uint8_t writeRegisterI2C(uint32_t* port, uint8_t address, uint8_t registerAddress)
{
int initialTime = SYSTIME;
I2C_TypeDef *i2cPort = (I2C_TypeDef *) port;
// starting i2c communication on I2c bus 3
i2cPort->CR1 |= I2C_CR1_START; // generating start condition
i2cPort->SR1 &= ~I2C_SR1_AF; // clearing acknowledge
while (!(i2cPort->SR1 & I2C_SR1_SB) && (SYSTIME - initialTime < I2C_TIMEOUT));
// Send address with write bit
i2cPort->DR = ((uint8_t) address << 1); // puts the address to be sent on the buffer using global variable
while(!(i2cPort->SR1 & (I2C_SR1_ADDR)) && (SYSTIME - initialTime < I2C_TIMEOUT));
i2cPort->SR2; // un-stretch clock by reading here (?)
i2cPort->DR = registerAddress; // Send the address of the desired register
while (!(i2cPort->SR1 & (I2C_SR1_BTF | I2C_SR1_AF)) && (SYSTIME - initialTime < I2C_TIMEOUT));
i2cPort->CR1 |= I2C_CR1_STOP;
while (isBusyI2CPort(port) && (SYSTIME - initialTime < I2C_TIMEOUT)); // wait until bus is not busy anymore
if (SYSTIME - initialTime >= I2C_TIMEOUT)
{
return 0;
}
// static int maxTime = 0;
// maxTime = (SYSTIME - initialTime) > maxTime ? (SYSTIME - initialTime) : maxTime;
return 1;
}
int readBytesI2C(uint32_t* port, uint8_t address, int numBytes, uint8_t* values)
{
int initialTime = SYSTIME;
int finalTime = SYSTIME;
I2C_TypeDef *i2cPort = (I2C_TypeDef *) port;
// Send the address with the read bit
// starting I2C communication
i2cPort->CR1 |= I2C_CR1_START;
i2cPort->SR1 &= ~I2C_SR1_AF;
while (!(i2cPort->SR1 & I2C_SR1_SB) && (finalTime - initialTime < MAX_TIME))
finalTime = SYSTIME;
// Send address with read bit
i2cPort->DR = ((uint8_t) address << 1) + 1; // puts the address to be sent on the buffer using global variable
while (!(i2cPort->SR1 & (I2C_SR1_ADDR)) && (finalTime - initialTime < MAX_TIME))
finalTime = SYSTIME;
i2cPort->SR2; // un-stretch clock by reading here (?)
i2cPort->CR1 |= I2C_CR1_ACK; // multi-byte read. Acknowledge enable
for (int i = 0; i < numBytes-1; i++)
{
while (!(i2cPort->SR1 & I2C_SR1_RXNE) && (finalTime - initialTime < MAX_TIME))
finalTime = SYSTIME;
values[i] = i2cPort->DR;
i2cPort->CR1 |= I2C_CR1_ACK; // multi-byte read. Acknowledge enable
}
while (!(i2cPort->SR1 & I2C_SR1_RXNE) && (finalTime - initialTime < MAX_TIME))
finalTime = SYSTIME;
values[numBytes-1] = i2cPort->DR;
i2cPort->CR1 &= ~I2C_CR1_ACK; // last read
i2cPort->CR1 |= I2C_CR1_STOP;
while (isBusyI2CPort(port) && (finalTime - initialTime < MAX_TIME))
finalTime = SYSTIME;
if (finalTime - initialTime >= MAX_TIME)
{
printf("initialTime: %d", initialTime);
printf("finalTime: %d", finalTime);
printf(" TIMEOUT\n");
return 0;
}
return 1;
}
uint8_t writeBytesI2C(uint32_t* port, uint8_t address, uint8_t* data, int len, int toggleAddress)
{
volatile int initialTime = SYSTIME;
I2C_TypeDef *i2cPort = (I2C_TypeDef *) port;
uint8_t addr;
if (toggleAddress == 0)
addr = address << 1;
else
addr = address;
// Send the address with the read bit
// starting I2C communication
i2cPort->CR1 |= I2C_CR1_START;
i2cPort->SR1 &= ~I2C_SR1_AF;
while (!(i2cPort->SR1 & I2C_SR1_SB) && (SYSTIME - initialTime < I2C_TIMEOUT));
// Send address with write bit
i2cPort->DR = ((uint8_t) addr); // puts the address to be sent on the buffer using global variable
while(!(i2cPort->SR1 & (I2C_SR1_ADDR)) && (SYSTIME - initialTime < I2C_TIMEOUT));
i2cPort->SR2; // un-stretch clock by reading here (?)
for (int i = 0; i < len; ++i)
{
i2cPort->DR = data[i]; // Send the address of the desired register
while (!(i2cPort->SR1 & (I2C_SR1_BTF | I2C_SR1_AF)) && (SYSTIME - initialTime < I2C_TIMEOUT));
}
i2cPort->CR1 |= I2C_CR1_STOP;
while (isBusyI2CPort(port) && (SYSTIME - initialTime < I2C_TIMEOUT));
if (SYSTIME - initialTime >= I2C_TIMEOUT)
{
return 0;
}
// static int maxTime = 0;
// maxTime = (SYSTIME - initialTime) > maxTime ? (SYSTIME - initialTime) : maxTime;
return 1;
}
int writeRegisterI2C(uint32_t* port, uint8_t address, uint8_t registerAddress)
{
int initialTime = SYSTIME;
int finalTime = SYSTIME;
I2C_TypeDef *i2cPort = (I2C_TypeDef *) port;
// starting i2c communication on I2c bus 3
i2cPort->CR1 |= I2C_CR1_START; // generating start condition
i2cPort->SR1 &= ~I2C_SR1_AF; // clearing acknowledge
while (!(i2cPort->SR1 & I2C_SR1_SB) && (finalTime - initialTime < MAX_TIME))
finalTime = SYSTIME;
// Send address with write bit
i2cPort->DR = ((uint8_t) address << 1); // puts the address to be sent on the buffer using global variable
while(!(i2cPort->SR1 & (I2C_SR1_ADDR)) && (finalTime - initialTime < MAX_TIME))
finalTime = SYSTIME;
i2cPort->SR2; // un-stretch clock by reading here (?)
i2cPort->DR = registerAddress; // Send the address of the desired register
while (!(i2cPort->SR1 & (I2C_SR1_BTF | I2C_SR1_AF)) && (finalTime - initialTime < MAX_TIME))
finalTime = SYSTIME;
i2cPort->CR1 |= I2C_CR1_STOP;
while (isBusyI2CPort(port) && (finalTime - initialTime < MAX_TIME)) // wait until bus is not busy anymore
finalTime = SYSTIME;
if (finalTime - initialTime >= MAX_TIME)
{
printf("initialTime: %d", initialTime);
printf("finalTime: %d", finalTime);
printf(" TIMEOUT\n");
return 0;
}
return 1;
}
int writeBytesI2C(uint32_t* port, uint8_t address, uint8_t* data, int len, int toggleAddress)
{
// printf("initial time: %ld\n", SYSTIME);
volatile int initialTime = SYSTIME;
// printf("initial time: %d\n", initialTime);
volatile int finalTime = SYSTIME;
I2C_TypeDef *i2cPort = (I2C_TypeDef *) port;
uint8_t addr;
if (toggleAddress == 0)
addr = address << 1;
else
addr = address;
// Send the address with the read bit
// starting I2C communication
i2cPort->CR1 |= I2C_CR1_START;
i2cPort->SR1 &= ~I2C_SR1_AF;
// printf("a\n");
// while (!(i2cPort->SR1 & I2C_SR1_SB));
while (!(i2cPort->SR1 & I2C_SR1_SB) && (finalTime - initialTime < MAX_TIME))
finalTime = SYSTIME;
// if (SYSTIME - initialTime > MAX_TIME)
// {
// printf("start condition failed\n");
// i2cPort->CR1 |= I2C_CR1_STOP;
// udelay(10000);
// return 0;
// }
// Send address with write bit
i2cPort->DR = ((uint8_t) addr); // puts the address to be sent on the buffer using global variable
// printf("b\n");
while(!(i2cPort->SR1 & (I2C_SR1_ADDR)) && (finalTime - initialTime < MAX_TIME))
finalTime = SYSTIME;
// if (SYSTIME - initialTime > MAX_TIME)
// {
// printf("address not sent\n");
// return 0;
// }
i2cPort->SR2; // un-stretch clock by reading here (?)
// printf("c\n");
for (int i = 0; i < len; ++i)
{
i2cPort->DR = data[i]; // Send the address of the desired register
while (!(i2cPort->SR1 & (I2C_SR1_BTF | I2C_SR1_AF)) && (finalTime - initialTime < MAX_TIME))
finalTime = SYSTIME;
}
i2cPort->CR1 |= I2C_CR1_STOP;
// printf("d\n");
while (isBusyI2CPort(port) && (finalTime - initialTime < MAX_TIME))
finalTime = SYSTIME;
// if (SYSTIME - initialTime > MAX_TIME)
// {
// printf("bus busy\n");
// return 0;
// }
// printf("final time: %ld\n", SYSTIME);
// printf("final time: %d\n", finalTime);
// printf("e\n");
// printf("result e: %d \n", finalTime - initialTime >= MAX_TIME);
if (finalTime - initialTime >= MAX_TIME)
{
// printf("TIMEOUT: initialTime: %d ", initialTime);
// printf("finalTime: %d\n", finalTime);
return 0;
}
return 1;
}
/*
void enc_poll_nonblocking_tick(const uint8_t bogus __attribute__((unused)))
Description: Reads encoders values.
Returns: void
Encoders connections:
0 -> Port I2C1
1 -> Port SPI
2 -> Port I2C3
*/
void enc_poll_nonblocking_tick(const uint8_t encoderNumber)
{
static uint8_t i2cPort1Updated = 0;
static uint8_t i2cPort3Updated = 0;
int result;
switch(enc_poll_state)
{
case EPS_DONE:
// printf("encoder\n");
result = setEncoderRegister(1, AS5048B_ANGLLSB_REG, SPI_TIMEOUT);
result = readEncoder(1, SPI_TIMEOUT); // (spiPort, encoderNumber, timeout)
if (isBusyI2CPort(handPorts.encoder[0]) && isBusyI2CPort(handPorts.encoder[2]))
{
// printf("neither 0 nor 2\n");
enc_poll_state = EPS_I2C;
i2cPort1Updated = 0;
i2cPort3Updated = 0;
}
else if (!isBusyI2CPort(handPorts.encoder[0]) && !isBusyI2CPort(handPorts.encoder[2]))
{
// printf("0 and 2, EPS_DONE\n");
result = setEncoderRegister(0, AS5048B_ANGLLSB_REG, I2C_TIMEOUT);
result = readEncoder(0, I2C_TIMEOUT); // (i2cPort, encoderNumber, timeout)
result = setEncoderRegister(2, AS5048B_ANGLLSB_REG, I2C_TIMEOUT);
result = readEncoder(2, I2C_TIMEOUT); // (i2cPort, encoderNumber, timeout)
enc_poll_state = EPS_DONE;
}
else if (!isBusyI2CPort(handPorts.encoder[2]))
{
// printf("0\n");
result = setEncoderRegister(0, AS5048B_ANGLLSB_REG, I2C_TIMEOUT);
result = readEncoder(0, I2C_TIMEOUT); // (i2cPort, encoderNumber, timeout)
enc_poll_state = EPS_DONE;
}
else if (!isBusyI2CPort(handPorts.encoder[0]))
{
// printf("2\n");
result = setEncoderRegister(2, AS5048B_ANGLLSB_REG, I2C_TIMEOUT);
result = readEncoder(2, I2C_TIMEOUT); // (i2cPort, encoderNumber, timeout)
enc_poll_state = EPS_DONE;
}
break;
case EPS_I2C:
if (!isBusyI2CPort(handPorts.encoder[0]) && !isBusyI2CPort(handPorts.encoder[2]))
{
// printf("0 and 2, EPS_I2C\n");
result = setEncoderRegister(0, AS5048B_ANGLLSB_REG, I2C_TIMEOUT);
result = readEncoder(0, I2C_TIMEOUT); // (i2cPort, encoderNumber, timeout)
result = setEncoderRegister(2, AS5048B_ANGLLSB_REG, I2C_TIMEOUT);
result = readEncoder(2, I2C_TIMEOUT); // (i2cPort, encoderNumber, timeout)
enc_poll_state = EPS_DONE;
}
else if (!isBusyI2CPort(handPorts.encoder[2]) && i2cPort1Updated == 0)
{
// printf("0\n");
result = setEncoderRegister(0, AS5048B_ANGLLSB_REG, I2C_TIMEOUT);
result = readEncoder(0, I2C_TIMEOUT); // (i2cPort, encoderNumber, timeout)
i2cPort1Updated = 1;
if (i2cPort3Updated == 1)
enc_poll_state = EPS_DONE;
}
else if (!isBusyI2CPort(handPorts.encoder[0]) && i2cPort3Updated == 0)
{
// printf("2\n");
result = setEncoderRegister(2, AS5048B_ANGLLSB_REG, I2C_TIMEOUT);
result = readEncoder(2, I2C_TIMEOUT); // (i2cPort, encoderNumber, timeout)
i2cPort3Updated = 1;
if (i2cPort1Updated == 1)
enc_poll_state = EPS_DONE;
}
break;
default:
enc_poll_state = EPS_DONE; // shouldn't get here
break;
result = result + 1 - 1;
// printf("%d\n", result); // rmelo19, to correct, change to error checking.
}
}
