unsigned char* read(void)
{
askAboutSending();
unsigned char *readBuffer = NULL;
int statusRxFifoFilling = 0;
int howManyRead = 0;
statusRxFifoFilling = USIC_GetRxFIFOFillingLevel(UART001_0_USIC_CH);
if(((UART001_GetFlagStatus(&UART001_Handle0,UART001_FIFO_STD_RECV_BUF_FLAG)) == UART001_SET))
{
statusRxFifoFilling = USIC_GetRxFIFOFillingLevel(UART001_0_USIC_CH);
if(statusRxFifoFilling != 0)
{
readBuffer = (unsigned char *)malloc((sizeof(unsigned char)*statusRxFifoFilling) + 1);
howManyRead = UART001_ReadDataBytes(&UART001_Handle0, readBuffer, statusRxFifoFilling);
readBuffer[statusRxFifoFilling] = '\0';
}
UART001_ClearFlag(&UART001_Handle0,UART001_FIFO_STD_RECV_BUF_FLAG);
while(!USIC_ubIsRxFIFOempty(UART001_0_USIC_CH))
{
USIC_FlushRxFIFO(UART001_0_USIC_CH);
}
}
stopAskingAboutSending();
return readBuffer;
}
void read(void)
{
emptyReadData();
if(((UART001_GetFlagStatus(&UART001_Handle0,UART001_FIFO_STD_RECV_BUF_FLAG)) == UART001_SET))
{
IO004_TogglePin(IO004_Handle1);
statusRxFifoFilling = USIC_GetRxFIFOFillingLevel(UART001_0_USIC_CH);
howManyRead = UART001_ReadDataBytes(&UART001_Handle0, readData, statusRxFifoFilling);
if(strcmp(readData, "LSM9DS1") == 0)
{
chosenSensor = 1;
}
else if(strcmp(readData, "TEMP_SENSOR") == 0)
{
chosenSensor = 2;
}
UART001_ClearFlag(&UART001_Handle0,UART001_FIFO_STD_RECV_BUF_FLAG);
while(!USIC_ubIsRxFIFOempty(UART001_0_USIC_CH))
{
USIC_FlushRxFIFO(UART001_0_USIC_CH);
}
copyData();
stopAskingAboutSending();
}
}
void DaisyChain(void)
{
uint8_t i=0;
status_t status=0;
uint32_t data=0;
static enum MotorState LastmotorState = Stopped;
if ( motorState == StartUp )
{
CharCNT = 0;
USIC_FlushRxFIFO(UART001_Handle0.UartRegs);
}
if ( (LastmotorState == StartUp) && (motorState != Running) )//(motorState == Running)StartUp
{
CCU40_CC42->TCCLR |= 0x02; //定时器清零
//Start slicesCCU4定时器运行
CCU40_CC42->TCSET |= 0x01UL;
CharCNT++;
if ( CharCNT >= 13 ) //能收到连续的13字节完整包
{
CharCNT = 0;
LastmotorState = motorState;
CCU40_CC42->TCCLR |= 3UL; //定时器停止运行
USIC_FlushRxFIFO(UART001_Handle0.UartRegs);///added
}
else
{
return;
}
}
else
LastmotorState = motorState;
// if (DaisyTimeOut)
// StopMotor();
if(USIC_GetRxFIFOFillingLevel(UART001_Handle0.UartRegs) >= DAISY_BUFFER_SIZE)
{
CCU40_CC42->TCCLR |= 3UL; //定时器停止运行
//Read data from UART buffer
UART001_ReadDataBytes(&UART001_Handle0,FifoRecBuffer,DAISY_BUFFER_SIZE);
//Assumption that communication is lost --> emtpy Receive Buffer
if (FifoRecBuffer[DAISY_BUFFER_SIZE-1] != DAISY_STOP_BYTE)
{
//IO004_TogglePin(IO004_Handle1);
USIC_FlushRxFIFO(UART001_Handle0.UartRegs);
return;
}
uint8_t cmd = FifoRecBuffer[0];
uint16_t params = (FifoRecBuffer[1] << 8 | FifoRecBuffer[2]);
switch (cmd)
{
case START_MOTOR:
StartMotor();
break;
case STOP_MOTOR:
StopMotor();
break;
case SET_REF_CURRENT:
SetReferenceCurrent(params);
break;
}
for(i=DAISY_MESSAGE_LENGTH; i<DAISY_BUFFER_SIZE-1; i++)
FifoTransBuffer[i-DAISY_MESSAGE_LENGTH]=FifoRecBuffer[i];
//Status-Code
FifoTransBuffer[i-DAISY_MESSAGE_LENGTH]=status;
i++;
//Data
FifoTransBuffer[i-DAISY_MESSAGE_LENGTH]=(uint8_t)(data >> 8);
i++;
FifoTransBuffer[i-DAISY_MESSAGE_LENGTH]=(uint8_t)data;
i++;
FifoTransBuffer[i-DAISY_MESSAGE_LENGTH]=DAISY_STOP_BYTE;
DaisyTimeOut = 0;
DaisyCount++;
UART001_WriteDataBytes(&UART001_Handle0, FifoTransBuffer, DAISY_BUFFER_SIZE);
}
uint8_t I2CreadByte(uint8_t address, uint8_t subAddress)
{
uint32_t stageOfReading = 0;
//deviceAddress address = *((deviceAddress*)T);
I2C001_DataType data1;
data1.Data1.TDF_Type = I2C_TDF_MStart;
data1.Data1.Data = ((address<<1) | I2C_WRITE);
/*while(!*/I2C001_WriteData(&I2C001_Handle0,&data1);/*);*/
delay(DELAY*10);
I2C001_DataType data2;
data2.Data1.TDF_Type = I2C_TDF_MTxData;
data2.Data1.Data = subAddress;
/*while(!*/I2C001_WriteData(&I2C001_Handle0,&data2);/*);*/
delay(DELAY*10);
//delay(15000);
I2C001_DataType data3;
data3.Data1.TDF_Type = I2C_TDF_MRStart;
data3.Data1.Data = ((address<<1) | I2C_READ);
/*while(!*/I2C001_WriteData(&I2C001_Handle0,&data3);/*);*/
delay(DELAY*10);
I2C001_DataType data4;
data4.Data1.TDF_Type = I2C_TDF_MRxAck1;
data4.Data1.Data = ubyteFF;
/*while(!*/I2C001_WriteData(&I2C001_Handle0,&data4);/*);*/
/*while (!(I2C001_SET == I2C001_GetFlagStatus(&I2C001_Handle0, I2C001_FLAG_RIF)))
{
int i = 0;
if(I2C001_GetFlagStatus(&I2C001_Handle0, I2C001_FLAG_NACK_RECEIVED))
{
break;
}
};*/
delay(DELAY);
I2C001_DataType data5;
data5.Data1.TDF_Type = I2C_TDF_MStop;
data5.Data1.Data = ubyteFF;
/*while(!*/I2C001_WriteData(&I2C001_Handle0,&data5);/*);*/
stageOfReading++;
int k = 0;
while(0 == received){k++; if(k > 4000) break; }
received = 0;
delay(DELAY*10);
int j = USIC_GetRxFIFOFillingLevel(I2C001_Handle0.I2CRegs);
//uint16_t DataReceive1 = 0;
//(USIC_ubIsRxFIFOempty(I2C001_Handle0.I2CRegs)){};
//delay(15000);
/*while(I2C001_GetFlagStatus(&I2C001_Handle0, I2C001_FLAG_SRBI) ==
I2C001_RESET)
{
int i = 0;
I2C001_ClearFlag(&I2C001_Handle0, I2C001_FLAG_RIF);
I2C001_ClearFlag(&I2C001_Handle0, I2C001_FLAG_RSIF);
}
while(USIC_ubIsRxFIFOempty(I2C001_Handle0.I2CRegs));
I2C001_ReadData(&I2C001_Handle0,&DataReceive1);
int j = USIC_GetRxFIFOFillingLevel(I2C001_Handle0.I2CRegs);*/
//I2C001_Handle0.I2CRegs->TRBSCR;
/*while(I2C001_SET == I2C001_GetFlagStatus(&I2C001_Handle0, I2C001_FLAG_RIF))
{
I2C001_ClearFlag(&I2C001_Handle0, I2C001_FLAG_RIF);
}
while(I2C001_SET == I2C001_GetFlagStatus(&I2C001_Handle0, I2C001_FLAG_RSIF))
{
I2C001_ClearFlag(&I2C001_Handle0, I2C001_FLAG_RSIF);
}
while(I2C001_SET == I2C001_GetFlagStatus(&I2C001_Handle0, I2C001_FLAG_DLIF))
{
I2C001_ClearFlag(&I2C001_Handle0, I2C001_FLAG_DLIF);
}
while(I2C001_SET == I2C001_GetFlagStatus(&I2C001_Handle0, I2C001_FLAG_RBERI))
{
I2C001_ClearFlag(&I2C001_Handle0, I2C001_FLAG_RBERI);
}*/
//I2C001_ClearFlag(&I2C001_Handle0, I2C001_FLAG_RSIF);
/*uint16_t DataReceive1 = 0;
while (!I2C001_GetFlagStatus(&I2C001_Handle0, I2C001_FLAG_RIF));
if(I2C001_ReadData(&I2C001_Handle0,&DataReceive1))
{
I2C001_ClearFlag(&I2C001_Handle0, I2C001_FLAG_RIF);
I2C001_ClearFlag(&I2C001_Handle0, I2C001_FLAG_RSIF);
stageOfReading++;
delay(DELAY);
}
else
{
stageOfReading--;
}*/
return (uint8_t)DataReceive1;
}
void readHumidTimerHandler(void *T)
{
I2C001_DataType data1;
data1.Data1.TDF_Type = I2C_TDF_MRStart;
data1.Data1.Data = ((HTDU21D_ADDRESS << 1) | I2C_READ);
I2C001_WriteData(&I2C001_Handle1,&data1);
delay11(DELAY);
if(I2C001_GetFlagStatus(&I2C001_Handle1,I2C001_FLAG_NACK_RECEIVED) == I2C001_SET)
{
I2C001_ClearFlag(&I2C001_Handle1,I2C001_FLAG_NACK_RECEIVED);
errorCounter++;
}
else
{
uint8_t msb = 0x00;
uint8_t lsb = 0x00;
uint8_t checksum = 0x00;
USIC_CH_TypeDef* I2CRegs = I2C001_Handle1.I2CRegs;
I2C001_DataType data2;
data2.Data1.TDF_Type = I2C_TDF_MRxAck0;
data2.Data1.Data = ubyteFF;
I2C001_WriteData(&I2C001_Handle1,&data2);
delay11(DELAY);
if(!USIC_ubIsRxFIFOempty(I2CRegs))
{
msb = (uint8_t)I2CRegs->OUTR;
//Result = (bool)TRUE;
}
I2C001_DataType data3;
data3.Data1.TDF_Type = I2C_TDF_MRxAck0;
data3.Data1.Data = ubyteFF;
I2C001_WriteData(&I2C001_Handle1,&data3);
delay11(DELAY);
if(!USIC_ubIsRxFIFOempty(I2CRegs))
{
lsb = (uint8_t)I2CRegs->OUTR;
//Result = (bool)TRUE;
}
I2C001_DataType data4;
data4.Data1.TDF_Type = I2C_TDF_MRxAck1;
data4.Data1.Data = ubyteFF;
I2C001_WriteData(&I2C001_Handle1,&data4);
delay11(DELAY);
I2C001_DataType data5;
data5.Data1.TDF_Type = I2C_TDF_MStop;
data5.Data1.Data = ubyteFF;
I2C001_WriteData(&I2C001_Handle1,&data5);
delay11(DELAY);
int d = USIC_GetRxFIFOFillingLevel(I2CRegs);
// Read receive buffer, put the data in DataReceive1
if(!USIC_ubIsRxFIFOempty(I2CRegs))
{
checksum = (uint8_t)I2CRegs->OUTR;
//Result = (bool)TRUE;
}
unsigned int rawHumid = ((unsigned int) msb << 8) | (unsigned int) lsb;
if(check_crc(rawHumid, checksum) != 0)
{
wrong_checksum = 1;
}
rawHumid &= 0xFFFC; //Zero out the status bits but keep them in place
//Given the raw temperature data, calculate the actual temperature
float tempRH = rawHumid / (float)65536; //2^16 = 65536
rh = -6 + (125 * tempRH); //From page 14
readHumid = 1;
}
}
