void __ISR(_I2C_1_VECTOR, ipl3) _SlaveI2CHandler(void) {
unsigned char temp;
static unsigned int dIndex;
// check for MASTER and Bus events and respond accordingly
if (IFS1bits.I2C1MIF) {
mI2C1MClearIntFlag();
return;
}
if (IFS1bits.I2C1BIF) {//bus collision, reset I2C state machine
I2Cstate = 0;
mI2C1BClearIntFlag();
return;
}
// handle the incoming message
if ((I2C1STATbits.R_W == 0) && (I2C1STATbits.D_A == 0)) {
// reset any state variables needed by a message sequence
// perform a dummy read
temp = SlaveReadI2C1();
I2C1CONbits.SCLREL = 1; // release the clock
I2Cstate = 0;
} else if ((I2C1STATbits.R_W == 0) && (I2C1STATbits.D_A == 1)) {//data received, input to slave
WDTCount = 0;
WriteTimer1(0);
// writing data to our module
I2CDataIn = SlaveReadI2C1();
I2C1CONbits.SCLREL = 1; // release clock stretch bit
if (I2Cstate == 0 && I2CDataIn != ADDR_CLR_I2C_STATE) {
I2Cstate = 1;
I2C_request = I2CDataIn;
} else if (I2Cstate == 1) {
switch (I2C_request) {
case ADDR_M3_PWM:
M3_Dir = I2CDataIn >> 7 & 0x01;//take top bit
if (((Status2 & M3_CUR) && (config1 & CUR_SENSE_EN)) || (config1 & MOTOR_HALT)) {
M3_PWM = 0;
} else {
if (I2CDataIn & 0x80) {
mPORTBClearBits(BIT_13);
M3_PWM = (((int) ((~I2CDataIn) + 1)) << 4);
} else {
mPORTBSetBits(BIT_13);
M3_PWM = ((int) I2CDataIn) << 4;
}
}
SetDCOC4PWM(M3_PWM);
break;
case ADDR_M4_PWM:
M4_Dir = I2CDataIn >> 7 & 0x01;//take top bit
if (((Status2 & M4_CUR) && (config1 & CUR_SENSE_EN)) || (config1 & MOTOR_HALT)) {
M4_PWM = 0;
} else {
if (I2CDataIn & 0x80) {
mPORTBClearBits(BIT_14);
M4_PWM = (((int) ((~I2CDataIn) + 1)) << 4);
} else {
mPORTBSetBits(BIT_14);
M4_PWM = ((int) I2CDataIn) << 4;
}
}
SetDCOC5PWM(M4_PWM);
break;
case ADDR_M5_PWM:
M5_Dir = I2CDataIn >> 7 & 0x01;//take top bit
if (((Status2 & M5_CUR) && (config1 & CUR_SENSE_EN)) || (config1 & MOTOR_HALT)) {
M5_PWM = 0;
} else {
if (I2CDataIn & 0x80) {
mPORTBClearBits(BIT_15);
M5_PWM = (((int) ((~I2CDataIn) + 1)) << 4);
} else {
mPORTBSetBits(BIT_15);
M5_PWM = ((int) I2CDataIn) << 4;
}
}
SetDCOC3PWM(M5_PWM);
break;
case ADDR_M6_PWM:
M6_Dir = I2CDataIn >> 7 & 0x01;//take top bit
if (((Status2 & M6_CUR) && (config1 & CUR_SENSE_EN)) || (config1 & MOTOR_HALT)) {
M6_PWM = 0;
} else {
if (I2CDataIn & 0x80) {
mPORTBClearBits(BIT_11);
M6_PWM = (((int) ((~I2CDataIn) + 1)) << 4);
} else {
mPORTBSetBits(BIT_11);
M6_PWM = ((int) I2CDataIn) << 4;
}
}
SetDCOC2PWM(M6_PWM);
break;
case ADDR_M7_PWM:
M7_Dir = I2CDataIn >> 7 & 0x01;//take top bit
if (((Status2 & M7_CUR) && (config1 & CUR_SENSE_EN)) || (config1 & MOTOR_HALT)) {
M7_PWM = 0;
} else {
if (I2CDataIn & 0x80) {
mPORTBClearBits(BIT_7);
M7_PWM = (((int) ((~I2CDataIn) + 1)) << 4);
} else {
mPORTBSetBits(BIT_7);
M7_PWM = ((int) I2CDataIn) << 4;
}
}
SetDCOC1PWM(M7_PWM);
break;
case ADDR_Config1:
config1 = I2CDataIn;
if (config1 & MOTOR_HALT) {
SetDCOC1PWM(0);
SetDCOC2PWM(0);
SetDCOC3PWM(0);
SetDCOC4PWM(0);
SetDCOC5PWM(0);
} else {
SetDCOC1PWM(M7_PWM);
SetDCOC2PWM(M6_PWM);
SetDCOC3PWM(M5_PWM);
SetDCOC4PWM(M3_PWM);
SetDCOC5PWM(M4_PWM);
}
break;
default:
break;
}
I2Cstate = 0;
}
} else if ((I2C1STATbits.R_W == 1) && (I2C1STATbits.D_A == 0)) {
/**
* Function Name: SI2C1Interrupt
* Description : This is the ISR for I2C1 Slave interrupt.
*/
void __ISR(_I2C_1_VECTOR, ipl3) _SlaveI2CHandler(void)
{
// TODO : Find the right i2cBusConnection
I2cBusConnection* i2cBusConnection = NULL;
// last byte received is address and not data
char isData = I2C1STATbits.D_A;
char read = I2C1STATbits.R_W;
char isStart = I2C1STATbits.S;
char isSclRelease = I2C1CONbits.SCLREL;
char readBufferFull = I2C1STATbits.RBF;
// check for MASTER and Bus events and respond accordingly
if (IFS0bits.I2C1MIF == 1) {
mI2C1MClearIntFlag();
return;
}
if (IFS0bits.I2C1BIF == 1) {
mI2C1BClearIntFlag();
return;
}
StreamLink* i2cStreamLink = getI2cStreamLink();
// handle the incoming message
// Master want to write and send the address
if (isStart && !read && !isData && readBufferFull) {
// R/W bit = 0 --> indicates data transfer is input to slave
// D/A bit = 0 --> indicates last byte was address
// reset any state variables needed by a message sequence
// perform a dummy read of the address
portableSlaveReadI2C(i2cBusConnection);
// release the clock to restart I2C
portableSlaveClockRelease(i2cBusConnection);
}
// Master WRITE (InputStream)
else if (isStart && !read && isData && readBufferFull) {
// R/W bit = 0 --> indicates data transfer is input to slave
// D/A bit = 1 --> indicates last byte was data
int data = portableSlaveReadI2C(i2cBusConnection);
Buffer* i2cSlaveInputBuffer = i2cStreamLink->inputBuffer;
OutputStream* outputStream = getOutputStream(i2cSlaveInputBuffer);
// Read data from the Master
append(outputStream, data);
// for debug support
appendI2cDebugInputChar(data);
// release the clock to restart I2C
portableSlaveClockRelease(i2cBusConnection);
}
// Master send the address and want to read
else if (isStart && read && !isData) {
// R/W bit = 1 --> indicates data transfer is output from slave
// D/A bit = 0 --> indicates last byte was address
portableSlaveReadI2C(i2cBusConnection);
Buffer* i2cSlaveOutputBuffer = i2cStreamLink->outputBuffer;
// Get an inputStream to read the buffer to send to the master
InputStream* i2cInputStream = getInputStream(i2cSlaveOutputBuffer);
// There is available data
if (i2cInputStream->availableData(i2cInputStream)) {
char c = i2cInputStream->readChar(i2cInputStream);
// for debug support
appendI2cDebugOutputChar(c);
portableSlaveWriteI2C(i2cBusConnection, c);
} else {
portableSlaveWriteI2C(i2cBusConnection, I2C_SLAVE_NO_DATA_IN_READ_BUFFER);
}
}
// Master want to read
else if (isStart && read && isData && !isSclRelease) {
// R/W bit = 1 --> indicates data transfer is output from slave
// D/A bit = 1 --> indicates last byte was data
Buffer* i2cSlaveOutputBuffer = i2cStreamLink->outputBuffer;
// Get an inputStream to read the buffer to send to the master
InputStream* i2cInputStream = getInputStream(i2cSlaveOutputBuffer);
// There is available data
if (i2cInputStream->availableData(i2cInputStream)) {
char c = i2cInputStream->readChar(i2cInputStream);
// for debug support
appendI2cDebugInputChar(c);
// we send it to the master
portableSlaveWriteI2C(i2cBusConnection, c);
} else {
// There is no data, we send it to the master
portableSlaveWriteI2C(i2cBusConnection, I2C_SLAVE_NO_DATA_IN_READ_BUFFER);
}
}
// finally clear the slave interrupt flag
mI2C1SClearIntFlag();
}