/*---------------------------------------------------------------------------*/
uint8_t
i2c_burst_receive(uint8_t slave_addr, uint8_t *data, uint8_t len)
{
uint8_t recv = 0;
if((len == 0) || data == NULL) {
return I2CM_STAT_INVALID;
}
if(len == 1) {
return i2c_single_receive(slave_addr, &data[0]);
}
i2c_master_set_slave_address(slave_addr, I2C_RECEIVE);
i2c_master_command(I2C_MASTER_CMD_BURST_RECEIVE_START);
while(i2c_master_busy());
if(i2c_master_error() == I2C_MASTER_ERR_NONE) {
data[0] = i2c_master_data_get();
/* If we got 2 or more bytes pending to be received, keep going*/
for(recv = 1; recv <= (len - 2); recv++) {
i2c_master_command(I2C_MASTER_CMD_BURST_RECEIVE_CONT);
while(i2c_master_busy());
data[recv] = i2c_master_data_get();
}
/* This should be the last byte, stop receiving */
i2c_master_command(I2C_MASTER_CMD_BURST_RECEIVE_FINISH);
while(i2c_master_busy());
data[len - 1] = i2c_master_data_get();
}
return i2c_master_error();
}
/*---------------------------------------------------------------------------*/
uint8_t
i2c_burst_send(uint8_t slave_addr, uint8_t *data, uint8_t len)
{
uint8_t sent;
if((len == 0) || (data == NULL)) {
return I2CM_STAT_INVALID;
}
if(len == 1) {
return i2c_single_send(slave_addr, data[0]);
}
i2c_master_set_slave_address(slave_addr, I2C_SEND);
i2c_master_data_put(data[0]);
i2c_master_command(I2C_MASTER_CMD_BURST_SEND_START);
while(i2c_master_busy());
if(i2c_master_error() == I2C_MASTER_ERR_NONE) {
for(sent = 1; sent <= (len - 2); sent++) {
i2c_master_data_put(data[sent]);
i2c_master_command(I2C_MASTER_CMD_BURST_SEND_CONT);
while(i2c_master_busy());
}
/* This should be the last byte, stop sending */
i2c_master_data_put(data[len - 1]);
i2c_master_command(I2C_MASTER_CMD_BURST_SEND_FINISH);
while(i2c_master_busy());
}
/* Return the STAT register of I2C module if error occurred, I2C_MASTER_ERR_NONE otherwise */
return i2c_master_error();
}
/*---------------------------------------------------------------------------*/
uint8_t sht21_read(uint16_t * data, uint8_t regist)
{
uint16_t temp;
uint8_t dataByte[2];
if(regist != SHT21_TEMP_REGISTER && regist != SHT21_HUMI_REGISTER) {
return -1;
}
i2c_master_set_slave_address(SHT21_SLAVE_ADDRESS, I2C_SEND);
i2c_master_data_put(regist);
i2c_master_command(I2C_MASTER_CMD_BURST_SEND_START);
while (i2c_master_busy()) {
}
if(i2c_master_error() == I2C_MASTER_ERR_NONE) {
if(regist == SHT21_TEMP_REGISTER) {
for (temp = 0; temp < 10; temp++) {
clock_delay_usec(8500); //85ms
}
} else if(regist == SHT21_HUMI_REGISTER) {
for (temp = 0; temp < 10; temp++) {
clock_delay_usec(2900); //29ms
}
}
/* Get the 2 bytes of data*/
/* Data MSB */
i2c_master_set_slave_address(SHT21_SLAVE_ADDRESS, I2C_RECEIVE);
i2c_master_command(I2C_MASTER_CMD_BURST_RECEIVE_START);
while (i2c_master_busy()) {
}
if(i2c_master_error() == I2C_MASTER_ERR_NONE) {
*data = i2c_master_data_get() << 8;
/* Data LSB */
i2c_master_command(I2C_MASTER_CMD_BURST_RECEIVE_CONT);
while (i2c_master_busy()) {
}
if(i2c_master_error() == I2C_MASTER_ERR_NONE) {
*data |= i2c_master_data_get();
/* Checksum */
i2c_master_command(I2C_MASTER_CMD_BURST_RECEIVE_FINISH);
while (i2c_master_busy()) {
}
if(i2c_master_error() == I2C_MASTER_ERR_NONE) {
dataByte[0] = (*data) >> 8;
dataByte[1] = (*data) & 0x00FF;
if(sht21_check_crc(dataByte, 2,
i2c_master_data_get()) == I2C_MASTER_ERR_NONE) {
return I2C_MASTER_ERR_NONE;
}
}
}
/*---------------------------------------------------------------------------*/
void
bme280_arch_i2c_read_mem(uint8_t addr, uint8_t reg, uint8_t *buf, uint8_t bytes)
{
i2c_master_enable();
if(i2c_single_send(addr, reg) == I2C_MASTER_ERR_NONE) {
while(i2c_master_busy());
i2c_burst_receive(addr, buf, bytes);
}
}
/*---------------------------------------------------------------------------*/
uint8_t
i2c_single_send(uint8_t slave_addr, uint8_t data)
{
i2c_master_set_slave_address(slave_addr, I2C_SEND);
i2c_master_data_put(data);
i2c_master_command(I2C_MASTER_CMD_SINGLE_SEND);
while(i2c_master_busy());
/* Return the STAT register of I2C module if error occured, I2C_MASTER_ERR_NONE otherwise */
return i2c_master_error();
}
/*---------------------------------------------------------------------------*/
uint8_t
i2c_single_receive(uint8_t slave_addr, uint8_t *data)
{
uint32_t temp;
i2c_master_set_slave_address(slave_addr, I2C_RECEIVE);
i2c_master_command(I2C_MASTER_CMD_SINGLE_RECEIVE);
while(i2c_master_busy());
temp = i2c_master_error();
if(temp == I2C_MASTER_ERR_NONE) {
*data = i2c_master_data_get();
}
return temp;
}
void uart_recv_state(unsigned char byte) {
switch (uc_ptr->state) {
case UART_STATE_HEADER1:
if ( byte == UART_HEADER1) {
// WriteUSART(0x01);
uc_ptr->state = UART_STATE_HEADER2;
}
break;
case UART_STATE_HEADER2:
if ( byte == UART_HEADER2 ) {
//WriteUSART(0x02);
#if defined (ARM_PIC)
uc_ptr->state = UART_STATE_COUNT;
#elif defined (MAIN_PIC)
uc_ptr->state = UART_STATE_MSGTYPE;
#endif
}
else {
uc_ptr->state = UART_STATE_HEADER1;
}
break;
case UART_STATE_MSGTYPE:
uc_ptr->buflen = 0;
uc_ptr->data_read = 0;
// WriteUSART(0x03);
uc_ptr->msgtype = byte;
uc_ptr->buffer[0] = byte;
uc_ptr->state = UART_STATE_COUNT;
break;
case UART_STATE_COUNT:
// WriteUSART(0x04);
uc_ptr->count = byte;
#if defined (ARM_PIC)
uc_ptr->state = UART_STATE_LENGTH;
uc_ptr->buffer[0] = byte;
#elif defined (MAIN_PIC)
uc_ptr->buffer[1] = byte;
uc_ptr->state = UART_STATE_FOOTER;
#endif
break;
case UART_STATE_LENGTH:
// WriteUSART(0x05);
uc_ptr->buffer[1] = byte;
uc_ptr->data_length = byte;
uc_ptr->buflen = 0;
uc_ptr->data_read = 0;
uc_ptr->state = UART_STATE_DATA;
break;
case UART_STATE_DATA:
// WriteUSART(0x06);
// Store the byte into buffer
if ( uc_ptr->data_read + 2 < MAXUARTBUF ) {
uc_ptr->buffer[uc_ptr->data_read+2] = byte;
}
// Increment because we read 1 more byte
uc_ptr->data_read += 1;
// Keep reading data until, 9 BYTES for now
if(UARTDATALEN == uc_ptr->data_read) {
uc_ptr->state = UART_STATE_FOOTER;
}
break;
case UART_STATE_FOOTER:
// WriteUSART(0x07);
if ( byte == UART_FOOTER ) {
// WriteUSART(0x08);
uc_ptr->state = UART_STATE_HEADER1;
//LATBbits.LATB7 = !LATBbits.LATB7;
#if defined (ARM_PIC)
// Copy over into a buffer before passing
unsigned char temp[I2CMSGLEN];
int i;
for (i = 0; i < I2CMSGLEN; i++) {
temp[i] = uc_ptr->buffer[i];
}
LATB = 7; // Sequence 7
LATAbits.LA0 = 0;
// Put it in the roverDataBuf
ToMainLow_sendmsg(I2CMSGLEN, MSGT_BUF_PUT_DATA, (void *) temp);
#elif defined (MAIN_PIC)
// Wait for first to finish
LATBbits.LATB0 = 1;
LATBbits.LATB1 = 0;
LATBbits.LATB2 = 0; // Sequence 1
LATAbits.LA0 = 0;
i2c_master_cmd message;
message.msgType = uc_ptr->buffer[0];
message.msgCount = uc_ptr->buffer[1];
//if ( i2c_master_busy() == 0 )
// Put the message in the queue
while(i2c_master_busy());
putQueue(&i2c_q,message);
//ToMainLow_sendmsg(2, MSGT_BUF_PUT_DATA, (void *) uc_ptr->buffer);
#endif
}
else {
uc_ptr->state = UART_STATE_HEADER1;
}
uc_ptr->buflen = 0;
uc_ptr->data_read = 0;
break;
default:
break;
}
}
void timer1_int_handler() {
unsigned int result;
// read the timer and then send an empty message to main()
//LATBbits.LATB7 = !LATBbits.LATB7;
result = ReadTimer1();
//ToMainLow_sendmsg(0, MSGT_TIMER1, (void *) 0);
#if defined (MOTOR_PIC)
// reset the timer
WriteTimer1(TIMER1_START);
ticks_left++;
if ( executingEncode && ticks_left_C > 0)
ticks_left_C--;
if ( executingEncodeLong && ticks_left_C_Long > 0)
ticks_left_C_Long--;
ticks_left_total++;
if ( ticks_left_C <= 1 && ticks_right_C <= 1 && executingEncode ) {
if ( motor_state == RoverMsgMotorForward)
RoverForward();
else if ( motor_state == RoverMsgMotorLeft2 || motor_state == RoverMsgMotorRight2 ) {
motor_encode_lthread(RoverMsgMotorForwardCMDelim+10);
}
else
RoverStop();
executingEncode = 0;
}
else if ( ticks_right_C_Long <= 1 && ticks_left_C_Long <= 1 && executingEncodeLong ) {
if ( motor_state == RoverMsgMotorLeft2 ) {
motor_encode_lthread(RoverMsgMotorRight2);
}
else if ( motor_state == RoverMsgMotorRight2 )
{
motor_encode_lthread(RoverMsgMotorLeft2);
}
else {
RoverStop();
}
motor_state = RoverMsgMotorStop;
executingEncodeLong = 0;
}
#elif defined(MAIN_PIC)
if ( !i2c_master_busy() )
ToMainHigh_sendmsg(10, MSGT_GET_SENSOR_DATA, (void *) 0);
if ( timer1_extender > 100 && tempWallCorrection == 0 ) {
tempWallCorrection = 1;
}
timer1_extender++;
WriteTimer1(0);
#else
WriteTimer1(0);
#endif
}