Prof Greg Egan
UAVX Multicopter Flight Controller.
Diff: i2c.c
- Revision:
- 1:1e3318a30ddd
- Parent:
- 0:62a1c91a859a
- Child:
- 2:90292f8bd179
--- a/i2c.c Fri Feb 18 22:28:05 2011 +0000
+++ b/i2c.c Fri Feb 25 01:35:24 2011 +0000
@@ -20,95 +20,281 @@
#include "UAVXArm.h"
+boolean I2C0AddressResponds(uint8);
+#ifdef HAVE_I2C1
+boolean I2C1AddressResponds(uint8);
+#endif // HAVE_I2C1
+void TrackMinI2CRate(uint32);
+void ShowI2CDeviceName(uint8);
+uint8 ScanI2CBus(void);
+boolean ESCWaitClkHi(void);
+void ProgramSlaveAddress(uint8);
+void ConfigureESCs(void);
+
uint32 MinI2CRate = I2C_MAX_RATE_HZ;
+//______________________________________________________________________________________________
+
+// Software I2C
+
+#ifdef SW_I2C
+
+#define I2CDelay5uS wait_us(5)
+#define I2CDelay2uS // wait_us(2)
+#define HighLowDelay // wait_us(1)
+#define FloatDelay // ???
+
+#define I2CSDALow {I2C0SDA.write(0);HighLowDelay;I2C0SDA.output();}
+#define I2CSDAFloat {I2C0SDA.input();}
+#define I2CSCLLow {I2C0SCL.write(0);HighLowDelay;I2C0SCL.output();}
+#define I2CSCLFloat {I2C0SCL.input();FloatDelay;}
+
+void MyI2C::frequency(uint32 f) {
+// delay depending on rate
+} // frequency
+
+boolean MyI2C::waitclock(void) {
+ static uint32 s;
+
+ I2CSCLFloat; // set SCL to input, output a high
+ s = 0;
+ while ( !I2C0SCL.read() )
+ if ( ++s > 60000 ) {
+ Stats[I2CFailS]++;
+ return (false);
+ }
+ return( true );
+} // waitclock
+
+void MyI2C::start(void) {
+ static boolean r;
+
+ I2CSDAFloat;
+ r = waitclock();
+ I2CSDALow;
+ I2CDelay5uS;
+ I2CSCLLow;
+} // start
+
+void MyI2C::stop(void) {
+ static boolean r;
+
+ I2CSDALow;
+ r = waitclock();
+ I2CSDAFloat;
+ I2CDelay5uS;
+} // stop
+
+uint8 MyI2C::blockread(uint8 a, char* S, uint8 l) {
+ static uint8 b;
+ static boolean err;
+
+ I2C0.start();
+ err = I2C0.write(a|1) != I2C_ACK;
+ for (b = 0; b < (l - 1); b++)
+ S[b] = I2C0.read(I2C_ACK);
+ S[l-1] = I2C0.read(I2C_NACK);
+ I2C0.stop();
+
+ return( err );
+} // blockread
+
+uint8 MyI2C::read(uint8 ack) {
+ static uint8 s, d;
+
+ I2CSDAFloat;
+ d = 0;
+ s = 8;
+ do {
+ if ( waitclock() ) {
+ d <<= 1;
+ if ( I2C0SDA.read() ) d |= 1;
+ I2CSCLLow;
+ I2CDelay2uS;
+ } else
+ return( 0 );
+ } while ( --s );
+
+ I2C0SDA.write(ack);
+ HighLowDelay;
+ I2C0SDA.output();
+ HighLowDelay;
+
+ if ( waitclock() ) {
+ I2CSCLLow;
+ return( d );
+ } else
+ return( 0 );
+} // read
+
+void MyI2C::blockwrite(uint8 a, const char* S, uint8 l) {
+ static uint8 b;
+ static boolean r;
+
+ I2C0.start();
+ r = I2C0.write(a) == I2C_ACK; // use this?
+ for ( b = 0; b < l; b++ )
+ r |= I2C0.write(S[b]);
+ I2C0.stop();
+
+} // blockwrite
+
+uint8 MyI2C::write(uint8 d) {
+ static uint8 s, r;
+
+ for ( s = 0; s < 8; s++)
+ {
+ if ( d & 0x80 ) {
+ I2CSDAFloat;
+ } else {
+ I2CSDALow;
+ }
+
+ if ( waitclock() ) {
+ I2CSCLLow;
+ d <<= 1;
+ } else
+ return(I2C_NACK);
+ }
+
+ I2CSDAFloat;
+ if ( waitclock() ) {
+ r = I2C0SDA.read();
+ I2CSCLLow;
+ return( r );
+ } else
+ return(I2C_NACK);
+
+} // write
+
+#endif // SW_I2C
+
+//______________________________________________________________________________________________
+
void TrackMinI2CRate(uint32 r) {
- if ( r < MinI2CRate )
- MinI2CRate = r;
+ if ( r < MinI2CRate )
+ MinI2CRate = r;
} // TrackMinI2CRate
-void ShowI2CDeviceName(uint8 d)
-{
+void ShowI2CDeviceName(uint8 d) {
TxChar(' ');
switch ( d ) {
- case ADXL345_ID: TxString("ADXL345 Acc"); break;
- case ITG3200_ID: TxString("ITG3200 Gyro"); break;
- case HMC5843_ID: TxString("HMC5843 Magnetometer"); break;
- case HMC6352_ID: TxString("HMC6352 Compass"); break;
- case ADS7823_ID: TxString("ADS7823 ADC"); break;
- case MCP4725_ID: TxString("MCP4725 DAC"); break;
- case BOSCH_ID: TxString("Bosch Baro"); break;
- case TMP100_ID: TxString("TMP100 Temp"); break;
- case PCA9551_ID: TxString("PCA9551 LED");break;
- case LISL_ID: TxString("LIS3L Acc"); break;
- default: break;
+ case ADXL345_ID:
+ TxString("ADXL345 Acc");
+ break;
+ case ITG3200_ID:
+ TxString("ITG3200 Gyro");
+ break;
+ case HMC5843_ID:
+ TxString("HMC5843 Magnetometer");
+ break;
+ case HMC6352_ID:
+ TxString("HMC6352 Compass");
+ break;
+ case ADS7823_ID:
+ TxString("ADS7823 ADC");
+ break;
+ case MCP4725_ID_0xCC:
+ TxString("MCP4725 DAC");
+ break;
+ case MCP4725_ID_0xC8:
+ TxString("MCP4725 DAC");
+ break;
+ case BOSCH_ID:
+ TxString("Bosch Baro");
+ break;
+ case TMP100_ID:
+ TxString("TMP100 Temp");
+ break;
+ case PCA9551_ID:
+ TxString("PCA9551 LED");
+ break;
+ case LISL_ID:
+ TxString("LIS3L Acc");
+ break;
+ default:
+ break;
} // switch
TxChar(' ');
} // ShowI2CDeviceName
+boolean I2C0AddressResponds(uint8 s) {
+ static boolean r;
+ I2C0.start();
+ r = I2C0.write(s) == I2C_ACK;
+ I2C0.stop();
+ return (r);
+} // I2C0AddressResponds
+
+#ifdef HAVE_IC1
+boolean I2C1AddressResponds(uint8 s) {
+ static boolean r;
+ I2C1.start();
+ r = I2C1.write(s) == I2C_ACK;
+ I2C1.stop();
+ return (r);
+} // I2C1AddressResponds
+#endif // HAVE_IC1
+
uint8 ScanI2CBus(void) {
uint8 s;
uint8 d;
d = 0;
-
TxString("Buss 0\r\n");
for ( s = 0x10 ; s <= 0xf6 ; s += 2 ) {
- I2C0.start();
- if ( I2C0.write(s) == I2C_ACK ) {
+ if ( I2C0AddressResponds(s) ) {
+ d++;
+ DebugPin = 1;
+ TxString("\t0x");
+ TxValH(s);
+ ShowI2CDeviceName( s );
+ TxNextLine();
+ DebugPin = 0;
+ }
+ Delay1mS(2);
+ }
+
+#ifdef HAVE_I2C1
+ TxString("Buss 1\r\n");
+ for ( s = 0x10 ; s <= 0xf6 ; s += 2 ) {
+ if ( I2C0AddressResponds(s) ) {
d++;
TxString("\t0x");
TxValH(s);
ShowI2CDeviceName( s );
TxNextLine();
}
- I2C0.stop();
-
Delay1mS(2);
}
-
- /*
- TxString("Buss 1\r\n");
- for ( s = 0x10 ; s <= 0xf6 ; s += 2 ) {
- I2C1.start();
- if ( I2C1.write(s) == I2C_ACK ) {
- d++;
- TxString("\t0x");
- TxValH(s);
- TxNextLine();
- }
- I2C1.stop();
-
- Delay1mS(2);
- }
- */
+#endif // HAVE_I2C1
PCA9551Test();
return(d);
} // ScanI2CBus
-void ProgramSlaveAddress(uint8 addr) {
+void ProgramSlaveAddress(uint8 a) {
static uint8 s;
for (s = 0x10 ; s < 0xf0 ; s += 2 ) {
I2CESC.start();
if ( I2CESC.read(s) == I2C_ACK )
- if ( s == addr ) { // ESC is already programmed OK
+ if ( s == a ) { // ESC is already programmed OK
I2CESC.stop();
TxString("\tESC at SLA 0x");
- TxValH(addr);
+ TxValH(a);
TxString(" is already programmed OK\r\n");
return;
} else {
if ( I2CESC.read(0x87) == I2C_ACK ) // select register 0x07
- if ( I2CESC.write( addr ) == I2C_ACK ) { // new slave address
+ if ( I2CESC.write( a ) == I2C_ACK ) { // new slave address
I2CESC.stop();
TxString("\tESC at SLA 0x");
TxValH(s);
TxString(" reprogrammed to SLA 0x");
- TxValH(addr);
+ TxValH(a);
TxNextLine();
return;
}
@@ -116,7 +302,7 @@
I2CESC.stop();
}
TxString("\tESC at SLA 0x");
- TxValH(addr);
+ TxValH(a);
TxString(" no response - check cabling and pullup resistors!\r\n");
} // ProgramSlaveAddress
@@ -130,25 +316,8 @@
if ( (int8)P[ESCType] == ESCYGEI2C ) {
TxString("\r\nProgram YGE ESCs\r\n");
for ( m = 0 ; m < NoOfI2CESCOutputs ; m++ ) {
- TxString("Connect ONLY ");
- switch ( m ) {
-#ifdef HEXACOPTER
- not yet!
-#else
- case 0 :
- TxString("Front");
- break;
- case 1 :
- TxString("Back");
- break;
- case 2 :
- TxString("Right");
- break;
- case 3 :
- TxString("Left");
- break;
-#endif // HEXACOPTER
- }
+ TxString("Connect ONLY M");
+ TxChar('1' + m);
TxString(" ESC, then press any key \r\n");
while ( PollRxChar() != 'x' ); // UAVPSet uses 'x' for any key button
// TxString("\r\n");