Diff: i2c.c

Revision:

0:62a1c91a859a

Child:

1:1e3318a30ddd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/i2c.c	Fri Feb 18 22:28:05 2011 +0000
@@ -0,0 +1,163 @@
+// ===============================================================================================
+// =                              UAVXArm Quadrocopter Controller                                =
+// =                           Copyright (c) 2008 by Prof. Greg Egan                             =
+// =                 Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer                   =
+// =                     http://code.google.com/p/uavp-mods/ http://uavp.ch                      =
+// ===============================================================================================
+
+//    This is part of UAVXArm.
+
+//    UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
+//    General Public License as published by the Free Software Foundation, either version 3 of the
+//    License, or (at your option) any later version.
+
+//    UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
+//    even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+//    See the GNU General Public License for more details.
+
+//    You should have received a copy of the GNU General Public License along with this program.
+//    If not, see http://www.gnu.org/licenses/
+
+#include "UAVXArm.h"
+
+uint32 MinI2CRate = I2C_MAX_RATE_HZ;
+
+void TrackMinI2CRate(uint32 r) {
+ if ( r < MinI2CRate )
+    MinI2CRate = r;
+} // TrackMinI2CRate
+
+void ShowI2CDeviceName(uint8 d)
+{
+    TxChar(' ');
+    switch ( d  ) {
+    case ADXL345_ID: TxString("ADXL345 Acc"); break;
+    case ITG3200_ID: TxString("ITG3200 Gyro"); break;
+    case HMC5843_ID: TxString("HMC5843 Magnetometer"); break;
+    case HMC6352_ID: TxString("HMC6352 Compass"); break;
+    case ADS7823_ID: TxString("ADS7823 ADC"); break;
+    case MCP4725_ID: TxString("MCP4725 DAC"); break;
+    case BOSCH_ID: TxString("Bosch Baro"); break;
+    case TMP100_ID: TxString("TMP100 Temp"); break;
+    case PCA9551_ID: TxString("PCA9551 LED");break;
+    case LISL_ID: TxString("LIS3L Acc"); break;
+    default: break;
+    } // switch
+    TxChar(' ');
+
+} // ShowI2CDeviceName
+
+uint8 ScanI2CBus(void) {
+    uint8 s;
+    uint8 d;
+
+    d = 0;
+
+    TxString("Buss 0\r\n");
+    for ( s = 0x10 ; s <= 0xf6 ; s += 2 ) {
+        I2C0.start();
+        if ( I2C0.write(s) == I2C_ACK ) {
+            d++;
+            TxString("\t0x");
+            TxValH(s);
+            ShowI2CDeviceName( s );
+            TxNextLine();
+        }
+        I2C0.stop();
+
+        Delay1mS(2);
+    }
+    
+    /* 
+    TxString("Buss 1\r\n");
+    for ( s = 0x10 ; s <= 0xf6 ; s += 2 ) {
+        I2C1.start();
+        if ( I2C1.write(s) == I2C_ACK ) {
+            d++;
+            TxString("\t0x");
+            TxValH(s);
+            TxNextLine();
+        }
+        I2C1.stop();
+
+        Delay1mS(2);
+    }
+    */
+
+    PCA9551Test();
+
+    return(d);
+} // ScanI2CBus
+
+void ProgramSlaveAddress(uint8 addr) {
+    static uint8 s;
+
+    for (s = 0x10 ; s < 0xf0 ; s += 2 ) {
+        I2CESC.start();
+        if ( I2CESC.read(s) == I2C_ACK )
+            if ( s == addr ) {   // ESC is already programmed OK
+                I2CESC.stop();
+                TxString("\tESC at SLA 0x");
+                TxValH(addr);
+                TxString(" is already programmed OK\r\n");
+                return;
+            } else {
+                if ( I2CESC.read(0x87) == I2C_ACK ) // select register 0x07
+                    if ( I2CESC.write( addr ) == I2C_ACK ) { // new slave address
+                        I2CESC.stop();
+                        TxString("\tESC at SLA 0x");
+                        TxValH(s);
+                        TxString(" reprogrammed to SLA 0x");
+                        TxValH(addr);
+                        TxNextLine();
+                        return;
+                    }
+            }
+        I2CESC.stop();
+    }
+    TxString("\tESC at SLA 0x");
+    TxValH(addr);
+    TxString(" no response - check cabling and pullup resistors!\r\n");
+} // ProgramSlaveAddress
+
+boolean CheckESCBus(void) {
+    return ( true );
+} // CheckESCBus
+
+void ConfigureESCs(void) {
+    int8 m;
+
+    if ( (int8)P[ESCType] == ESCYGEI2C ) {
+        TxString("\r\nProgram YGE ESCs\r\n");
+        for ( m = 0 ; m < NoOfI2CESCOutputs ; m++ ) {
+            TxString("Connect ONLY ");
+            switch ( m ) {
+#ifdef HEXACOPTER
+                    not yet!
+#else
+                case 0 :
+                    TxString("Front");
+                    break;
+                case 1 :
+                    TxString("Back");
+                    break;
+                case 2 :
+                    TxString("Right");
+                    break;
+                case 3 :
+                    TxString("Left");
+                    break;
+#endif // HEXACOPTER
+            }
+            TxString(" ESC, then press any key \r\n");
+            while ( PollRxChar() != 'x' ); // UAVPSet uses 'x' for any key button
+            //    TxString("\r\n");
+            ProgramSlaveAddress( 0x62 + ( m*2 ));
+        }
+        TxString("\r\nConnect ALL ESCs and power-cycle the Quadrocopter\r\n");
+    } else
+        TxString("\r\nYGEI2C not selected as ESC?\r\n");
+} // ConfigureESCs
+
+
+