static int
i2c_bit_xfer(struct i2c_adapter *adap, struct i2c_msg *msgs, int num)
{
struct nouveau_i2c_port *port = adap->algo_data;
struct i2c_msg *msg = msgs;
int ret = 0, mcnt = num;
if (port->func->acquire)
port->func->acquire(port);
while (!ret && mcnt--) {
u8 remaining = msg->len;
u8 *ptr = msg->buf;
ret = i2c_start(port);
if (ret == 0)
ret = i2c_addr(port, msg);
if (msg->flags & I2C_M_RD) {
while (!ret && remaining--)
ret = i2c_get_byte(port, ptr++, !remaining);
} else {
while (!ret && remaining--)
ret = i2c_put_byte(port, *ptr++);
}
msg++;
}
i2c_stop(port);
return (ret < 0) ? ret : num;
}
// not debugged
uns8 i2c_rx_multi( uns8 addr, uns8 *data_ptr, uns8 length )
{
uns8 dt;
i2c_start(); // send START
if( i2c_put_byte( addr ) ) // slave did not acknowledge
{
i2c_stop();
return( I2C_NO_ACK_ADDR );
}
while( length )
{
length--;
dt = i2c_get_byte(); // get a data byte
*data_ptr++ = dt;
if( length )
i2c_send_ack(); // this is not the last byte
}
i2c_send_noack(); // this was the last byte
i2c_stop(); // send STOP
return( I2C_NORMAL );
}
lc_err_t read_byte(e2p_addr_t address, unsigned char *byte)
{
register lc_err_t err_code;
do {
do {
i2c_start();
err_code = i2c_read_state_wait();
if (err_code != I2C_MASTER_START && err_code != I2C_MASTER_REPSTART)
break;
i2c_slaW(0xa0);
err_code = i2c_read_state_wait();
} while (err_code == I2C_MASTER_SLAW_NACK);
if (err_code != I2C_MASTER_SLAW_ACK)
break;
i2c_write(address >> 8);
err_code = i2c_read_state_wait();
if (err_code != I2C_MASTER_TXDATA_ACK)
break;
i2c_write(address);
err_code = i2c_read_state_wait();
if (err_code != I2C_MASTER_TXDATA_ACK)
break;
i2c_start();
err_code = i2c_read_state_wait();
if (err_code != I2C_MASTER_REPSTART)
break;
i2c_slaR(0xa0);
err_code = i2c_read_state_wait();
if (err_code != I2C_MASTER_SLAR_ACK)
break;
i2c_read_nack();
err_code = i2c_read_state_wait();
if (err_code != I2C_MASTER_RXDATA_NACK)
break;
*byte = i2c_get_byte();
err_code = 0;
} while (0);
i2c_stop();
return err_code;
}
uns8 i2c_rx( uns8 addr, uns8 *data )
{
uns8 dt;
i2c_start(); // send START
if( i2c_put_byte( addr ) ) // slave did not acknowledge
{
i2c_stop();
return( I2C_NO_ACK_ADDR );
}
dt = i2c_get_byte(); // get a data byte
*data = dt;
i2c_send_noack(); // this is the last byte
i2c_stop(); // send STOP
return( I2C_NORMAL );
}
uint8_t ds3231_read(uint8_t addr, uint8_t* data) {
uint8_t ecode;
do {
i2c_start();
ecode = i2c_read_state_wait();
if ((ecode != I2C_MASTER_START) && (ecode != I2C_MASTER_REPSTART))
break;
i2c_slaW(_DS3231_ADDR);
ecode = i2c_read_state_wait();
if (ecode != I2C_MASTER_SLAW_ACK)
break;
i2c_write(addr);
ecode = i2c_read_state_wait();
if (ecode != I2C_MASTER_TXDATA_ACK)
break;
i2c_start();
ecode = i2c_read_state_wait();
if (ecode != I2C_MASTER_REPSTART)
break;
i2c_slaR(_DS3231_ADDR);
ecode = i2c_read_state_wait();
if (ecode != I2C_MASTER_SLAR_ACK)
break;
i2c_read_nack();
ecode = i2c_read_state_wait();
if (ecode != I2C_MASTER_RXDATA_NACK)
break;
*data = i2c_get_byte();
ecode = 0;
} while(0);
i2c_stop();
return ecode;
}
void main(void)
{
/* Initialization functions called below */
ecan_init();
ConfigureOscillator();
/* Enable Interrupts */
RCONbits.IPEN = 0; // Enable interrupt priority
INTCONbits.GIE = 1; // Enable interrupts
INTCONbits.PEIE = 1; // Enable peripheral interrupts.
PIE3bits.RXB0IE = 1; // Enable CAN receive buffer 0 interrupt
PIE3bits.RXB1IE = 1; // Enable CAN receive buffer 1 interrupt
i2c_init();
//Configure accelerometer CONTRL_REG1_XM
//char slaveAddr0 = 0x1E;
//char destAddr0 = 0x20;
//char sendData0 = 0b01100111; //== 0x67
//i2c_writeToReg(slaveAddr0, destAddr0, sendData0);
//CONTROL_REG5_XM
//slaveAddr0 = 0x1E;
//destAddr0 = 0x24;
//sendData0 = 0b11110000;
//i2c_writeToReg(slaveAddr0, destAddr0, sendData0);
i2c_writeToReg(0x1E, 0x1F, 0x00);
i2c_writeToReg(0x1E, 0x20, 0x57);
i2c_writeToReg(0x1E, 0x21, 0x00);
i2c_writeToReg(0x1E, 0x22, 0x00);
i2c_writeToReg(0x1E, 0x23, 0x00);
i2c_writeToReg(0x1E, 0x24, 0x14);
i2c_writeToReg(0x1E, 0x25, 0x00);
i2c_writeToReg(0x1E, 0x26, 0x00);
i2c_writeToReg(0x6A, 0x20, 0x0F);
i2c_writeToReg(0x6A, 0x21, 0x00);
i2c_writeToReg(0x6A, 0x23, 0x00);
i2c_writeToReg(0x6A, 0x24, 0x00);
/* While doing recurring functions */
while(1)
{
/*
short ac1 = i2c_get_data(0x77, 0xAA);
short ac2 = i2c_get_data(0x77, 0xAC);
short ac3 = i2c_get_data(0x77, 0xAE);
unsigned short ac4 = i2c_get_udata(0x77, 0xB0);
unsigned short ac5 = i2c_get_udata(0x77, 0xB2);
unsigned short ac6 = i2c_get_udata(0x77, 0xB4);
short b1 = i2c_get_data(0x77, 0xB6);
short b2 = i2c_get_data(0x77, 0xB8);
short mb = i2c_get_data(0x77, 0xBA);
short mc = i2c_get_data(0x77, 0xBC);
short md = i2c_get_data(0x77, 0xBF);
i2c_write_raw(0xF4, 0x2E);
__delay_ms(5);
long ut = i2c_get_data(0x77, 0xF6);
long x1 = ((long) ut - (unsigned long) ac6) * (unsigned long) ac5 / 32768;
long x2 = (long) mc * 2048 / (x1 + (long) md);
long b5 = x1 + x2;
long temp = (b5 + 8) / 16;
Message tempPack;
tempPack.sid = 0x101;
tempPack.len = 4;
tempPack.data[3] = temp >> 24;
tempPack.data[2] = temp >> 16;
tempPack.data[1] = temp >> 8;
tempPack.data[0] = temp;
ecan_send(&tempPack);
__delay_ms(50);
*/
/*short xGyroRaw = i2c_get_byte(0x6A, 0x28);
xGyroRaw += i2c_get_byte(0x6A,0x29) << 8;
short yGyroRaw = i2c_get_byte(0x6A, 0x2A);
yGyroRaw += i2c_get_byte(0x6A,0x2B) << 8;
short zGyroRaw = i2c_get_byte(0x6A, 0x2C);
zGyroRaw += i2c_get_byte(0x6A,0x2D) << 8;
Message gyroPack;
gyroPack.sid = 0x000;
gyroPack.len = 6;
gyroPack.data[5] = xGyroRaw >> 8;
gyroPack.data[4] = xGyroRaw;
gyroPack.data[3] = yGyroRaw >> 8;
gyroPack.data[2] = yGyroRaw;
gyroPack.data[1] = zGyroRaw >> 8;
gyroPack.data[0] = zGyroRaw;
ecan_send(&gyroPack); */
short xAccelRaw = i2c_get_byte(0x1E, 0x28);
xAccelRaw += i2c_get_byte(0x1E,0x29) << 8;
short yAccelRaw = i2c_get_byte(0x1E, 0x2A);
yAccelRaw += i2c_get_byte(0x1E,0x2B) << 8;
short zAccelRaw = i2c_get_byte(0x1E, 0x2C);
zAccelRaw += i2c_get_byte(0x1E,0x2D) << 8;
Message accelPack;
accelPack.sid = 0x000;
accelPack.len = 6;
accelPack.data[5] = xAccelRaw >> 8;
accelPack.data[4] = xAccelRaw;
accelPack.data[3] = yAccelRaw >> 8;
accelPack.data[2] = yAccelRaw;
accelPack.data[1] = zAccelRaw >> 8;
accelPack.data[0] = zAccelRaw;
ecan_send(&accelPack);
}
}
