Other Parts Discussed in Thread: DRV8301, DRV8305
Hi
I run my code (reading data from I2C sensor) inside proj_lab12b, and it works, but after a while transmission break down. Sometimes it works about 30 seconds sometimes only 2 seconds, sometimes about 15..
If I run debug mode, communication with computer also has problems - from the moment when I2C stops working, changing the enableSys or Run_Identify flag does not give the effect of stopping the motor. Other variables in watchwindow stops refreshing they values, only st_obj.vel.conv.Pos_erev still refresh.
My code is in the main loop. Works in non-FIFO mode, master-receiver, no interrupts. I think changing to the interrupts mode can fix the problem of breaking the connection.
So i try to enable i2c_int1a_isr, but it doesn't work.
To enable i2c_int1a_isr, I made the following changes:
in hal.h
// the globals
extern interrupt void mainISR(void);
extern interrupt void i2c_int1a_isr(void);//my changes
/*
.
.
.
*/
static inline void HAL_initIntVectorTable(HAL_Handle handle)
{
HAL_Obj *obj = (HAL_Obj *)handle;
PIE_Obj *pie = (PIE_Obj *)obj->pieHandle;
ENABLE_PROTECTED_REGISTER_WRITE_MODE;
pie->ADCINT1 = &mainISR;
pie->I2CINT1A = &i2c_int1a_isr; //my changes
DISABLE_PROTECTED_REGISTER_WRITE_MODE;
return;
} // end of HAL_initIntVectorTable() function
in main.h:
interrupt void mainISR(void); interrupt void i2c_int1a_isr(void); //my changes
and proj_lab12b.c :
#ifdef FLASH
#pragma CODE_SECTION(mainISR,"ramfuncs");
#pragma CODE_SECTION(i2c_int1a_isr,"ramfuncs");
#endif
/*
.
Motorware code here
.
*/
void main(void)
{
/*
.
.
Motorware init code here
.
.
*/
PIE_enableInt(halHandle->pieHandle,PIE_GroupNumber_8,PIE_InterruptSource_I2CA1 ); //enable interrupt
CPU_enableInt(halHandle->cpuHandle,CPU_IntNumber_8);
i2c_cycle=0;
I2caRegs.I2CSAR = 0x0068; // Slave address - EEPROM control code
I2caRegs.I2CPSC.all = 35; // Prescaler - need 7-12 Mhz on module clk
I2caRegs.I2CCLKL = 10; // NOTE: must be non zero
I2caRegs.I2CCLKH = 5; // NOTE: must be non zero
I2caRegs.I2CMDR.all = 0x0020;
I2caRegs.I2CSAR = 0x68; //Set slave address
I2caRegs.I2CCNT = 2; //Set count to 5 characters plus 2 address bytes
I2caRegs.I2CDXR = 0x6B; //register where i will write 0x00
I2caRegs.I2CMDR.bit.TRX = 1; //Set to Transmit mode
I2caRegs.I2CMDR.bit.MST = 1; //Set to Master mode
I2caRegs.I2CMDR.bit.FREE = 1; //Run in FREE mode
I2caRegs.I2CMDR.bit.STP = 1; //Stop when internal counter becomes 0
I2caRegs.I2CMDR.bit.STT = 1; //Send the start bit, transmission will follow
while(I2caRegs.I2CSTR.bit.XRDY == 0){}; //Do nothing till data is shifted out
I2caRegs.I2CDXR = 0x00;
I2caRegs.I2CIER.all = 0x18; // Enable xrdy and rrdy interrupts
for(;;)
{
while(gMotorVars.Flag_enableSys)
{
/*
.
.
Motorware loop code here
.
.
*/
i2c_cycle++;
if(i2c_cycle==200)
{
i2c_cycle=0;
I2caRegs.I2CSAR = 0x68; //Set slave address
I2caRegs.I2CCNT = 1; //Set count to 2 address bytes
I2caRegs.I2CDXR = 0x3B; //Send high address of register to read
I2caRegs.I2CMDR.bit.TRX = 1; //Set to Transmit mode
I2caRegs.I2CMDR.bit.MST = 1; //Set to Master mode
I2caRegs.I2CMDR.bit.FREE = 1; //Run in FREE mode
I2caRegs.I2CMDR.bit.STP = 0; //Dont release the bus after Tx
I2caRegs.I2CMDR.bit.STT = 1; //Send the start bit, transmission will follow
}
} // end of while(gFlag_enableSys) loop
} // end of for(;;) loop
} // end of main() function
__interrupt void i2c_int1a_isr(void)
{
uint16_t IntSource;
//
// Read interrupt source
//
IntSource = I2caRegs.I2CISRC.all;
if(RxdData_counter>5)RxdData_counter=0;
if(IntSource == 0x0005) // XRDYINT
{
I2caRegs.I2CCNT = 6; //read 6 bytes from sensor
I2caRegs.I2CMDR.bit.TRX = 0; //Set to Recieve mode
I2caRegs.I2CMDR.bit.MST = 1; //Set to Master mode
I2caRegs.I2CMDR.bit.FREE = 1; //Run in FREE mode
I2caRegs.I2CMDR.bit.STP = 1; //Stop when internal counter becomes 0
I2caRegs.I2CMDR.bit.STT = 1; //Repeated start, Reception will follow
}
else if(IntSource == 0x0004) // RRDYINT
{
RxdData[RxdData_counter] = I2caRegs.I2CDRR;
RxdData_counter++; //I want to read 6 bytes, and write them to RxdData[0],RxdData[1],RxdData[2]..
I2caRegs.I2CSTR.bit.RRDY = 1; //SPRUH18G page 921 "RRDY is manualy cleared. To clear this bit write 1 to it."
}
else
{
//
// Generate some error due to invalid interrupt source
//
__asm(" ESTOP0");
}
//
// Enable future I2C (PIE Group 8) interrupts
//
PIE_clearInt(halHandle->pieHandle,PIE_GroupNumber_8);
}
What else can I do to make interrupt i2c_int1a_isr work?
Regards,
Wojciech
