/*
int MUXTest() {
UINT8 address;
//UINT8 check = 0;
//UINT8 trByte;
UINT8 recByte;
recByte = 0;
//Write control byte to mux
StartI2C1();
IdleI2C1(); //Wait to complete
address = (PCAMUX_ADD<<1) & 0xFE; //write
MasterWriteI2C1(address);
IdleI2C1();
if(I2C1STATbits.ACKSTAT)
{
StopI2C1();
IdleI2C1();
return -1;
}
MasterWriteI2C1(0x0A);
IdleI2C1();
if(I2C1STATbits.ACKSTAT)
{
StopI2C1();
IdleI2C1();
return -1;
}
delay_t1(100);
//Read byte from mux
StartI2C1();
IdleI2C1(); //Wait to complete
address = (PCAMUX_ADD<<1) | 0x01; //read
MasterWriteI2C1(address);
IdleI2C1();
if(I2C1STATbits.ACKSTAT)
{
StopI2C1();
IdleI2C1();
return -1;
}
recByte = MasterReadI2C1();
NotAckI2C1();
IdleI2C1();
StopI2C1();
IdleI2C1();
return recByte;
}
*/
int MuxRead(void){
UINT8 address = 0;
UINT8 recByte = 0;
//Read byte from mux
I2C1Start();
I2C1Idle();
address = (PCAMUX_ADD<<1) | 0x01; //read
I2C1MasterWrite(address);
I2C1Idle();
if(I2C1STATbits.ACKSTAT)
{
I2C1Stop();
I2C1Idle();
return -1;
}
recByte = I2C1MasterRead();
I2C1NotAck();
I2C1Idle();
I2C1Stop();
I2C1Idle();
return recByte;
}
/*
* Function select I2C "PCA9547" multiplexor channel
* inputs: enable - mux enable
* channel - mux channel - [0, 7]
* returns: -1 - error
* [0 7] - No of selected channel
*/
int I2C1ChSelect(UINT8 enable, UINT8 channel) {
UINT8 address, data, recByte;
digitalHigh(MUXRST);
if(channel > 7) //Check channel range
return -1;
data = (enable << 3) | channel;
//Write byte to mux
I2C1Start();
I2C1Idle();
address = (PCAMUX_ADD<<1) & 0xFE; //write
I2C1MasterWrite(address);
I2C1Idle();
if(I2C1STATbits.ACKSTAT)
{
I2C1Stop();
I2C1Idle();
return -2;
}
I2C1MasterWrite(data);
I2C1Idle();
if(I2C1STATbits.ACKSTAT)
{
I2C1Stop();
I2C1Idle();
return -3;
}
int i = 0;
while((data != recByte)&&(i<3)){
recByte = MuxRead();
data &= 0x0F;
recByte &= 0x0F;
i++;
}
if(data != recByte){ //Channel selection error
return -1;
}
recByte &= 0x07;
return (char)recByte;
}
int I2C1ReadByte(UINT8 slaveAdd, UINT8 registerAdd)
{
unsigned char recByte = 0;
UINT8 address;
I2C1Start();
I2C1Idle();
address = (slaveAdd<<1) & 0xFE; //write
I2C1MasterWrite(address);
I2C1Idle();
if(I2C1STATbits.ACKSTAT)
{
I2C1Stop();
I2C1Idle();
return -1;
}
//Send register register location
I2C1MasterWrite(registerAdd);
I2C1Idle();
if(I2C1STATbits.ACKSTAT)
{
I2C1Stop();
I2C1Idle();
return -1;
}
I2C1Restart();
I2C1Idle();
address = (slaveAdd<<1) | 0x01; //Read
I2C1MasterWrite(address);
I2C1Idle();
if(I2C1STATbits.ACKSTAT)
{
I2C1Stop();
I2C1Idle();
return -1;
}
recByte = I2C1MasterRead();
//I2C1NotAck();
I2C1Idle();
I2C1Stop();
I2C1Idle();
return recByte;
}
/*
* function reads byte from I2C data
* inputs: slaveAdd
* data
* returns: 0 -> error is occurred
* 1 -> return read data
*/
int I2C1WriteByte(UINT8 slaveAdd, UINT8 registerAdd, UINT8 data)
{
UINT8 address;
I2C1Start();
I2C1Idle();
address = (slaveAdd<<1) & 0xFE; //write
I2C1MasterWrite(address);
I2C1Idle();
if(I2C1STATbits.ACKSTAT)
{
I2C1Stop();
I2C1Idle();
return -1;
}
//Send register register location
I2C1MasterWrite(registerAdd);
I2C1Idle();
if(I2C1STATbits.ACKSTAT)
{
I2C1Stop();
I2C1Idle();
return -1;
}
//Send register register location
I2C1MasterWrite(data);
I2C1Idle();
if(I2C1STATbits.ACKSTAT)
{
I2C1Stop();
I2C1Idle();
return -1;
}
I2C1Stop();
return 1; //Byte is successful sent
}
// old version of single channel PWM in
void __attribute__ ((interrupt("IRQ"))) pwmin_SC_ISR(void)
{
if (PWMChannelR2 == 0x4) {
// read the HMC compass as DRDY went high
IO2_INT_CLR |= 0x4;
I2C1Start();
} else {
if (timer_counter1 < timerTemp) {
IO0_INT_EN_R |= 0x00078070;
IO2_INT_EN_R |= 0x000000A4;
timer_counter1 = 0;
timerTemp = 0;
IO0_INT_CLR = 0xffffffff;
IO2_INT_CLR = 0xffffffff;
} else {
timerTemp = timer_counter1;
PWMChannelR1 = IO0_INT_STAT_R;
PWMChannelR2 = IO2_INT_STAT_R;
PWMChannelF = IO0_INT_STAT_F;
PWMChannelF2 = IO2_INT_STAT_F;
IO_PINS = FIO0PIN;
IO_PINS2 = FIO2PIN;
if (PWMChannelR1 != 0) {
switch (PWMChannelR1)
{
case PWMIN_PIN_0:
PWM_SC_Temp[0] = timerTemp;
break;
case PWMIN_PIN_1:
PWM_SC_Temp[1] = timerTemp;
break;
case PWMIN_PIN_2:
PWM_SC_Temp[2] = timerTemp;
break;
case PWMIN_PIN_3:
PWM_SC_Temp[3] = timerTemp;
break;
case PWMIN_PIN_4:
PWM_SC_Temp[4] = timerTemp;
break;
case PWMIN_PIN_5:
PWM_SC_Temp[5] = timerTemp;
break;
case PWMIN_PIN_6:
PWM_SC_Temp[6] = timerTemp;
break;
}
IO0_INT_EN_R ^= PWMChannelR1;
IO0_INT_EN_F |= PWMChannelR1;
IO0_INT_CLR |= PWMChannelR1;
}
if (PWMChannelR2 != 0) {
switch (PWMChannelR2)
{
case PWMIN_PIN_7:
PWM_SC_Temp[7] = timerTemp;
break;
case PWMIN_PIN_8:
//PWM_SC_Temp[8] = timer_counter1;
//disabled as PWM in for now to use it as the DRDY for the Compass
//MM3_runtime.STATE = MM3_DRDY;
break;
}
IO2_INT_EN_R ^= PWMChannelR2;
IO2_INT_EN_F |= PWMChannelR2;
IO2_INT_CLR |= PWMChannelR2;
}
if (PWMChannelF != 0) {
switch (PWMChannelF)
{
case PWMIN_PIN_0:
PWM_channel[0] = (signed int)(timerTemp - PWM_SC_Temp[0] - sysSetup.PWM.mpOffset[0]);
if (PWM_channel[0] > 120) PWM_channel[0] = 120;
if (PWM_channel[0] < -120) PWM_channel[0] = -120;
break;
case PWMIN_PIN_1:
PWM_channel[1] = (signed int)(timerTemp - PWM_SC_Temp[1] - sysSetup.PWM.mpOffset[1]);
if (PWM_channel[1] > 120) PWM_channel[1] = 120;
if (PWM_channel[1] < -120) PWM_channel[1] = -120;
break;
case PWMIN_PIN_2:
PWM_channel[2] = (signed int)(timerTemp - PWM_SC_Temp[2] - sysSetup.PWM.mpOffset[2]);
if (PWM_channel[2] > 120) PWM_channel[2] = 120;
if (PWM_channel[2] < -120) PWM_channel[2] = -120;
break;
case PWMIN_PIN_3:
PWM_channel[3] = (signed int)(timerTemp - PWM_SC_Temp[3] - sysSetup.PWM.mpOffset[3]);
if (PWM_channel[3] > 120) PWM_channel[3] = 120;
if (PWM_channel[3] < -120) PWM_channel[3] = -120;
break;
case PWMIN_PIN_4:
PWM_channel[4] = (signed int)(timerTemp - PWM_SC_Temp[4] - sysSetup.PWM.mpOffset[4]);
if (PWM_channel[4] > 120) PWM_channel[4] = 120;
if (PWM_channel[4] < -120) PWM_channel[4] = -120;
break;
case PWMIN_PIN_5:
PWM_channel[5] = (signed int)(timerTemp - PWM_SC_Temp[5] - sysSetup.PWM.mpOffset[5]);
if (PWM_channel[5] > 120) PWM_channel[5] = 120;
if (PWM_channel[5] < -120) PWM_channel[5] = -120;
break;
case PWMIN_PIN_6:
PWM_channel[6] = (signed int)(timerTemp - PWM_SC_Temp[6] - sysSetup.PWM.mpOffset[6]);
if (PWM_channel[6] > 120) PWM_channel[6] = 120;
if (PWM_channel[6] < -120) PWM_channel[6] = -120;
break;
}
IO0_INT_EN_F ^= PWMChannelF;
IO0_INT_EN_R |= PWMChannelF;
IO0_INT_CLR |= PWMChannelF;
}
if (PWMChannelF2 != 0) {
switch (PWMChannelF2)
{
case PWMIN_PIN_7:
PWM_channel[7] = (signed int)(timerTemp - PWM_SC_Temp[7] - sysSetup.PWM.mpOffset[7]);
if (PWM_channel[7] > 120) PWM_channel[7] = 120;
if (PWM_channel[7] < -120) PWM_channel[7] = -120;
break;
case PWMIN_PIN_8:
PWM_channel[8] =(signed int)(timerTemp - PWM_SC_Temp[8] - sysSetup.PWM.mpOffset[8]);
if (PWM_channel[8] > 120) PWM_channel[8] = 120;
if (PWM_channel[8] < -120) PWM_channel[8] = -120;
break;
}
IO2_INT_EN_F ^= PWMChannelF2;
IO2_INT_EN_R |= PWMChannelF2;
IO2_INT_CLR |= PWMChannelF2;
}
}
}
PWM_valid = 10000;
VICVectAddr = 0;
}
