void init_MMA7660FC(void)
{
int x, y, z;
unsigned char val = 0;
bt_accelInitFlag = 1;
if(!eei2cLockFlag)
{
leds(0b111111);
eei2cLock = locknew();
lockclr(eei2cLock);
eei2cLockFlag = 1;
}
if(!st_eeInitFlag) ee_init();
while(lockset(eei2cLock));
i2c_out(st_eeprom, MMA7660_I2C,
MODE, 1, &val, 1);
i2c_out(st_eeprom, MMA7660_I2C,
INTSU, 1, &val, 1);
i2c_out(st_eeprom, MMA7660_I2C,
SR, 1, &val, 1);
val = 0xC1;
i2c_out(st_eeprom, MMA7660_I2C,
MODE, 1, &val, 1);
i2c_stop(st_eeprom);
lockclr(eei2cLock);
accels(&x, &y, &z);
}
void i2c_write(unsigned char addr, unsigned char *buf, int len)
{
int i;
i2c_start();
i2c_out(addr << 1);
for (i = 0; i < len; i++)
i2c_out(*buf++);
i2c_stop();
}
void ee_putByte(char value, int addr)
{
if(!eeInitFlag) ee_init();
unsigned char addrArray[] = {(char)(addr >> 8), (char)(addr&0xFF)};
int n = i2c_out(eeprom, 0xA0, addrArray, 2, &value, 1);
while(i2c_poll(eeprom, 0xA0));
}
/**
* Turn display backlight on or off.
* \param p Pointer to driver's private data structure.
* \param state New backlight status.
*/
void i2c_HD44780_backlight(PrivateData *p, unsigned char state)
{
if ( p->i2c_backlight_invert == 0 )
p->backlight_bit = ((!p->have_backlight||state) ? 0 : p->i2c_line_BL);
else // Inverted backlight - npn transistor
p->backlight_bit = ((p->have_backlight && state) ? p->i2c_line_BL : 0);
i2c_out(p, p->backlight_bit);
}
void i2c_read(unsigned char addr, unsigned char *buf, int len)
{
int i;
i2c_start();
i2c_out((addr << 1) | 1);
for (i = 0; i < len; i++)
*buf++ = i2c_inACK();
i2c_stop();
}
/**
* Send data or commands to the display.
* \param p Pointer to driver's private data structure.
* \param displayID ID of the display (or 0 for all) to send data to.
* \param flags Defines whether to end a command or data.
* \param ch The value to send.
*/
void
i2c_HD44780_senddata(PrivateData *p, unsigned char displayID, unsigned char flags, unsigned char ch)
{
unsigned char enableLines = 0, portControl = 0;
unsigned char h = (ch >> 4) & 0x0f; // high and low nibbles
unsigned char l = ch & 0x0f;
if (flags == RS_INSTR)
portControl = 0;
else //if (flags == RS_DATA)
portControl = RS;
portControl |= p->backlight_bit;
enableLines = EN;
i2c_out(p, portControl | h);
if (p->delayBus)
p->hd44780_functions->uPause(p, 1);
i2c_out(p, enableLines | portControl | h);
if (p->delayBus)
p->hd44780_functions->uPause(p, 1);
i2c_out(p, portControl | h);
i2c_out(p, portControl | l);
if (p->delayBus)
p->hd44780_functions->uPause(p, 1);
i2c_out(p, enableLines | portControl | l);
if (p->delayBus)
p->hd44780_functions->uPause(p, 1);
i2c_out(p, portControl | l);
}
/**
* @brief Set i2c interface speed
* @param[in] dev i2c device structure pointer
* @param[in] sp i2c speed
* @return always 0
*/
static int32_t _i2cSetSpeed(i2c_dev *dev, int32_t sp)
{
uint32_t d;
if( sp != 100 && sp != 400)
return(I2C_ERR_NOTTY);
d = I2C_INPUT_CLOCK/(sp * 5) -1;
i2c_out(dev, d & 0xffff, I2C_DIVIDER);
return 0;
}
/**
* @brief Read data from I2C slave.
* @param[in] fd is interface number.
* @param[in] buf is receive buffer pointer.
* @param[in] len is receive buffer length.
* @return read status.
* @retval >0 length when success.
* @retval I2C_ERR_BUSY Interface busy.
* @retval I2C_ERR_IO Interface not opened.
* @retval I2C_ERR_NODEV No such device.
* @retval I2C_ERR_NACK Slave returns an erroneous ACK.
* @retval I2C_ERR_LOSTARBITRATION arbitration lost happen.
*/
int32_t i2cRead(int32_t fd, uint8_t* buf, uint32_t len)
{
i2c_dev *dev;
if(fd != 1 && fd != 0)
return(I2C_ERR_NODEV);
dev = (i2c_dev *)( (uint32_t)&i2c_device[fd] );
if(dev->openflag == 0)
return(I2C_ERR_IO);
if(len == 0)
return 0;
if(!i2cIsBusFree(dev))
return(I2C_ERR_BUSY);
if(len > I2C_MAX_BUF_LEN - 10)
len = I2C_MAX_BUF_LEN - 10;
dev->state = I2C_STATE_READ;
dev->pos = 1;
/* Current ISR design will get one garbage byte */
dev->len = dev->subaddr_len + 1 + len + 2; /* plus 1 unused char */
dev->last_error = 0;
_i2cCalcAddr(dev, I2C_STATE_READ);
i2cEnable(dev);
i2c_out(dev, dev->buffer[0] & 0xff, I2C_TxR);
if(!i2cIsBusFree(dev))
return(I2C_ERR_BUSY);
_i2cCommand(dev, I2C_CMD_START | I2C_CMD_WRITE);
while(dev->state != I2C_STATE_NOP);
i2cDisable(dev);
if(dev->last_error)
return(dev->last_error);
memcpy(buf, dev->buffer + dev->subaddr_len + 3, len);
dev->subaddr += len;
return len;
}
/**
* @brief Write data from I2C slave.
* @param[in] fd is interface number.
* @param[in] buf is transmit buffer pointer.
* @param[in] len is transmit buffer length.
* @return write status.
* @retval >0 length when success.
* @retval I2C_ERR_BUSY Interface busy.
* @retval I2C_ERR_IO Interface not opened.
* @retval I2C_ERR_NODEV No such device.
* @retval I2C_ERR_NACK Slave returns an erroneous ACK.
* @retval I2C_ERR_LOSTARBITRATION arbitration lost happen.
*/
int32_t i2cWrite(int32_t fd, uint8_t* buf, uint32_t len)
{
i2c_dev *dev;
if(fd != 1 && fd != 0)
return(I2C_ERR_NODEV);
dev = (i2c_dev *)( (uint32_t)&i2c_device[fd] );
if(dev->openflag == 0)
return(I2C_ERR_IO);
if(len == 0)
return 0;
if(!i2cIsBusFree(dev))
return(I2C_ERR_BUSY);
if(len > I2C_MAX_BUF_LEN - 10)
len = I2C_MAX_BUF_LEN - 10;
memcpy(dev->buffer + dev->subaddr_len + 1 , buf, len);
dev->state = I2C_STATE_WRITE;
dev->pos = 1;
dev->len = dev->subaddr_len + 1 + len;
dev->last_error = 0;
_i2cCalcAddr(dev, I2C_STATE_WRITE);
i2cEnable(dev);
i2c_out(dev, dev->buffer[0] & 0xff, I2C_TxR);
if(!i2cIsBusFree(dev))
return(I2C_ERR_BUSY);
_i2cCommand(dev, I2C_CMD_START | I2C_CMD_WRITE);
while(dev->state != I2C_STATE_NOP);
i2cDisable(dev);
if(dev->last_error)
return(dev->last_error);
dev->subaddr += len;
return len;
}
void I2C_ByteWrite(I2C_ADDR_t slaveAddress, uint8_t reg, uint8_t data)
{
uint8_t num_bytes;
uint8_t size = 0;
if (reg > 0)
{
size = sizeof(reg);
}
lockset(lock);
if (I2C_Ready(slaveAddress))
{
num_bytes = i2c_out(i2c_bus, slaveAddress, reg, size, &data, sizeof(data));
}
lockclr(lock);
print("\t\tWrote - addr %02x, reg %02x, data %02x, total %d\n", slaveAddress, reg, data, num_bytes);
}
int main() // Main function
{
eeBus = i2c_newbus(28, 29, 0); // Set up I2C bus, get bus ID
// Use eeBus to write to device
i2c_out(eeBus, 0b1010000, // with I2C address 0b1010000,
32768, 2, "abcdefg", 8); // send address 32768 (2 bytes)
// and "abc..." data (8 bytes)
while(i2c_busy(eeBus, 0b1010000)); // Wait for EEPROM to finish
char testStr[] = {0, 0, 0, 0, 0, 0, 0, 0}; // Set up test string
// Use eeBus to read from device
i2c_in(eeBus, 0b1010000, // with I2C address 0b1010000,
32768, 2, testStr, 8); // send address 32768 (2 bytes)
// data in to testStr (8 bytes)
print("testStr = %s \n", testStr); // Display result
}
/**
* Send data or commands to the display.
* \param p Pointer to driver's private data structure.
* \param displayID ID of the display (or 0 for all) to send data to.
* \param flags Defines whether to end a command or data.
* \param ch The value to send.
*/
void
i2c_HD44780_senddata(PrivateData *p, unsigned char displayID, unsigned char flags, unsigned char ch)
{
unsigned char portControl = 0;
unsigned char h=0;
unsigned char l=0;
if( ch & 0x80 ) h |= p->i2c_line_D7;
if( ch & 0x40 ) h |= p->i2c_line_D6;
if( ch & 0x20 ) h |= p->i2c_line_D5;
if( ch & 0x10 ) h |= p->i2c_line_D4;
if( ch & 0x08 ) l |= p->i2c_line_D7;
if( ch & 0x04 ) l |= p->i2c_line_D6;
if( ch & 0x02 ) l |= p->i2c_line_D5;
if( ch & 0x01 ) l |= p->i2c_line_D4;
if (flags == RS_INSTR)
portControl = 0;
else //if (flags == RS_DATA)
portControl = p->i2c_line_RS;
portControl |= p->backlight_bit;
i2c_out(p, portControl | h);
if (p->delayBus)
p->hd44780_functions->uPause(p, 1);
i2c_out(p, p->i2c_line_EN | portControl | h);
if (p->delayBus)
p->hd44780_functions->uPause(p, 1);
i2c_out(p, portControl | h);
i2c_out(p, portControl | l);
if (p->delayBus)
p->hd44780_functions->uPause(p, 1);
i2c_out(p, p->i2c_line_EN | portControl | l);
if (p->delayBus)
p->hd44780_functions->uPause(p, 1);
i2c_out(p, portControl | l);
}
/**
* Turn display backlight on or off.
* \param p Pointer to driver's private data structure.
* \param state New backlight status.
*/
void i2c_HD44780_backlight(PrivateData *p, unsigned char state)
{
p->backlight_bit = ((!p->have_backlight||state) ? 0 : BL);
i2c_out(p, p->backlight_bit);
}
static void
i2c_out(PrivateData *p, unsigned char val)
{
char data[2];
int datalen;
static int no_more_errormsgs=0;
#ifdef HAVE_DEV_IICBUS_IIC_H
struct iiccmd cmd;
bzero(&cmd, sizeof(cmd));
#endif
if (p->port & I2C_PCAX_MASK) { // we have a PCA9554 or similar, that needs a 2-byte command
data[0]=1; // command: read/write output port register
data[1]=val;
datalen=2;
} else { // we have a PCF8574 or similar, that needs a 1-byte command
data[0]=val;
datalen=1;
}
#ifdef HAVE_DEV_IICBUS_IIC_H
cmd.slave = (p->port & I2C_ADDR_MASK) << 1;
cmd.last = 1;
cmd.count = datalen;
cmd.buf = data;
if (ioctl(p->fd, I2CWRITE, &cmd) < 0) {
#else /* HAVE_LINUX_I2C_DEV_H */
if (write(p->fd,data,datalen) != datalen) {
#endif
p->hd44780_functions->drv_report(no_more_errormsgs?RPT_DEBUG:RPT_ERR, "HD44780: I2C: i2c write data %u to address 0x%02X failed: %s",
val, p->port & I2C_ADDR_MASK, strerror(errno));
no_more_errormsgs=1;
}
}
#define DEFAULT_DEVICE "/dev/i2c-0"
/**
* Initialize the driver.
* \param drvthis Pointer to driver structure.
* \retval 0 Success.
* \retval -1 Error.
*/
int
hd_init_i2c(Driver *drvthis)
{
PrivateData *p = (PrivateData*) drvthis->private_data;
HD44780_functions *hd44780_functions = p->hd44780_functions;
int enableLines = EN;
char device[256] = DEFAULT_DEVICE;
#ifdef HAVE_DEV_IICBUS_IIC_H
struct iiccmd cmd;
bzero(&cmd, sizeof(cmd));
#endif
p->backlight_bit = BL;
/* READ CONFIG FILE */
/* Get serial device to use */
strncpy(device, drvthis->config_get_string(drvthis->name, "Device", 0, DEFAULT_DEVICE), sizeof(device));
device[sizeof(device)-1] = '\0';
report(RPT_INFO,"HD44780: I2C: Using device '%s' and address 0x%02X for a %s",
device, p->port & I2C_ADDR_MASK, (p->port & I2C_PCAX_MASK) ? "PCA9554(A)" : "PCF8574(A)");
// Open the I2C device
p->fd = open(device, O_RDWR);
if (p->fd < 0) {
report(RPT_ERR, "HD44780: I2C: open i2c device '%s' failed: %s", device, strerror(errno));
return(-1);
}
// Set I2C address
#ifdef HAVE_DEV_IICBUS_IIC_H
cmd.slave = (p->port & I2C_ADDR_MASK) << 1;
cmd.last = 0;
cmd.count = 0;
if (ioctl(p->fd, I2CRSTCARD, &cmd) < 0) {
report(RPT_ERR, "HD44780: I2C: reset bus failed: %s", strerror(errno));
return -1;
}
if (ioctl(p->fd, I2CSTART, &cmd) < 0) {
report(RPT_ERR, "HD44780: I2C: set address to 0x%02X: %s", p->port & I2C_ADDR_MASK, strerror(errno));
return -1;
}
#else /* HAVE_LINUX_I2C_DEV_H */
if (ioctl(p->fd,I2C_SLAVE, p->port & I2C_ADDR_MASK) < 0) {
report(RPT_ERR, "HD44780: I2C: set address to '%i': %s", p->port & I2C_ADDR_MASK, strerror(errno));
return(-1);
}
#endif
if (p->port & I2C_PCAX_MASK) { // we have a PCA9554 or similar, that needs special config
char data[2];
data[0] = 2; // command: set polarity inversion
data[1] = 0; // -> no polarity inversion
if (write(p->fd,data,2) != 2) {
report(RPT_ERR, "HD44780: I2C: i2c set polarity inversion failed: %s", strerror(errno));
}
data[0] = 3; // command: set output direction
data[1] = 0; // -> all pins are outputs
if (write(p->fd,data,2) != 2) {
report(RPT_ERR, "HD44780: I2C: i2c set output direction failed: %s", strerror(errno));
}
}
hd44780_functions->senddata = i2c_HD44780_senddata;
hd44780_functions->backlight = i2c_HD44780_backlight;
hd44780_functions->close = i2c_HD44780_close;
// powerup the lcd now
/* We'll now send 0x03 a couple of times,
* which is in fact (FUNCSET | IF_8BIT) >> 4 */
i2c_out(p, 0x03);
if (p->delayBus)
hd44780_functions->uPause(p, 1);
i2c_out(p, enableLines | 0x03);
if (p->delayBus)
hd44780_functions->uPause(p, 1);
i2c_out(p, 0x03);
hd44780_functions->uPause(p, 15000);
i2c_out(p, enableLines | 0x03);
if (p->delayBus)
hd44780_functions->uPause(p, 1);
i2c_out(p, 0x03);
hd44780_functions->uPause(p, 5000);
i2c_out(p, enableLines | 0x03);
if (p->delayBus)
hd44780_functions->uPause(p, 1);
i2c_out(p, 0x03);
hd44780_functions->uPause(p, 100);
i2c_out(p, enableLines | 0x03);
if (p->delayBus)
hd44780_functions->uPause(p, 1);
i2c_out(p, 0x03);
hd44780_functions->uPause(p, 100);
// now in 8-bit mode... set 4-bit mode
i2c_out(p, 0x02);
if (p->delayBus)
hd44780_functions->uPause(p, 1);
i2c_out(p, enableLines | 0x02);
if (p->delayBus)
hd44780_functions->uPause(p, 1);
i2c_out(p, 0x02);
hd44780_functions->uPause(p, 100);
// Set up two-line, small character (5x8) mode
hd44780_functions->senddata(p, 0, RS_INSTR, FUNCSET | IF_4BIT | TWOLINE | SMALLCHAR);
hd44780_functions->uPause(p, 40);
common_init(p, IF_4BIT);
return 0;
}
void hyperterminal(void)
{
int menu_no; //hyperterminal switch variable
char reg_in[1]; //char to store single byte read in by I2C
char reg_out[1]; //char to store single byte to be written to part with I2C
int x, y, z; //Stores XYZ output after conversion from reister values
int dt, t; //stores timing values: t holds a clock value, dt is compared to it
char buffer[6]; //buffer which stores 56 register read backs from a multibyte i2c readback
int tic = CNT;
float temp = 0;
float sum = 0;
float xsum = 0;
float ysum = 0;
float zsum = 0;
float prev = 0;
float current = 0;
while(1)
{
//menu options
print("\n\nSelect a menu option with a number, followed by enter\n");
print("1. Exit hyperterminal \n");
print("2. Read back ID register\n");
print("3. Setup: set clock to Xgyro, sample rate div to 9 (100Hz output), filter 98Hz\n");
print("4. Stream 5 seconds of data\n");
print("5. Stream 30 seconds of data \n");
print("6. 2 second bias calculation\n");
print("7. 10 second cumulative angle calculation\n");
print("8. Timing readout debugger\n");
//get user input. Must be a number! follow with enter
scanf("%d", &menu_no);
switch(menu_no)
{
case 1:
return; //Exit hyperterminal
break;
case 2: //dev ID readback
i2c_in(DofBus, GyroAddr, 0x00, 1, (unsigned char*)reg_in, 1);
print("ID readback: 0x%x\n\n", reg_in[0]);
break;
case 3: //see ITG3200 data sheet
reg_out[0] = 0x01; //Power control: Set clk to xGyro, all gyros on
i2c_out(DofBus, GyroAddr, 0x3E, 1, (unsigned char*)reg_out, 1);
i2c_in(DofBus, GyroAddr, 0x3E, 1, (unsigned char*)reg_in, 1);
print("Power control: 0x%x\n", reg_in[0]);
reg_out[0] = 0x09; //Sample rate divider: set to 9, gives x/10 = sample output rate, where x is internal rate
i2c_out(DofBus, GyroAddr, 0x15, 1, (unsigned char*)reg_out, 1);
i2c_in(DofBus, GyroAddr, 0x15, 1, (unsigned char*)reg_in, 1);
print("Rate divider: 0x%x\n", reg_in[0]);
reg_out[0] = 0x1A; //scale selection and digital filter: bits 4&5: = 0b11: full scale. bits 2 10:
i2c_out(DofBus, GyroAddr, 0x16, 1, (unsigned char*)reg_out, 1);
i2c_in(DofBus, GyroAddr, 0x16, 1, (unsigned char*)reg_in, 1);
print("Digital Filter: 0x%x\n", reg_in[0]);
break;
case 4:
dt = CLKFREQ*5; // 5 second timeout
//CLKFREQ contains the number of ticks in one second, CNT returns current tick no
t = CNT; // Mark current time by storing in t
while(CNT - t < dt) // Repeat until timeout
{
i2c_in(DofBus, GyroAddr, 0x1D, 1, (unsigned char*)buffer, 6); //read 6 registers starting at 0x1D - data registers
x = twos2signed(buffer[0], buffer[1]) - xGyroDrift; //convert 2s compliment split into 2 registers into signed
y = twos2signed(buffer[2], buffer[3]) - yGyroDrift; //and subtract gyro drift
z = twos2signed(buffer[4], buffer[5]) - zGyroDrift;
print("\nX: %d Y: %d Z: %d\n", x, y, z);
pause(500);
}
break;
case 5:
dt = CLKFREQ*30; // 30 second timeout
t = CNT; // Mark current time by storing in t
while(CNT - t < dt) // Repeat until timeout
{
i2c_in(DofBus, GyroAddr, 0x1D, 1, (unsigned char*)buffer, 6);
x = twos2signed(buffer[0], buffer[1]) - xGyroDrift;
y = twos2signed(buffer[2], buffer[3]) - yGyroDrift;
z = twos2signed(buffer[4], buffer[5]) - zGyroDrift;
print("\nX: %d Y: %d Z: %d\n", x, y, z);
pause(500);
}
break;
case 6:
tic = CNT;
dt = CLKFREQ/100; //100HZ cycle NB. integer math
xsum = 0;
ysum = 0;
zsum = 0;
for (int i = 0; i < 400; i++) // 4 seconds
{
t = CNT; // Mark current time by storing in t
i2c_in(DofBus, GyroAddr, 0x1D, 1, (unsigned char*)buffer, 6);
xsum += ((float)twos2signed(buffer[0], buffer[1])) / 400; //running 400 piece average
ysum += ((float)twos2signed(buffer[2], buffer[3])) / 400;
zsum += ((float)twos2signed(buffer[4], buffer[5])) / 400;
while(CNT - t < dt){}
}
print("\nelapsed time: %f\n", ((float)(CNT-tic))/CLKFREQ );
print("xdrift: %f, ydrift: %f, zdrift: %f\n", xsum, ysum, zsum);
break;
case 7:
//currently set up for y axis
//by taking the variance over a known total rotation (ie rotating exactly 90 degrees, and reading 93 degrees)
//a variance in the Gyro scaling factor can be estimated as (93-90)/90 = 3.33%
//print("\nGyro conversion factor: %f\n", GyroConv);
dt = CLKFREQ/100; //200HZ cycle NB integer math here
prev = 0;
current = 0;
sum = 0;
//aqquire first sample
t = CNT; // Mark current time by storing in t
i2c_in(DofBus, GyroAddr, 0x1D, 1, (unsigned char*)buffer, 6);
prev= ( (float)twos2signed(buffer[2], buffer[3]) -yGyroDrift) * yGyroConv;
while(CNT - t < dt);
//calculate angle over time by taking consecutive values, and using tustins approximation to integration (check name?)
//sum this angle over consecutive points
for (int i = 0; i < 1000; i++) // 1000 samples/100HZ = 10 seconds.
{
t = CNT; // Mark current time by storing in t
i2c_in(DofBus, GyroAddr, 0x1D, 1, (unsigned char*)buffer, 6);
current= ( (float)twos2signed(buffer[2], buffer[3]) -yGyroDrift) * yGyroConv;
sum += (current +prev) * 0.01/2; //Tustins approximation to integration
prev = current;
while(CNT - t < dt){}
}
print("\nFinal Rotation: %f\n", sum);
break;
case 8:
//debugging case - replace code with whatever suits
print("\n\nCLKFREQ: %d\n", CLKFREQ);
tic = CNT;
dt = CLKFREQ/2; //2HZ cycle NB. integer math
sum = 0;
for (int i = 0; i < 10; i++) // 5 seconds
{
t = CNT; // Mark current time by storing in t
pause(1);
//print("Reading: %f sum: %f\n", temp, sum);
while(CNT - t < dt){}
}
print("\nCNT-tic: %d\n", CNT-tic);
print("elapsed time: %f\n", ((float)(CNT-tic))/CLKFREQ );
break;
default:
//code
break;
}
}
}
/**
* @brief Interrupt service routine for i2c-1
* @param[in] None
* @return None
*/
static void i2c1ISR(void)
{
int32_t csr, val;
i2c_dev *dev;
dev = (i2c_dev *) ( (uint32_t)&i2c_device[1] );
csr = i2c_in(dev, I2C_CSR);
csr |= 0x04;
i2c_out(dev, csr, I2C_CSR); /* clear interrupt flag */
if(dev->state == I2C_STATE_NOP)
return;
if((csr & 0x800) && bNackValid) /* NACK only valid in WRITE */
{
dev->last_error = I2C_ERR_NACK;
_i2cCommand(dev, I2C_CMD_STOP);
dev->state = I2C_STATE_NOP;
}
else if(csr & 0x200) /* Arbitration lost */
{
sysprintf("Arbitration lost\n");
dev->last_error = I2C_ERR_LOSTARBITRATION;
dev->state = I2C_STATE_NOP;
}
else if(!(csr & 0x100)) /* transmit complete */
{
if(dev->pos < dev->subaddr_len + 1) /* send address state */
{
val = dev->buffer[dev->pos++] & 0xff;
i2c_out(dev, val, I2C_TxR);
_i2cCommand(dev, I2C_CMD_WRITE);
}
else if(dev->state == I2C_STATE_READ)
{
/* sub address send over , begin restart a read command */
if(dev->pos == dev->subaddr_len + 1)
{
val = dev->buffer[dev->pos++];
i2c_out(dev, val, I2C_TxR);
_i2cCommand(dev, I2C_CMD_START | I2C_CMD_WRITE);
}
else
{
dev->buffer[dev->pos++] = i2c_in(dev, I2C_RxR) & 0xff;
if( dev->pos < dev->len)
{
if(dev->pos == dev->len -1 ) /* last character */
_i2cCommand(dev, I2C_CMD_READ |
I2C_CMD_STOP |
I2C_CMD_NACK);
else
_i2cCommand(dev, I2C_CMD_READ);
}
else
{
dev->state = I2C_STATE_NOP;
}
}
}
else if(dev->state == I2C_STATE_WRITE) /* write data */
{
if( dev->pos < dev->len)
{
val = dev->buffer[dev->pos];
i2c_out(dev, val, I2C_TxR);
if(dev->pos == dev->len -1 ) /* last character */
_i2cCommand(dev, I2C_CMD_WRITE| I2C_CMD_STOP);
else
_i2cCommand(dev, I2C_CMD_WRITE);
dev->pos ++;
}
else
{
dev->state = I2C_STATE_NOP;
}
}
}
}
/**
* @brief Configure i2c command
* @param[in] dev i2c device structure pointer
* @param[in] cmd command
* @return None
*/
static void _i2cCommand(i2c_dev *dev, int32_t cmd)
{
bNackValid = (cmd & I2C_CMD_WRITE) ? 1 : 0;
i2c_out(dev, cmd, I2C_CMDR);
}