// Set the value of a register
void writeReg(uint8_t regAddr, uint8_t regVal)
{
uint8_t txBuff[2];
txBuff[0] = regAddr;
txBuff[1] = regVal;
Chip_I2C_MasterSend(i2cDev, LSM303D_ADDR, txBuff, 2);
}
// Read value from register
uint8_t readReg(uint8_t regAddr)
{
uint8_t txBuff[1];
uint8_t rxBuff[1];
txBuff[0] = regAddr;
Chip_I2C_MasterSend(i2cDev, LSM303D_ADDR, txBuff, 1);
Chip_I2C_MasterRead(i2cDev, LSM303D_ADDR, rxBuff, 1);
return rxBuff[0];
}
void Board_I2C_Reset(uint8_t reset_val, uint8_t *i2c_tx_buffer) {
//Open I2C Channel 0
i2c_tx_buffer[0] = I2C_MUX_CHANNEL_0;
Chip_I2C_MasterSend(DEFAULT_I2C, I2C_MUX_SLAVE_ADDRESS, i2c_tx_buffer, 1);
//Write reset_val to gas gauge 0 control register
i2c_tx_buffer[0] = I2C_GG_CTRL_REG;
i2c_tx_buffer[1] = reset_val;
Chip_I2C_MasterSend(DEFAULT_I2C, I2C_GG_SLAVE_ADDRESS, i2c_tx_buffer, 2);
//Open I2C Channel 1
i2c_tx_buffer[0] = I2C_MUX_CHANNEL_1;
Chip_I2C_MasterSend(DEFAULT_I2C, I2C_MUX_SLAVE_ADDRESS, i2c_tx_buffer, 1);
//Write reset_val to gas gauge 1 control register
i2c_tx_buffer[0] = I2C_GG_CTRL_REG;
i2c_tx_buffer[1] = reset_val;
Chip_I2C_MasterSend(DEFAULT_I2C, I2C_GG_SLAVE_ADDRESS, i2c_tx_buffer, 2);
}
void LSM_write_reg_mag(uint8_t reg_addr, uint8_t data) {
// Write the register and then the data
// - Make a transmit buffer
uint8_t tx_size = 2;
uint8_t tx_buf[tx_size];
// - Set the register address
tx_buf[0] = reg_addr;
tx_buf[1] = data;
// - Write the data
Chip_I2C_MasterSend(LSM_i2c_id, LSM_mag_address, tx_buf, tx_size);
}
int8_t LSM_read_reg_mag(uint8_t reg_addr) {
// Write the register we want to read
// - Make a transmit buffer
uint8_t tx_size = 1;
uint8_t tx_buf[tx_size];
// - Set the register address
tx_buf[0] = reg_addr;
// - Write the register value
Chip_I2C_MasterSend(LSM_i2c_id, LSM_mag_address, tx_buf, tx_size);
// Read the register value
// - Make a receive buffer
uint8_t rx_size = 1;
uint8_t rx_buf[rx_size];
// - Read the register value
Chip_I2C_MasterRead(LSM_i2c_id, LSM_mag_address, rx_buf, rx_size);
return rx_buf[0];
}
/* Write data to UDA register */
void UDA1380_REG_Write(uint8_t reg, uint16_t val)
{
uint8_t dat[3];
dat[0] = reg; dat[1] = val >> 8; dat[2] = val & 0xFF;
Chip_I2C_MasterSend(UDA1380_I2C_BUS, I2CDEV_UDA1380_ADDR, dat, sizeof(dat));
}
/* Write multiple registers in one go */
int UDA1380_REG_WriteMult(const uint8_t *buff, int len)
{
return Chip_I2C_MasterSend(UDA1380_I2C_BUS, I2CDEV_UDA1380_ADDR, buff, len) == len;
}
uint32_t Board_I2C_Master_Write(uint8_t slaveAddr, uint8_t *buff, int len)
{
return Chip_I2C_MasterSend(I2C0, slaveAddr, buff, len);
}
int main(void)
{
//---------------
// Initialize SysTick Timer to generate millisecond count
if (Board_SysTick_Init()) {
// Unrecoverable Error. Hang.
while(1);
}
//---------------
// Initialize GPIO and LED as output
Board_LEDs_Init();
Board_LED_On(LED0);
Board_LED_On(LED1);
Board_LED_On(LED2);
Board_LED_On(LED3);
//Initialize I2C
Board_I2C_Init();
//---------------
// Initialize UART Communication
Board_UART_Init(UART_BAUD_RATE);
Board_UART_Println("Started up");
//---------------
// Initialize CAN and CAN Ring Buffer
RingBuffer_Init(&can_rx_buffer, _rx_buffer, sizeof(CCAN_MSG_OBJ_T), BUFFER_SIZE);
RingBuffer_Flush(&can_rx_buffer);
Board_CAN_Init(CCAN_BAUD_RATE, CAN_rx, CAN_tx, CAN_error);
// For your convenience.
// typedef struct CCAN_MSG_OBJ {
// uint32_t mode_id;
// uint32_t mask;
// uint8_t data[8];
// uint8_t dlc;
// uint8_t msgobj;
// } CCAN_MSG_OBJ_T;
/* [Tutorial] How do filters work?
Incoming ID & Mask == Mode_ID for msgobj to accept message
Incoming ID : 0xabc
Mask: 0xF0F &
-----------
0xa0c
mode_id == 0xa0c for msgobj to accept message
*/
//Set mask to only accept messages from Driver Interface
msg_obj.msgobj = 1;
msg_obj.mode_id = DI_PACKET__id;
msg_obj.mask = 0x555;
LPC_CCAN_API->config_rxmsgobj(&msg_obj);
can_error_flag = false;
can_error_info = 0;
lastPrint = msTicks;
PDM_STATUS_T pdm_status;
int tmp;
bool lv_i2c = true, cs_i2c = true, mux_i2c = true;
//Board_I2C_Reset(I2C_GG_CONTINUOUS, i2c_tx_buffer);
//Open I2C Channel 0
i2c_tx_buffer[0] = I2C_MUX_CHANNEL_0;
tmp = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_MUX_SLAVE_ADDRESS, i2c_tx_buffer, 1);
Board_UART_Print("Opened Channel 0: ");
Board_UART_PrintNum(tmp, 10, true);
//Set Gas Gauge 0 to continuous data collection
i2c_tx_buffer[0] = I2C_GG_CTRL_REG;
i2c_tx_buffer[1] = I2C_GG_CONTINUOUS;
tmp = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_GG_SLAVE_ADDRESS, i2c_tx_buffer, 2);
Board_UART_Print("Set I2C0 to continuous data collection: ");
Board_UART_PrintNum(tmp, 10, true);
//Open I2C Channel 1
i2c_tx_buffer[0] = I2C_MUX_CHANNEL_1;
tmp = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_MUX_SLAVE_ADDRESS, i2c_tx_buffer, 1);
Board_UART_Print("Opened Channel 1: ");
Board_UART_PrintNum(tmp, 10, true);
//Set Gas Gauge 1 to continuous data collection
i2c_tx_buffer[0] = I2C_GG_CTRL_REG;
i2c_tx_buffer[1] = I2C_GG_CONTINUOUS;
tmp = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_GG_SLAVE_ADDRESS, i2c_tx_buffer, 2);
Board_UART_Print("Set I2C1 to continuous data collection: ");
Board_UART_PrintNum(tmp, 10, true);
while (1) {
//Set PDM status based on CAN messages from Driver Interface
if (!RingBuffer_IsEmpty(&can_rx_buffer)) {
CCAN_MSG_OBJ_T temp_msg;
RingBuffer_Pop(&can_rx_buffer, &temp_msg);
//Test for DI OFF or SHUTDOWN IMPENDING message
if((temp_msg.data[3] << 8 | temp_msg.data[2]) == ____DI_PACKET__DRIVE_STATUS__SHUTDOWN_IMPENDING ||
(temp_msg.data[3] << 8 | temp_msg.data[2]) == ____DI_PACKET__DRIVE_STATUS__OFF) {
if(pdm_status.pdm_on) {
pdm_status.pdm_on = false;
Board_LED_Off(LED0);
Board_I2C_Reset(I2C_GG_SLEEP, i2c_tx_buffer);
}
}
else {
if(!(pdm_status.pdm_on)) {
pdm_status.pdm_on = true;
Board_LED_On(LED0);
Board_I2C_Reset(I2C_GG_CONTINUOUS, i2c_tx_buffer);
}
}
}
//Reset gas gauge 0 if it has been diconnected and then reconnected to power
i2c_tx_buffer[0] = I2C_MUX_CHANNEL_0;
tmp = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_MUX_SLAVE_ADDRESS, i2c_tx_buffer, 1); //Open I2C Channel 0
tmp = Chip_I2C_MasterCmdRead(DEFAULT_I2C, I2C_GG_SLAVE_ADDRESS, I2C_GG_CTRL_REG, i2c_rx_buffer, 1);
Board_UART_PrintNum(i2c_rx_buffer[0],16,true);
if((uint16_t)i2c_rx_buffer[0] == I2C_GG_DEFAULT) { //Test for default values in control register
if(pdm_status.pdm_on) {
Board_I2C_Reset(I2C_GG_CONTINUOUS, i2c_tx_buffer);
}
else {
Board_I2C_Reset(I2C_GG_SLEEP, i2c_tx_buffer);
}
//Send a heartbeat with a com error
Board_CAN_SendHeartbeat(&pdm_status, &msg_obj, true);
}
//Reset gas gauge 1 if it has been diconnected and then reconnected to power
i2c_tx_buffer[0] = I2C_MUX_CHANNEL_1;
tmp = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_MUX_SLAVE_ADDRESS, i2c_tx_buffer, 1); //Open 12C Channel 1
tmp = Chip_I2C_MasterCmdRead(DEFAULT_I2C, I2C_GG_SLAVE_ADDRESS, I2C_MUX_CHANNEL_0, i2c_rx_buffer, 1);
Board_UART_PrintNum(i2c_rx_buffer[0],16,true);
if((uint16_t)i2c_rx_buffer[0] == I2C_GG_DEFAULT) { //Test for default values in control register
if(pdm_status.pdm_on) {
Board_I2C_Reset(I2C_GG_CONTINUOUS, i2c_tx_buffer);
}
else {
Board_I2C_Reset(I2C_GG_SLEEP, i2c_tx_buffer);
}
//Send a heartbeat with a com error
Board_CAN_SendHeartbeat(&pdm_status, &msg_obj, true);
}
/* Update PDM and Debug LED code */
//Attempt to open I2C Channel 0
i2c_tx_buffer[0] = I2C_MUX_CHANNEL_0;
mux_i2c = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_MUX_SLAVE_ADDRESS, i2c_tx_buffer, 1);
//Attempt to update Critical Systems PDM Struct
cs_i2c = Board_PDM_Status_Update(&pdm_status, i2c_rx_buffer, true);
//Attempt to open I2C Channel 1
i2c_tx_buffer[0] = I2C_MUX_CHANNEL_1;
mux_i2c = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_MUX_SLAVE_ADDRESS, i2c_tx_buffer, 1);
//Attempt to update Low Voltage PDM struct
lv_i2c = Board_PDM_Status_Update(&pdm_status, i2c_rx_buffer, false);
//Run debug logic and update state
Board_PDM_Status_Debug(&pdm_status, mux_i2c, cs_i2c, lv_i2c);
if(msTicks - lastPrint > FREQ_THRESHOLD){ // 10 times per second
lastPrint = msTicks; // Store the current time, to allow the process to be done in another 1/10 seconds
Board_CAN_SendHeartbeat(&pdm_status, &msg_obj, false);
}
}
}
