/* Sends command to the I2C module and waits for it to be processed. */
static enum i2c_ack_type i2c_command(struct i2c_state *c, uint32_t cmd) {
I2CMasterIntClear(c->base);
I2CMasterTimeoutSet(c->base, 0x20); /* 5 ms @ 100 KHz */
I2CMasterControl(c->base, cmd);
unsigned long mcs;
while ((MAP_I2CMasterIntStatusEx(c->base, 0) &
(I2C_MRIS_RIS | I2C_MRIS_CLKRIS)) == 0) {
mcs = HWREG(c->base + I2C_O_MCS);
dprintf(("busy mcs %lx cnt %lx\n", mcs, HWREG(c->base + I2C_O_MCLKOCNT)));
}
I2CMasterIntClearEx(c->base, I2C_MRIS_RIS | I2C_MRIS_CLKRIS);
mcs = HWREG(c->base + I2C_O_MCS);
dprintf(("mcs %lx\n", mcs));
if ((mcs & (I2C_MCS_ARBLST | I2C_MCS_ACK | I2C_MCS_ADRACK | I2C_MCS_CLKTO)) ==
0) {
return I2C_ACK;
} else {
/* This does not actually put STOP condition on the bus (bit 0 = 0),
* but resets the error condition in the module. */
I2CMasterControl(c->base, I2C_MASTER_CMD_BURST_SEND_ERROR_STOP);
return I2C_NAK;
}
}
int main(void)
{
MAP_SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |SYSCTL_XTAL_12MHZ); //50MHZ
//
// Enable peripherals to operate when CPU is in sleep.
//
MAP_SysCtlPeripheralClockGating(true);
//
// Configure SysTick to occur 1000 times per second, to use as a time
// reference. Enable SysTick to generate interrupts.
//
MAP_SysTickPeriodSet(MAP_SysCtlClockGet() / SYSTICKS_PER_SECOND);
MAP_SysTickIntEnable();
MAP_SysTickEnable();
//
// Get the current processor clock frequency.
//
ulClockMS = MAP_SysCtlClockGet() / (3 * 1000);
// init Serial Comm
initSerialComm(230400);
// init SSI0 in slave mode
initSPIComm();
#ifdef DEBUG
UARTprintf("Setting up PID\n");
#endif
initCarPID();
#ifdef DEBUG
UARTprintf("done\n");
#endif
#ifdef DEBUG
UARTprintf("Setting up PWM ... \n");
#endif
configurePWM();
configureGPIO();
#ifdef DEBUG
UARTprintf("done\n");
#endif
#ifdef DEBUG
UARTprintf("Setting up Servo ... \n");
#endif
servo_init();
servo_setPosition(90);
#ifdef DEBUG
UARTprintf("done\n");
#endif
#ifdef DEBUG
UARTprintf("Starting QEI...");
#endif
encoder_init();
#ifdef DEBUG
UARTprintf("done\n");
#endif
#ifdef USE_I2C
#ifdef DEBUG
UARTprintf("Setting up I2C\n");
#endif
//I2C
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
MAP_GPIOPinTypeI2C(GPIO_PORTB_AHB_BASE,GPIO_PIN_2 | GPIO_PIN_3);
MAP_I2CMasterInitExpClk(I2C0_MASTER_BASE,SysCtlClockGet(),true); //false = 100khz , true = 400khz
I2CMasterTimeoutSet(I2C0_MASTER_BASE, 1000);
#ifdef DEBUG
UARTprintf("done\n");
#endif
#endif
#ifdef USE_I2C
#ifdef USE_INA226
#ifdef DEBUG
UARTprintf("Setting up INA226\n");
#endif
initINA226();
#ifdef DEBUG
UARTprintf("done\n");
#endif
#endif
#endif
while (1)
{
}
}
int main(void) {
SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN);
SysCtlDelay(10000);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
GPIOPinConfigure(GPIO_PD0_I2C3SCL);
GPIOPinConfigure(GPIO_PD1_I2C3SDA);
SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
I2CMasterInitExpClk( I2C3_MASTER_BASE, SysCtlClockGet(), false);
SysCtlDelay(10000);
I2CMasterTimeoutSet(I2C3_MASTER_BASE, 0x7d);
I2CMasterSlaveAddrSet(I2C3_MASTER_BASE, I2C_SLAVE_ADDRESS, false);
I2CMasterIntEnableEx(I2C3_MASTER_BASE, I2C_MASTER_INT_TIMEOUT|I2C_MASTER_INT_DATA);
IntEnable(INT_I2C3);
IntMasterEnable();
while(1) {
i2c_flag=0;
//Let's send various challenges to our slave
data.op1++;
data.op2+=2;
switch(data.op1 % 4) {
case 0:
data.op = op_add;
break;
case 1:
data.op = op_mult;
break;
case 2:
data.op = op_div;
break;
case 3:
data.op = op_subst;
break;
}
what_we_re_doing = sending;
sent_bytes = 0;
//Start to send the full structure
I2CMasterSlaveAddrSet(I2C3_MASTER_BASE, I2C_SLAVE_ADDRESS, false);
I2CMasterDataPut(I2C3_MASTER_BASE, *((unsigned char *)&data));
I2CMasterControl(I2C3_MASTER_BASE, I2C_MASTER_CMD_BURST_SEND_START);
while(!i2c_flag);
if (i2c_flag == 2) {
//I2C Failure
continue;
}
else if (i2c_flag == 1) {
//I2C Success
}
what_we_re_doing = receiving;
received_bytes = 0;
//Start to receive the full structure
I2CMasterSlaveAddrSet(I2C3_MASTER_BASE, I2C_SLAVE_ADDRESS, true);
I2CMasterControl(I2C3_MASTER_BASE, I2C_MASTER_CMD_BURST_RECEIVE_START);
while(!i2c_flag);
if (i2c_flag == 2) {
//I2C Failure
continue;
}
else if (i2c_flag == 1) {
//I2C Success
}
SysCtlDelay(SysCtlClockGet()/100);
}
}
