//
// This is a low priority task that will continuously access one I2C device
// Frequently it will release the I2C device so that others can also use I2C
//
static void Task1(void *pvParameters)
{
int i = 0;
if (PIOS_I2C_LockDevice(MAX_LOCK_WAIT / portTICK_RATE_MS))
{
if (PIOS_I2C_Transfer(I2C_Write, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x20\xB0\xB1\xB2", 4) != 0)
OnError();
PIOS_I2C_UnlockDevice();
}
else
{
OnError();
}
for(;;)
{
i++;
if (i==100)
{
PIOS_LED_Toggle(LED1);
i = 0;
}
DebugPinHigh(DEBUG_PIN_TASK1_WAIT);
if (PIOS_I2C_LockDevice(MAX_LOCK_WAIT / portTICK_RATE_MS))
{
uint8_t buf[20];
DebugPinLow(DEBUG_PIN_TASK1_WAIT);
DebugPinHigh(DEBUG_PIN_TASK1_LOCKED);
// Write A0 A1 A2 at address 0x10
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Write, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x10\xA0\xA1\xA2", 4) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
// Read 3 bytes at address 0x20 and check
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x20", 1) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Read, DEVICE_1_ADDRESS<<1, buf, 3) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
if (memcmp(buf, "\xB0\xB1\xB2",3) != 0)
OnError();
// Read 3 bytes at address 0x10 and check
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x10", 1) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Read, DEVICE_1_ADDRESS<<1, buf, 3) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
if (memcmp(buf, "\xA0\xA1\xA2",3) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TASK1_LOCKED);
PIOS_I2C_UnlockDevice();
}
else
{
OnError();
}
}
}
// This is a high priority task that will periodically perform some actions on the second I2C device
// Most of the time it will have to wait for the other task task to release I2C
static void Task2(void *pvParameters)
{
portTickType xLastExecutionTime;
xLastExecutionTime = xTaskGetTickCount();
uint32_t count = 0;
for(;;)
{
uint8_t buf[20];
DebugPinHigh(DEBUG_PIN_TASK2_WAIT);
if (PIOS_I2C_LockDevice(MAX_LOCK_WAIT / portTICK_RATE_MS))
{
DebugPinLow(DEBUG_PIN_TASK2_WAIT);
DebugPinHigh(DEBUG_PIN_TASK2_LOCKED);
// Write value of count to address 0x10
buf[0] = 0x10; // The address
memcpy(&buf[1], &count, 4); // The data to write
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Write, DEVICE_2_ADDRESS<<1, buf, 5) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
DebugPinLow(DEBUG_PIN_TASK2_LOCKED);
PIOS_I2C_UnlockDevice();
}
else
{
OnError();
}
vTaskDelay(2 / portTICK_RATE_MS);
DebugPinHigh(DEBUG_PIN_TASK2_WAIT);
if (PIOS_I2C_LockDevice(1 / portTICK_RATE_MS))
{
DebugPinLow(DEBUG_PIN_TASK2_WAIT);
DebugPinHigh(DEBUG_PIN_TASK2_LOCKED);
// Read at address 0x10 and check
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, DEVICE_2_ADDRESS<<1, (uint8_t*)"\x10", 1) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Read, DEVICE_2_ADDRESS<<1, buf, 4) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (memcmp(buf, &count, 4) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
DebugPinLow(DEBUG_PIN_TASK2_LOCKED);
PIOS_I2C_UnlockDevice();
}
else
{
OnError();
}
vTaskDelay(5 / portTICK_RATE_MS);
count++;
}
}
.info = __func__,
.addr = MPU9150_MAG_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(mag_addr_buffer),
.buf = mag_addr_buffer,
},
{
.info = __func__,
.addr = MPU9150_MAG_ADDR,
.rw = PIOS_I2C_TXN_READ,
.len = sizeof(mag_read_buffer),
.buf = mag_read_buffer,
}
};
int32_t retval = PIOS_I2C_Transfer(i2c_id, mag_txn_list, NELEMENTS(mag_txn_list));
if (retval < 0)
return -1;
return 0;
}
/**
* @brief Reads one or more bytes into a buffer
* \param[in] address MPU9150 register address (depends on size)
* \param[out] buffer destination buffer
* \param[in] len number of bytes which should be read
* \return 0 if operation was successful
* \return -1 if error during I2C transfer
* \return -2 if unable to claim i2c device
*/
