Rev 51 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 12 | hbuss | 1 | /*####################################################################################### |
| 2 | MK3Mag 3D-Magnet sensor |
||
| 32 | holgerb | 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
| 12 | hbuss | 4 | #######################################################################################*/ |
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 6 | // + Copyright (c) 05.2008 Holger Buss |
||
| 7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
||
| 62 | ingob | 8 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 12 | hbuss | 9 | // + www.MikroKopter.com |
| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 62 | ingob | 11 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 12 | hbuss | 12 | // + mit unserer Zustimmung zulässig |
| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 32 | holgerb | 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
||
| 12 | hbuss | 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| 17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
||
| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 32 | holgerb | 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 12 | hbuss | 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
| 23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
| 24 | // + eindeutig als Ursprung verlinkt werden |
||
| 25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
| 27 | // + Benutzung auf eigene Gefahr |
||
| 28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 62 | ingob | 30 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 31 | // + mit unserer Zustimmung zulässig |
||
| 32 | /// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 12 | hbuss | 33 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 34 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 32 | holgerb | 35 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 12 | hbuss | 36 | // + this list of conditions and the following disclaimer. |
| 62 | ingob | 37 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 12 | hbuss | 38 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 39 | // + from this software without specific prior written permission. |
||
| 32 | holgerb | 40 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 12 | hbuss | 41 | // + for non-commercial use (directly or indirectly) |
| 32 | holgerb | 42 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 12 | hbuss | 43 | // + with our written permission |
| 44 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
||
| 45 | // + In case of doubt please contact: info@MikroKopter.de |
||
| 32 | holgerb | 46 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| 47 | // + clearly linked as origin |
||
| 12 | hbuss | 48 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 49 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
| 50 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
| 51 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
| 52 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
| 53 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
| 54 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
| 55 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
||
| 56 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
| 57 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
| 32 | holgerb | 58 | // + POSSIBILITY OF SUCH DAMAGE. |
| 12 | hbuss | 59 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 60 | #include <avr/io.h> |
| 32 | holgerb | 61 | #include <avr/interrupt.h> |
| 1 | ingob | 62 | #include <util/twi.h> |
| 32 | holgerb | 63 | #include "twislave.h" |
| 64 | #include "uart.h" |
||
| 1 | ingob | 65 | #include "main.h" |
| 32 | holgerb | 66 | #include "timer0.h" |
| 67 | #include "led.h" |
||
| 1 | ingob | 68 | |
| 69 | |||
| 32 | holgerb | 70 | volatile uint8_t I2C_RxBufferSize = 0, I2C_TxBufferSize = 0; |
| 71 | volatile uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0; |
||
| 72 | volatile uint8_t Tx_Idx = 0, Rx_Idx = 0; |
||
| 3 | ingob | 73 | |
| 32 | holgerb | 74 | volatile uint8_t I2C_PrimRxBuffer[10]; |
| 3 | ingob | 75 | |
| 32 | holgerb | 76 | uint8_t NC_Connected = 0; |
| 77 | I2C_Heading_t I2C_Heading; |
||
| 78 | I2C_WriteAttitude_t I2C_WriteAttitude; |
||
| 79 | I2C_Mag_t I2C_Mag; |
||
| 80 | I2C_Version_t I2C_Version; |
||
| 81 | I2C_WriteCal_t I2C_WriteCal; |
||
| 82 | |||
| 83 | |||
| 84 | void I2C_Init(void) |
||
| 85 | { |
||
| 86 | |||
| 87 | uint8_t sreg; |
||
| 88 | |||
| 89 | // backup status register |
||
| 90 | sreg = SREG; |
||
| 91 | // disable global interrupts |
||
| 92 | cli(); |
||
| 93 | |||
| 94 | // SCK/SCL and MISO/SDA are at put together on the same connector pin in the schematic |
||
| 95 | |||
| 96 | // set PB4 (SCK) and PB5 (MISO) as input pull up |
||
| 97 | DDRB &= ~((1<<DDB4)|(1<<DDB5)); |
||
| 98 | PORTB |= ((1<<PORTB4)|(1<<PORTB5)); |
||
| 99 | |||
| 100 | // set PC4 (SDA) and PC5 (SCL) as input tristate |
||
| 101 | DDRC &= ~((1<<DDC4)|(1<<DDC5)); |
||
| 102 | PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
||
| 103 | |||
| 104 | I2C_TxBuffer = 0; |
||
| 105 | Tx_Idx = 0; |
||
| 106 | I2C_TxBufferSize = 0; |
||
| 107 | I2C_RxBuffer = 0; |
||
| 108 | Rx_Idx = 0; |
||
| 109 | I2C_RxBufferSize = 0; |
||
| 110 | |||
| 111 | |||
| 112 | |||
| 113 | TWCR &= ~(1<<TWSTA)|(1<<TWSTO); |
||
| 114 | TWCR|= (1<<TWEA) | (1<<TWEN)|(1<<TWIE); |
||
| 115 | |||
| 116 | // set own address |
||
| 117 | // set own address in the upper 7 bits |
||
| 118 | TWAR = I2C_SLAVE_ADDRESS; // set own address only the upper 7 bits are relevant |
||
| 119 | // TWI Control Register |
||
| 120 | // enable TWI Acknowledge Bit (TWEA = 1) |
||
| 121 | // disable TWI START Condition Bit (TWSTA = 0), SLAVE |
||
| 122 | // disable TWI STOP Condition Bit (TWSTO = 0), SLAVE |
||
| 123 | // enable TWI (TWEN = 1) |
||
| 124 | // enable TWI Interrupt (TWIE = 1) |
||
| 125 | TWCR |= (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC); |
||
| 126 | // update version info |
||
| 127 | I2C_Version.Major = VERSION_MAJOR; |
||
| 128 | I2C_Version.Minor = VERSION_MINOR; |
||
| 41 | killagreg | 129 | I2C_Version.Patch = VERSION_PATCH; |
| 130 | I2C_Version.Compatible = NC_I2C_COMPATIBLE; |
||
| 32 | holgerb | 131 | |
| 132 | // resore status register |
||
| 133 | SREG = sreg; |
||
| 1 | ingob | 134 | } |
| 32 | holgerb | 135 | |
| 136 | // send ACK after recieving a byte / ACK is expected after transmitting a byte |
||
| 137 | #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
||
| 138 | // send no ACK after recieving a byte / No ACK is expected after transmitting a byte |
||
| 139 | #define TWCR_NACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
||
| 140 | // switched to the non adressed slave mode |
||
| 141 | #define TWCR_RESET TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
||
| 142 | // The bit pattern for TWCR_ACK and TWCR_RESET are equal. This is no errro but used for better understanding. |
||
| 143 | #define TWCR_CLEARBUS TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC) |
||
| 144 | |||
| 1 | ingob | 145 | ISR (TWI_vect) |
| 32 | holgerb | 146 | { |
| 147 | uint8_t data; |
||
| 148 | static uint8_t crc; |
||
| 149 | // check event |
||
| 150 | switch (TW_STATUS) |
||
| 151 | { |
||
| 152 | case TW_SR_SLA_ACK: // slave addressed in receiver mode and ack has been returned |
||
| 153 | Rx_Idx = 0xFF; // reset rx buffer pointer |
||
| 154 | TWCR_ACK; // trigger receiving of first data byte and send ack afterwards |
||
| 1 | ingob | 155 | return; |
| 32 | holgerb | 156 | |
| 157 | case TW_SR_DATA_ACK: // data has been received and ack has been returned |
||
| 158 | data = TWDR; |
||
| 159 | if (Rx_Idx == 0xFF) |
||
| 37 | killagreg | 160 | { // if the first byte after slave addressing was received |
| 32 | holgerb | 161 | switch(data) |
| 162 | { |
||
| 163 | case I2C_CMD_VERSION: |
||
| 164 | I2C_TxBuffer = (uint8_t *)&I2C_Version; |
||
| 3 | ingob | 165 | I2C_TxBufferSize = sizeof(I2C_Version); |
| 32 | holgerb | 166 | I2C_RxBuffer = 0; |
| 3 | ingob | 167 | I2C_RxBufferSize = 0; |
| 32 | holgerb | 168 | break; |
| 7 | hbuss | 169 | |
| 32 | holgerb | 170 | case I2C_CMD_WRITE_CAL: |
| 40 | killagreg | 171 | I2C_TxBuffer = (uint8_t *)&I2C_WriteCal; |
| 172 | I2C_TxBufferSize = sizeof(I2C_WriteCal); |
||
| 32 | holgerb | 173 | I2C_RxBuffer = (uint8_t *)&I2C_WriteCal; |
| 7 | hbuss | 174 | I2C_RxBufferSize = sizeof(I2C_WriteCal); |
| 32 | holgerb | 175 | break; |
| 7 | hbuss | 176 | |
| 32 | holgerb | 177 | case I2C_CMD_READ_MAG: |
| 178 | I2C_TxBuffer = (uint8_t *)&I2C_Mag; |
||
| 3 | ingob | 179 | I2C_TxBufferSize = sizeof(I2C_Mag); |
| 32 | holgerb | 180 | I2C_RxBuffer = 0; |
| 3 | ingob | 181 | I2C_RxBufferSize = 0; |
| 32 | holgerb | 182 | |
| 183 | I2C_Mag.MagX = MagX; |
||
| 184 | I2C_Mag.MagY = MagY; |
||
| 185 | I2C_Mag.MagZ = MagZ; |
||
| 186 | break; |
||
| 187 | |||
| 188 | case I2C_CMD_READ_HEADING: |
||
| 189 | I2C_TxBuffer = (uint8_t *)&I2C_Heading; |
||
| 3 | ingob | 190 | I2C_TxBufferSize = sizeof(I2C_Heading); |
| 32 | holgerb | 191 | I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude; |
| 192 | I2C_RxBufferSize = sizeof(I2C_WriteAttitude); |
||
| 3 | ingob | 193 | I2C_Heading.Heading = Heading; |
| 32 | holgerb | 194 | AttitudeSource = ATTITUDE_SOURCE_I2C; |
| 195 | Orientation = ORIENTATION_NC; |
||
| 196 | NC_Connected = 255; |
||
| 197 | break; |
||
| 198 | default: // unknown command id |
||
| 199 | I2C_RxBuffer = 0; |
||
| 200 | I2C_RxBufferSize = 0; |
||
| 201 | I2C_TxBuffer = 0; |
||
| 202 | I2C_TxBufferSize = 0; |
||
| 203 | break; |
||
| 204 | } |
||
| 205 | Rx_Idx = 0; // set rx buffer index to start of the buffer |
||
| 206 | crc = data; |
||
| 207 | } |
||
| 208 | else // Rx_Idx != 0xFF |
||
| 209 | { |
||
| 210 | // fill receiver buffer with the byte that has been received |
||
| 211 | // if buffer exist and there is still some free space |
||
| 212 | if(Rx_Idx < I2C_RxBufferSize) |
||
| 213 | { |
||
| 214 | I2C_PrimRxBuffer[Rx_Idx] = data; |
||
| 215 | crc += data; |
||
| 216 | } |
||
| 217 | else if (Rx_Idx == I2C_RxBufferSize) // crc byte was transfered |
||
| 218 | { // if checksum matched |
||
| 219 | if(crc == data) |
||
| 220 | { // and RxBuffer exist |
||
| 221 | if(I2C_RxBuffer != 0) |
||
| 222 | { // copy data to rx buffer |
||
| 223 | for(data = 0; data < I2C_RxBufferSize; data++) |
||
| 224 | { |
||
| 225 | I2C_RxBuffer[data] = I2C_PrimRxBuffer[data]; |
||
| 226 | } |
||
| 227 | } |
||
| 228 | DebugOut.Analog[31]++; |
||
| 229 | } |
||
| 230 | else |
||
| 231 | { |
||
| 232 | DebugOut.Analog[30]++; |
||
| 233 | } |
||
| 234 | } |
||
| 235 | // else ignore data |
||
| 236 | Rx_Idx++; |
||
| 237 | } |
||
| 238 | TWCR_ACK; |
||
| 239 | return; |
||
| 16 | holgerb | 240 | |
| 32 | holgerb | 241 | case TW_ST_SLA_ACK: // slave transmitter selected |
| 242 | // reset index to start of tx buffer |
||
| 243 | Tx_Idx = 0; |
||
| 244 | crc = 0; |
||
| 245 | // if tx buffer exist and there is at least one byte to transfer |
||
| 246 | if((I2C_TxBuffer != 0) && (I2C_TxBufferSize > 1)) |
||
| 247 | { |
||
| 248 | data = I2C_TxBuffer[Tx_Idx]; |
||
| 249 | |||
| 3 | ingob | 250 | } |
| 251 | else |
||
| 32 | holgerb | 252 | { // send 0x00 if no tx buffer exist or all bytes of the tx buffer have been transmitted |
| 253 | data = 0x00; |
||
| 254 | } |
||
| 255 | crc += data; |
||
| 256 | Tx_Idx++; |
||
| 257 | TWDR = data; |
||
| 258 | TWCR_ACK; |
||
| 259 | return; |
||
| 260 | |||
| 261 | case TW_ST_DATA_ACK: // data byte has been transmitted ack has been received |
||
| 262 | // put next byte from tx buffer to the data register |
||
| 263 | if((I2C_TxBuffer != 0) && (Tx_Idx < I2C_TxBufferSize)) |
||
| 3 | ingob | 264 | { |
| 32 | holgerb | 265 | data = I2C_TxBuffer[Tx_Idx]; |
| 266 | crc += data; |
||
| 3 | ingob | 267 | } |
| 32 | holgerb | 268 | else if (Tx_Idx == I2C_TxBufferSize) |
| 269 | { // send crc byte at the end |
||
| 270 | data = crc; |
||
| 271 | } |
||
| 272 | else |
||
| 273 | { |
||
| 274 | data = 0x00; |
||
| 275 | } |
||
| 276 | Tx_Idx++; |
||
| 277 | TWDR = data; |
||
| 3 | ingob | 278 | TWCR_ACK; |
| 1 | ingob | 279 | return; |
| 32 | holgerb | 280 | |
| 281 | case TW_BUS_ERROR: // Bus-Error |
||
| 282 | TWCR_CLEARBUS; // free bus, reset to nonselected slave |
||
| 283 | return; |
||
| 284 | |||
| 285 | case TW_ST_DATA_NACK: // data transmitted, NACK received |
||
| 286 | case TW_ST_LAST_DATA: // last data byte transmitted, ACK received |
||
| 287 | case TW_SR_STOP: // stop or repeated start condition received while selected |
||
| 288 | default: |
||
| 289 | TWCR_RESET; // switch to the not addressed slave mode, own SLA will be recognized |
||
| 290 | return; |
||
| 291 | } |
||
| 1 | ingob | 292 | } |
| 293 | |||
| 294 |