Subversion Repositories NaviCtrl

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

/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */

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

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

// + www.MikroKopter.com

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

// + Software Nutzungsbedingungen (english version: see below)

// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -

// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den

// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 

// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.

// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.

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

// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im

// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.

// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie

// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.

// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren

// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren

// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 

// + des Mitverschuldens offen.

// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.

// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.

// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang

// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.

// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.

// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'

// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.

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

// + Software LICENSING TERMS

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

// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -

// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 

// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.

// + The Software may only be used with the Licensor's products.

// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this

// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this

// + agreement shall be the property of the Licensor.

// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other

// + features that can be used to identify the program may not be altered or defaced by the customer.

// + The customer shall be responsible for taking reasonable precautions

// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the

// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and

// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product

// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.

// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test

// + the software for his purpose before any operational usage. The customer will backup his data before using the software.

// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data

// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.

// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.

// + #### END OF LICENSING TERMS ####

// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.

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

#include <string.h>

#include "91x_lib.h"

#include "i2c0.h"

#include "i2c1.h"

#include "uart1.h"

#include "timer1.h"

#include "config.h"

#include "led.h"

#include "ncmag.h"

volatile u8 I2C0_State = I2C_STATE_OFF;                 // only one byte, because of sync by nesting irqs

volatile u8 I2C0_Error = I2C_ERROR_NOACK;    // only one byte!

// number of bytes to send

volatile u8 I2C0_TxBufferSize;

// number of bytes to receive

volatile u8 I2C0_RxBufferSize;

// the transfer buffer

volatile u8 I2C0_Buffer[I2C0_BUFFER_LEN];

// the transfer direction 

volatile u8 I2C0_Direction;

// the slave address

volatile u8 I2C0_SlaveAddress = 0x00;

// function pointer to process the received bytes

I2C_pRxHandler_t I2C0_pRxHandler = NULL;

// goblal timeout 

volatile u32 I2C0_Timeout = 0;

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

void I2C0_Init(void)

{

        I2C_InitTypeDef   I2C_Struct;

        GPIO_InitTypeDef  GPIO_InitStructure;

        I2C0_State = I2C_STATE_OFF;

        UART1_PutString("\r\n I2C0 init...");

        // enable Port 2 peripherie

        SCU_APBPeriphClockConfig(__GPIO2, ENABLE);

        // disable a reset state

        SCU_APBPeriphReset(__GPIO2, DISABLE);

        // free a busy bus

        // At switch on I2C devices can get in a state where they

        // are still waiting for a command due to all the bus lines bouncing

        // around at startup have started clocking data into the device(s).

        // Enable the ports as open collector port outputs

        // and clock out at least 9 SCL pulses, then generate a stop

        // condition and then leave the clock line high.

        // configure P2.0->I2C0_CLKOUT and P2.1->I2C0_DOUT to normal port operation

        GPIO_StructInit(&GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;

        GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;

        GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable;

        GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1;

        GPIO_Init(GPIO2, &GPIO_InitStructure);

        u8 i;

        u32 delay;

#define SCL0_LOW  GPIO_WriteBit(GPIO2, GPIO_Pin_0, Bit_RESET);

#define SCL0_HIGH GPIO_WriteBit(GPIO2, GPIO_Pin_0, Bit_SET);

#define SDA0_LOW  GPIO_WriteBit(GPIO2, GPIO_Pin_1, Bit_RESET);

#define SDA0_HIGH GPIO_WriteBit(GPIO2, GPIO_Pin_1, Bit_SET);

        // set SCL high and then SDA to high (stopp condition)

        SCL0_LOW;       delay = SetDelay(1); while (!CheckDelay(delay));

        SDA0_LOW;       delay = SetDelay(1); while (!CheckDelay(delay));

        SCL0_HIGH;      delay = SetDelay(1); while (!CheckDelay(delay));

        SDA0_HIGH;      delay = SetDelay(1); while (!CheckDelay(delay));

        // 10 * Clock

        for(i = 0; i < 10; i++)

        {

                SCL0_LOW;       delay = SetDelay(1); while (!CheckDelay(delay));

//              SDA0_LOW;       delay = SetDelay(1); while (!CheckDelay(delay));

                SCL0_HIGH;      delay = SetDelay(1); while (!CheckDelay(delay));

//              SDA0_HIGH;      delay = SetDelay(1); while (!CheckDelay(delay));

        }

        // create stop condition setting SDA HIGH when SCL is HIGH

        SCL0_LOW;       delay = SetDelay(1); while (!CheckDelay(delay));

        SDA0_LOW;       delay = SetDelay(1); while (!CheckDelay(delay));

        SCL0_HIGH;      delay = SetDelay(1); while (!CheckDelay(delay));

        SDA0_HIGH;      delay = SetDelay(1); while (!CheckDelay(delay));

        // reconfigure P2.0->I2C0_CLKOUT and P2.1->I2C0_DOUT

        GPIO_StructInit(&GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;

        GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector;

        GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;

        GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C0_CLKOUT, I2C0_DOUT

        GPIO_Init(GPIO2, &GPIO_InitStructure);

        // enable I2C peripherie

        SCU_APBPeriphClockConfig(__I2C0,ENABLE);

        // reset I2C peripherie

        SCU_APBPeriphReset(__I2C0,ENABLE);

        SCU_APBPeriphReset(__I2C0,DISABLE);

        I2C_DeInit(I2C0);

        I2C_StructInit(&I2C_Struct);

        I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable;

        I2C_Struct.I2C_Ack = I2C_Ack_Enable;

        I2C_Struct.I2C_CLKSpeed = I2C0_CLOCK;

        I2C_Struct.I2C_OwnAddress = 0x00;

        I2C_Init(I2C0, &I2C_Struct);

        // empty rx and tx buffer counters

        I2C0_TxBufferSize = 0;

        I2C0_RxBufferSize = 0;

        I2C_Cmd(I2C0, ENABLE);

        I2C_ITConfig(I2C0, ENABLE);

        VIC_Config(I2C0_ITLine, VIC_IRQ , PRIORITY_I2C0);

        I2C0_Timeout = SetDelay(2 * I2C1_TIMEOUT);

        I2C_GenerateSTOP(I2C0, ENABLE);

        I2C0_State = I2C_STATE_IDLE;

        // start some dummy transmissions cycles

        // to get the irq routine to work

        for(i=0;i<10;i++)

        {

                I2C0_State = I2C_STATE_BUFFBUSY;

                I2C0_Transmission(0,1,0,1);

                if(I2C0_WaitForEndOfTransmission(10)) break;

                UART1_Putchar('.');

        }

        UART1_PutString("ok");

}

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

void I2C0_Deinit(void)

{

        GPIO_InitTypeDef  GPIO_InitStructure;

        UART1_PutString("\r\n I2C0 deinit...");

        I2C_GenerateStart(I2C0, DISABLE);

        I2C_GenerateSTOP(I2C0, ENABLE);

        VIC_ITCmd(I2C0_ITLine, DISABLE);

        I2C0_State = I2C_STATE_OFF;

        I2C_ITConfig(I2C0, DISABLE);

        I2C_Cmd(I2C0, DISABLE);

        I2C_DeInit(I2C0);

        SCU_APBPeriphClockConfig(__I2C0, DISABLE);

        // set ports to input

        SCU_APBPeriphClockConfig(__GPIO2, ENABLE);

        GPIO_StructInit(&GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;

        GPIO_InitStructure.GPIO_Pin =                   GPIO_Pin_0 | GPIO_Pin_1;

        GPIO_InitStructure.GPIO_Type =                  GPIO_Type_PushPull;

        GPIO_InitStructure.GPIO_IPInputConnected =      GPIO_IPInputConnected_Disable;

        GPIO_InitStructure.GPIO_Alternate =     GPIO_InputAlt1;

        GPIO_Init(GPIO2, &GPIO_InitStructure);

        // empty rx and tx buffer

        I2C0_TxBufferSize = 0;

        I2C0_RxBufferSize = 0;

        I2C0_Timeout = SetDelay(5 * I2C0_TIMEOUT);

  if(I2C_CompassPort == I2C_EXTERN_0)

   {

    MagRawVector.X = 0;

    MagRawVector.Y = 0;

    MagRawVector.Z = 0;

        AccRawVector.X = 0;

        AccRawVector.Y = 0;

        AccRawVector.Z = 0;

        Compass_Heading = -1;

   }

        UART1_PutString("ok");

}

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

void I2C0_IRQHandler(void)

{

        static u8 Rx_Idx = 0, Tx_Idx = 0;

        u16 status;

    u16 timeout = 500;

        //IENABLE;  // do not enable IRQ nesting for I2C!!!!

        // detemine I2C State

        status = I2C_GetLastEvent(I2C0);

        if(status & (I2C_FLAG_AF|I2C_FLAG_BERR))  // if an acknowledge failure or bus error occured

        {       // Set and subsequently clear the STOP bit while BTF is set.

                while(I2C_GetFlagStatus (I2C0, I2C_FLAG_BTF) != RESET)

                {

                        I2C_GenerateSTOP(I2C0, ENABLE);  // free the bus

                        I2C_GenerateSTOP(I2C0, DISABLE); // free the bus

                        if(--timeout == 0)

                         {

                          DebugOut.Analog[14]++; // count I2C error

                          break;

                         }

                }

                I2C0_State = I2C_STATE_IDLE;

                I2C0_Error = I2C_ERROR_NOACK;

                VIC_ITCmd(I2C0_ITLine, DISABLE);

                return;

        }

        else

        {       // depending on current i2c state

                switch(status)

                {

                        // the start condition was initiated on the bus

                        case I2C_EVENT_MASTER_MODE_SELECT:

                                // update current bus state variable

                                // jump to rx state if there is nothing to send

                                switch(I2C0_Direction)

                                {

                                        case I2C_MODE_TRANSMITTER:

                                                I2C0_State = I2C_STATE_TX_PROGRESS;

                                                break;

                                        case I2C_MODE_RECEIVER:

                                                if (I2C0_RxBufferSize == 0) // nothing to send?

                                                {

                                                        I2C_GenerateSTOP (I2C0, ENABLE);

                                                        VIC_ITCmd(I2C0_ITLine, DISABLE);

                                                        I2C0_State = I2C_STATE_IDLE;

                                                        I2C0_Error = I2C_ERROR_NONE;

                                                        return;

                                                }

                                                else

                                                {

                                                        I2C0_State = I2C_STATE_RX_PROGRESS;

                                                }

                                                break;

                                        default: // invalid direction

                                                I2C_GenerateSTOP (I2C0, ENABLE);

                                                VIC_ITCmd(I2C0_ITLine, DISABLE);

                                                I2C0_State = I2C_STATE_IDLE;

                                                I2C0_Error = I2C_ERROR_UNKNOWN;

                                                return;

                                }

                                // enable acknowledge

                                I2C_AcknowledgeConfig (I2C0, ENABLE);

                                // send address/direction byte on the bus

                                I2C_Send7bitAddress(I2C0, I2C0_SlaveAddress, I2C0_Direction);

                                break;

                        // the address byte was send

                        case I2C_EVENT_MASTER_MODE_SELECTED:

                                // Clear EV6 by set again the PE bit

                                I2C_Cmd(I2C0, ENABLE);

                                switch(I2C0_State)

                                {

                                        case I2C_STATE_TX_PROGRESS:

                                        // send 1st data byte

                                        Tx_Idx = 0;

                                        I2C_SendData(I2C0, I2C0_Buffer[Tx_Idx]);

                                        Tx_Idx++;

                                        // reset timeout

                                        I2C0_Timeout = SetDelay(I2C0_TIMEOUT); // after inactivity the I2C0 bus will be reset

                                        break;

                                        case I2C_STATE_RX_PROGRESS:

                                        Rx_Idx = 0;

                                        // disable acknoledge if only one byte has to be read

                                        if(I2C0_RxBufferSize == 1) I2C_AcknowledgeConfig (I2C0, DISABLE);              

                                        break;

                                        default: // unknown I2C state

                                        // should never happen

                                        I2C_GenerateSTOP (I2C0, ENABLE);

                                        VIC_ITCmd(I2C0_ITLine, DISABLE);

                                        I2C0_State = I2C_STATE_IDLE;

                                        I2C0_Error = I2C_ERROR_UNKNOWN;

                                        return;

                                        break;

                                }

                                break;

                        // the master has transmitted a byte and slave has been acknowledged

                        case I2C_EVENT_MASTER_BYTE_TRANSMITTED:

                                // some bytes have to be transmitted

                                if(Tx_Idx < I2C0_TxBufferSize)

                                {

                                        I2C_SendData(I2C0, I2C0_Buffer[Tx_Idx]);

                                        Tx_Idx++;

                                }

                                else // last byte was send

                                {

                                        // generate stop or repeated start condition

                                        if (I2C0_RxBufferSize > 0) // is any answer byte expected?

                                        {

                                                I2C0_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition

                                                I2C_GenerateStart(I2C0, ENABLE);   // initiate repeated start condition on the bus

                                        }

                                        else

                                        {   // stop communication

                                                I2C_GenerateSTOP(I2C0, ENABLE); // generate stop condition to free the bus

                                                VIC_ITCmd(I2C0_ITLine, DISABLE);

                                                I2C0_State = I2C_STATE_IDLE;                    // ready for new actions

                                                I2C0_Error = I2C_ERROR_NONE;   

                                        }

                                }

                                break;

                        // the master has received a byte from the slave

                        case I2C_EVENT_MASTER_BYTE_RECEIVED:

                                // some bytes have to be received

                                if ( Rx_Idx+1 < I2C0_RxBufferSize)

                                {       // copy received byte  from the data register to the rx-buffer

                                        I2C0_Buffer[Rx_Idx] = I2C_ReceiveData(I2C0);

                                }

                                else // if the last byte was received

                                {

                                        // generate a STOP condition on the bus before reading data register

                                        I2C_GenerateSTOP(I2C0, ENABLE);

                                        I2C0_Buffer[Rx_Idx] = I2C_ReceiveData(I2C0);

                                        // call the rx handler function to process recieved data

                                        if(I2C0_pRxHandler != NULL) (*I2C0_pRxHandler)((u8*)I2C0_Buffer, I2C0_RxBufferSize);

                                        I2C0_Timeout = SetDelay(I2C0_TIMEOUT);

                                        DebugOut.Analog[15]++;

                                        VIC_ITCmd(I2C0_ITLine, DISABLE);

                                        I2C0_State = I2C_STATE_IDLE;

                                        I2C0_Error = I2C_ERROR_NONE;

                                        return;

                                }

                                Rx_Idx++;

                                // if the 2nd last byte was received disable acknowledge for the last one

                                if ( (Rx_Idx + 1) == I2C0_RxBufferSize )

                                {

                                        I2C_AcknowledgeConfig(I2C0, DISABLE);

                                }

                                break;

                        default:// unknown event

                                // should never happen

                                I2C_GenerateSTOP (I2C0, ENABLE);

                                VIC_ITCmd(I2C0_ITLine, DISABLE);

                                I2C0_State = I2C_STATE_IDLE;

                                I2C0_Error = I2C_ERROR_UNKNOWN;

                                break;

                }

        }

        //IDISABLE;      // do not enable IRQ nesting for I2C!!!!

        VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register

}

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

// wait for end of transmission

u8 I2C0_WaitForEndOfTransmission(u32 timeout)

{

        u32 time = SetDelay(timeout);

        while(I2C0_State != I2C_STATE_IDLE)

        {

                if(CheckDelay(time)) return(0);

        }

        return(1);

}

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

// try to get access to the transfer buffer      within a timeout limit

// returs 1 on success and 0 on error/timeout

u8 I2C0_LockBuffer(u32 timeout)

{      

        if(I2C0_WaitForEndOfTransmission(timeout))

        {

                I2C0_State = I2C_STATE_BUFFBUSY;

                I2C0_Error = I2C_ERROR_UNKNOWN;

                return(1);

        }

        else return(0);

}

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

// initate an i2c transmission

u8 I2C0_Transmission(u8 SlaveAddr, u8 TxBytes, I2C_pRxHandler_t pRxHandler, u8 RxBytes)

{

        u8 retval = 0;

        if(I2C0_State == I2C_STATE_BUFFBUSY)

        {

                if((RxBytes > I2C0_BUFFER_LEN) || (TxBytes > I2C0_BUFFER_LEN))

                {

                        I2C0_State = I2C_STATE_IDLE;

                        return(retval);

                }      

                I2C0_RxBufferSize = RxBytes;

                I2C0_TxBufferSize = TxBytes;

                // set direction to master transmitter

                if( (I2C0_TxBufferSize > 0) && (I2C0_TxBufferSize < I2C0_BUFFER_LEN) ) I2C0_Direction = I2C_MODE_TRANSMITTER;

                else if (( I2C0_RxBufferSize > 0 ) && (I2C0_RxBufferSize < I2C0_BUFFER_LEN) ) I2C0_Direction = I2C_MODE_RECEIVER;

                else // nothing to send or receive

                {

                        I2C0_State = I2C_STATE_IDLE;

                        I2C0_Error = I2C_ERROR_NONE;

                        I2C0_TxBufferSize = 0;

                        I2C0_RxBufferSize = 0;

                        return(retval);

                }

                // update slave address and rx data handler     funbction pointer

                I2C0_SlaveAddress = SlaveAddr;

                I2C0_pRxHandler = pRxHandler;

                // test on busy flag and clear it

                I2C_ClearFlag(I2C0, I2C_FLAG_BUSY);

                // enable I2C IRQ

                VIC_ITCmd(I2C0_ITLine, ENABLE);

                // initiate start condition on the bus

                I2C_GenerateStart(I2C0, ENABLE);

                retval = 1;

         }

         return(retval);

}