/*!\brief Continuous read (multiple register reading).
* \param device_add The device address
* \param read_buffer the buffer that will contain the values read from the registers
* \param reg The register start address
* \return 1 to confirme the oparation and 0 for an error
*/
char readRegMulti(char device_add, unsigned char *read_buffer, char start_address, unsigned char numBytes) {
char error = 0;
unsigned int i = 0;
while (!error) {
error = 1;
error &= e_i2c_start();
error &= e_i2c_write(device_add); // Device address
error &= e_i2c_write(start_address | 0x80); // address of first register to be read
error &= e_i2c_restart();
error &= e_i2c_write(device_add + 1); // To change data direction ([bit 0]=1)
for (i = 0; i < numBytes; i++) {
error &= e_i2c_read(&read_buffer[i]); // read the next byte
if (i == (numBytes - 1)) { // the last byte to be read, must send nack
error &= e_i2c_nack();
} else {
error &= e_i2c_ack(); // not the last byte, send ack
}
}
e_i2c_stop(); // End read cycle
if (error)
break;
e_i2c_reset();
}
return error;
}
char e_i2cp_read_string(char device_add, char *read_buffer, char start_address, char string_length)
{
char error=0;
error=1;
error&=e_i2c_start();
error&=e_i2c_write(device_add); // Device address
error&=e_i2c_write(start_address); // address of first register to be read
error&=e_i2c_restart();
error&=e_i2c_write(device_add+1); // To change data direction ([bit 0]=1)
while (string_length) {
error&=e_i2c_read(read_buffer); // read a single byte
read_buffer++;
string_length--;
if(string_length == 0) { /* If last char, generate NACK sequence */
error&=e_i2c_nack(); // the last byte to be read, must send nack
} else { /* For other chars,generate ACK sequence */
error&=e_i2c_ack();
}
while(I2C1CONbits.ACKEN == 1); /* Wait till ACK/NACK sequence is over */
}
e_i2c_stop(); // End read cycle
return error;
}
// Write 1 byte to register reg of devantec sensor
void e_i2cd_write (char device_add, char reg, char value)
{
e_i2c_start();
e_i2c_write(device_add); // Writing the device (slave) address
e_i2c_write(reg); // Device register address
e_i2c_write(value); // Data to device
e_i2c_stop(); // Ending the communication
e_i2c_reset();
}
void write_ext_eeprom(unsigned short address, char data)
{
char error=0; // Initialize to no error
while(!error) // While they are still some errors...
{
error=1; // We initilize the error to 1
//while(!ext_eeprom_ready()); // Proposed in 2432.c from PICC, not very useful here
error&=e_i2c_start(); // We intiate a start and...
error&=e_i2c_write(0x10); // ... write the hardware selectable address A0 = 0, A1 = 1, A2 = 0 and we write (last bit = 0)
error&=e_i2c_write(0x00); // ... write the most significant byte of the memory address
error&=e_i2c_write(0x05); // ... and finally the value that we want to store
error&=e_i2c_stop(); // ... the tranfer is then terminated by a stop
}
// delay_ms(8);
}
//read 1 byte from the register reg of devantec sensor
char e_i2cd_readb(char device_add, char reg)
{
char value;
e_i2c_start(); // start
e_i2c_write(device_add); // Device address
e_i2c_write(reg); // Register address
e_i2c_restart(); // 2nd start
e_i2c_write(device_add+1); // Device address
e_i2c_read(&value); // read single byte
e_i2c_nack(); // only 1 byte is being read, so send nack
e_i2c_stop(); // end read cycle
e_i2c_reset();
return value;
}
/*! \brief Write a specific register on a device
* \param device_add The address of the device you want information
* \param reg The register address you want read on the device
* \param value The data you want to write
* \return 1 to confirme the oparation and 0 for an error
*/
char e_i2cp_write (char device_add, char reg, char value)
{
char error=0;
while(!error)
{
error=1;
error&=e_i2c_start();
error&=e_i2c_write(device_add); // Writing the device (slave) address
error&=e_i2c_write(reg); // Device register address
error&=e_i2c_write(value); // Data to device
error&=e_i2c_stop(); // Ending the communication
if(error)
break;
e_i2c_reset();
}
return error;
}
char read_ext_eeprom(unsigned short address)
{
char error=0; // Initialize to no error
char data=0x00; // Initialize the data
while(!error) { // While they are still some errors...
error=1; // We initilize the error to 1
//while(!ext_eeprom_ready()); // Proposed in 2432.c from PICC, not very useful here
error&=e_i2c_start(); // We intiate a start and...
error&=e_i2c_write(0x10); // ... write the hardware selectable address A0 = 0, A1 = 1, A2 = 0 and we write (last bit = 0)
error&=e_i2c_write(0x01); // ... then the least significant byte of the memory address
error&=e_i2c_restart(); // ... In order to indicate to the slave that he can send the data, we iniate a restart
error&=e_i2c_write(0x11); // ... write the hardware selectable address A0 = 0, A1 = 1, A2 = 0 and we read (last bit = 1)
error&=e_i2c_read(&data); // ... and read the data sent by the slave (here the memory)
error&=e_i2c_nack(); // ... only 1 byte is being read, so send nack
error&=e_i2c_stop(); // ... the tranfer is then terminated by a stop
}
return(data);
}
char e_i2cp_write (char device_add,char reg, char value)
{
char error=0; // Initialize to no error
while(!error) { // While they are still some errors...
error=1; // We initilize the error to 1
error&=e_i2c_start(); // We intiate a start and...
error&=e_i2c_write(device_add); // ... write the I2C MODULE ADDRESS we want to write
error&=e_i2c_write(reg); // ... and the REGISTER ADDRESS we want to write
error&=e_i2c_write(value); // ... and send the value we want to write
error&=e_i2c_stop(); // ... the tranfer is then terminated by a stop
if(error) {
break;
}
e_i2c_reset();
}
return error;
}
char e_i2cp_read(char device_add,char reg)
{
char error=0; // Initialize to no error
char value; // Value that will be returned
while(!error) { // While they are still some errors...
error=1; // We initilize the error to 1
error&=e_i2c_start(); // We intiate a start and...
error&=e_i2c_write(device_add); // ... write the I2C MODULE ADDRESS we want to read
error&=e_i2c_write(reg); // ... and the REGISTER ADDRESS we want to read
error&=e_i2c_restart(); // ... In order to indicate to the slave that he can send the data, we iniate a restart
error&=e_i2c_write(device_add+1); // ... and rewrite the MODULE ADDRESS with change of data direction ([bit 0]=1)
error&=e_i2c_read(&value); // ... and read the data sent by the slave (the I2C Module)
e_i2c_nack(); // ... only 1 byte is being read, so send nack
e_i2c_stop(); // ... the tranfer is then terminated by a stop
if(error) {
break;
}
e_i2c_reset();
}
return value;
}
/*! \brief Read a specific register on a device
* \param device_add The address of the device you want information
* \param reg The register address you want read on the device
* \return The readed value
*/
char e_i2cp_read(char device_add, char reg)
{
char error=0;
char value;
while(!error)
{
error=1;
error&=e_i2c_start();
error&=e_i2c_write(device_add); // Device address
error&=e_i2c_write(reg); // Register address
error&=e_i2c_restart();
error&=e_i2c_write(device_add+1); // To change data direction ([bit 0]=1)
error&=e_i2c_read(&value); // read single byte
e_i2c_nack(); // only 1 byte is being read, so send nack
e_i2c_stop(); // end read cycle
if(error)
break;
e_i2c_reset();
}
return value;
}
int main(void) {
// Locals General. -----------------------------------------------------
char imu_board_id[9] = {0,0,0,0, 0,0,0,0, 0};
char message[1024]; // Any message to send by UART1
InitOscillator(); // Initialize the PLL (also disables wdt)
__delay32(_50MILLISEC);
// Init mcu ports ------------------------------------------------------
init_port(); // Initialize ports
LED_ORNG =0;
LED_RED = 1;
// Init UARTS. ---------------------------------------------------------
init_UART1(); // Initialize the serial communication (TTL / RS-232)
init_UART2();
broadcast_message("RC Testing program\n");
// Init Analog Channels. -----------------------------------------------
analog_initAnalog(); // Init the ADC module
// Init SPI. ---------------------------------------------------------
init_SPI();
// Init I2C. ---------------------------------------------------------
e_i2cp_init();
e_i2cp_enable();
__delay32(_50MILLISEC);
e_i2c_write(0x00); // dummy byte to get the START bit on the bus (believe it or not!)
// Init RC. ----------------------------------------------------------
initControlVariables(NULL);
broadcast_message("Initialising RC\n");
LED_ORNG =1;
LED_RED = 1;
BuzzerBip(1,1); // Make x bips of the Buzzer (blocking)
RCInitReception();
// RCSetType(RC_WK2401);
RCSetType(RC_WK2402);
broadcast_message("Initialising IMU\n");
// Init BUZZER. ----------------------------------------------------------
__delay32(_200MILLISEC); // Wait for the IMU to boot
while (INT_IMU==0) // Wait for the IMU to boot
{
FlashORNG (); // Flash the LED
}
read_imu_version(imu_board_id); imu_board_id[8] = 0;
broadcast_message("Entering main loop\n");
// Init BUZZER. ----------------------------------------------------------
BuzzerBip(3,1); // Make x bips of the Buzzer, blocking
InitLoopTimer(control.params.T_ctrl_ms);// Initialize & Enable control loop timer (20ms; 50Hz)
LED_RED = 0;
while (1) {
__delay32(5*_10MILLISEC);
sprintf(message, "RC %+.2f %+.2f %+.2f %.2f %.2f %+.2f %+.2f %+.2f %s CTRL %02X %s %s\n",
RC_THROTTLE, RC_YAW, RC_ROLL, RC_PITCH,
RC_THROTTLE_TRIM, RC_YAW_TRIM, RC_ROLL_TRIM, RC_PITCH_TRIM,
string_of_rc_state(RCSMGetState()),
control.flags.CONTROL_MODE,
string_of_control_mode(control.flags.CONTROL_MODE),
string_of_control_type(control.flags.CONTROL_MODE));
broadcast_message(message);
}
return 0;
} // End of main
