1 | // I2C1 configuration-----------------------------------------------------
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2 |
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3 | I2C_DeInit(I2C1);
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4 | I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
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5 | I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
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6 | I2C_InitStructure.I2C_OwnAddress1 = I2C1_SLAVE_ADDRESS7;
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7 | I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
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8 | I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
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9 | I2C_InitStructure.I2C_ClockSpeed = 100000; //ClockSpeed;
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10 | I2C_Init(I2C1, &I2C_InitStructure);
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11 |
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12 | //Remap I2C1
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13 | // GPIO_PinRemapConfig(GPIO_Remap_I2C1, ENABLE);
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14 |
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15 | // Configure I2C1 pins: SCL and SDA
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16 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
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17 | GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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18 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
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19 | GPIO_Init(GPIOB, &GPIO_InitStructure);
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20 |
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21 | I2C_Cmd(I2C1, ENABLE);
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22 |
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23 | while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY));
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24 | // I2C_AcknowledgeConfig(I2C1, ENABLE);
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25 |
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26 | // Kompassmodul auslesen
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27 |
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28 | while(1)
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29 | {
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30 | I2C_GenerateSTART(I2C1, ENABLE);
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31 | while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));
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32 |
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33 | I2C_Send7bitAddress(I2C1, 0xC0, I2C_Direction_Transmitter);
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34 | while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
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35 |
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36 | I2C_SendData(I2C1, 0x02); //Register 2 ; Auflösung 0-3599
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37 | while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
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38 |
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39 | I2C_GenerateSTART(I2C1, ENABLE);
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40 | while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));
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41 |
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42 | I2C_Send7bitAddress(I2C1, 0xC1, I2C_Direction_Receiver);
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43 | while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED)); //keine Rückgabe von ADDR von Kompassmodul???
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44 |
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45 | posHB = I2C_ReceiveData(I2C1);
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46 | while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
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47 |
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48 | posLB = I2C_ReceiveData(I2C1);
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49 | while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
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50 |
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51 | I2C_GenerateSTOP(I2C1, ENABLE);
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52 |
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53 | pos_ist = (((uint16)posHB) << 8 | posLB);
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54 | }
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