S8 I2C1_WRITE_String(U8 DevAdd, U8 RegAdd, U8 *RegValue, U8 len)
{
char ComRes;
DevAdd = (DevAdd<<1)|M_I2C_Write;
StartI2C1(); // Send the start bit
IdleI2C1(); // Wait to complete
while(I2C1STATbits.ACKSTAT); //wait for acknowledgement
ComRes=MasterWriteI2C1(DevAdd); // Adress with write mode
IdleI2C1(); // Wait to complete
while(I2C1STATbits.ACKSTAT); //wait for acknowledgement
ComRes=MasterWriteI2C1(RegAdd); // Write the chip ID register loaction for read
IdleI2C1(); // Send the start bit
while(I2C1STATbits.ACKSTAT); //wait for acknowledgement
while(len--)
{
ComRes=MasterWriteI2C1(*RegValue); // Write the chip ID register loaction for read
IdleI2C1(); // Wait to complete
while(I2C1STATbits.ACKSTAT); //wait for acknowledgement
RegValue++;
}
StopI2C1(); // Stop the I2C communication
IdleI2C1(); // Wait to complete
return ComRes;
}
bool I2C1dev_writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) {
// S
IdleI2C1();
StartI2C1();
// Device write address
IdleI2C1();
WriteI2C1(devAddr << 1 | 0x00);
// Register address
IdleI2C1();
WriteI2C1(regAddr);
for (i_accel = 0; i_accel < length; i_accel++) {
// Data byte
IdleI2C1();
WriteI2C1(data[i_accel]);
}
// P
IdleI2C1();
StopI2C1();
return 1;
}
void main(void) {
unsigned char slave7bitAddr = 0x2A; //7-bit address of Slave. MSB=Don't care.
unsigned char slaveAddrWrite = (slave7bitAddr << 1); //LSB=0, Master Write request.
signed char writeStat;
unsigned char message[11] = {'H', 'e', 'l', 'l', 'o', ' ', 'W', 'o', 'r', 'l', 'd'};
OSCCONbits.IRCF = 0b111; //Set internal oscillator to 16mHz
//Must set SCL(pin RC3)and SDA(pin RC4) as inputs and enable digital buffers.
TRISCbits.TRISC3 = 1; //set input
TRISCbits.TRISC4 = 1;
ANSELCbits.ANSC3 = 0; //enable digital buffer
ANSELCbits.ANSC4 = 0;
OpenI2C1(MASTER, SLEW_OFF); //If you switch to 400kHz (see below) set SLEW_ON
/* You can ignore all I2C "unable to resolve identifier" errors assuming
you didn't make any typos. Don't forget the "1"'s. */
/* Now set the I2C clock speed. I2C Master always controls clock.
For 400kHz use 1k pullup resistors and for 100kHz use 2.2k ohms */
SSP1ADD = 0x27; //100Khz = FOSC/(4 * (SSPADD + 1)) = 16E6/((39 + 1) * 4)note:39=0x27
//SSP1ADD = 0x09; //400Khz = FOSC/(4 * (SSPADD + 1)) = 16E6/((9 + 1) * 4)
while (1) {
IdleI2C1(); //Wait for bus to become idle.
StartI2C1(); //Begin I2C communication
IdleI2C1();
//send slave address (w/write request bit) and wait for slave to reply.
do {
writeStat = WriteI2C1(slaveAddrWrite); //Send address with LSB=Write
if (writeStat == -1) { //Detected bus collision - More than one master?
unsigned char data = SSP1BUF; //clear the buffer by reading it.
SSPCON1bits.WCOL = 0; //clear the bus collision status bit
} else if (writeStat == -2) { //NACK (no acknowledge rx'd)
//Is the slave on and ready? Did we send the correct address?
}
} while (writeStat != 0); //Keep repeating until slave acknowledges.
//Slave has Ack'd so we can send our Hello World message now.
for (int x = 0; x <= 10; x++) {
do {
writeStat = (WriteI2C1(message[x]));
if (writeStat == -2) { //NACK (no acknowledge rx'd)
//Is the slave on and ready? Using the correct pullups?
}
} while (writeStat != 0); //Keep repeating until slave acknowledges.
}
IdleI2C1();
StopI2C1();
//Delay about 1 sec and then repeat. 1sec = ((10K*200*2)/(16E6/4)
Delay10KTCYx(200);
Delay10KTCYx(200);
}
}
int RcvData(unsigned int address) {
StartI2C1(); //Send line start condition
IdleI2C1(); //Wait to complete
MasterWriteI2C1((address << 1) | 1); //Write out slave address OR 1 (read command)
IdleI2C1(); //Wait to complete
int rcv = MasterReadI2C1(); //Read in a value
StopI2C1(); //Send line stop condition
IdleI2C1(); //Wait co complete
return rcv; //Return read value
}
void LDByteWriteI2C(unsigned char SlaveAddress, unsigned char reg, unsigned char data){
StartI2C1(); //Send the Start Bit
IdleI2C1(); //Wait to complete
MasterWriteI2C1(SlaveAddress); //transmit write command
IdleI2C1(); //Wait to complete
MasterWriteI2C1(reg);
IdleI2C1();
MasterWriteI2C1(data);
IdleI2C1();
StopI2C1();
IdleI2C1();
}
void ClearAll(void)
{
StartI2C1();
IdleI2C1();
MasterWriteI2C1(Slave);
IdleI2C1();
MasterWriteI2C1(Comsend);
IdleI2C1();
MasterWriteI2C1(Clear);
IdleI2C1();
StopI2C1();
IdleI2C1();
}
void SecondLine(void)
{
StartI2C1();
IdleI2C1();
MasterWriteI2C1(Slave);
IdleI2C1();
MasterWriteI2C1(Comsend);
IdleI2C1();
MasterWriteI2C1(Line2);
IdleI2C1();
StopI2C1();
IdleI2C1();
}
void FirstLine(void)
{
StartI2C1();
IdleI2C1();
MasterWriteI2C1(Slave);
IdleI2C1();
MasterWriteI2C1(Comsend);
IdleI2C1();
MasterWriteI2C1(0x80);
IdleI2C1();
StopI2C1();
IdleI2C1();
}
/**
* @brief Write to device using generic i2c protocol
* @param[in] slave_addr - slave address
* @param[in] reg_addr - register address
* @param[in] length - number of bytes to read
* @param[in] *data - pointer to where register data is to be transfered
* @return 0 if sucessfull, 1 otherwise
*/
int i2c_read(unsigned char slave_addr, unsigned char reg_addr, unsigned char length, unsigned char *data) {
BYTE i=2;
StartI2C1(); //Send the Start Bit
IdleI2C1();
if (MasterWriteI2C1(((slave_addr<<1)|(0x00))))
return 1;
IdleI2C1();
if (MasterWriteI2C1(reg_addr))
return 1;
IdleI2C1();
StartI2C1(); //Send the Start Bit
IdleI2C1(); //Wait to complete
if (MasterWriteI2C1(((slave_addr<<1)|(0x01))))
return 1;
IdleI2C1();
I2CReceiverEnable ( I2C1, TRUE);
for(i=0;i<length;i++) {
data[i] = MasterReadI2C1();
if(i<(length-1)) {
I2CAcknowledgeByte(MPU_I2C, TRUE);
IdleI2C1();
}
else {
I2CAcknowledgeByte(MPU_I2C, FALSE);
IdleI2C1();
}
}
StopI2C1(); //Send the Stop condition
IdleI2C1(); //Wait to complete
return 0;
}
S8 I2C1_READ_String(U8 DevAdd, U8 RegAdd, U8 *RegValue, U8 len)
{
int DataWait = len*100;
char ComRes,DevAddr;
DevAddr = (DevAdd<<1)|M_I2C_Write;
StartI2C1(); // Send the start bit
IdleI2C1(); // Wait to complete
while(I2C1STATbits.ACKSTAT); //wait for acknowledgement
ComRes=MasterWriteI2C1(DevAddr); // Adress with write mode
IdleI2C1(); // Wait to complete
while(I2C1STATbits.ACKSTAT); //wait for acknowledgement
ComRes=MasterWriteI2C1(RegAdd); // Write the chip ID register loaction for read
IdleI2C1(); // Send the start bit
while(I2C1STATbits.ACKSTAT); //wait for acknowledgement
RestartI2C1(); // Send the start bit
IdleI2C1(); // Wait to complete
while(I2C1STATbits.ACKSTAT); //wait for acknowledgement
DevAddr = (DevAdd<<1)|M_I2C_Read;
MasterWriteI2C1(DevAddr); // Adress with write mode
IdleI2C1(); // Wait to complete
while(I2C1STATbits.ACKSTAT); //wait for acknowledgement
MastergetsI2C1(len, RegValue, DataWait); // Read the Register value
IdleI2C1(); // Wait to complete
NotAckI2C1(); // Not Acknowledge I2C
IdleI2C1(); // Wait to complete
StopI2C1(); // Stop I2C communication
IdleI2C1(); // Wait to complete;
return ComRes;
}
/***************************************************
* SendData(int data, unsigned int address) *
* *
* Sends a byte of data (DATA) over the I2C line *
* to I2C address ADDRESS *
* *
* Returns: nothing *
***************************************************/
void SendData (int data, unsigned int address){
StartI2C1(); //Send the Start Bit
IdleI2C1(); //Wait to complete
MasterWriteI2C1((address << 1)); //Sends the slave address over the I2C line. This must happen first so the
//proper slave is selected to receive data.
IdleI2C1(); //Wait to complete
MasterWriteI2C1(data); //Sends data byte over I2C line
IdleI2C1(); //Wait to complete
StopI2C1(); //Send the Stop condition
IdleI2C1(); //Wait to complete
} //end function
/*
* send data to a slave device
* takes the slave address, writes the given data byte
*/
int sendSpeed(unsigned int *slaveAddr, unsigned int *speed) {
// get the data from global variable
char newSpeed[3] = {*speed, 'X', '\0'};
// wait until idle - not actually needed for single-master bus
IdleI2C1();
StartI2C1(); // send start
data = SSP1BUF;
WriteI2C1(*slaveAddr & 0xFE);
// do { // send address until ack'd
// status = WriteI2C1(*slaveAddr || 0x00);
// if (!(0 == status)) { // write collision
// data = SSP1BUF;
// SSP1CON1bits.WCOL = 0;
// }
// } while (!(0 == status));
// send bytes
WriteI2C1(newSpeed[0]); // TODO: send multiple bytes
StopI2C1(); // stop transmission
return 1;
}
uint8_t I2C_WriteToReg(uint8_t I2CAddress, uint8_t deviceRegister, uint8_t data) {
StartI2C1();
while(I2CCONbits.SEN);
IFS1bits.MI2C1IF = 0;
MasterWriteI2C1(I2CAddress << 1);
while(I2CSTATbits.TBF); // 8 clock cycles
while(!IFS1bits.MI2C1IF); // Wait for 9th clock cycle
IFS1bits.MI2C1IF = 0; // Clear interrupt flag
MasterWriteI2C1(deviceRegister);
while(I2CSTATbits.TBF); // 8 clock cycles
while(!IFS1bits.MI2C1IF); // Wait for 9th clock cycle
IFS1bits.MI2C1IF = 0; // Clear interrupt flag
MasterWriteI2C1(data);
while(I2CSTATbits.TBF); // 8 clock cycles
while(!IFS1bits.MI2C1IF); // Wait for 9th clock cycle
IFS1bits.MI2C1IF = 0; // Clear interrupt flag
StopI2C1(); // Write stop sequence.
while(I2CCONbits.PEN);
IdleI2C1();
return(1);
}
void Init_mcp(void)
{
unsigned int config2, config1;
config2 = 0x190; // Baud rate is set for 100 kHz
config1 = 0b1000001000100000;
/*
* (I2C_ON & I2C_IDLE_CON & I2C_CLK_HLD & I2C_IPMI_DIS & I2C_7BIT_ADD &
* I2C_SLW_DIS & I2C_SM_DIS & I2C_GCALL_DIS & I2C_STR_DIS & I2C_NACK &
* I2C_ACK_DIS & I2C_RCV_DIS & I2C_STOP_DIS & I2C_RESTART_DIS &
* I2C_START_DIS)
*/
// Configure I2C for 7 bit address mode
OpenI2C1(config1, config2);
IdleI2C1();
//Initialize MCP23017 i2c I/O expander
Write23X08_17(IOCONA, 0b01111000, 0x00);
Write23X08_17(GPPUA, 0x00, 0x00); // Set Pull-up resistors
Write23X08_17(GPPUB, 0x1F, 0x00); // Set Pull-up resistors
Write23X08_17(IPOLA, 0x00, 0x00); // I/O polarity normal
Write23X08_17(IPOLB, 0x00, 0x00); // I/O polarity normal
Write23X08_17(GPIOA, 0x00, 0x00); // Row is kept LOW while changing I/O
Write23X08_17(GPIOB, 0x00, 0x00); // Row is kept LOW while changing I/O
Write23X08_17(IODIRA, 0x00, 0x00); // Rows = inputs; Columns = outputs
Write23X08_17(IODIRB, 0x1F, 0x00); // Rows = inputs; Columns = outputs
}
void I2C_WriteToReg(uint8_t address, uint8_t deviceRegister, uint8_t data)
{
// Assert the start condition
StartI2C1();
while (I2C1CONbits.SEN);
IFS1bits.MI2C1IF = 0;
// Send the 7-bit I2C device address
MasterWriteI2C1(address << 1);
while (I2C1STATbits.TBF); // 8 clock cycles
while (!IFS1bits.MI2C1IF); // Wait for 9th clock cycle
IFS1bits.MI2C1IF = 0; // Clear interrupt flag
// Send the register address
MasterWriteI2C1(deviceRegister);
while (I2C1STATbits.TBF); // 8 clock cycles
while (!IFS1bits.MI2C1IF); // Wait for 9th clock cycle
IFS1bits.MI2C1IF = 0; // Clear interrupt flag
// Send the data
MasterWriteI2C1(data);
while (I2C1STATbits.TBF); // 8 clock cycles
while (!IFS1bits.MI2C1IF); // Wait for 9th clock cycle
IFS1bits.MI2C1IF = 0; // Clear interrupt flag
// Assert the stop condition
StopI2C1();
while (I2C1CONbits.PEN);
// Sit idle on the bus
IdleI2C1();
}
signed char WriteI2C1( unsigned char data_out )
{
SSPBUF = data_out; // write single byte to SSPBUF
if ( SSPCON1bits.WCOL ) // test if write collision occurred
return ( -1 ); // if WCOL bit is set return negative #
else
{
if( ((SSPCON1&0x0F)!=0x08) && ((SSPCON1&0x0F)!=0x0B) ) //Slave mode only
{
SSPCON1bits.CKP = 1; // release clock line
while ( !PIR1bits.SSPIF ); // wait until ninth clock pulse received
if ( ( !SSPSTATbits.R_W ) && ( !SSPSTATbits.BF ) )// if R/W=0 and BF=0, NOT ACK was received
{
return ( -2 ); //return NACK
}
else
{
return ( 0 ); //return ACK
}
}
else if( ((SSPCON1&0x0F)==0x08) || ((SSPCON1&0x0F)==0x0B) ) //master mode only
{
while( SSPSTATbits.BF ); // wait until write cycle is complete
IdleI2C1(); // ensure module is idle
if ( SSPCON2bits.ACKSTAT ) // test for ACK condition received
return ( -2 ); // return NACK
else return ( 0 ); //return ACK
}
}
}
uint8_t I2C_ReadFromReg(uint8_t I2CAddress, uint8_t deviceRegister) {
uint8_t data = 0;
StartI2C1();
while(I2CCONbits.SEN);
MasterWriteI2C1(I2CAddress << 1);
while(I2CSTATbits.TBF); // 8 clock cycles
while(!IFS1bits.MI2C1IF); // Wait for 9th clock cycle
IFS1bits.MI2C1IF = 0; // Clear interrupt flag
MasterWriteI2C1(deviceRegister);
while(I2CSTATbits.TBF); // 8 clock cycles
while(!IFS1bits.MI2C1IF); // Wait for 9th clock cycle
IFS1bits.MI2C1IF = 0; // Clear interrupt flag
RestartI2C1(); // Second start.
while(I2CCONbits.RSEN);
MasterWriteI2C1((I2CAddress << 1 )+ 1);
while(I2CSTATbits.TBF); // 8 clock cycles
while(!IFS1bits.MI2C1IF); // Wait for 9th clock cycle
IFS1bits.MI2C1IF = 0; // Clear interrupt flag
data = MasterReadI2C1();
NotAckI2C1(); // Read stop sequence.
while(I2C1CONbits.ACKEN == 1);
StopI2C1();
while(I2CCONbits.PEN);
IdleI2C1();
return(data);
}
void WaitI2C(I2cBus* i2cBus) {
if (i2cBus == NULL) {
IdleI2C1();
}
else {
enum I2cPort portIndex = i2cBus->port;
if (portIndex == I2C_BUS_PORT_1) {
while(I2C1CONbits.SEN || I2C1CONbits.PEN || I2C1CONbits.RSEN || I2C1CONbits.RCEN || I2C1CONbits.ACKEN || I2C1STATbits.TRSTAT);
}
#if defined _I2C2
else if (portIndex == I2C_BUS_PORT_2) {
while(I2C2CONbits.SEN || I2C2CONbits.PEN || I2C2CONbits.RSEN || I2C2CONbits.RCEN || I2C2CONbits.ACKEN || I2C2STATbits.TRSTAT);
}
#endif
#if defined _I2C3
else if (portIndex == I2C_BUS_PORT_3) {
while(I2C3CONbits.SEN || I2C3CONbits.PEN || I2C3CONbits.RSEN || I2C3CONbits.RCEN || I2C3CONbits.ACKEN || I2C3STATbits.TRSTAT);
}
#endif
#if defined _I2C4
else if (portIndex == I2C_BUS_PORT_4) {
while(I2C4CONbits.SEN || I2C4CONbits.PEN || I2C4CONbits.RSEN || I2C4CONbits.RCEN || I2C4CONbits.ACKEN || I2C4STATbits.TRSTAT);
}
}
#endif
}
/*
* Function reads I2C device from slaveAdd
* inputs: slaveAdd
* registerAdd
* returns: int recByte -> received byte from slave device
* -1 -> reading error
*/
unsigned char I2C1ReadByte1(UINT8 slaveAdd, UINT8 registerAdd)
{
unsigned char recByte = 0;
UINT8 address;
StartI2C1();
IdleI2C1(); //Wait to complete
address = (slaveAdd<<1) & 0xFE; //write
MasterWriteI2C1(address);
IdleI2C1();
if(I2C1STATbits.ACKSTAT)
{
StopI2C1();
IdleI2C1();
return 0;
}
//Send register register location
MasterWriteI2C1(registerAdd);
IdleI2C1();
if(I2C1STATbits.ACKSTAT)
{
StopI2C1();
IdleI2C1();
return 0;
}
RestartI2C1(); //Send start condition again
IdleI2C1();
address = (slaveAdd<<1) | 0x01; //Read
MasterWriteI2C1(address);
IdleI2C1();
if(I2C1STATbits.ACKSTAT)
{
StopI2C1();
IdleI2C1();
return 0;
}
recByte = MasterReadI2C1();
//NotAckI2C1();
IdleI2C1();
StopI2C1();
IdleI2C1();
return recByte;
}
/*
* sends a start and writes a char
*/
int startAndWrite(char *c) {
char data = 0x9A; //0b10011010;
IdleI2C1();
StartI2C1();
WriteI2C1(*c); // just write a char
WriteI2C1(data);
StopI2C1();
}
unsigned char Read23X08_17(unsigned char reg, unsigned char gAddrPins)
{
unsigned char num;
StartI2C1();
// Wait till start sequence is completed
while (I2C1CONbits.SEN);
MasterWriteI2C1(gControlByte | WrtCmd | gAddrPins);
WaitForACK();
MasterWriteI2C1(reg);
WaitForACK();
RestartI2C1();
IdleI2C1();
MasterWriteI2C1(gControlByte | RdCmd | gAddrPins);
WaitForACK();
num = MasterReadI2C1();
NotAckI2C1();
StopI2C1();
IdleI2C1();
return (num);
}
void SetupI2C(void)
{
unsigned int I2C1CONvalue, I2C1BRGvalue;
I2C1CONvalue = I2C1_ON & I2C1_IDLE_CON & I2C1_CLK_HLD &
I2C1_IPMI_DIS & I2C1_7BIT_ADD & I2C1_SLW_DIS &
I2C1_SM_DIS & I2C1_GCALL_DIS & I2C1_STR_DIS &
I2C1_NACK & I2C1_ACK_DIS & I2C1_RCV_DIS &
I2C1_STOP_DIS & I2C1_RESTART_DIS & I2C1_START_DIS;
I2C1BRGvalue = 363; // Fcy(1/Fscl - 1/1111111)-1
OpenI2C1(I2C1CONvalue, I2C1BRGvalue);
IdleI2C1();
}
void Show(unsigned char *text)
{
// Assert a start condition
StartI2C1();
while(_SEN);
// Write the address of the slave
MasterWriteI2C1(Slave);
while(I2C1STATbits.TBF); //Wait till address is transmitted
while(!IFS1bits.MI2C1IF); //Wait for ninth clock cycle
IdleI2C1();
MasterWriteI2C1(Datasend);
IdleI2C1();
while(*text)
{
MasterWriteI2C1(*text);
IdleI2C1();
++text;
}
StopI2C1();
delay(2);
}
int8_t I2C1dev_readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data) {
count_accel = 0;
// S
IdleI2C1();
StartI2C1();
// Device write address
IdleI2C1();
WriteI2C1(devAddr << 1 | 0x00);
// Register address
IdleI2C1();
WriteI2C1(regAddr);
// R
IdleI2C1();
RestartI2C1();
// Device read address
IdleI2C1();
WriteI2C1(devAddr << 1 | 0x01);
for (count_accel = 0; count_accel < length; count_accel++) {
// Data byte
IdleI2C1();
data[count_accel] = ReadI2C1();
if (count_accel == length - 1) {
// NACK
IdleI2C1();
NotAckI2C1();
} else {
// ACK
IdleI2C1();
AckI2C1();
}
}
// P
IdleI2C1();
StopI2C1();
return count_accel;
}
void I2C_ReadFromReg_Burst(uint8_t address, uint8_t deviceRegister, uint8_t* data, uint8_t burstNum)
{
// Assert the start condition
StartI2C1();
while (I2C1CONbits.SEN);
// Send the 7-bit device address
MasterWriteI2C1(address << 1);
while (I2C1STATbits.TBF); // 8 clock cycles
while (!IFS1bits.MI2C1IF); // Wait for 9th clock cycle
IFS1bits.MI2C1IF = 0; // Clear interrupt flag
// Send the register address
MasterWriteI2C1(deviceRegister);
while (I2C1STATbits.TBF); // 8 clock cycles
while (!IFS1bits.MI2C1IF); // Wait for 9th clock cycle
IFS1bits.MI2C1IF = 0; // Clear interrupt flag
// Start a new I2C transaction
RestartI2C1();
while (I2C1CONbits.RSEN);
// Send the second address
MasterWriteI2C1((address << 1) + 1);
while (I2C1STATbits.TBF); // 8 clock cycles
while (!IFS1bits.MI2C1IF); // Wait for 9th clock cycle
IFS1bits.MI2C1IF = 0; // Clear interrupt flag
// Read the data
data[0] = MasterReadI2C1();
if (burstNum > 1) {
uint8_t i;
for (i = 1; i < burstNum; i++) {
AckI2C1();
while (I2C1CONbits.ACKEN == 1);
data[i] = MasterReadI2C1();
}
}
// No need to ack reception of this data
NotAckI2C1();
while (I2C1CONbits.ACKEN == 1);
// Stop the I2C transaction
StopI2C1();
while (I2C1CONbits.PEN);
// Go idle on the bus
IdleI2C1();
}
/**
* @brief Write to device using generic i2c protocol
* @param[in] slave_addr - slave address
* @param[in] reg_addr - register address
* @param[in] length - number of bytes to write
* @param[in] *data - pointer for data to write
* @return 0 if sucessfull, 1 otherwise
*/
int i2c_write(unsigned char slave_addr, unsigned char reg_addr, unsigned char length, unsigned char const *data) {
BYTE i;
StartI2C1(); //Send the Start Bit
IdleI2C1(); //Wait to complete
if (MasterWriteI2C1(((slave_addr<<1)|(0x00))))
return 1;
IdleI2C1();
if (MasterWriteI2C1(reg_addr))
return 1;
IdleI2C1();
for(i=0;i<length;i++){
if (MasterWriteI2C1(data[i]))
return 1;
}
StopI2C1(); //Send the Stop condition
IdleI2C1(); //Wait to complete
return 0;
}
int RcvIRTemp(unsigned int address){
rcv = 0;
StartI2C2(); //Send line start condition
IdleI2C2(); //Wait to complete
MasterWriteI2C2(0xb4); //Write slave addr WRITE (OR 0)
IdleI2C2();
MasterWriteI2C2(0xf0); //command
// //Command to read Tobj1 on ir sensor's ram: 000 = read ram; 0x07 = tobj1
IdleI2C2(); //Wait to complete
// StopI2C2(); //restart
// IdleI2C2();
// StartI2C2();
// IdleI2C2();
//
// MasterWriteI2C2(0xb5); //Write the slave address, READ (OR 1)
// IdleI2C2();
MasterReadI2C2(); //Read in LSB
IdleI2C2();
AckI2C2(); //Acknowledge LSB
IdleI2C2();
MasterReadI2C2(); //Read in MSB
IdleI2C1();
AckI2C2(); //Acknowledge MSB
IdleI2C2();
MasterReadI2C2(); //Read in PEC
IdleI2C1();
AckI2C2(); //Acknowledge MSB
IdleI2C2();
StopI2C2(); //Send line stop condition
IdleI2C2(); //Wait co complete
return rcv; //Return read value
}
char MasterWriteI2C1(unsigned char data_out)
{
I2C1TRN = data_out;
if(I2C1STATbits.IWCOL) /* If write collision occurs,return -1 */
return -1;
else
{
while(I2C1STATbits.TRSTAT); // wait until write cycle is complete
IdleI2C1(); // ensure module is idle
if ( I2C1STATbits.ACKSTAT ) // test for ACK condition received
return ( -2 );
else return ( 0 ); // if WCOL bit is not set return non-negative #
}
}
void LDByteReadI2C(unsigned char SlaveAddress, unsigned char reg, unsigned char *data, int num){
StartI2C1(); //Send the Start Bit
IdleI2C1(); //Wait to complete
MasterWriteI2C1(SlaveAddress); //transmit write command
IdleI2C1(); //Wait to complete
MasterWriteI2C1(reg);
IdleI2C1();
StopI2C1();
IdleI2C1();
StartI2C1(); //Send the Start Bit
IdleI2C1(); //Wait to complete
MasterWriteI2C1(SlaveAddress|0x01); //transmit read command
IdleI2C1(); //Wait to complete
MastergetsI2C1(num, data, 30);
StopI2C1(); //Send the Stop condition
IdleI2C1(); //Wait to complete
}
// Blocking encoder read. This will fail if the encoders are in a weird state
void amsEncoderBlockingRead(unsigned char num) {
unsigned char enc_data[2];
CRITICAL_SECTION_START
i2cStartTx(ENC_I2C_CHAN); //Setup to burst read both registers, 0xFE and 0xFF
i2cSendByte(ENC_I2C_CHAN, encAddr[2*num+1]); //Write address
i2cSendByte(ENC_I2C_CHAN, AMS_ENC_ANGLE_REG);
i2cEndTx(ENC_I2C_CHAN);
i2cStartTx(ENC_I2C_CHAN);
i2cSendByte(ENC_I2C_CHAN, encAddr[2*num]); //Read address
i2cReadString(1,2,enc_data,10000);
i2cEndTx(ENC_I2C_CHAN);
IdleI2C1();
_MI2C1IF = 0;
CRITICAL_SECTION_END
amsEncoderUpdatePos(num,((enc_data[1] << 6)+(enc_data[0] & 0x3F)));
}