/**
* @brief Write the command from the chip.
* @retval status communication.
*/
I2C_Status_TypeDef I2C_writeCommand(uint8_t devAddr, uint8_t command, uint32_t timeout)
{
uint32_t zero_time;
//Start condition
I2C_GenerateSTART(I2C_USE, ENABLE);
zero_time = GetTickCount();
while (!I2C_GetFlagStatus(I2C_USE,I2C_FLAG_SB))
{
if(CheckTick(zero_time,timeout) == TRUE) return I2C_STATUS_TIMEOUT;
}
//Send device address for write
I2C_Send7bitAddress(I2C_USE, devAddr, I2C_Direction_Transmitter);
zero_time = GetTickCount();
while (!I2C_CheckEvent(I2C_USE, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
{
if(CheckTick(zero_time,timeout) == TRUE) return I2C_STATUS_TIMEOUT;
}
/* Send the device's internal address to write to */
I2C_SendData(I2C_USE, command);
zero_time = GetTickCount();
while ((!I2C_GetFlagStatus(I2C_USE,I2C_FLAG_TXE)) && (!I2C_GetFlagStatus(I2C_USE,I2C_FLAG_BTF)))
{
if(CheckTick(zero_time,timeout) == TRUE) return I2C_STATUS_TIMEOUT;
}
/* Send STOP Condition */
I2C_GenerateSTOP(I2C_USE, ENABLE);
return I2C_STATUS_SUCCESS;
}
MS561101BA_Status_Convert MS561101BA_rawPressure(uint8_t OSR,uint8_t *buffer)
{
MS561101BA_Status_Convert status_Convert;
I2C_Status_TypeDef status_Com;
uint64_t time_now;
time_now = GetTickCount();
if(g_last_time_pressure == 0)
{
status_Com = MS561101BA_startConversion(MS561101BA_D1 + OSR);
if(status_Com != I2C_STATUS_SUCCESS) return MS561101BA_STATUS_CONVERT_FAIL;
g_last_time_pressure = time_now;
status_Convert = MS561101BA_STATUS_START_CONVERT;
}
else
{
if(CheckTick(g_last_time_pressure,CONVERSION_TIME) == TRUE)
{
status_Com = MS561101BA_getConversion(buffer);
if(status_Com != I2C_STATUS_SUCCESS) return MS561101BA_STATUS_CONVERT_FAIL;
g_last_time_pressure = 0;
status_Convert = MS561101BA_STATUS_CONVERT_FINISH;
}
else
{
status_Convert = MS561101BA_STATUS_CONVERTING;
}
}
return status_Convert;
}
/*******************************************************************************
Function name: PC_AppProcess
Decription: This function Process all income packed or out packed of USART1
Input: None
Output: None
*******************************************************************************/
void PC_AppProcess(void)
{
if(CheckTick(g_pc_zero_time,10) == TRUE)//5ms
{
g_pc_zero_time = GetTickCount();
// Send_frame_data_MPU(g_ax_raw,g_ay_raw,g_az_raw,g_gx_raw,g_gy_raw,g_gz_raw);
Send_frame_data_MPU_and_Kalman(g_ax_raw,g_ay_raw,g_az_raw,g_gy_raw,g_gx_raw,g_gz_raw,g_pitch,g_roll,300);//gx va gy bi nguoc
}
}
void MMatchClanMap::Tick(u64 nClock)
{
if (!CheckTick(nClock)) return;
// Update Clans
for(MMatchClanMap::iterator iClan=begin(); iClan!=end();)
{
MMatchClan* pClan = (*iClan).second;
pClan->Tick(nClock);
if (pClan->CheckLifePeriod() == false)
{
DestroyClan(pClan->GetCLID(), &iClan);
continue;
}
else
{
++iClan;
}
}
}
int main(void) {
u8 loop = 1;
char string[256];
//char string1[256];
uint16_t value;
uint16_t sizestring;
int icase = 0;
initPA15();
init_USART1(BT_BAUD);
systick_init();
led_Init();
button_init();
UART2_CONFIG(9600);//
DMA_CONFIG();
setPA15On();
togglePA15();
while(loop){
//Send data through the bluetooth communication
if (GPIOA->IDR & 0x0001)
{
if (CheckTick(delay_1,500))
{
delay_1 = GetTickCount();
USART_puts(USART1, "troi oi 1 2 3 4 5 6 7 8 9 10\n");
led12();
}
}
if (CheckTick(delay_2,1000))
{
delay_2 = GetTickCount();
//led13();
}
if (CheckTick(delay_3,5000))
{
delay_3 = GetTickCount();
led14();
}
if (CheckTick(delay_4,100))
{
delay_4 = GetTickCount();
while(USART_GetFlagStatus(USART1, USART_FLAG_RXNE) == RESET);
//while(DMA_GetFlagStatus(DMA1_Stream2,DMA_FLAG_TCIF1) == RESET);
value = USART_ReceiveData(USART1);
memset(string,0,sizeof(string[0])*256); // Clear all to 0 so string properly represented
sprintf(string,"%c",value);
//sizestring = sizeof(string);
//sprintf(string1,"%c",sizestring);
if (string != NULL)
{
//USART_puts(USART1,string);
if (string != NULL) icase = 1;
else if (memchr(string, '2', sizeof(string))) icase = 2;
else if (memchr(string, '3', sizeof(string))) icase = 3;
else if (memchr(string, '4', sizeof(string))) icase = 4;
else if (memchr(string, '5', sizeof(string))) icase = 5;
//else icase = 6;
switch (icase)
{
case 1:
{
USART_puts(USART1,string);
icase = 0;
led15();
}
break;
case 2:
{
USART_puts(USART1,"di xuong");
icase = 0;
//led14();
}
break;
case 3:
{
USART_puts(USART1,"sang trai");
icase = 0;
//led13();
}
break;
case 4:
{
USART_puts(USART1,"sang phai");
icase = 0;
}
break;
case 5:
{
USART_puts(USART1,"can bang");
icase = 0;
}
break;
// case 6:
// {
// //USART_puts(USART1,string);
// icase = 0;
// }
// break;
default: break;
}
//usart_send_string(string);
//USART_SendData(USART1,value);
}
else
{
//usart_send_string(string);
}
led15();
}
if (CheckTick(delay_5,250))
{
delay_5 = GetTickCount();
}
/* Disable the UART connection */
//USART_Cmd(USART1, DISABLE);
}
}
/**
* @brief Read the data from the chip.
* @param RegName: specifies the register to be read.
* This member can be one of the following values:
* @retval status communication.
*/
I2C_Status_TypeDef I2C_readBytes(uint8_t devAddr, uint8_t RegName,uint8_t length,uint8_t *buffer, uint32_t timeout)
{
uint32_t zero_time;
/* Configure DMA Peripheral */
I2C_DMA_Config(I2C_DMA_RX, buffer, length);
/* Enable DMA NACK automatic generation */
I2C_DMALastTransferCmd(I2C_USE, ENABLE);
//Start condition
I2C_GenerateSTART(I2C_USE, ENABLE);
zero_time = GetTickCount();
while (!I2C_GetFlagStatus(I2C_USE,I2C_FLAG_SB))
{
if(CheckTick(zero_time,timeout) == TRUE)
{
return I2C_STATUS_TIMEOUT;
}
}
//Send device address for write
I2C_Send7bitAddress(I2C_USE, devAddr, I2C_Direction_Transmitter);
zero_time = GetTickCount();
while (!I2C_CheckEvent(I2C_USE, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
{
if(CheckTick(zero_time,timeout) == TRUE) return I2C_STATUS_TIMEOUT;
}
/* Send the device's internal address to write to */
I2C_SendData(I2C_USE, RegName);
zero_time = GetTickCount();
while ((!I2C_GetFlagStatus(I2C_USE,I2C_FLAG_TXE)) && (!I2C_GetFlagStatus(I2C_USE,I2C_FLAG_BTF)))
{
if(CheckTick(zero_time,timeout) == TRUE) return I2C_STATUS_TIMEOUT;
}
/* Send START condition a second time */
I2C_GenerateSTART(I2C_USE, ENABLE);
/* Test on SB Flag */
zero_time = GetTickCount();
while (!I2C_GetFlagStatus(I2C_USE,I2C_FLAG_SB))
{
if(CheckTick(zero_time,timeout) == TRUE) return I2C_STATUS_TIMEOUT;
}
/* Send address for read */
I2C_Send7bitAddress(I2C_USE, devAddr, I2C_Direction_Receiver);
/* Test on ADDR Flag */
zero_time = GetTickCount();
while (!I2C_CheckEvent(I2C_USE, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED))
{
if(CheckTick(zero_time,timeout) == TRUE) return I2C_STATUS_TIMEOUT;
}
/* Enable I2C DMA request */
I2C_DMACmd(I2C_USE,ENABLE);
/* Enable DMA RX Channel */
DMA_Cmd(I2C_DMA_RX_CHANNEL, ENABLE);
/* Wait until DMA Transfer Complete */
zero_time = GetTickCount();
while (!DMA_GetFlagStatus(I2C_DMA_RX_TCFLAG))
{
if(CheckTick(zero_time,timeout) == TRUE) return I2C_STATUS_TIMEOUT;
}
/* Send STOP Condition */
I2C_GenerateSTOP(I2C_USE, ENABLE);
/* Disable DMA RX Channel */
DMA_Cmd(I2C_DMA_RX_CHANNEL, DISABLE);
/* Disable I2C DMA request */
I2C_DMACmd(I2C_USE,DISABLE);
/* Clear DMA RX Transfer Complete Flag */
DMA_ClearFlag(I2C_DMA_RX_TCFLAG);
/* return a Reg value */
return I2C_STATUS_SUCCESS;
}
/**
* @brief Write the specified register from the chip.
* @param RegName: specifies the register to be read.
* This member can be one of the following values:
* @retval status communication.
*/
I2C_Status_TypeDef I2C_writeReg(uint8_t devAddr, uint8_t RegName, uint8_t RegValue, uint32_t timeout)
{
uint8_t BufferTX = 0;
uint32_t zero_time;
BufferTX = RegValue;
/* Configure DMA Peripheral */
I2C_DMA_Config(I2C_DMA_TX, (uint8_t*)(&BufferTX), 1);
//Start condition
I2C_GenerateSTART(I2C_USE, ENABLE);
zero_time = GetTickCount();
while (!I2C_GetFlagStatus(I2C_USE,I2C_FLAG_SB))
{
if(CheckTick(zero_time,timeout) == TRUE) return I2C_STATUS_TIMEOUT;
}
//Send device address for write
I2C_Send7bitAddress(I2C_USE, devAddr, I2C_Direction_Transmitter);
zero_time = GetTickCount();
while (!I2C_CheckEvent(I2C_USE, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
{
if(CheckTick(zero_time,timeout) == TRUE) return I2C_STATUS_TIMEOUT;
}
/* Send the device's internal address to write to */
I2C_SendData(I2C_USE, RegName);
zero_time = GetTickCount();
while ((!I2C_GetFlagStatus(I2C_USE,I2C_FLAG_TXE)) && (!I2C_GetFlagStatus(I2C_USE,I2C_FLAG_BTF)))
{
if(CheckTick(zero_time,timeout) == TRUE) return I2C_STATUS_TIMEOUT;
}
/* Enable I2C DMA request */
I2C_DMACmd(I2C_USE,ENABLE);
/* Enable DMA TX Channel */
DMA_Cmd(I2C_DMA_TX_CHANNEL, ENABLE);
/* Wait until DMA Transfer Complete */
zero_time = GetTickCount();
while (!DMA_GetFlagStatus(I2C_DMA_TX_TCFLA))
{
if(CheckTick(zero_time,timeout) == TRUE) return I2C_STATUS_TIMEOUT;
}
/* Wait until BTF Flag is set before generating STOP */
zero_time = GetTickCount();
while ((!I2C_GetFlagStatus(I2C_USE,I2C_FLAG_BTF)))
{
if(CheckTick(zero_time,timeout) == TRUE) return I2C_STATUS_TIMEOUT;
}
/* Send STOP Condition */
I2C_GenerateSTOP(I2C_USE, ENABLE);
/* Disable DMA TX Channel */
DMA_Cmd(I2C_DMA_TX_CHANNEL, DISABLE);
/* Disable I2C DMA request */
I2C_DMACmd(I2C_USE,DISABLE);
/* Clear DMA RX Transfer Complete Flag */
DMA_ClearFlag(I2C_DMA_TX_TCFLA);
return I2C_STATUS_SUCCESS;
}
