magnetometer_uart

//code for using and sending Board's magnetometer data via Uart

#include "MKL46Z4.h"

#define MAG_CTRL_REG1 (0x10)
#define MAG_CTRL_REG2 (0x11)

void InitLEDR(void)
{
	SIM_SCGC5 = SIM_SCGC5 | SIM_SCGC5_PORTE_MASK; //clock to Port E for PTE29
	PORTE_PCR29 = 256; //Alternate 1 - 001 for bits 10, 9, 8 respectively
	GPIOE_PDDR = GPIOE_PDDR | (1u<<29);
}
/*
void InitI2C(void)
{
	SIM_CLKDIV1 = SIM_CLKDIV1 | (1u<<17) | (1u<<16); //bus clock is 24/3 = 8MHz
	SIM_SCGC5 = SIM_SCGC5 | SIM_SCGC5_PORTE_MASK; //clock to PTE24 and PTE25 for I2C0
	SIM_SCGC4 = SIM_SCGC4 | SIM_SCGC4_I2C0_MASK; //clock to I2C0
	PORTE_PCR24 = PORTE_PCR24 | (1u<<10) & ~(1u<<9) | (1u<<8); //alternative 5 - 101 for bits 10, 9 8 respectively
	PORTE_PCR25 = PORTE_PCR25 | (1u<<10) & ~(1u<<9) | (1u<<8); //alternative 5 - 101 for bits 10, 9 8 respectively
	I2C1_A1 = 0x02; //address when module acts as slave
	I2C0_F = 0x80; //mult=2h ICR=00h
	//I2C0_C1 = 0xB0; //10110000 - module enable, interrupt disable, master, transmit,
	//acknowledge bit sent,repeated start off, wake up off, DMA off
	//I2C0_C2 = 0x00;
}

*/
//UART0,PTA1=RX and PTA1=TX
void InitUART(void)
{
	SIM_SOPT2=(1u<<26);//SIM_SOPT2_UART0SRC(1);Clock to UART0 MCGFLLCLK 20.97152MHz as MCG_C4=0x00 low range 20Mhz
	//SIM_SOPT5=0x00;kar na kar
	//open-drain mode disabled(Clear bit 16) plus
	//connection to UART_TX and UART_RX(Module to module interconnect) Clear bit 2,1 and 0
	SIM_SCGC4=SIM_SCGC4|(1u<<10);//set bit 10 for giving clock to UART0
	SIM_SCGC5=SIM_SCGC5_PORTA_MASK;//set bit 9 for giving clock to PORTA
	PORTA_PCR1=PORTA_PCR1&~(1u<<10)|(1u<<9)&~(1u<<8);//PTA1 as UART1_RX (010  9 for alternative 2 which is UART0_RX)
	PORTA_PCR2=PORTA_PCR2&~(1u<<10)|(1u<<9)&~(1u<<8);//PTA2 as UART1_RX (010  9 for alternative 2 which is UART0_TX)
	UART0_C2=0x00;//TX and RX both disabled
    UART0_BDH=0x00;//0x02;//Baud rate =9600,20.97152Mhz clock
    UART0_BDL=0x88;//BR=136//0x22;//BR=132.5=132=100111000
    UART0_C1=0x00;
    //UART0_S2=UART0_S1 & 0xC1;
    UART0_C3=0x00;
    UART0_C4=0x0F;//OSR=15//OSR=3
    UART0_C5=0x00;//not both edges 0x02;//as OSR=4, sampling on both edges of baud rate clock of received data
    UART0_C2=UART0_C2 | (1u<<3);//only TX enable
}

void UART_OutChar(unsigned char data)
{
	while(!(UART0_S1 & (1u<<7)));
	UART0_D=data;
}
void UART_OutUDec(unsigned int n)
{
	unsigned cnt=0;
	unsigned char buffer[50];
	do
	{
		buffer[cnt] = n%10;// digit
		n = n/10;
		cnt++;
	}	while(n);// repeat until n==0
	do
	{
		UART_OutChar(buffer[cnt-1]+'0');
		cnt--;
	}while(cnt != 0);
}

void i2c_set_tx_mode(I2C_MemMapPtr p)
{
    p->C1 |= I2C_C1_TX_MASK;
}
void i2c_set_rx_mode(I2C_MemMapPtr p)
{
    p->C1 &= ~I2C_C1_TX_MASK;
}

void i2c_set_slave_mode(I2C_MemMapPtr p)
{
    p->C1  &= ~I2C_C1_MST_MASK;
}
void i2c_set_master_mode(I2C_MemMapPtr p)
{
    p->C1  |=  I2C_C1_MST_MASK;
}

// i2c general

void i2c_give_nack(I2C_MemMapPtr p)
{
    p->C1 |= I2C_C1_TXAK_MASK;
}
void i2c_give_ack(I2C_MemMapPtr p)
{
    p->C1 &= ~I2C_C1_TXAK_MASK;
}
void i2c_repeated_start(I2C_MemMapPtr p)
{
    p->C1 |= 0x04;
}
void i2c_write_byte(I2C_MemMapPtr p, uint8_t data)
{
    p->D = data;
}
uint8_t i2c_read_byte(I2C_MemMapPtr p)
{
    return p->D;
}
void i2c_start(I2C_MemMapPtr p)
{
    i2c_set_master_mode(p);
    i2c_set_tx_mode(p);
}
void i2c_stop(I2C_MemMapPtr p)
{
    i2c_set_slave_mode(p);
    i2c_set_rx_mode(p);
}
void i2c_wait(I2C_MemMapPtr p)
{
    // wait flag
    while((p->S & I2C_S_IICIF_MASK)==0);
    // clear flag
    p->S |= I2C_S_IICIF_MASK;
}
uint16_t i2c_get_ack(I2C_MemMapPtr p)
{
//	while((p->S & I2C_S_RXAK_MASK) != 0);
    if((p->S & I2C_S_RXAK_MASK) == 0)
        return 1; //true=1
    else
        return 0;//false=0
}

void i2c0_init(I2C_MemMapPtr p)   //Magnetometro
{
    //SIM_SCGC4 |= SIM_SCGC4_I2C1_MASK;

	SIM_SCGC4 |= SIM_SCGC4_I2C0_MASK;
	SIM_SCGC5 |= SIM_SCGC5_PORTE_MASK;

    // configure GPIO for I2C function
    PORTE_PCR24 = PORT_PCR_MUX(5);
    PORTE_PCR25 = PORT_PCR_MUX(5);

    //PORTC_PCR10 = PORT_PCR_MUX(2);
    //PORTC_PCR11 = PORT_PCR_MUX(2);


    p->F  = 0x1F; // baudrate
    p->C1 = 0x80; // enable IIC
}

static void pause(void)
{
    int n;
    for(n=0; n<100; n++)
        __asm("nop");
//    for(n=0; n<100; n++);
}
uint8_t hal_dev_mag3110_read_reg(uint8_t addr)
{
    uint8_t result=0;

    i2c_start(I2C0);
    i2c_write_byte(I2C0, (0x0E<<1));

    i2c_wait(I2C0);
    i2c_get_ack(I2C0);

    i2c_write_byte(I2C0, addr);
    i2c_wait(I2C0);
    i2c_get_ack(I2C0);

    i2c_repeated_start(I2C0);
    i2c_write_byte(I2C0, (0x0E<<1)|1);
    i2c_wait(I2C0);
    i2c_get_ack(I2C0);

    i2c_set_rx_mode(I2C0);

    i2c_give_nack(I2C0);
    result = i2c_read_byte(I2C0);
    i2c_wait(I2C0);

    i2c_stop(I2C0);
    result = i2c_read_byte(I2C0);
    pause();
    return result;
}

void hal_dev_mag3110_write_reg(uint8_t addr, uint8_t data)
{
    i2c_start(I2C0);

    i2c_write_byte(I2C0, (0x0E<<1));
    i2c_wait(I2C0);
    i2c_get_ack(I2C0);

    i2c_write_byte(I2C0, addr);
    i2c_wait(I2C0);
    i2c_get_ack(I2C0);

    i2c_write_byte(I2C0, data);
    i2c_wait(I2C0);
    i2c_get_ack(I2C0);

    i2c_stop(I2C0);
    pause();
}

//unsigned int mag_x, mag_y, mag_z;

uint16_t Mresultx, Mresulty, Mresultz;

void mag_init(void)
{
 //   hal_dev_mag3110_init();      //Initialize I2C modules done in read/write functions itself
    hal_dev_mag3110_write_reg(MAG_CTRL_REG1,0x00); //Standby mode
    hal_dev_mag3110_write_reg(MAG_CTRL_REG2,0x80); //Auto reset
    hal_dev_mag3110_write_reg(MAG_CTRL_REG1,0x01); //Active
}

void mag_read(uint8_t buffer[])
{
    if((hal_dev_mag3110_read_reg(0x00)&0xf) != 0)
    {

      buffer[0] = hal_dev_mag3110_read_reg(0x01);
      buffer[1] = hal_dev_mag3110_read_reg(0x02);

      buffer[2] = hal_dev_mag3110_read_reg(0x03);
      buffer[3] = hal_dev_mag3110_read_reg(0x04);

      buffer[4] = hal_dev_mag3110_read_reg(0x05);
      buffer[5] = hal_dev_mag3110_read_reg(0x06);

      Mresultx  = buffer[0]<<8;
      Mresultx |= buffer[1];

      Mresulty  = buffer[2]<<8;
      Mresulty |= buffer[3];

      Mresultz  = buffer[4]<<8;
      Mresultz |= buffer[5];


//      Mresultx   = hal_dev_mag3110_read_reg(0x01)<<8;
//      Mresultx  |= hal_dev_mag3110_read_reg(0x02);

//      Mresulty   = hal_dev_mag3110_read_reg(0x03)<<8;
//      Mresulty  |= hal_dev_mag3110_read_reg(0x04);

//      Mresultz   = hal_dev_mag3110_read_reg(0x05)<<8;
//      Mresultz  |= hal_dev_mag3110_read_reg(0x06);
    }
}


int main(void)
{
	//InitI2C();
//	SIM_CLKDIV1 = SIM_CLKDIV1 | (1u<<18) & ~(1u<<17) | (1u<<16); //bus clock is 48/6 = 8MHz //default is 48/2=24MHz
	char name[6] = "Values";
	InitUART();
	InitLEDR();
	i2c0_init(I2C0);
	int i;
	mag_init();
	uint8_t mag_data[6];
    while(1)
    {
    	i=10000;
    	mag_read(mag_data);
    	/*
    	UART_OutUDec(mag_data[0]);
    	UART_OutChar('\n');
    	UART_OutChar('\r');
    	UART_OutUDec(mag_data[1]);
    	UART_OutChar('\n');
    	UART_OutChar('\r');
    	UART_OutUDec(mag_data[2]);
    	UART_OutChar('\n');
    	UART_OutChar('\r');
    	UART_OutUDec(mag_data[3]);
       	UART_OutChar('\n');
       	UART_OutChar('\r');
    	UART_OutUDec(mag_data[4]);
    	UART_OutChar('\n');
    	UART_OutChar('\r');
    	UART_OutUDec(mag_data[5]);
    	UART_OutChar('\n');
      	UART_OutChar('\r');
      	*/
		//for(int j=0;j<6;j++)
		//{
		//	UART_OutChar(name[j]);
		//}
    	//UART_OutChar('\n');
      //	UART_OutChar('\r');
    	UART_OutUDec(Mresultx);
    	//UART_OutChar(' ');
      	UART_OutChar('\r');
    	UART_OutUDec(Mresulty);
    	//UART_OutChar(' ');
      	UART_OutChar('\r');
    	UART_OutUDec(Mresultz);
    	//UART_OutChar(' ');
      	UART_OutChar('\r');
for(int i=0;i<86000;i++);
    	GPIOE_PTOR = GPIOE_PTOR | (1u<<29);
    	while(i>0)
    	{
    		i--;
    	}
    }
    return 0;
}