Mercurial > public > ostc4
view Small_CPU/Src/i2c.c @ 539:d784f281833a
Added inertia simulation for compass heading:
In previous version calculated compass values were directly used for visualization of the compass. This causes a fast changing (jumping) of values. With the inertia introduction the compass behalfs more like an analog compass. The final value is reached slowly and the displayed values are more stable.
For configuration a new menu item has been added to the compass menu allowing to switch inertia off (default), small and large inertia simulation
author | Ideenmodellierer |
---|---|
date | Sat, 10 Oct 2020 16:59:18 +0200 |
parents | 4fe5400567e7 |
children |
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#include "baseCPU2.h" #include "i2c.h" #include "scheduler.h" /* Private typedef -----------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/ // =============================================================================== // I2C addresses - see i2c.h // =============================================================================== I2C_HandleTypeDef I2cHandle; /* static void I2C_Error_Handler(void) { while(1) { } } */ GPIO_PinState HAL_I2C_Read_Data_PIN(void) { return HAL_GPIO_ReadPin(I2Cx_SDA_GPIO_PORT,I2Cx_SDA_PIN); } void HAL_I2C_Send_One_CLOCK(void) { HAL_GPIO_WritePin(I2Cx_SCL_GPIO_PORT, I2Cx_SCL_PIN, GPIO_PIN_RESET); HAL_Delay(1); HAL_GPIO_WritePin(I2Cx_SCL_GPIO_PORT, I2Cx_SCL_PIN, GPIO_PIN_SET); HAL_Delay(1); } GPIO_PinState MX_I2C1_TestAndClear(void) { GPIO_PinState retval; uint8_t repeatcnt = 3; I2C_DeInit(); HAL_I2C_ManualControl_MspInit(); /* The SDA line is expected to be HIGH if no com is pending => send dummy clock signals if that is not the case */ do { for(int i=0; i<20;i++) { if(HAL_I2C_Read_Data_PIN() == GPIO_PIN_RESET) HAL_I2C_Send_One_CLOCK(); else break; } retval = HAL_I2C_Read_Data_PIN(); }while ((repeatcnt-- > 0) && (retval != GPIO_PIN_SET)); return retval; } HAL_StatusTypeDef MX_I2C1_Init(void) { I2cHandle.Instance = I2Cx; I2cHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; I2cHandle.Init.ClockSpeed = 88000; /* Reduced to avoid behavior described in errata: Mismatch on the “Setup time for a repeated Start condition” */ I2cHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; I2cHandle.Init.DutyCycle = I2C_DUTYCYCLE_2; /* don't care if not in fast mode */ I2cHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED; I2cHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED; I2cHandle.Init.OwnAddress1 = 0x01; /* don't care because of master mode */ /* According to documentation setting filters before I2C initialization is recommended */ /* HAL_I2CEx_AnalogFilter_Config(&I2cHandle, I2C_ANALOGFILTER_ENABLED); */ HAL_I2CEx_ConfigDigitalFilter(&I2cHandle,0x0F); global.I2C_SystemStatus = HAL_I2C_Init(&I2cHandle); if(global.dataSendToSlavePending) { scheduleSpecial_Evaluate_DataSendToSlave(); } return global.I2C_SystemStatus; } void I2C_DeInit(void) { HAL_I2C_DeInit(&I2cHandle); } static uint8_t i2c_errors = 0; void I2C_Error_count(void) { i2c_errors++; } HAL_StatusTypeDef I2C_Master_Transmit( uint16_t DevAddress, uint8_t *pData, uint16_t Size) { if(global.I2C_SystemStatus != HAL_OK) return global.I2C_SystemStatus; global.I2C_SystemStatus = HAL_I2C_Master_Transmit(&I2cHandle, DevAddress, pData, Size, 10); if(global.I2C_SystemStatus != HAL_OK) { I2C_Error_count(); } return global.I2C_SystemStatus; } HAL_StatusTypeDef I2C_Master_Receive( uint16_t DevAddress, uint8_t *pData, uint16_t Size) { if(global.I2C_SystemStatus != HAL_OK) return global.I2C_SystemStatus; global.I2C_SystemStatus = HAL_I2C_Master_Receive(&I2cHandle, DevAddress, pData, Size, 10); if(global.I2C_SystemStatus != HAL_OK) { I2C_Error_count(); } return global.I2C_SystemStatus; }