uint8_t readStatusMessage(void){
uint8_t u8MessageLength;
uint8_t errorByte;
uint8_t i;
xSemaphoreTake(xSemaphoreMGC3130DataReady,10*TICKS_PER_MS);
/*Pull the TS Line Low*/
MGC3130_TS_PIN_LOW;
/*Check to see if the Send the start bit.*/
if(PLIB_I2C_BusIsIdle(I2C_MGC3130)){
PLIB_I2C_MasterStart(I2C_MGC3130);
}
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);
/*Send the slave address*/
if(PLIB_I2C_TransmitterIsReady(I2C_MGC3130)){
PLIB_I2C_TransmitterByteSend(I2C_MGC3130, MGC3130_ADDRESS_READ);
}
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);
/*Get the I2C module to clock out to receive a byte.*/
if(PLIB_I2C_TransmitterByteWasAcknowledged(I2C_MGC3130)){
PLIB_I2C_MasterReceiverClock1Byte(I2C_MGC3130);
}
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);
/*The first byte from the MGC3130 is the length of the message*/
u8MessageLength = PLIB_I2C_ReceivedByteGet(I2C_MGC3130);
for(i = 1; i<u8MessageLength; i++){
PLIB_I2C_ReceivedByteAcknowledge(I2C_MGC3130, true);
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);//Ack completed
PLIB_I2C_MasterReceiverClock1Byte(I2C_MGC3130);
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);//Byte Received
if(i == 6){
errorByte = PLIB_I2C_ReceivedByteGet(I2C_MGC3130);
}
else{
PLIB_I2C_ReceivedByteGet(I2C_MGC3130);
}
}
PLIB_I2C_ReceivedByteAcknowledge(I2C_MGC3130, false);
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);
PLIB_I2C_MasterStop(I2C_MGC3130);
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);//Stop bit complete
MGC3130_TS_PIN_HIGH;
return errorByte;
}
/*
Function:
void initMaster (int baudRate, int clockFrequency)
Summary:
Initializes I2C1 module as the master.
*/
void initMaster(int baudRate, int clockFrequency)
{
PLIB_I2C_TransmitterByteSend(I2C_ID_1, 0);
PLIB_I2C_SlaveMask7BitSet(I2C_ID_1, 0);
PLIB_I2C_SlaveAddress7BitSet(I2C_ID_1, 0);
PLIB_I2C_BaudRateSet(I2C_ID_1, clockFrequency, baudRate);
PLIB_I2C_Enable(I2C_ID_1);
}
void configureMGC3130(unsigned char * message){
uint8_t i;
xSemaphoreTake(xSemaphoreMGC3130DataReady,10);
/*Pull the TS Line Low*/
MGC3130_TS_PIN_LOW;
/*Check to see if the Send the start bit.*/
if(PLIB_I2C_BusIsIdle(I2C_MGC3130)){
PLIB_I2C_MasterStart(I2C_MGC3130);
u8Count = 0;
}
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);
/*Send the slave address*/
if(PLIB_I2C_TransmitterIsReady(I2C_MGC3130)){
PLIB_I2C_TransmitterByteSend(I2C_MGC3130, MGC3130_ADDRESS_WRITE);
}
/*Transmit the message*/
for(i=0; i<message[0];i++){
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);
if(PLIB_I2C_TransmitterByteWasAcknowledged(I2C_MGC3130)){
PLIB_I2C_TransmitterByteSend(I2C_MGC3130, message[i]);
// xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);//Wait for transmit
}
}
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);
PLIB_I2C_MasterStop(I2C_MGC3130);
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);//Stop bit complete
MGC3130_TS_PIN_HIGH;
}
/*
Function:
void initSlave (int baudRate, int clockFrequency, int address)
Summary:
Initializes I2C2 module as the slave.
*/
void initSlave(int baudRate, int clockFrequency, int address)
{
PLIB_I2C_TransmitterByteSend(I2C_ID_2, 0);
PLIB_I2C_SlaveMask7BitSet(I2C_ID_2, 0);
PLIB_I2C_BaudRateSet(I2C_ID_2, clockFrequency, baudRate);
PLIB_I2C_SlaveAddress7BitSet(I2C_ID_2, address);
PLIB_I2C_SlaveClockStretchingEnable(I2C_ID_2);
PLIB_I2C_SlaveClockRelease(I2C_ID_2);
IEC1 = (1 << 12); // enable i2c2 slave interrupts
IPC8 = (2 << 10); // priority level to 2
/* Enable multi-vectored interrupts, enable the generation of interrupts to the CPU */
PLIB_INT_MultiVectorSelect(INT_ID_0);
PLIB_INT_Enable(INT_ID_0);
PLIB_I2C_Enable(I2C_ID_2);
}
bool DRV_I2C0_ByteWrite(const uint8_t byte)
{
/* Check for receive overflow */
if ( PLIB_I2C_ReceiverOverflowHasOccurred(I2C_ID_4))
{
PLIB_I2C_ReceivedByteGet(I2C_ID_4);
PLIB_I2C_ReceiverOverflowClear(I2C_ID_4);
return false;
}
/* Check for transmit overflow */
if (PLIB_I2C_TransmitterOverflowHasOccurred(I2C_ID_4))
{
PLIB_I2C_TransmitterOverflowClear(I2C_ID_4);
return false;
}
/* Transmit byte */
PLIB_I2C_TransmitterByteSend(I2C_ID_4, byte);
return true;
}
void __attribute__((interrupt, no_auto_psv)) _MI2C2Interrupt(void)
#endif
#endif
{
ACCEL_BOOL polling;
ACCEL_CMD_DATA *pCmdData;
uint32_t *pIndex;
// uint8_t **pRxBuffer;
uint8_t *pRxBuffer;
// if(I2CPriority == ACCEL_PRIORIY)
// {
// pCmdData = accelData;
// pIndex = &accelIdx;
//// pRxBuffer = &AccelRxBuffer;
// pRxBuffer = AccelRxBuffer;
// }
// else
// {
//// pCmdData = (ACCEL_CMD_DATA *)EepromI2CData;
//// pIndex = &EepromI2CIdx;
//// pRxBuffer = &EepromRxBuffer;
// }
pCmdData = accelData;
pIndex = &accelIdx;
pRxBuffer = AccelRxBuffer;
// AccelRxBuffer += 4;
if(SYS_INT_SourceStatusGet(ACCEL_BMA250_I2C_SOURCE))
{
polling = ACCEL_FALSE;
switch(pCmdData[*pIndex].cmd)
{
case ACCEL_CMD_START:
PLIB_I2C_MasterStart(ACCEL_BMA250_I2C_MODULE);
break;
case ACCEL_CMD_RESTART:
PLIB_I2C_MasterStartRepeat(ACCEL_BMA250_I2C_MODULE);
break;
case ACCEL_CMD_STOP:
PLIB_I2C_MasterStop(ACCEL_BMA250_I2C_MODULE);
break;
case ACCEL_CMD_TX_BYTE:
PLIB_I2C_TransmitterByteSend(ACCEL_BMA250_I2C_MODULE, pCmdData[*pIndex].data);
break;
case ACCEL_CMD_EN_RX:
PLIB_I2C_MasterReceiverClock1Byte(ACCEL_BMA250_I2C_MODULE);
break;
case ACCEL_CMD_RX_BYTE:
// **pRxBuffer = PLIB_I2C_ReceivedByteGet(ACCEL_BMA250_I2C_MODULE);
// (*pRxBuffer)++;
*pRxBuffer = PLIB_I2C_ReceivedByteGet(ACCEL_BMA250_I2C_MODULE);
pRxBuffer++;
break;
case ACCEL_CMD_ACK:
PLIB_I2C_ReceivedByteAcknowledge(ACCEL_BMA250_I2C_MODULE, pCmdData[*pIndex].data);
break;
case ACCEL_CMD_ACK_POLL:
polling = ACCEL_TRUE;
if(!PLIB_I2C_TransmitterByteWasAcknowledged(ACCEL_BMA250_I2C_MODULE))
{
(*pIndex) -= 4;
}
break;
default:
accelData[*pIndex].cmd = ACCEL_DONE;
case ACCEL_DONE:
#ifndef ACCEL_USE_EXTERNAL_INTERUPT_HANDLER
SYS_INT_SourceDisable(ACCEL_BMA250_I2C_SOURCE);
accelData[0].cmd = ACCEL_DONE;
break;
#else
*pIndex = ACCEL_INVALID_IDX;
return;
#endif
}
SYS_INT_SourceStatusClear(ACCEL_BMA250_I2C_SOURCE);
if(pCmdData[*pIndex].cmd != ACCEL_DONE)
{
if((pCmdData[*pIndex].cmd == ACCEL_CMD_RX_BYTE) || (polling))
{
SYS_INT_SourceStatusSet(ACCEL_BMA250_I2C_SOURCE);
}
(*pIndex)++;
}else
{
*pIndex = ACCEL_INVALID_IDX;
I2CPriority = FREE_PRIORITY;
}
}
}
uint8_t mgc3130StateMachine(pos_and_gesture_data * pos_and_gesture_struct){
uint8_t u8Success = FALSE;
int i;
//Send the start bit
xSemaphoreTake(xSemaphoreMGC3130DataReady,10*TICKS_PER_MS);
if(TS_LINE_IS_LOW){
/*Pull the TS Line Low*/
MGC3130_TS_PIN_LOW;
/*Check to see if the Send the start bit.*/
if(PLIB_I2C_BusIsIdle(I2C_MGC3130)){
PLIB_I2C_MasterStart(I2C_MGC3130);
}
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);//Start transmitted
/*Send the slave address*/
if(PLIB_I2C_TransmitterIsReady(I2C_MGC3130)){
PLIB_I2C_TransmitterByteSend(I2C_MGC3130, MGC3130_ADDRESS_READ);
}
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);//Address transmitted
/*Get the I2C module to clock out to receive a byte.*/
if(PLIB_I2C_TransmitterByteWasAcknowledged(I2C_MGC3130)){
PLIB_I2C_MasterReceiverClock1Byte(I2C_MGC3130);
}
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);//Message Length Received.
/*The first byte from the MGC3130 is the length of the message*/
/*The first byte from the MGC3130 is the length of the message*/
u8ReceiveBuffer[0] = PLIB_I2C_ReceivedByteGet(I2C_MGC3130);
u8MessageLength = u8ReceiveBuffer[0];
if(u8MessageLength > 0 && u8MessageLength < 0xFF){
for(i = 1; i<u8MessageLength; i++){
PLIB_I2C_ReceivedByteAcknowledge(I2C_MGC3130, true);
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);//Ack completed
PLIB_I2C_MasterReceiverClock1Byte(I2C_MGC3130);
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);//Byte Received
u8ReceiveBuffer[i] = PLIB_I2C_ReceivedByteGet(I2C_MGC3130);
}
PLIB_I2C_ReceivedByteAcknowledge(I2C_MGC3130, false);
}
else{
PLIB_I2C_ReceivedByteAcknowledge(I2C_MGC3130, false);
}
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);
PLIB_I2C_MasterStop(I2C_MGC3130);
xSemaphoreTake(xSemaphoreI2CHandler,portMAX_DELAY);//Stop bit complete
MGC3130_TS_PIN_HIGH;
if(u8MessageLength > 0){
u8Success = mgc3130_dynamic_extract_pos_and_gest_data(u8ReceiveBuffer, pos_and_gesture_struct);
return u8Success;
}
else{
u8Success = FALSE;
}
}
return u8Success;//Initialized as false.
}