Subversion Repositories MK3Mag

/*#######################################################################################

MK3Mag 3D-Magnet sensor

!!! THIS IS NOT FREE SOFTWARE !!!

#######################################################################################*/

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 05.2008 Holger Buss

// + Thanks to Ilja Fähnrich (P_Latzhalter)

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.

// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden

// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +     Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems

// +     In case of doubt please contact: info@MikroKopter.de

// +   * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN

// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/wdt.h>

#include "main.h"

#include "uart.h"

#include "timer0.h"

#include "twislave.h"

// slave addresses

#define FC_ADDRESS              1

#define NC_ADDRESS              2

#define MK3MAG_ADDRESS  3

#define FALSE   0

#define TRUE    1

// keep buffers as small as possible

#define TXD_BUFFER_LEN  100

#define RXD_BUFFER_LEN  30

volatile uint8_t txd_buffer[TXD_BUFFER_LEN];

volatile uint8_t rxd_buffer_locked = FALSE;

volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];

volatile uint8_t txd_complete = TRUE;

volatile uint8_t ReceivedBytes = 0;

// send flags

#define RQST_VERSION_INFO               0x01

#define RQST_DEBUG_DATA                 0x02

#define RQST_DEBUG_LABEL                0x04

#define RQST_COMPASS_HEADING    0x08

#define RQST_EXTERN_CTRL                0x10

uint8_t RequestFlags = 0x00;

uint8_t RequestDebugLabel = 0;

uint8_t PC_Connected = 0;

uint8_t FC_Connected = 0;

uint8_t MySlaveAddr = MK3MAG_ADDRESS;

DebugOut_t              DebugOut;

ExternData_t    ExternData;

ExternControl_t ExternControl;

VersionInfo_t   VersionInfo;

uint16_t  Debug_Timer;

const uint8_t ANALOG_LABEL[32][16] =

{

        //1234567890123456

        "Magnet X        ", //0

        "Magnet Y        ",

        "Magnet Z        ",

        "RawMagnet X     ",

        "RawMagnet Y     ",

        "RawMagnet Z     ", //5

        "Attitude Nick   ",

        "Attitude Roll   ",

        "Magnet X Offset ",

        "Magnet X Range  ",

        "Magnet Y Offset ", //10

        "Magnet Y Range  ",

        "Magnet Z Offset ",

        "Magnet Z Range  ",

        "Calstate        ",

        "Heading         ", //15

        "User0           ",

        "User1           ",

        "Acc X           ",

        "Acc Y           ",

        "Acc Z           ", //20

        "RawAcc X        ",

        "RawAcc Y        ",

        "RawAcc Z        ",

        "Acc X Offset    ",

        "Acc Y Offset    ", //25

        "Acc Z Offset    ",

        "Analog27        ",

        "Analog28        ",

        "Analog29        ",

        "I2C Error       ", //30

        "I2C Okay        "

};

/****************************************************************/

/*              Initialization of the USART0                    */

/****************************************************************/

void USART0_Init (void)

{

        uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1);

        // disable all interrupts before configuration

        cli();

        // disable RX-Interrupt

        UCSR0B &= ~(1 << RXCIE0);

        // disable TX-Interrupt

        UCSR0B &= ~(1 << TXCIE0);

        // set direction of RXD0 and TXD0 pins

        // set RXD0 (PD0) as an input pin tristate

        DDRD  &= ~(1 << DDD0);

        PORTD &= ~(1 << PORTD0);

        // set TXD0 (PD1) as an output pin

        DDRD  |= (1 << DDD1);

        PORTD &= ~(1 << PORTD1);

        // USART0 Baud Rate Register

        // set clock divider

        UBRR0H = (uint8_t)(ubrr >> 8);

        UBRR0L = (uint8_t)ubrr;

        // USART0 Control and Status Register A, B, C

        // enable double speed operation

        UCSR0A |= (1 << U2X0);

        // set asynchronous mode

        UCSR0C &= ~(1 << UMSEL01);

        UCSR0C &= ~(1 << UMSEL00);

        // no parity

        UCSR0C &= ~(1 << UPM01);

        UCSR0C &= ~(1 << UPM00);

        // 1 stop bit

        UCSR0C &= ~(1 << USBS0);

        // 8-bit

        UCSR0B &= ~(1 << UCSZ02);

        UCSR0C |=  (1 << UCSZ01);

        UCSR0C |=  (1 << UCSZ00);

        // enable receiver and transmitter

        UCSR0B |= (1 << RXEN0);

        UCSR0B |= (1 << TXEN0);

        // flush receive buffer

        while ( UCSR0A & (1<<RXC0) ) UDR0;

        // enable RX-Interrupt

        UCSR0B |= (1 << RXCIE0);

        // enable TX-Interrupt

        UCSR0B |= (1 << TXCIE0);

        rxd_buffer_locked = FALSE;

        txd_complete = TRUE;

        VersionInfo.Major = VERSION_MAJOR;

        VersionInfo.Minor = VERSION_MINOR;

        VersionInfo.PCCompatible = VERSION_COMPATIBLE;

        MySlaveAddr = MK3MAG_ADDRESS;

        // Version beim Start ausgeben (nicht schön, aber geht... )

        USART0_putchar ('\n');

        USART0_putchar ('C');

        USART0_putchar ('P');

        USART0_putchar (':');

        USART0_putchar ('V');

        USART0_putchar (0x30 + VERSION_MAJOR);

        USART0_putchar ('.');

        USART0_putchar (0x30 + VERSION_MINOR/10);

        USART0_putchar (0x30 + VERSION_MINOR%10);

    USART0_putchar ('\n');

}

// ---------------------------------------------------------------------------------

void USART0_EnableTXD(void)

{

        DDRD |= (1<<DDD1);                      // set TXD pin as output

        PORTD &= ~(1 << PORTD1);

        UCSR0B |= (1 << TXEN0);         // enable TX in USART

        UCSR0B |= (1 << TXCIE0);        // disable TX-Interrupt

}

// ---------------------------------------------------------------------------------

void USART0_DisableTXD(void)

{

        while(!txd_complete){ };

        UCSR0B &= ~(1 << TXCIE0);   // disable TX-Interrupt

        UCSR0B &= ~(1 << TXEN0);        // disable TXD in USART

        DDRD &= ~(1<<DDD1);             // set TXD pin as input

        PORTD &= ~(1 << PORTD1);

}

/****************************************************************/

/*               USART0 transmitter ISR                         */

/****************************************************************/

ISR(USART_TX_vect)

{

        static uint16_t ptr_txd_buffer = 0;

        uint8_t tmp_tx;

        if(!txd_complete) // transmission not completed

        {

                ptr_txd_buffer++;                    // die [0] wurde schon gesendet

                tmp_tx = txd_buffer[ptr_txd_buffer];

                // if terminating character or end of txd buffer was reached

                if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))

                {

                        ptr_txd_buffer = 0; // reset txd pointer

                        txd_complete = TRUE; // stop transmission

                }

                UDR0 = tmp_tx; // send current byte will trigger this ISR again

        }

        // transmission completed

        else ptr_txd_buffer = 0;

}

/****************************************************************/

/*               USART0 receiver ISR                            */

/****************************************************************/

ISR(USART_RX_vect)

{

        static uint16_t crc;

        uint8_t crc1, crc2;

        uint8_t c;

        static uint8_t ptr_rxd_buffer = 0;

        c = UDR0;  // catch the received byte

        if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return

        // the rxd buffer is unlocked

        if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received

        {

                rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer

                crc = c; // init crc

        }

        #if 0

        else if (ptr_rxd_buffer == 1) // handle address

        {

                rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer

                crc += c; // update crc

        }

        #endif

        else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes

        {

                if(c != '\r') // no termination character

                {

                        rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer

                        crc += c; // update crc

                }

                else // termination character was received

                {

                        // the last 2 bytes are no subject for checksum calculation

                        // they are the checksum itself

                        crc -= rxd_buffer[ptr_rxd_buffer-2];

                        crc -= rxd_buffer[ptr_rxd_buffer-1];

                        // calculate checksum from transmitted data

                        crc %= 4096;

                        crc1 = '=' + crc / 64;

                        crc2 = '=' + crc % 64;

                        // compare checksum to transmitted checksum bytes

                        if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))

                        {   // checksum valid

                                rxd_buffer_locked = TRUE;          // lock the rxd buffer

                                ReceivedBytes = ptr_rxd_buffer;    // store number of received bytes

                                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character

                                // if 2nd byte is an 'R' enable watchdog that will result in an reset

                                if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando

                        }

                        else

                        {       // checksum invalid

                                rxd_buffer_locked = FALSE; // unlock rxd buffer

                        }

                        ptr_rxd_buffer = 0; // reset rxd buffer pointer

                }

        }

        else // rxd buffer overrun

        {

                ptr_rxd_buffer = 0; // reset rxd buffer

                rxd_buffer_locked = FALSE; // unlock rxd buffer

        }

}

// --------------------------------------------------------------------------

void AddCRC(uint16_t datalen)

{

        uint16_t tmpCRC = 0, i;

        for(i = 0; i < datalen; i++)

        {

                tmpCRC += txd_buffer[i];

        }

        tmpCRC %= 4096;

        txd_buffer[i++] = '=' + tmpCRC / 64;

        txd_buffer[i++] = '=' + tmpCRC % 64;

        txd_buffer[i++] = '\r';

        txd_complete = FALSE;

        UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR)

}

// --------------------------------------------------------------------------

void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len)

{

        uint16_t pt = 0;

        uint8_t a,b,c;

        uint8_t ptr = 0;

        txd_buffer[pt++] = '#';         // Start character

        txd_buffer[pt++] = module;      // Address (a=0; b=1,...)

        txd_buffer[pt++] = cmd;         // Command

        while(len)

        {

                if(len) { a = snd[ptr++]; len--;} else a = 0;

                if(len) { b = snd[ptr++]; len--;} else b = 0;

                if(len) { c = snd[ptr++]; len--;} else c = 0;

                txd_buffer[pt++] = '=' + (a >> 2);

                txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));

                txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));

                txd_buffer[pt++] = '=' + ( c & 0x3f);

        }

        AddCRC(pt); // add checksum after data block and initates the transmission

}

// --------------------------------------------------------------------------

void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)

{

        uint8_t a,b,c,d;

        uint8_t ptr = 0;

        uint8_t x,y,z;

        while(len)

        {

                a = rxd_buffer[ptrIn++] - '=';

                b = rxd_buffer[ptrIn++] - '=';

                c = rxd_buffer[ptrIn++] - '=';

                d = rxd_buffer[ptrIn++] - '=';

                if(ptrIn > max - 2) break;

                x = (a << 2) | (b >> 4);

                y = ((b & 0x0f) << 4) | (c >> 2);

                z = ((c & 0x03) << 6) | d;

                if(len--) ptrOut[ptr++] = x; else break;

                if(len--) ptrOut[ptr++] = y; else break;

                if(len--) ptrOut[ptr++] = z; else break;

        }

}

// --------------------------------------------------------------------------

int16_t USART0_putchar (int8_t c)

{

        // if tx is not enabled return immediatly

        if(!(UCSR0B & (1 << TXEN0))) return (0);

        if (c == '\n') USART0_putchar('\r');

        // wait until previous character was send

        loop_until_bit_is_set(UCSR0A, UDRE0);

        // send character

        UDR0 = c;

        return (0);

}

// --------------------------------------------------------------------------

void USART0_ProcessRxData(void)

{

        // if data in the rxd buffer are not locked immediately return

        if(!rxd_buffer_locked) return;

        uint8_t tmp_char_arr2[2]; // local char buffer

        switch(rxd_buffer[2])

        {

           case 'w':// Attitude info from FC

                        Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes);

                        RequestFlags |= RQST_COMPASS_HEADING;

                        AttitudeSource = ATTITUDE_SOURCE_UART;

                        Orientation = ExternData.Orientation;

                        FC_Connected = 255;

                        break;

        // used only for debug proposes at serial port

                case 'b': // extern control

                case 'c': // extern control with debug request

                        Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes);

                        #define KEY1    0x01

                        #define KEY2    0x02

                        #define KEY3    0x04

                        #define KEY4    0x08

                        #define KEY5    0x10

                        // use right arrow at display for switching the calstate

                        if(ExternControl.RemoteButtons & KEY2)

                        {

                                ExternData.CalState++;

                                if(ExternData.CalState == 6) ExternData.CalState = 0;

                        }

                        PC_Connected = 255;

                        break;

                // get debug values

                case 'f':

                        RequestFlags |= RQST_DEBUG_DATA;

                        PC_Connected = 255;

                        break;

                // no reaction for display line request

                case 'h':// x-1 display columns

                        PC_Connected = 255;

                        break;

                case 'v': // get version and board release

                        RequestFlags |= RQST_VERSION_INFO;

                        PC_Connected = 255;

                        break;

                case 'a':// Labels of the Analog Debug outputs

                        Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes);

                        RequestDebugLabel = tmp_char_arr2[0];

                        RequestFlags |= RQST_DEBUG_LABEL;

                        PC_Connected = 255;

                        break;

                case 'g':// get extern control data

                        RequestFlags |= RQST_EXTERN_CTRL;

                        PC_Connected = 255;

                        break;

        }

        // unlock the rxd buffer after processing

        rxd_buffer_locked = FALSE;

}

//---------------------------------------------------------------------------------------------

void USART0_TransmitTxData(void)

{

        if(!(UCSR0B & (1 << TXEN0))) return;

        if(!txd_complete) return;

        if(CheckDelay(Debug_Timer) || (RequestFlags & RQST_DEBUG_DATA))

        {

                SetDebugValues();

                SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));

                Debug_Timer = SetDelay(250);

                RequestFlags &= ~RQST_DEBUG_DATA;

        }

        if(RequestFlags & RQST_DEBUG_LABEL)

        {

                SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16);

                RequestDebugLabel = 255;

                RequestFlags &= ~RQST_DEBUG_LABEL;

                Debug_Timer = SetDelay(500);

        }

        if(RequestFlags & RQST_VERSION_INFO)

        {

                SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo));

                RequestFlags &= ~RQST_VERSION_INFO;

        }

        if(RequestFlags & RQST_EXTERN_CTRL)

        {

                SetDebugValues();

                SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl));

                RequestFlags &= ~RQST_EXTERN_CTRL;

        }

        if(RequestFlags & RQST_COMPASS_HEADING)

        {

                SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading));

                RequestFlags &= ~RQST_COMPASS_HEADING;

        }

}

void USART0_Print(int8_t *msg)

{

        uint8_t i = 0;

        while(msg[i] != 0)

        {

                USART0_putchar(msg[i++]);

        }

}