uint8_t I2C0_dsPIC_Set_Ramp_Down_Speed(uint8_t slave_address, uint16_t ramp_down_speed) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 180 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 181 | /* 13 - Set Ramp Up Speed */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 182 | /* data bytes to follow will be a 16bit value in the range 0 - 1023 */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 183 | /* databyte0 - highbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 184 | /* databyte1 - lowbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 185 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 186 | sint8_t Tx_Array[3] = {13u, 0x00u, 0x00u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 187 | Tx_Array[1] = (uint8_t)(ramp_down_speed / 256u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 188 | Tx_Array[2] = (uint8_t)(ramp_down_speed % 256u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 189 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 190 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 191 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 192 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 193 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 194 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 195 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 196 | /* Set the motor Direction */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 197 | uint8_t I2C0_dsPIC_Set_Motor_Direction(uint8_t slave_address, uint8_t direction) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 198 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 199 | /* 14 - Set Motor Direction */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 200 | /* data bytes to follow will be */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 201 | /* databyte0 - don't care */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 202 | /* databyte1 - direction */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 203 | /* where direction = 0 - forward */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 204 | /* where direction = 1 - reverse */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 205 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 206 | sint8_t Tx_Array[3] = {14u, 0x00u, 0x00u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 207 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 208 | Tx_Array[2] = direction; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 209 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 210 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 211 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 212 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 213 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 214 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 215 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 216 | /* Motor Start */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 217 | uint8_t I2C0_dsPIC_Start_Motor_Rotation(uint8_t slave_address) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 218 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 219 | /* 20 - Start Rotation */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 220 | /* data bytes to follow will be */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 221 | /* databyte0 - 0 */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 222 | /* databyte1 - 0 */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 223 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 224 | sint8_t Tx_Array[3] = {20u, 0x00u, 0x00u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 225 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 226 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 227 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 228 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 229 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 230 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 231 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 232 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 233 | /* Send a 32byte Counts number to the slave peripheral */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 234 | uint8_t I2C0_dsPIC_Set_Rotation_Counts(uint8_t slave_address, uint32_t motor_rotation_counts) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 235 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 236 | /* Set Rotation Counts */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 237 | /* data bytes to follow will be a 32bit value - sent as two packets */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 238 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 239 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 240 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 241 | Ack_Error = I2C0_dsPIC_Set_Rotation_Counts_High_Word(slave_address, (uint16_t)(motor_rotation_counts >> 16u)); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 242 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 243 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 244 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 245 | Ack_Error = I2C0_dsPIC_Set_Rotation_Counts_Low_Word(slave_address, (uint16_t)(motor_rotation_counts)); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 246 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 247 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 248 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 249 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 250 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 251 | /* Send the first 16 bits count data across the I2C bus to the slave device */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 252 | static uint8_t I2C0_dsPIC_Set_Rotation_Counts_High_Word(uint8_t slave_address, uint16_t motor_rotation_counts_high) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 253 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 254 | /* 21 - Set Rotation Counts High word */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 255 | /* data bytes to follow will be a 16bit value- High word of the 32bit variables */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 256 | /* databyte0 - highbyte (msb byte of the 32 bit word) */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 257 | /* databyte1 - lowbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 258 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 259 | sint8_t Tx_Array[3] = {21u, 0x00u, 0x00u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 260 | Tx_Array[1] = (uint8_t)(motor_rotation_counts_high / 256u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 261 | Tx_Array[2] = (uint8_t)(motor_rotation_counts_high % 256u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 262 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 263 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 264 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 265 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 266 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 267 | /* Send the lower order 16 bit count data across the I2C network to the slave.*/ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 268 | static uint8_t I2C0_dsPIC_Set_Rotation_Counts_Low_Word(uint8_t slave_address, uint16_t motor_rotation_counts_low) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 269 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 270 | /* 22 - Set Rotation Counts Low word */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 271 | /* data bytes to follow will be a 16bit value- Low word of the 32bit variables */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 272 | /* databyte0 - highbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 273 | /* databyte1 - lowbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 274 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 275 | sint8_t Tx_Array[3] = {22u, 0x00u, 0x00u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 276 | Tx_Array[1] = (uint8_t)(motor_rotation_counts_low / 256u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 277 | Tx_Array[2] = (uint8_t)(motor_rotation_counts_low % 256u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 278 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 279 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 280 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 281 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 282 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 283 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 284 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 285 | /* Goto home position */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 286 | uint8_t I2C0_dsPIC_Goto_Home(uint8_t slave_address, uint8_t home_direction, uint8_t home_speed) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 287 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 288 | /* 24 - Goto Home Position */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 289 | /* data bytes to follow will be */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 290 | /* databyte0 - direction */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 291 | /* databyte1 - home_speed (8 bit limited 1-255) */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 292 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 293 | sint8_t Tx_Array[3] = {24u, 0u, 0u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 294 | Tx_Array[1] = home_direction; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 295 | Tx_Array[2] = home_speed; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 296 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 3u); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 297 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 298 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 299 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 300 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 301 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 302 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 303 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 304 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 305 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 306 | /* Read Functions Below Here */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 307 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 308 | /* Read The Instantaneous RPM figure */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 309 | uint8_t I2C0_dsPIC_Read_Tacho_Speed_Instantaneous(uint8_t slave_address, uint8_t *rx_array) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 310 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 311 | /* 50 - Read tacho speed instantaneous RPM */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 312 | /* data bytes to follow will be the instantaneous RPM data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 313 | /* databyte0 - highbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 314 | /* databyte1 - lowbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 315 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 316 | sint8_t Tx_Array[1] = {50u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 317 | sint8_t Rx_Temp[2] = {0u, 0u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 318 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 319 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 320 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 321 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 322 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 323 | Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 324 | rx_array[0] = (uint8_t) Rx_Temp[0]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 325 | rx_array[1] = (uint8_t) Rx_Temp[1]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 326 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 327 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 328 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 329 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 330 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 331 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 332 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 333 | /* Read The Average RPM figure */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 334 | uint8_t I2C0_dsPIC_Read_Tacho_Speed_Average(uint8_t slave_address, uint8_t *rx_array) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 335 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 336 | /* 51 - Read tacho speed average RPM */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 337 | /* data bytes to follow will be the average RPM data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 338 | /* databyte0 - highbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 339 | /* databyte1 - lowbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 340 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 341 | sint8_t Tx_Array[1] = {51u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 342 | sint8_t Rx_Temp[2] = {0u, 0u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 343 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 344 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 345 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 346 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 347 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 348 | Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 349 | rx_array[0] = (uint8_t) Rx_Temp[0]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 350 | rx_array[1] = (uint8_t) Rx_Temp[1]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 351 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 352 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 353 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 354 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 355 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 356 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 357 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 358 | /* Read The Instantaneous Motor Current */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 359 | uint8_t I2C0_dsPIC_Read_Motor_Current_Instantaneous(uint8_t slave_address, uint8_t *rx_array) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 360 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 361 | /* 52 - Read Motor Current Instantaneous in mA */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 362 | /* data bytes to follow will be the instantaneous motor current in mA */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 363 | /* databyte0 - highbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 364 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 365 | sint8_t Tx_Array[1] = {52u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 366 | sint8_t Rx_Temp[2] = {0u, 0u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 367 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 368 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 369 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 370 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 371 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 372 | Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 373 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 374 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 375 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 376 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 377 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 378 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 379 | /* Read The Average Motor Current */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 380 | uint8_t I2C0_dsPIC_Read_Motor_Current_Average(uint8_t slave_address, uint8_t *rx_array) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 381 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 382 | /* 53 - Read Motor Current Average */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 383 | /* data bytes to follow will be the computed average motor current in mA */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 384 | /* databyte0 - highbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 385 | /* databyte1 - lowbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 386 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 387 | sint8_t Tx_Array[1] = {53u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 388 | sint8_t Rx_Temp[2] = {0u, 0u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 389 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 390 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 391 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 392 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 393 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 394 | Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 395 | rx_array[0] = (uint8_t) Rx_Temp[0]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 396 | rx_array[1] = (uint8_t) Rx_Temp[1]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 397 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 398 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 399 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 400 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 401 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 402 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 403 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 404 | /* Measure the Vbus Bridge voltage */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 405 | uint8_t I2C0_dsPIC_Read_Vbus_Instantaneous(uint8_t slave_address, uint8_t *rx_array) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 406 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 407 | /* 54 - Read Vbus Voltage Instantaneous */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 408 | /* data bytes to follow will be the instantaneous Vbus Power Supply Voltage to the bridge in mV */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 409 | /* databyte0 - highbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 410 | /* databyte1 - lowbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 411 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 412 | sint8_t Tx_Array[1] = {54u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 413 | sint8_t Rx_Temp[2] = {0u, 0u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 414 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 415 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 416 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 417 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 418 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 419 | Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 420 | rx_array[0] = (uint8_t) Rx_Temp[0]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 421 | rx_array[1] = (uint8_t) Rx_Temp[1]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 422 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 423 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 424 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 425 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 426 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 427 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 428 | /* Measure the Vbus Bridge Voltage Average */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 429 | uint8_t I2C0_dsPIC_Read_Vbus_Average(uint8_t slave_address, uint8_t *rx_array) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 430 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 431 | /* 55 - Read Vbus Voltage Instantaneous */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 432 | /* data bytes to follow will be the computed average Vbus Power Supply Voltage to the bridge in mV */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 433 | /* databyte0 - highbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 434 | /* databyte1 - lowbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 435 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 436 | sint8_t Tx_Array[1] = {55u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 437 | sint8_t Rx_Temp[2] = {0u, 0u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 438 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 439 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 440 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 441 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 442 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 443 | Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 444 | rx_array[0] = (uint8_t) Rx_Temp[0]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 445 | rx_array[1] = (uint8_t) Rx_Temp[1]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 446 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 447 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 448 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 449 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 450 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 451 | /* Measure The Demand Pot Instantaneous */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 452 | uint8_t I2C0_dsPIC_Read_Demand_Pot_Instantaneous(uint8_t slave_address, uint8_t *rx_array) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 453 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 454 | /* 56 - Read Demand Pot instantaneous */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 455 | /* data bytes to follow will be the instanteneous Pot Demand setting in the range 0 - 1023 */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 456 | /* databyte0 - highbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 457 | /* databyte1 - lowbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 458 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 459 | sint8_t Tx_Array[1] = {56u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 460 | sint8_t Rx_Temp[2] = {0u, 0u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 461 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 462 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 463 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 464 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 465 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 466 | Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 467 | rx_array[0] = (uint8_t) Rx_Temp[0]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 468 | rx_array[1] = (uint8_t) Rx_Temp[1]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 469 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 470 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 471 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 472 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 473 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 474 | uint8_t I2C0_dsPIC_Read_Demand_Pot_Average(uint8_t slave_address, uint8_t *rx_array) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 475 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 476 | /* 57 - Read Demand Pot average */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 477 | /* data bytes to follow will be the average Pot Demand setting in the range 0 - 1023 */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 478 | /* databyte0 - highbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 479 | /* databyte1 - lowbyte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 480 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 481 | sint8_t Tx_Array[1] = {57u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 482 | sint8_t Rx_Temp[2] = {0u, 0u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 483 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 484 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 485 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 486 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 487 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 488 | Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 489 | rx_array[0] = (uint8_t) Rx_Temp[0]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 490 | rx_array[1] = (uint8_t) Rx_Temp[1]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 491 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 492 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 493 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 494 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 495 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 496 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 497 | /* Read The Hall Effect Sensors */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 498 | uint8_t I2C0_dsPIC_Read_Hall_Sensor_Positions(uint8_t slave_address, uint8_t *rx_array) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 499 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 500 | /* 58 - Read Hall Sensors Positions */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 501 | /* data bytes to follow will be the hall sensor reading */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 502 | /* databyte0 - 0 */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 503 | /* databyte1 - hall effect sensors */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 504 | /* where halleffect reading in bit form is 0b 0000 0ABC, where A is the logic level on the Hall Input A ('1' or '0') etc */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 505 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 506 | sint8_t Tx_Array[1] = {58u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 507 | sint8_t Rx_Temp[2] = {0u, 0u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 508 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 509 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 510 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 511 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 512 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 513 | Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 514 | rx_array[0] = (uint8_t) Rx_Temp[0]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 515 | rx_array[1] = (uint8_t) Rx_Temp[1]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 516 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 517 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 518 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 519 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 520 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 521 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 522 | /* Read The Fault Status Register */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 523 | uint8_t I2C0_dsPIC_Read_Motor_Status(uint8_t slave_address, uint8_t *rx_array) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 524 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 525 | /* 59 - Read Motor Status - run/stop/direction/Faults etc */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 526 | /* data bytes to follow will be the Fault Status Register */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 527 | /* databyte0 - Flags Status Register - high */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 528 | /* databyte1 - Flags Status Register - low */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 529 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 530 | sint8_t Tx_Array[1] = {59u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 531 | sint8_t Rx_Temp[2] = {0u, 0u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 532 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 533 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 534 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 535 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 536 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 537 | Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 538 | rx_array[0] = (uint8_t) Rx_Temp[0]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 539 | rx_array[1] = (uint8_t) Rx_Temp[1]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 540 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 541 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 542 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 543 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 544 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 545 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 546 | /* Read the Maximum RPM Information */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 547 | uint8_t I2C0_dsPIC_Read_Maximum_RPM(uint8_t slave_address, uint8_t *rx_array) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 548 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 549 | /* 60 - Read The Maxium RPM information */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 550 | /* data bytes to follow will be the Maximum RPM of the motor */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 551 | /* databyte0 - Max RPM - high byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 552 | /* databyte1 - Max RPM - low byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 553 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 554 | sint8_t Tx_Array[1] = {60u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 555 | sint8_t Rx_Temp[2] = {0u, 0u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 556 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 557 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 558 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 559 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 560 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 561 | Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 562 | rx_array[0] = (uint8_t) Rx_Temp[0]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 563 | rx_array[1] = (uint8_t) Rx_Temp[1]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 564 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 565 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 566 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 567 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 568 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 569 | /* Read The 32bit Quadrature Encoder Counter */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 570 | uint8_t I2C0_dsPIC_Read_Quad_Encoder_Counter(uint8_t slave_address, uint8_t *rx_array) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 571 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 572 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 573 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 574 | Ack_Error = I2C0_dsPIC_Read_Quad_Encoder_Counter_High(slave_address, rx_array); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 575 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 576 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 577 | Ack_Error = I2C0_dsPIC_Read_Quad_Encoder_Counter_Low(slave_address, (rx_array + 2u)); |
| DavidGilesHitex | 0:5b7639d1f2c4 | 578 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 579 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 580 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 581 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 582 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 583 | /* Read The High Word of the 32ibt Quadrature Encoder */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 584 | static uint8_t I2C0_dsPIC_Read_Quad_Encoder_Counter_High(uint8_t slave_address, uint8_t *rx_array) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 585 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 586 | /* 61 - Read Quadrature Counter (high byte) */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 587 | /* data bytes to follow will be the Quadrature Encoder high bytes */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 588 | /* databyte0 - Quadrature Encoder Counter - High Byte (byte3 MSB) */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 589 | /* databyte1 - Quadrature Encoder Counterr - Low byte (byte2) */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 590 | /* Reading this byte will freeze the low byte, allwoing glitchless reading of the 32 bit counter */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 591 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 592 | sint8_t Tx_Array[1u] = {61u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 593 | sint8_t Rx_Temp[2] = {0u, 0u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 594 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 595 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 596 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 597 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 598 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 599 | Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 600 | rx_array[0] = (uint8_t) Rx_Temp[0]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 601 | rx_array[1] = (uint8_t) Rx_Temp[1]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 602 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 603 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 604 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 605 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 606 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 607 | /* Read The Low Word of the 32bit Quadrature Encoder */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 608 | static uint8_t I2C0_dsPIC_Read_Quad_Encoder_Counter_Low(uint8_t slave_address, uint8_t *rx_array) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 609 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 610 | /* 62 - Read Quadrature Counter (low bytes) */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 611 | /* data bytes to follow will be the Quadrature Encoder low bytes */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 612 | /* databyte0 - Quadrature Encoder Counter - High Byte (byte3 MSB) */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 613 | /* databyte1 - Quadrature Encoder Counterr - Low byte (byte2) */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 614 | /* Reading this byte will unlock the 32 bit counter. Read the high byte first. */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 615 | /* Note: It is important to read the high byte first */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 616 | uint8_t Ack_Error = 0u; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 617 | sint8_t Tx_Array[1u] = {62u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 618 | sint8_t Rx_Temp[2] = {0u, 0u}; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 619 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 620 | Ack_Error = CNTRL_I2C_Master_Mode_Transmit(slave_address, Tx_Array, 1u); /* Send the command Byte */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 621 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 622 | if (Ack_Error == 0u) |
| DavidGilesHitex | 0:5b7639d1f2c4 | 623 | { |
| DavidGilesHitex | 0:5b7639d1f2c4 | 624 | Ack_Error = CNTRL_I2C_Master_Mode_Receive(slave_address, Rx_Temp, 2u); /* Read the return data */ |
| DavidGilesHitex | 0:5b7639d1f2c4 | 625 | rx_array[0] = (uint8_t) Rx_Temp[0]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 626 | rx_array[1] = (uint8_t) Rx_Temp[1]; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 627 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 628 | return Ack_Error; |
| DavidGilesHitex | 0:5b7639d1f2c4 | 629 | } |
| DavidGilesHitex | 0:5b7639d1f2c4 | 630 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 631 | |
| DavidGilesHitex | 0:5b7639d1f2c4 | 632 |