/**
  ******************************************************************************
  * @file OptimizedI2Cexamples/src/main.c
  * @author  MCD Application Team
  * @version  V4.0.0
  * @date     06/18/2010
  * @brief  Main program body
  ******************************************************************************
  * @copy
  *
  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
  *
  * <h2><center>&copy; COPYRIGHT 2010 STMicroelectronics</center></h2>
  */

/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"
#include "I2CRoutines.h"

/** @addtogroup Optimized I2C examples
  * @{
  */

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
ErrorStatus HSEStartUpStatus;
/* Buffer of data to be received by I2C1 */
uint8_t Buffer_Rx1[255];
/* Buffer of data to be transmitted by I2C1 */
uint8_t Buffer_Tx1[255] = {0x5, 0x6,0x8,0xA};
/* Buffer of data to be received by I2C2 */
uint8_t Buffer_Rx2[255];
/* Buffer of data to be transmitted by I2C2 */
uint8_t Buffer_Tx2[255] = {0xF, 0xB, 0xC,0xD};
extern __IO uint8_t Tx_Idx1 , Rx_Idx1;
extern __IO uint8_t Tx_Idx2 , Rx_Idx2;

/* Private function prototypes -----------------------------------------------*/
void GPIO_Configuration(void);
void NVIC_Configuration(void);
/* Private functions ---------------------------------------------------------*/
#define GYR_ADDRESS0 (0xD2)
#define ACC_ADDRESS 0x30
#define GYR_ADDRESS (0x69<<1)
#define MAG_ADDRESS (0x3C)
#define GYR_OUT 0x28
#define ACC_OUT 0x28
#define MAG_OUT 0x03
#define LSM303_CTRL_REG1_A  0x20
#define LSM303_MR_REG_M  0x02
#define GYR_REG1 0x20
#define GYR_REG4 0x23

short x,y,z;
static __IO uint32_t TimingDelay;

void Delay(uint32_t nTime);
void TimingDelay_Decrement(void);
void InitSysClock(void);
void GWriteReg(unsigned char reg,unsigned char value) // Write gyro reg
{
    Buffer_Tx1[0]=reg;
    Buffer_Tx1[1]=value;

    I2C_Master_BufferWrite(I2C1, Buffer_Tx1,2,Polling, GYR_ADDRESS);
}
void AWriteReg(unsigned char reg,unsigned char value) // Write accel reg
{
    Buffer_Tx1[0]=reg;
    Buffer_Tx1[1]=value;

    if (I2C_Master_BufferWrite(I2C1, Buffer_Tx1,2,Polling, ACC_ADDRESS)==Error)
    {

    }
}
void MWriteReg(unsigned char reg,unsigned char value) // Write mag reg
{
    Buffer_Tx1[0]=reg;
    Buffer_Tx1[1]=value;

    if (I2C_Master_BufferWrite(I2C1, Buffer_Tx1,2,Polling, MAG_ADDRESS)==Error)
    {

    }
}
unsigned char GReadReg(unsigned char reg) // Read gyro reg
{
    Buffer_Tx1[0]=reg;
    I2C_Master_BufferWrite(I2C1, Buffer_Tx1,1,Interrupt, GYR_ADDRESS);
    I2C_Master_BufferRead(I2C1,Buffer_Rx1,1,Polling, GYR_ADDRESS);
    return Buffer_Rx1[0];
}
void GDataRead() // Read data from gyro
{
    Buffer_Tx1[0]=GYR_OUT|(1<<7);
    if(I2C_Master_BufferWrite(I2C1, Buffer_Tx1,1,DMA, GYR_ADDRESS)==Success)
    {
            if(I2C_Master_BufferRead(I2C1,Buffer_Rx1,6,DMA, GYR_ADDRESS)==Success)
            {
                    x=Buffer_Rx1[1]<<8|Buffer_Rx1[0];
                    y=Buffer_Rx1[3]<<8|Buffer_Rx1[2];
                    z=Buffer_Rx1[5]<<8|Buffer_Rx1[4];
            }
    }
}
void ADataRead() // Read data from accel
{
    Buffer_Tx1[0]=ACC_OUT|(1<<7);
    if(I2C_Master_BufferWrite(I2C1, Buffer_Tx1,1,DMA, ACC_ADDRESS)==Success)
    {
            if(I2C_Master_BufferRead(I2C1,Buffer_Rx1,6,DMA,ACC_ADDRESS)==Success)
            {
                    x=Buffer_Rx1[1]<<8|Buffer_Rx1[0];
                    y=Buffer_Rx1[3]<<8|Buffer_Rx1[2];
                    z=Buffer_Rx1[5]<<8|Buffer_Rx1[4];
            }
    }
}
void MDataRead() // Read data from mag
{
    Buffer_Tx1[0]=MAG_OUT;
    if(I2C_Master_BufferWrite(I2C1, Buffer_Tx1,1,DMA, MAG_ADDRESS)==Success)
    {
            if(I2C_Master_BufferRead(I2C1,Buffer_Rx1,6,DMA, MAG_ADDRESS)==Success)
            {
                    x = Buffer_Rx1[1]<<8|Buffer_Rx1[0];
                    z = Buffer_Rx1[3]<<8|Buffer_Rx1[2];
                    y = Buffer_Rx1[5]<<8|Buffer_Rx1[4];
            }
    }
}
void GInit() // Init gyro
{
    GWriteReg(GYR_REG1,0x0F);
    GWriteReg(GYR_REG4,0x20);
}

/**
  * @brief  Main program
  * @param  None
  * @retval : None
  */
void AInit() // Init accel
{
    AWriteReg(LSM303_CTRL_REG1_A,0x27);
}

void MInit() // Init mag
{
    MWriteReg(LSM303_MR_REG_M, 0x00);
}
int main(void)
{
    NVIC_Configuration();
        InitSysClock();
        I2C_LowLevel_Init(I2C1);
        AInit(); // Init accel, gyro and mag
      GInit();
      MInit();
        /* Use I2C1 as Master which is communicating with I2C1 of another STM32F10x device */
        while(1)
        {
            GDataRead(); // Read data to variables x,y,z
            ADataRead();
            MDataRead();
        }

        /* Use I2C1 as Slave */
        /*! When using Slave with DMA, uncomment //#define SLAVE_DMA_USE in the stm32f10x_it.c file.*/
        /*I2C_Slave_BufferReadWrite(I2C1, DMA);
        while(1); */
}

/**
  * @brief  Configures NVIC and Vector Table base location.
  * @param  None
  * @retval : None
  */
void InitSysClock(void)
{
    if (SysTick_Config(SystemCoreClock / 1000))
  {
     while (1);
  }
}
void NVIC_Configuration(void)
{
    /* 1 bit for pre-emption priority, 3 bits for subpriority */
    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);

    NVIC_SetPriority(I2C1_EV_IRQn, 0x00);
    NVIC_EnableIRQ(I2C1_EV_IRQn);

    NVIC_SetPriority(I2C1_ER_IRQn, 0x01);
    NVIC_EnableIRQ(I2C1_ER_IRQn);

    NVIC_SetPriority(I2C2_EV_IRQn, 0x00);
    NVIC_EnableIRQ(I2C2_EV_IRQn);

    NVIC_SetPriority(I2C2_ER_IRQn, 0x01);
    NVIC_EnableIRQ(I2C2_ER_IRQn);
}

#ifdef  USE_FULL_ASSERT


/**
  * @brief  Reports the name of the source file and the source line number
  *   where the assert_param error has occurred.
  * @param file: pointer to the source file name
  * @param line: assert_param error line source number
  * @retval : None
  */
void assert_failed(uint8_t* file, uint32_t line)
{
    /* User can add his own implementation to report the file name and line number,
       ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */

    /* Infinite loop */
    while (1)
    {
    }
}
#endif
/**
  * @}
  */
void Delay(uint32_t nTime)
{
  TimingDelay = nTime;

  while(TimingDelay != 0);
}
void TimingDelay_Decrement(void)
{
  if (TimingDelay != 0x00)
      TimingDelay--;
}

/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/