Subversion Repositories MK3Mag

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Ignore whitespace Rev 50 → Rev 51

/tags/V0.21b/Compassl.pnps
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0,0 → 1,0
<pd><ViewState><e p="avr_ctrl" x="true"></e></ViewState></pd>
/tags/V0.21b/License.txt
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0,0 → 1,56
/*#######################################################################################
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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
/tags/V0.21b/uart.h
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0,0 → 1,76
#ifndef _UART_H_
#define _UART_H_
 
#include <inttypes.h>
 
#define NICK 0
#define ROLL 1
 
 
#define BAUD_RATE 57600
 
 
extern uint16_t DebugData_Timer;
 
 
void USART0_Init (void);
void USART0_EnableTXD(void);
void USART0_DisableTXD(void);
void USART0_TransmitTxData(void);
void USART0_ProcessRxData(void);
int16_t USART0_putchar(int8_t c);
void USART0_Print(int8_t *msg);
 
 
 
typedef struct
{
uint8_t Digital[2];
uint16_t Analog[32]; // Debugvalues
} DebugOut_t;
 
extern DebugOut_t DebugOut;
 
 
 
typedef struct
{
int16_t Attitude[2]; // nick and roll angle in 0.1 deg
uint8_t UserParam[2];
uint8_t CalState;
uint8_t Orientation;
} ExternData_t;
 
extern ExternData_t ExternData;
 
typedef struct
{
uint8_t Digital[2];
uint8_t RemoteButtons;
int8_t Nick;
int8_t Roll;
int8_t Yaw;
uint8_t Gas;
int8_t Height;
uint8_t free;
uint8_t Frame;
uint8_t Config;
} ExternControl_t;
 
extern ExternControl_t ExternControl;
 
 
typedef struct
{
uint8_t SWMajor;
uint8_t SWMinor;
uint8_t ProtoMajor;
uint8_t ProtoMinor;
uint8_t SWPatch;
uint8_t Reserved[5];
} UART_VersionInfo_t;
 
extern uint8_t PC_Connected;
extern uint8_t FC_Connected;
 
#endif //_UART_H_
/tags/V0.21b/main.c
New file
0,0 → 1,492
/*#######################################################################################
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/interrupt.h>
#include <math.h>
#include <stdlib.h>
#include <stdio.h>
 
#include "main.h"
#include "timer0.h"
#include "twislave.h"
#include "led.h"
#include "analog.h"
#include "uart.h"
 
#define CALIBRATION_VERSION 1
 
AttitudeSource_t AttitudeSource = ATTITUDE_SOURCE_ACC;
Orientation_t Orientation = ORIENTATION_FC;
 
uint16_t Led_Timer = 0;
 
typedef struct
{
int16_t Range;
int16_t Offset;
} Scaling_t;
 
typedef struct
{
Scaling_t MagX;
Scaling_t MagY;
Scaling_t MagZ;
Scaling_t AccX;
Scaling_t AccY;
Scaling_t AccZ;
unsigned char Version;
} Calibration_t;
 
Calibration_t eeCalibration EEMEM; // calibration data in EEProm
Calibration_t Calibration; // calibration data in RAM
 
// magnet sensor variable
int16_t RawMagnet1a, RawMagnet1b; // raw magnet sensor data
int16_t RawMagnet2a, RawMagnet2b;
int16_t RawMagnet3a, RawMagnet3b;
int16_t UncalMagX, UncalMagY, UncalMagZ; // sensor signal difference without Scaling
int16_t MagX = 0, MagY = 0, MagZ = 0; // rescaled magnetic field readings
 
// acceleration sensor variables
int16_t RawAccX = 0, RawAccY = 0, RawAccZ = 0; // raw acceleration readings
int16_t AccX = 0, AccY = 0, AccZ = 0; // rescaled acceleration readings
int16_t AccAttitudeNick = 0, AccAttitudeRoll = 0; // nick and roll angle from acc
 
int16_t Heading = -1; // the current compass heading in deg
 
 
void CalcFields(void)
{
UncalMagX = (RawMagnet1a - RawMagnet1b);
UncalMagY = (RawMagnet3a - RawMagnet3b);
UncalMagZ = (RawMagnet2a - RawMagnet2b);
 
if(Calibration.MagX.Range != 0) MagX = (1024L * (int32_t)(UncalMagX - Calibration.MagX.Offset)) / (Calibration.MagX.Range);
else MagX = 0;
if(Calibration.MagY.Range != 0) MagY = (1024L * (int32_t)(UncalMagY - Calibration.MagY.Offset)) / (Calibration.MagY.Range);
else MagY = 0;
if(Calibration.MagY.Range != 0) MagZ = (1024L * (int32_t)(UncalMagZ - Calibration.MagZ.Offset)) / (Calibration.MagZ.Range);
else MagZ = 0;
 
if(AccPresent)
{
AccX = (RawAccX - Calibration.AccX.Offset);
AccY = (RawAccY - Calibration.AccY.Offset);
AccZ = (Calibration.AccZ.Offset - RawAccZ);
#if (BOARD == 10) // the hardware 1.0 has the LIS3L02AL
// acc mode assumes orientation like FC
if(AccX > 136) AccAttitudeNick = -800;
else
if(AccX < -136) AccAttitudeNick = 800;
else AccAttitudeNick = (int16_t)(-1800.0 * asin((double) AccX / 138.0) / M_PI);
 
 
if(AccY > 136) AccAttitudeRoll = 800;
else
if(AccY < -136) AccAttitudeRoll = -800;
else AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI);
 
#else // the hardware 1.1 has the LIS344ALH with a different axis definition (X -> -Y, Y -> X, Z -> Z)
// acc mode assumes orientation like FC
if(AccY > 136) AccAttitudeNick = 800;
else
if(AccY < -136) AccAttitudeNick = -800;
else AccAttitudeNick = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI);
 
 
if(AccX > 136) AccAttitudeRoll = 800;
else
if(AccX < -136) AccAttitudeRoll = -800;
else AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccX / 138.0) / M_PI);
#endif
}
}
 
 
void CalcHeading(void)
{
double nick_rad, roll_rad, Hx, Hy, Cx = 0.0, Cy = 0.0, Cz = 0.0;
int16_t nick, roll;
int16_t heading = -1;
 
// blink code for normal operation
if(CheckDelay(Led_Timer))
{
if(Calibration.Version != CALIBRATION_VERSION) LED_GRN_TOGGLE;
else LED_GRN_ON;
Led_Timer = SetDelay(150);
}
switch(Orientation)
{
case ORIENTATION_NC:
Cx = MagX;
Cy = MagY;
Cz = MagZ;
break;
 
case ORIENTATION_FC:
// rotation of 90 deg compared to NC setup
Cx = MagY;
Cy = -MagX;
Cz = MagZ;
break;
}
 
// calculate nick and roll angle in rad
switch(AttitudeSource)
{
case ATTITUDE_SOURCE_I2C:
cli(); // stop interrupts
nick = I2C_WriteAttitude.Nick;
roll = I2C_WriteAttitude.Roll;
sei(); // start interrupts
break;
case ATTITUDE_SOURCE_UART:
cli(); // stop interrupts
nick = ExternData.Attitude[NICK];
roll = ExternData.Attitude[ROLL];
sei(); // start interrupts
break;
case ATTITUDE_SOURCE_ACC:
nick = AccAttitudeNick;
roll = AccAttitudeRoll;
break;
default:
nick = 0;
roll = 0;
break;
}
 
nick_rad = ((double)nick) * M_PI / (double)(1800.0);
roll_rad = ((double)roll) * M_PI / (double)(1800.0);
 
// calculate attitude correction
Hx = Cx * cos(nick_rad) - Cz * sin(nick_rad);
Hy = Cy * cos(roll_rad) + Cz * sin(roll_rad);
 
DebugOut.Analog[27] = (int16_t)Hx;
DebugOut.Analog[28] = (int16_t)Hy;
 
// calculate Heading
heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI);
// atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation
// but the compass course is defined in a range from 0 deg to 360 deg clockwise notation.
if (heading < 0) heading = -heading;
else heading = 360 - heading;
 
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(Calibration.Version != CALIBRATION_VERSION) heading = -1; // Version of the calibration Data does not match
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
cli(); // stop interrupts
if(abs(heading) < 361) Heading = heading;
else (Heading = -1);
sei(); // start interrupts
 
}
 
void Calibrate(void)
{
uint8_t cal;
static uint8_t calold = 0;
static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0;
static uint8_t blinkcount = 0;
static uint8_t invert_blinking = 0;
 
// check both sources of communication for calibration request
if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte;
else cal = ExternData.CalState;
 
 
if(cal > 5) cal = 0;
// blink code for current calibration state
if(cal)
{
if(CheckDelay(Led_Timer) || (cal != calold))
{
if(blinkcount & 0x01) if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF;
else if(invert_blinking) LED_GRN_OFF; else LED_GRN_ON;
 
// end of blinkcount sequence
if((blinkcount + 1 ) >= (2 * cal))
{
blinkcount = 0;
Led_Timer = SetDelay(1500);
}
else
{
blinkcount++;
Led_Timer = SetDelay(100);
}
}
}
else
{
if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF;
}
// calibration state machine
switch(cal)
{
case 1: // 1st step of calibration
// initialize ranges
// used to change the orientation of the MK3MAG in the horizontal plane
Xmin = 10000;
Xmax = -10000;
Ymin = 10000;
Ymax = -10000;
Zmin = 10000;
Zmax = -10000;
Calibration.AccX.Offset = RawAccX;
Calibration.AccY.Offset = RawAccY;
Calibration.AccZ.Offset = RawAccZ;
invert_blinking = 0;
break;
 
case 2: // 2nd step of calibration
// find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane
if(UncalMagX < Xmin) Xmin = UncalMagX;
if(UncalMagX > Xmax) Xmax = UncalMagX;
if(UncalMagY < Ymin) Ymin = UncalMagY;
if(UncalMagY > Ymax) Ymax = UncalMagY;
invert_blinking = 1;
break;
 
case 3: // 3rd step of calibration
// used to change the orientation of the MK3MAG vertical to the horizontal plane
invert_blinking = 0;
break;
 
case 4:
// find Min and Max of the Z-Sensor
if(UncalMagZ < Zmin) Zmin = UncalMagZ;
if(UncalMagZ > Zmax) Zmax = UncalMagZ;
invert_blinking = 1;
break;
 
case 5:
// Save values
if(cal != calold) // avoid continously writing of eeprom!
{
Calibration.MagX.Range = Xmax - Xmin;
Calibration.MagX.Offset = (Xmin + Xmax) / 2;
Calibration.MagY.Range = Ymax - Ymin;
Calibration.MagY.Offset = (Ymin + Ymax) / 2;
Calibration.MagZ.Range = Zmax - Zmin;
Calibration.MagZ.Offset = (Zmin + Zmax) / 2;
if((Calibration.MagX.Range > 150) && (Calibration.MagY.Range > 150) && (Calibration.MagZ.Range > 150))
{
Calibration.Version = CALIBRATION_VERSION;
// indicate write process by setting the led off for 2 seconds
LED_GRN_OFF;
eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration));
Led_Timer = SetDelay(2000);
// reset blinkcode
blinkcount = 0;
}
}
invert_blinking = 0;
break;
 
default:
break;
}
calold = cal;
}
 
 
void SetDebugValues(void)
{
DebugOut.Analog[0] = MagX;
DebugOut.Analog[1] = MagY;
DebugOut.Analog[2] = MagZ;
DebugOut.Analog[3] = UncalMagX;
DebugOut.Analog[4] = UncalMagY;
DebugOut.Analog[5] = UncalMagZ;
switch(AttitudeSource)
{
case ATTITUDE_SOURCE_ACC:
DebugOut.Analog[6] = AccAttitudeNick;
DebugOut.Analog[7] = AccAttitudeRoll;
break;
 
case ATTITUDE_SOURCE_UART:
DebugOut.Analog[6] = ExternData.Attitude[NICK];
DebugOut.Analog[7] = ExternData.Attitude[ROLL];
break;
 
 
case ATTITUDE_SOURCE_I2C:
DebugOut.Analog[6] = I2C_WriteAttitude.Nick;
DebugOut.Analog[7] = I2C_WriteAttitude.Roll;
break;
}
DebugOut.Analog[8] = Calibration.MagX.Offset;
DebugOut.Analog[9] = Calibration.MagX.Range;
DebugOut.Analog[10] = Calibration.MagY.Offset;
DebugOut.Analog[11] = Calibration.MagY.Range;
DebugOut.Analog[12] = Calibration.MagZ.Offset;
DebugOut.Analog[13] = Calibration.MagZ.Range;
if(I2C_WriteCal.CalByte) DebugOut.Analog[14] = I2C_WriteCal.CalByte;
else DebugOut.Analog[14] = ExternData.CalState;
DebugOut.Analog[15] = Heading;
DebugOut.Analog[16] = ExternData.UserParam[0];
DebugOut.Analog[17] = ExternData.UserParam[1];
DebugOut.Analog[18] = AccX;
DebugOut.Analog[19] = AccY;
DebugOut.Analog[20] = AccZ;
DebugOut.Analog[21] = RawAccX;
DebugOut.Analog[22] = RawAccY;
DebugOut.Analog[23] = RawAccZ;
DebugOut.Analog[24] = Calibration.AccX.Offset;
DebugOut.Analog[25] = Calibration.AccY.Offset;
DebugOut.Analog[26] = Calibration.AccZ.Offset;
DebugOut.Analog[29] = AttitudeSource;
}
 
void AccMeasurement(void)
{
if(AccPresent)
{
RawAccX = (RawAccX + (int16_t)ADC_GetValue(ACC_X))/2;
RawAccY = (RawAccY + (int16_t)ADC_GetValue(ACC_Y))/2;
RawAccZ = (RawAccZ + (int16_t)ADC_GetValue(ACC_Z))/2;
}
else
{
RawAccX = 0;
RawAccY = 0;
RawAccZ = 0;
}
}
 
int main (void)
{
// reset input pullup
DDRC &=~((1<<DDC6));
PORTC |= (1<<PORTC6);
 
LED_Init();
TIMER0_Init();
USART0_Init();
ADC_Init();
I2C_Init();
 
sei(); // enable globale interrupts
 
if(AccPresent)
{
USART0_Print("ACC present\n");
}
 
LED_GRN_ON;
 
Led_Timer = SetDelay(200);
 
// read calibration info from eeprom
eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration));
 
ExternData.CalState = 0;
I2C_WriteCal.CalByte = 0;
 
 
// main loop
while (1)
{
FLIP_LOW;
Delay_ms(2);
RawMagnet1a = ADC_GetValue(MAG_X);
RawMagnet2a = -ADC_GetValue(MAG_Y);
RawMagnet3a = ADC_GetValue(MAG_Z);
AccMeasurement();
Delay_ms(1);
 
FLIP_HIGH;
Delay_ms(2);
RawMagnet1b = ADC_GetValue(MAG_X);
RawMagnet2b = -ADC_GetValue(MAG_Y);
RawMagnet3b = ADC_GetValue(MAG_Z);
AccMeasurement();
Delay_ms(1);
 
CalcFields();
 
if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate();
else CalcHeading();
 
// check data from USART
USART0_ProcessRxData();
 
if(NC_Connected) NC_Connected--;
if(FC_Connected) FC_Connected--;
// fall back to attitude estimation from acc sensor if NC or FC does'nt send attittude data
if(!FC_Connected && ! NC_Connected)
{
AttitudeSource = ATTITUDE_SOURCE_ACC;
Orientation = ORIENTATION_FC;
}
 
if(PC_Connected)
{
USART0_EnableTXD();
USART0_TransmitTxData();
PC_Connected--;
}
else
{
USART0_DisableTXD();
}
} // while(1)
}
 
/tags/V0.21b/main.h
New file
0,0 → 1,34
#ifndef _MAIN_H_
#define _MAIN_H_
 
 
#include <avr/eeprom.h>
#include <inttypes.h>
 
 
typedef enum
{
ATTITUDE_SOURCE_I2C,
ATTITUDE_SOURCE_UART,
ATTITUDE_SOURCE_ACC
} AttitudeSource_t;
 
 
typedef enum
{
ORIENTATION_NC = 0,
ORIENTATION_FC = 1
} Orientation_t;
 
 
extern int16_t Heading;
 
extern AttitudeSource_t AttitudeSource;
extern Orientation_t Orientation;
 
extern int16_t MagX, MagY, MagZ;
 
void SetDebugValues(void);
 
#endif //_MAIN_H_
 
/tags/V0.21b/Compass.pnproj
New file
0,0 → 1,0
<Project name="avr_ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="analog.h"></File><File path="analog.c"></File><File path="twislave.c"></File><File path="twislave.h"></File></Project>
/tags/V0.21b/makefile
New file
0,0 → 1,420
#--------------------------------------------------------------------
# MCU name
MCU = atmega168
F_CPU = 8000000
#-------------------------------------------------------------------
BOARD = 10
#BOARD = 11
VERSION_MAJOR = 0
VERSION_MINOR = 21
VERSION_PATCH = 1
 
VERSION_SERIAL_MAJOR = 10 # Serial Protocol Major Version
VERSION_SERIAL_MINOR = 0 # Serial Protocol Minor Version
NC_I2C_COMPATIBLE = 2 # I2C Protocol Version
#-------------------------------------------------------------------
 
# get SVN revision
REV := $(shell sh -c "cat .svn/entries | sed -n '4p'")
 
# Output format. (can be srec, ihex, binary)
FORMAT = ihex
 
# Target file name (without extension).
 
ifeq ($(VERSION_PATCH), 0)
TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 1)
TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 2)
TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 3)
TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 4)
TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 5)
TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 6)
TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 7)
TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 8)
TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV)
endif
ifeq ($(VERSION_PATCH), 9)
TARGET = MK3Mag_MEGA168_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV)
endif
 
 
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
OPT = s
 
##########################################################################################################
# List C source files here. (C dependencies are automatically generated.)
SRC = main.c uart.c timer0.c analog.c twislave.c led.c
##########################################################################################################
 
 
# List Assembler source files here.
# Make them always end in a capital .S. Files ending in a lowercase .s
# will not be considered source files but generated files (assembler
# output from the compiler), and will be deleted upon "make clean"!
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and gcc itself does
# care about how the name is spelled on its command-line.
ASRC =
 
 
# List any extra directories to look for include files here.
# Each directory must be seperated by a space.
EXTRAINCDIRS =
 
 
CDEFS = -DF_CPU=$(F_CPU)UL
 
# Optional compiler flags.
# -g: generate debugging information (for GDB, or for COFF conversion)
# -O*: optimization level
# -f...: tuning, see gcc manual and avr-libc documentation
# -Wall...: warning level
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlms: create assembler listing
CFLAGS = -g -O$(OPT) \
-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \
-Wall -Wstrict-prototypes \
-Wa,-adhlns=$(<:.c=.lst) \
$(patsubst %,-I%,$(EXTRAINCDIRS))
 
 
# Set a "language standard" compiler flag.
# Unremark just one line below to set the language standard to use.
# gnu99 = C99 + GNU extensions. See GCC manual for more information.
#CFLAGS += -std=c89
#CFLAGS += -std=gnu89
#CFLAGS += -std=c99
CFLAGS += -std=gnu99
CFLAGS += $(CDEFS)
CFLAGS += -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DBOARD=$(BOARD) -DNC_I2C_COMPATIBLE=$(NC_I2C_COMPATIBLE)
 
ifeq ($(AVR_CTRL_PLATINE), 1)
CFLAGS += -DAVR_CTRL_PLATINE=$(AVR_CTRL_PLATINE)
endif
 
 
 
# Optional assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlms: create listing
# -gstabs: have the assembler create line number information; note that
# for use in COFF files, additional information about filenames
# and function names needs to be present in the assembler source
# files -- see avr-libc docs [FIXME: not yet described there]
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
 
 
 
# Optional linker flags.
# -Wl,...: tell GCC to pass this to linker.
# -Map: create map file
# --cref: add cross reference to map file
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
 
 
 
# Additional libraries
 
# Minimalistic printf version
#LDFLAGS += -Wl,-u,vfprintf -lprintf_min
 
# Floating point printf version (requires -lm below)
#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt
 
# -lm = math library
LDFLAGS += -lm
 
 
 
 
# Programming support using avrdude. Settings and variables.
 
# Programming hardware: alf avr910 avrisp bascom bsd
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
#
# Type: avrdude -c ?
# to get a full listing.
#
 
AVRDUDE_PROGRAMMER = dt006
#AVRDUDE_PROGRAMMER = stk200
 
#AVRDUDE_PORT = com1 # programmer connected to serial device
AVRDUDE_PORT = lpt1 # programmer connected to parallel port
 
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
 
AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
 
# Uncomment the following if you want avrdude's erase cycle counter.
# Note that this counter needs to be initialized first using -Yn,
# see avrdude manual.
#AVRDUDE_ERASE += -y
 
# Uncomment the following if you do /not/ wish a verification to be
# performed after programming the device.
#AVRDUDE_FLAGS += -V -E noreset
 
 
# Increase verbosity level. Please use this when submitting bug
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
# to submit bug reports.
#AVRDUDE_FLAGS += -v -v
 
 
 
 
# ---------------------------------------------------------------------------
 
# Define directories, if needed.
DIRAVR = c:/winavr
DIRAVRBIN = $(DIRAVR)/bin
DIRAVRUTILS = $(DIRAVR)/utils/bin
DIRINC = .
DIRLIB = $(DIRAVR)/avr/lib
 
 
# Define programs and commands.
SHELL = sh
 
CC = avr-gcc
 
OBJCOPY = avr-objcopy
OBJDUMP = avr-objdump
SIZE = avr-size
 
 
# Programming support using avrdude.
AVRDUDE = avrdude
 
 
REMOVE = rm -f
COPY = cp
 
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
ELFSIZE = $(SIZE) -A $(TARGET).elf
 
 
 
# Define Messages
# English
MSG_ERRORS_NONE = Errors: none
MSG_BEGIN = -------- begin --------
MSG_END = -------- end --------
MSG_SIZE_BEFORE = Size before:
MSG_SIZE_AFTER = Size after:
MSG_COFF = Converting to AVR COFF:
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
MSG_FLASH = Creating load file for Flash:
MSG_EEPROM = Creating load file for EEPROM:
MSG_EXTENDED_LISTING = Creating Extended Listing:
MSG_SYMBOL_TABLE = Creating Symbol Table:
MSG_LINKING = Linking:
MSG_COMPILING = Compiling:
MSG_ASSEMBLING = Assembling:
MSG_CLEANING = Cleaning project:
 
 
 
 
# Define all object files.
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
 
# Define all listing files.
LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
 
# Combine all necessary flags and optional flags.
# Add target processor to flags.
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
 
 
 
# Default target.
all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \
$(TARGET).lss $(TARGET).sym sizeafter finished end
 
 
# Eye candy.
# AVR Studio 3.x does not check make's exit code but relies on
# the following magic strings to be generated by the compile job.
begin:
@echo
@echo $(MSG_BEGIN)
 
finished:
@echo $(MSG_ERRORS_NONE)
 
end:
@echo $(MSG_END)
@echo
 
 
# Display size of file.
sizebefore:
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
 
sizeafter:
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
 
 
 
# Display compiler version information.
gccversion :
@$(CC) --version
 
 
 
 
# Convert ELF to COFF for use in debugging / simulating in
# AVR Studio or VMLAB.
COFFCONVERT=$(OBJCOPY) --debugging \
--change-section-address .data-0x800000 \
--change-section-address .bss-0x800000 \
--change-section-address .noinit-0x800000 \
--change-section-address .eeprom-0x810000
 
 
coff: $(TARGET).elf
@echo
@echo $(MSG_COFF) $(TARGET).cof
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
 
 
extcoff: $(TARGET).elf
@echo
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
 
 
 
 
# Program the device.
program: $(TARGET).hex $(TARGET).eep
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
 
 
 
 
# Create final output files (.hex, .eep) from ELF output file.
%.hex: %.elf
@echo
@echo $(MSG_FLASH) $@
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
 
%.eep: %.elf
@echo
@echo $(MSG_EEPROM) $@
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
 
# Create extended listing file from ELF output file.
%.lss: %.elf
@echo
@echo $(MSG_EXTENDED_LISTING) $@
$(OBJDUMP) -h -S $< > $@
 
# Create a symbol table from ELF output file.
%.sym: %.elf
@echo
@echo $(MSG_SYMBOL_TABLE) $@
avr-nm -n $< > $@
 
 
 
# Link: create ELF output file from object files.
.SECONDARY : $(TARGET).elf
.PRECIOUS : $(OBJ)
%.elf: $(OBJ)
@echo
@echo $(MSG_LINKING) $@
$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
 
 
# Compile: create object files from C source files.
%.o : %.c
@echo
@echo $(MSG_COMPILING) $<
$(CC) -c $(ALL_CFLAGS) $< -o $@
 
 
# Compile: create assembler files from C source files.
%.s : %.c
$(CC) -S $(ALL_CFLAGS) $< -o $@
 
 
# Assemble: create object files from assembler source files.
%.o : %.S
@echo
@echo $(MSG_ASSEMBLING) $<
$(CC) -c $(ALL_ASFLAGS) $< -o $@
 
 
 
 
 
 
# Target: clean project.
clean: begin clean_list finished end
 
clean_list :
@echo
@echo $(MSG_CLEANING)
# $(REMOVE) $(TARGET).hex
# $(REMOVE) $(TARGET).eep
# $(REMOVE) $(TARGET).obj
$(REMOVE) $(TARGET).cof
$(REMOVE) $(TARGET).elf
$(REMOVE) $(TARGET).map
$(REMOVE) $(TARGET).obj
$(REMOVE) $(TARGET).a90
$(REMOVE) $(TARGET).sym
$(REMOVE) $(TARGET).lnk
$(REMOVE) $(TARGET).lss
$(REMOVE) $(OBJ)
$(REMOVE) $(LST)
$(REMOVE) $(SRC:.c=.s)
$(REMOVE) $(SRC:.c=.d)
 
 
# Automatically generate C source code dependencies.
# (Code originally taken from the GNU make user manual and modified
# (See README.txt Credits).)
#
# Note that this will work with sh (bash) and sed that is shipped with WinAVR
# (see the SHELL variable defined above).
# This may not work with other shells or other seds.
#
%.d: %.c
set -e; $(CC) -MM $(ALL_CFLAGS) $< \
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \
[ -s $@ ] || rm -f $@
 
 
# Remove the '-' if you want to see the dependency files generated.
-include $(SRC:.c=.d)
 
 
 
# Listing of phony targets.
.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \
clean clean_list program
 
/tags/V0.21b/twislave.c
New file
0,0 → 1,291
/*#######################################################################################
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 <util/twi.h>
#include "twislave.h"
#include "uart.h"
#include "main.h"
#include "timer0.h"
#include "led.h"
 
 
volatile uint8_t I2C_RxBufferSize = 0, I2C_TxBufferSize = 0;
volatile uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0;
volatile uint8_t Tx_Idx = 0, Rx_Idx = 0;
 
volatile uint8_t I2C_PrimRxBuffer[10];
 
uint8_t NC_Connected = 0;
I2C_Heading_t I2C_Heading;
I2C_WriteAttitude_t I2C_WriteAttitude;
I2C_Mag_t I2C_Mag;
I2C_Version_t I2C_Version;
I2C_WriteCal_t I2C_WriteCal;
 
 
void I2C_Init(void)
{
 
uint8_t sreg;
 
// backup status register
sreg = SREG;
// disable global interrupts
cli();
 
// SCK/SCL and MISO/SDA are at put together on the same connector pin in the schematic
 
// set PB4 (SCK) and PB5 (MISO) as input pull up
DDRB &= ~((1<<DDB4)|(1<<DDB5));
PORTB |= ((1<<PORTB4)|(1<<PORTB5));
 
// set PC4 (SDA) and PC5 (SCL) as input tristate
DDRC &= ~((1<<DDC4)|(1<<DDC5));
PORTC &= ~((1<<PORTC4)|(1<<PORTC5));
 
I2C_TxBuffer = 0;
Tx_Idx = 0;
I2C_TxBufferSize = 0;
I2C_RxBuffer = 0;
Rx_Idx = 0;
I2C_RxBufferSize = 0;
 
 
 
TWCR &= ~(1<<TWSTA)|(1<<TWSTO);
TWCR|= (1<<TWEA) | (1<<TWEN)|(1<<TWIE);
 
// set own address
// set own address in the upper 7 bits
TWAR = I2C_SLAVE_ADDRESS; // set own address only the upper 7 bits are relevant
// TWI Control Register
// enable TWI Acknowledge Bit (TWEA = 1)
// disable TWI START Condition Bit (TWSTA = 0), SLAVE
// disable TWI STOP Condition Bit (TWSTO = 0), SLAVE
// enable TWI (TWEN = 1)
// enable TWI Interrupt (TWIE = 1)
TWCR |= (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC);
// update version info
I2C_Version.Major = VERSION_MAJOR;
I2C_Version.Minor = VERSION_MINOR;
I2C_Version.Patch = VERSION_PATCH;
I2C_Version.Compatible = NC_I2C_COMPATIBLE;
 
// resore status register
SREG = sreg;
}
 
// send ACK after recieving a byte / ACK is expected after transmitting a byte
#define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC)
// send no ACK after recieving a byte / No ACK is expected after transmitting a byte
#define TWCR_NACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC)
// switched to the non adressed slave mode
#define TWCR_RESET TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC)
// The bit pattern for TWCR_ACK and TWCR_RESET are equal. This is no errro but used for better understanding.
#define TWCR_CLEARBUS TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC)
 
ISR (TWI_vect)
{
uint8_t data;
static uint8_t crc;
// check event
switch (TW_STATUS)
{
case TW_SR_SLA_ACK: // slave addressed in receiver mode and ack has been returned
Rx_Idx = 0xFF; // reset rx buffer pointer
TWCR_ACK; // trigger receiving of first data byte and send ack afterwards
return;
 
case TW_SR_DATA_ACK: // data has been received and ack has been returned
data = TWDR;
if (Rx_Idx == 0xFF)
{ // if the first byte after slave addressing was received
switch(data)
{
case I2C_CMD_VERSION:
I2C_TxBuffer = (uint8_t *)&I2C_Version;
I2C_TxBufferSize = sizeof(I2C_Version);
I2C_RxBuffer = 0;
I2C_RxBufferSize = 0;
break;
 
case I2C_CMD_WRITE_CAL:
I2C_TxBuffer = (uint8_t *)&I2C_WriteCal;
I2C_TxBufferSize = sizeof(I2C_WriteCal);
I2C_RxBuffer = (uint8_t *)&I2C_WriteCal;
I2C_RxBufferSize = sizeof(I2C_WriteCal);
break;
 
case I2C_CMD_READ_MAG:
I2C_TxBuffer = (uint8_t *)&I2C_Mag;
I2C_TxBufferSize = sizeof(I2C_Mag);
I2C_RxBuffer = 0;
I2C_RxBufferSize = 0;
 
I2C_Mag.MagX = MagX;
I2C_Mag.MagY = MagY;
I2C_Mag.MagZ = MagZ;
break;
 
case I2C_CMD_READ_HEADING:
I2C_TxBuffer = (uint8_t *)&I2C_Heading;
I2C_TxBufferSize = sizeof(I2C_Heading);
I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude;
I2C_RxBufferSize = sizeof(I2C_WriteAttitude);
I2C_Heading.Heading = Heading;
AttitudeSource = ATTITUDE_SOURCE_I2C;
Orientation = ORIENTATION_NC;
NC_Connected = 255;
break;
default: // unknown command id
I2C_RxBuffer = 0;
I2C_RxBufferSize = 0;
I2C_TxBuffer = 0;
I2C_TxBufferSize = 0;
break;
}
Rx_Idx = 0; // set rx buffer index to start of the buffer
crc = data;
}
else // Rx_Idx != 0xFF
{
// fill receiver buffer with the byte that has been received
// if buffer exist and there is still some free space
if(Rx_Idx < I2C_RxBufferSize)
{
I2C_PrimRxBuffer[Rx_Idx] = data;
crc += data;
}
else if (Rx_Idx == I2C_RxBufferSize) // crc byte was transfered
{ // if checksum matched
if(crc == data)
{ // and RxBuffer exist
if(I2C_RxBuffer != 0)
{ // copy data to rx buffer
for(data = 0; data < I2C_RxBufferSize; data++)
{
I2C_RxBuffer[data] = I2C_PrimRxBuffer[data];
}
}
DebugOut.Analog[31]++;
}
else
{
DebugOut.Analog[30]++;
}
}
// else ignore data
Rx_Idx++;
}
TWCR_ACK;
return;
 
case TW_ST_SLA_ACK: // slave transmitter selected
// reset index to start of tx buffer
Tx_Idx = 0;
crc = 0;
// if tx buffer exist and there is at least one byte to transfer
if((I2C_TxBuffer != 0) && (I2C_TxBufferSize > 1))
{
data = I2C_TxBuffer[Tx_Idx];
 
}
else
{ // send 0x00 if no tx buffer exist or all bytes of the tx buffer have been transmitted
data = 0x00;
}
crc += data;
Tx_Idx++;
TWDR = data;
TWCR_ACK;
return;
 
case TW_ST_DATA_ACK: // data byte has been transmitted ack has been received
// put next byte from tx buffer to the data register
if((I2C_TxBuffer != 0) && (Tx_Idx < I2C_TxBufferSize))
{
data = I2C_TxBuffer[Tx_Idx];
crc += data;
}
else if (Tx_Idx == I2C_TxBufferSize)
{ // send crc byte at the end
data = crc;
}
else
{
data = 0x00;
}
Tx_Idx++;
TWDR = data;
TWCR_ACK;
return;
 
case TW_BUS_ERROR: // Bus-Error
TWCR_CLEARBUS; // free bus, reset to nonselected slave
return;
 
case TW_ST_DATA_NACK: // data transmitted, NACK received
case TW_ST_LAST_DATA: // last data byte transmitted, ACK received
case TW_SR_STOP: // stop or repeated start condition received while selected
default:
TWCR_RESET; // switch to the not addressed slave mode, own SLA will be recognized
return;
}
}
 
 
/tags/V0.21b/timer0.c
New file
0,0 → 1,167
/*#######################################################################################
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 <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include "main.h"
 
volatile uint16_t CountMilliseconds = 0;
volatile uint16_t I2C_Timeout = 0;
 
 
/*****************************************************/
/* Initialize Timer 0 */
/*****************************************************/
void TIMER0_Init(void)
{
// set PB2 as output for the PWM used to signal compass heading
DDRB |= (1<<DDB2);
PORTB &= ~(1<<PORTB2);
 
 
// Timer/Counter 0 Control Register A
 
// Normal Timer Counter Mode (Bits WGM02 = 0, WGM01 = 0, WGM00 = 0)
// OC0A disconnected (Bits COM0A1 = 0, COM0A0 = 0)
// OC0B disconnected (Bits COM0B1 = 0, COM0B0 = 0)
TCCR0A &= ~((1<<COM0A1)|(1<<COM0A0)|(1<<COM0B1)|(1<<COM0B0)|(1<<WGM01)|(1<<WGM00));
 
// Timer/Counter 0 Control Register B
 
// set clock devider for timer 0 to SYSKLOCK/8 = 8MHz / 8 = 1MHz
// i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz
// hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz
 
// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0)
TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)|(1<<CS02));
TCCR0B = (1<<CS01)|(0<<CS00);
 
// init Timer/Counter 0 Register
TCNT0 = 0;
 
// Timer/Counter 0 Interrupt Mask Register
// enable timer overflow interrupt only
TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A));
TIMSK0 |= (1<<TOIE0);
 
}
 
 
// -----------------------------------------------------------------------
ISR(TIMER0_OVF_vect)
{
static uint8_t cnt;
static uint16_t cmps_cnt;
 
// reload timer register so that overflow occurs after 100 increments at 1 MHz
// resulting in a calling rate of this ISR of 10kHz or 0.1 ms.
TCNT0 -= 101;
 
// disable PWM when bad compass heading value
if(Heading < 0)
{
PORTB &= ~(1<<PORTB2);
cmps_cnt = 0;
}
else
{
// if a periode of 38.0 ms is over
if(++cmps_cnt >= 380)
{
// set PWM out to high
PORTB |= (1<<PORTB2);
// reset periode counter
cmps_cnt = 0;
}
// if the delay in 0.1 ms is equal to Heading + 10
else if(cmps_cnt >= (Heading + 10))
{
// set PWM out to low
PORTB &= ~(1<<PORTB2);
}
}
 
if(!--cnt)
{
// every 10th run (1kHz or 1ms)
cnt = 10;
CountMilliseconds++;
if(I2C_Timeout) I2C_Timeout--;
}
}
 
 
// -----------------------------------------------------------------------
uint16_t SetDelay (uint16_t t)
{
return(CountMilliseconds + t - 1);
}
 
// -----------------------------------------------------------------------
int8_t CheckDelay(uint16_t t)
{
return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit
}
 
// -----------------------------------------------------------------------
void Delay_ms(uint16_t wait)
{
uint16_t t_stop;
t_stop = SetDelay(wait);
while (!CheckDelay(t_stop));
}
 
/tags/V0.21b/analog.c
New file
0,0 → 1,117
/*#######################################################################################
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 <util/delay.h>
#include "analog.h"
 
uint8_t AccPresent = 0;
 
void ADC_Init(void)
{
// The analog inputs have a VREF of 5V and a resolution of 10 bit (0...1024 counts)
// i.e. 4.88mV/Count
 
// set PortC 0,1,2,3 as input
DDRC &= ~((1<<DDC3)|(1<<DDC2)|(1<<DDC1)|(1<<DDC0));
// set PortC 0,1,2,3 as tri state
PORTC &= ~((1<<PORTC3)|(1<<PORTC2)|(1<<PORTC1)|(1<<PORTC0));
 
// port PD5 and PD6 control the current direction of the test coils of the sensors
DDRD |= ((1<<DDD5)|(1<<DDD6));
FLIP_LOW;
 
// disable internal reference voltage and right adjust bits in ADCW
ADMUX = 0x00;
// clear start conversion bit (ADSC = 0)
// disable ADC Auto Trigger Enable (ADATE = 0)
// disable interrupt (ADIE = 0)
ADCSRA &= ~((1<<ADSC)|(1<<ADATE)|(1<<ADIE));
// Enable ADC (ADEN = 1) with SYSCLK/128 (ADPS2 = 1, ADPS1 = 1, ADPS0 = 1) and clear ready flag (ADIF = 1)
ADCSRA |= ((1<<ADEN)|(1<<ADIF)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0));
ADMUX = 0x00; // select ADC0
ADCSRA |= (1<<ADSC); // start conversion
 
 
// Check if acceleration sensor is present
// The output of the LIS3L02AL (MK3MAG V1.0) and the LIS344ALH (MK3MAG V1.1) is Vdd/5 +/- 10% per 1g.
// The Vdd is 3.0V at this board therefore the sensitivity is 0.6V/g +/-10% that corresponds to 123 counts.
// The offsets at 0g is VDD/2 (1.5V) that is 307 counts.
// that yields to an ADC range of 184 to 430 counts.
 
// pullup PC2(AccX) and PC3 (AccY)
PORTC |= ((1<<PORTC3)|(1<<PORTC2));
_delay_ms(10.0);
// if ADC2 and ADC 3 is larger than 1000 counts (4.88V) no load is at the pins
if((ADC_GetValue(ADC2) > 1000) && (ADC_GetValue(ADC3) > 1000)) AccPresent = 0;
else AccPresent = 1;
// set port back to tristate
PORTC &= ~((1<<PORTC3)|(1<<PORTC2));
}
 
 
uint16_t ADC_GetValue(ADChannel_t channel)
{
uint16_t value = 0;
ADMUX = channel; // set muxer bits
ADCSRA |= (1<<ADIF); // clear ready-flag
ADCSRA |= (1<<ADSC); // start conversion
while (((ADCSRA & (1<<ADIF)) == 0)); // wait for end of conversion
value = ADCW; // read adc result
return(value);
}
 
 
 
/tags/V0.21b/Hex-Files/BootLoader_MEGA168_8MHZ_V0.2.hex
New file
0,0 → 1,61
:1038000011241FBECFEFD4E0DEBFCDBF11E0A0E09A
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:10382000D9F711E0A0E0B1E001C01D92A238B107C4
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:103A300089C080E00E941E1C85C0053409F082C048
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:103A600099F77F016FC0873609F03DC00E94261C80
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:103AC000760139CF853409F036CFE1BC8F2D9927A7
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:103AF00080E090E0A0E0B0E023E0FC0120935700DC
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:103B200081E180935700E8950DC0853469F488E100
:103B300090E02CE00FB6F894A895809360000FBE3B
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:0E3BA0008B3109F4C8CE8FE30E941E1CC4CEE8
:0400000300003800C1
:00000001FF
/tags/V0.21b/Hex-Files/MK3Mag_MEGA168_V0_21b_SVN48.hex
New file
0,0 → 1,604
:100000000C946B000C9486000C9486000C94860073
:100010000C9486000C9486000C9486000C94860048
:100020000C9486000C9486000C9486000C94860038
:100030000C9486000C9486000C9486000C94860028
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:100060000C94120D0C94860007BAA57A2C3BDA90FA
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:1000900049CBA5310F76C73493F27E37D00D013AA4
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:1000C000743DDA3D83BE117FC73E4CBBE5BEAAAA94
:1000D0006C3F8000000011241FBECFEFD4E0DEBFD4
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:10015000909182032091830330918403821B930B3F
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/tags/V0.21b/twislave.h
New file
0,0 → 1,63
#ifndef _TWI_SLAVE_H_
#define _TWI_SLAVE_H_
 
#include <inttypes.h>
 
#define I2C_SLAVE_ADDRESS 0x50
 
#define I2C_CMD_VERSION 0x01
#define I2C_CMD_READ_MAG 0x02
#define I2C_CMD_READ_HEADING 0x03
#define I2C_CMD_WRITE_CAL 0x04
#define I2C_CMD_WRITE_EEPROM 0x0A
#define I2C_CMD_READ_EEPROM 0x0B
 
 
typedef struct
{
uint8_t Major;
uint8_t Minor;
uint8_t Patch;
uint8_t Compatible;
} I2C_Version_t;
 
typedef struct
{
int16_t MagX;
int16_t MagY;
int16_t MagZ;
} I2C_Mag_t;
 
 
typedef struct
{
int16_t Nick;
int16_t Roll;
} I2C_WriteAttitude_t;
 
 
typedef struct
{
uint8_t CalByte;
uint8_t Dummy1;
uint8_t Dummy2;
} I2C_WriteCal_t;
 
typedef struct
{
int16_t Heading;
} I2C_Heading_t;
 
extern uint8_t NC_Connected;
extern I2C_Heading_t I2C_Heading;
extern I2C_WriteAttitude_t I2C_WriteAttitude;
extern I2C_Mag_t I2C_Mag;
extern I2C_Version_t I2C_Version;
extern I2C_WriteCal_t I2C_WriteCal;
 
 
void I2C_Init(void);
 
 
#endif // _TWI_SLAVE_H_
 
/tags/V0.21b/led.c
New file
0,0 → 1,67
/*#######################################################################################
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 "led.h"
 
 
void LED_Init(void)
{
// Set PD7 as output
DDRD |= (1<<DDD7);
// set port pon to GND
PORTD &= ~((1<<PORTD7));
}
 
/tags/V0.21b/timer0.h
New file
0,0 → 1,17
#ifndef _TIMER0_H
#define _TIMER0_H
 
#include <inttypes.h>
 
extern volatile uint16_t CountMilliseconds;
extern volatile uint16_t I2C_Timeout;
 
 
void TIMER0_Init(void);
uint16_t SetDelay (uint16_t t);
int8_t CheckDelay(uint16_t t);
void Delay_ms(uint16_t wait);
 
 
#endif //_TIMER0_H
 
/tags/V0.21b/analog.h
New file
0,0 → 1,39
#ifndef _ANALOG_H_
#define _ANALOG_H_
 
#include <inttypes.h>
#include <avr/io.h>
 
#define FLIP_HIGH PORTD |= ((1<<PORTD5)|(1<<PORTD6))
#define FLIP_LOW PORTD &= ~((1<<PORTD5)|(1<<PORTD6))
 
typedef enum
{
ADC0 = 0,
ADC1 = 1,
ADC2 = 2,
ADC3 = 3,
ADC4 = 4,
ADC5 = 5,
ADC6 = 6,
ADC7 = 7,
REF1V1 = 14,
AGND = 15
} ADChannel_t;
 
 
#define MAG_X ADC0
#define MAG_Y ADC1
#define MAG_Z ADC7
#define ACC_X ADC2
#define ACC_Y ADC3
#define ACC_Z ADC6
 
 
extern uint8_t AccPresent;
 
void ADC_Init(void);
uint16_t ADC_GetValue(ADChannel_t channel);
 
#endif // _ANALOG_H_
 
/tags/V0.21b/led.h
New file
0,0 → 1,12
#ifndef _LED_H_
#define _LED_H_
 
#include <avr/io.h>
 
#define LED_GRN_ON PORTD |= (1<<PORTD7)
#define LED_GRN_OFF PORTD &= ~(1<<PORTD7)
#define LED_GRN_TOGGLE PORTD ^= (1<<PORTD7)
 
void LED_Init(void);
 
#endif //_LED_H_
/tags/V0.21b/uart.c
New file
0,0 → 1,639
/*#######################################################################################
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 <stdarg.h>
#include <string.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;
volatile uint8_t *pRxData = 0;
volatile uint8_t RxDataLen = 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 ConfirmFrame = 0;
 
uint8_t PC_Connected = 0;
uint8_t FC_Connected = 0;
 
 
DebugOut_t DebugOut;
ExternData_t ExternData;
ExternControl_t ExternControl;
UART_VersionInfo_t UART_VersionInfo;
 
uint16_t DebugData_Timer;
uint16_t DebugData_Interval = 500;
 
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)
{
uint8_t sreg = SREG;
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);
 
// initialize the debug timer
DebugData_Timer = SetDelay(DebugData_Interval);
 
// unlock rxd_buffer
rxd_buffer_locked = FALSE;
pRxData = 0;
RxDataLen = 0;
 
// no bytes to send
txd_complete = TRUE;
 
 
UART_VersionInfo.SWMajor = VERSION_MAJOR;
UART_VersionInfo.SWMinor = VERSION_MINOR;
UART_VersionInfo.SWPatch = VERSION_PATCH;
UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
 
// 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 ('a' + VERSION_PATCH);
USART0_putchar ('\n');
 
// restore global interrupt flags
SREG = sreg;
}
 
// ---------------------------------------------------------------------------------
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[ptr_rxd_buffer] = '\r'; // set termination character
ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes
rxd_buffer_locked = TRUE; // lock the rxd buffer
// 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 address, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ...
{
va_list ap;
uint16_t pt = 0;
uint8_t a,b,c;
uint8_t ptr = 0;
 
uint8_t *pdata = 0;
int len = 0;
 
txd_buffer[pt++] = '#'; // Start character
txd_buffer[pt++] = 'a' + address; // Address (a=0; b=1,...)
txd_buffer[pt++] = cmd; // Command
 
va_start(ap, numofbuffers);
if(numofbuffers)
{
pdata = va_arg(ap, uint8_t*);
len = va_arg(ap, int);
ptr = 0;
numofbuffers--;
}
 
while(len)
{
if(len)
{
a = pdata[ptr++];
len--;
if((!len) && numofbuffers)
{
pdata = va_arg(ap, uint8_t*);
len = va_arg(ap, int);
ptr = 0;
numofbuffers--;
}
}
else a = 0;
if(len)
{
b = pdata[ptr++];
len--;
if((!len) && numofbuffers)
{
pdata = va_arg(ap, uint8_t*);
len = va_arg(ap, int);
ptr = 0;
numofbuffers--;
}
}
else b = 0;
if(len)
{
c = pdata[ptr++];
len--;
if((!len) && numofbuffers)
{
pdata = va_arg(ap, uint8_t*);
len = va_arg(ap, int);
ptr = 0;
numofbuffers--;
}
}
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);
}
va_end(ap);
AddCRC(pt); // add checksum after data block and initates the transmission
}
 
 
// --------------------------------------------------------------------------
void Decode64(void)
{
uint8_t a,b,c,d;
uint8_t x,y,z;
uint8_t ptrIn = 3;
uint8_t ptrOut = 3;
uint8_t len = ReceivedBytes - 6;
 
while(len)
{
a = rxd_buffer[ptrIn++] - '=';
b = rxd_buffer[ptrIn++] - '=';
c = rxd_buffer[ptrIn++] - '=';
d = rxd_buffer[ptrIn++] - '=';
//if(ptrIn > ReceivedBytes - 3) break;
 
x = (a << 2) | (b >> 4);
y = ((b & 0x0f) << 4) | (c >> 2);
z = ((c & 0x03) << 6) | d;
 
if(len--) rxd_buffer[ptrOut++] = x; else break;
if(len--) rxd_buffer[ptrOut++] = y; else break;
if(len--) rxd_buffer[ptrOut++] = z; else break;
}
pRxData = &rxd_buffer[3];
RxDataLen = ptrOut - 3;
}
 
 
 
// --------------------------------------------------------------------------
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;
 
Decode64(); // decode data block in rxd_buffer
 
switch(rxd_buffer[1]-'a') // check Slave Address
{
case MK3MAG_ADDRESS:
 
switch(rxd_buffer[2]) // check for CmdID
{
case 'w': // old style
case 'k': // Attitude info from FC
memcpy(&ExternData, (uint8_t*)pRxData, sizeof(ExternData));
RequestFlags |= RQST_COMPASS_HEADING;
AttitudeSource = ATTITUDE_SOURCE_UART;
Orientation = ExternData.Orientation;
FC_Connected = 255;
break;
 
default:
// unsupported command
break;
} // case MK3MAG_ADDRESS:
 
default: // any Slave Adress
 
switch(rxd_buffer[2]) // check for CmdID
{
case 'b': // extern control
memcpy(&ExternControl, (uint8_t*)pRxData, sizeof(ExternControl));
#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;
}
ConfirmFrame = ExternControl.Frame;
PC_Connected = 255;
break;
 
case 'd': // request for the debug data
DebugData_Interval = (uint16_t) pRxData[0] * 10;
if(DebugData_Interval>0) RequestFlags |= RQST_DEBUG_DATA;
PC_Connected = 255;
break;
 
case 'v': // request version and board release
RequestFlags |= RQST_VERSION_INFO;
PC_Connected = 255;
break;
 
case 'h': // request lcd data
PC_Connected = 255;
break;
 
case 'a':// Labels of the Analog Debug outputs
RequestDebugLabel = pRxData[0];
RequestFlags |= RQST_DEBUG_LABEL;
PC_Connected = 255;
break;
 
case 'g':// get extern control data
RequestFlags |= RQST_EXTERN_CTRL;
PC_Connected = 255;
break;
 
default:
// unsupported command
break;
}
break; // default:
}
// unlock the rxd buffer after processing
pRxData = 0;
RxDataLen = 0;
rxd_buffer_locked = FALSE;
}
 
 
 
//---------------------------------------------------------------------------------------------
void USART0_TransmitTxData(void)
{
if(!(UCSR0B & (1 << TXEN0))) return;
 
if(!txd_complete) return;
 
if((RequestFlags & RQST_DEBUG_LABEL) && txd_complete)
{
SendOutData('A', MK3MAG_ADDRESS, 2, (uint8_t *)&RequestDebugLabel, sizeof(RequestDebugLabel), (uint8_t *) ANALOG_LABEL[RequestDebugLabel], 16);
RequestDebugLabel = 0xFF;
RequestFlags &= ~RQST_DEBUG_LABEL;
}
 
if(ConfirmFrame && txd_complete)
{
SendOutData('B', MK3MAG_ADDRESS, 1, (uint8_t *) &ConfirmFrame, sizeof(ConfirmFrame));
ConfirmFrame = 0;
}
 
if(( (DebugData_Interval>0 && CheckDelay(DebugData_Timer)) || (RequestFlags & RQST_DEBUG_DATA)) && txd_complete)
{
SetDebugValues();
SendOutData('D', MK3MAG_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut));
DebugData_Timer = SetDelay(DebugData_Interval);
RequestFlags &= ~RQST_DEBUG_DATA;
}
 
 
if((RequestFlags & RQST_EXTERN_CTRL) && txd_complete)
{
SendOutData('G', MK3MAG_ADDRESS, 1, (uint8_t *) &ExternControl,sizeof(ExternControl));
RequestFlags &= ~RQST_EXTERN_CTRL;
}
 
if((RequestFlags & RQST_COMPASS_HEADING) && txd_complete)
{
SendOutData('K', FC_ADDRESS, 1, (uint8_t *) &I2C_Heading, sizeof(I2C_Heading)); // send compass heading to FC
RequestFlags &= ~RQST_COMPASS_HEADING;
}
 
if((RequestFlags & RQST_VERSION_INFO) && txd_complete)
{
SendOutData('V', MK3MAG_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo));
RequestFlags &= ~RQST_VERSION_INFO;
}
}
 
 
void USART0_Print(int8_t *msg)
{
uint8_t i = 0;
while(msg[i] != 0)
{
USART0_putchar(msg[i++]);
}
}
/tags/V0.21b
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Added: tsvn:logminsize
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