Subversion Repositories NaviCtrl

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

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

// + 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 <stdio.h>

#include "91x_lib.h"

#include "i2c.h"

#include "uart1.h"

#include "timer1.h"

#include "eeprom.h"

#include "led.h"

// The EEPROM M24C64 (64k) ist connected via I2C1 interface to the controller.

#define EEPROM_I2C I2C1

// The E0, E2, E3 pins are set to low. Therefore the slave adressbits b3, b2, b1 are 0.

#define EEPROM_I2C_ADDRESS      0xA0

#define EEPROM_SIZE                     65536L  // 64k bytes

#define EEPROM_WRITE            1

#define EEPROM_READ                     0

// timing

#define I2C_IDLE_TIMEOUT                150 // 150 ms

#define I2C_TRANSFER_TIMEOUT    150 // 150 ms

#define I2C_ACCESS_RETRYS               20      // retry 20 times

// globals for rx handler

volatile u8     *EEPROM_pData = 0;

volatile u16 EEPROM_DataLen = 0;

// rx data handler for eeprom data read access

void EEPROM_RxDataHandler(u8* pRxBuffer, u8 RxBufferSize)

{       // if number of byte are matching

        if((RxBufferSize == EEPROM_DataLen))

        {       //copy data from primary buffer to target buffer 

                if(EEPROM_pData) memcpy((u8*)EEPROM_pData, pRxBuffer, EEPROM_DataLen);

        }        

}

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

EEPROM_Result_t EEPROM_Transfer(u8 Direction, u16 Address, u8 *pData, u16 DataLen)

{

        u16 i;

        u8 retry = 0;

        EEPROM_Result_t retval = EEPROM_ERROR_UNKNOWN;

        if(((u32)Address + (u32)DataLen) >= (EEPROM_SIZE - 1))

        {

                retval = EEPROM_ERROR_OUT_OF_ADDRESS_RANGE;

                return(retval);

        }

        if((DataLen+2) > I2C_BUFFER_LEN)

        {

                retval = EEPROM_I2C_BUFFER_OVERRUN;

                return(retval);

        }

        do

        {

                if(!I2CBus_LockBuffer(EEPROM_I2C, I2C_IDLE_TIMEOUT)) return EEPROM_ERROR_I2C_IDLE_TIMEOUT;

                // buffer is now locked

                u8 TxBytes = 0;

                u8 TxData[255];

                // transmitt address

                TxData[TxBytes++] = (u8)(0x00FF & (Address>>8));

                TxData[TxBytes++] = (u8)(0x00FF & Address);

                if(Direction == EEPROM_WRITE)

                {       // copy data to i2c transfer buffer

                        for(i = 0; i<DataLen;i++)

                        {

                                TxData[TxBytes++] = pData[i];

                        }

                        // prepare pointer to rx data

                        EEPROM_pData = 0;

                        EEPROM_DataLen = 0;

                        // start transmission

                        if(!I2CBus_Transmission(EEPROM_I2C, EEPROM_I2C_ADDRESS, TxData, TxBytes, 0, 0))

                        {

                                return(retval);

                        }

                }

                else // Direction == EEPROM_READ

                {

                        // prepare pointer to rx data

                        EEPROM_pData = pData;

                        EEPROM_DataLen = DataLen;

                        // start transmission

                        if(!I2CBus_Transmission(EEPROM_I2C, EEPROM_I2C_ADDRESS, TxData, TxBytes, &EEPROM_RxDataHandler, DataLen))

                        {

                                return(retval);

                        }

                }

                //wait for end of this transfer

                if(I2CBus_WaitForEndOfTransmission(EEPROM_I2C, I2C_TRANSFER_TIMEOUT))

                {

                        if(I2CBus(EEPROM_I2C)->Error == I2C_ERROR_NONE) return(EEPROM_SUCCESS);

                        else retval = EEPROM_DATA_TRANSFER_INCOMPLETE;

                }

                else// i2c transfer timed out

                {

                        return(EEPROM_ERROR_I2C_TRANSFER_TIMEOUT);     

                }

                // or retry             

        } while(++retry < I2C_ACCESS_RETRYS);

        return(retval);

}

EEPROM_Result_t EEPROM_WriteBlock(u16 Address, u8 *pData, u16 DataLen)

{

        u16 len;

        EEPROM_Result_t retval;

        // there can be 32 bytes written in a single cycle if the adresses are locates in the same row

        // i.e. the upper 11 bits of the addres are constant

        #define EEPROM_WRITE_BLOCK_SIZE 32

        len = EEPROM_WRITE_BLOCK_SIZE - Address%EEPROM_WRITE_BLOCK_SIZE; // number of bytes to match the next row

        if(len >= DataLen) len = DataLen; // do not write more than neccesarry

        do

        {

                retval = EEPROM_Transfer(EEPROM_WRITE, Address, pData, len);

                Address += len; // Address of the next row

                pData += len;   // pointer to start of next data block

                DataLen -= len; // reduce the number of to be transmitted

                if(DataLen > EEPROM_WRITE_BLOCK_SIZE) len = EEPROM_WRITE_BLOCK_SIZE; // limit next block size to 32

                else len = DataLen;

        }

        while(DataLen && (retval == EEPROM_SUCCESS)); // repeat until all data have been sent and no error has occured

        return(retval);

}

// a data block can be subsequently read after setting the start address once

EEPROM_Result_t EEPROM_ReadBlock(u16 Address, u8 *pData, u16 DataLen)

{

        EEPROM_Result_t retval = EEPROM_ERROR_UNKNOWN;

        u16 AdrOffset = 0;

        u16 RxLen;

        while(DataLen > 0)

        {

                if(DataLen > I2C_BUFFER_LEN) RxLen = I2C_BUFFER_LEN;

                else RxLen = DataLen;

                retval = EEPROM_Transfer(EEPROM_READ, Address+AdrOffset, &(pData[AdrOffset]), RxLen);

                if(retval != EEPROM_SUCCESS) break;

                AdrOffset += RxLen;

                DataLen -= RxLen;

        }

        return(retval);

}

u8 EEPROM_Init(void)

{

        u8 data[20];

        u8 i, retval = 0;

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

        // check if data can be read from eeprom

        for(i=0;i<10;i++)

        {

                UART1_Putchar('.');

                if(EEPROM_SUCCESS == EEPROM_ReadBlock(0, data, 20)) retval = 1;

                if(retval) break;              

        }

        if(retval)  UART1_PutString("ok");

        else            UART1_PutString("failed !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!");

        return(retval);

}