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/*####################################################################################### |
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" |
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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; |
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volatile uint8_t I2C_PrimRxBuffer[10]; |
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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; |
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void I2C_Init(void) |
{ |
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uint8_t sreg; |
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// backup status register |
sreg = SREG; |
// disable global interrupts |
cli(); |
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// SCK/SCL and MISO/SDA are at put together on the same connector pin in the schematic |
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// set PB4 (SCK) and PB5 (MISO) as input pull up |
DDRB &= ~((1<<DDB4)|(1<<DDB5)); |
PORTB |= ((1<<PORTB4)|(1<<PORTB5)); |
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// set PC4 (SDA) and PC5 (SCL) as input tristate |
DDRC &= ~((1<<DDC4)|(1<<DDC5)); |
PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
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I2C_TxBuffer = 0; |
Tx_Idx = 0; |
I2C_TxBufferSize = 0; |
I2C_RxBuffer = 0; |
Rx_Idx = 0; |
I2C_RxBufferSize = 0; |
|
|
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TWCR &= ~(1<<TWSTA)|(1<<TWSTO); |
TWCR|= (1<<TWEA) | (1<<TWEN)|(1<<TWIE); |
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// 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; |
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// resore status register |
SREG = sreg; |
} |
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// 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) |
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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; |
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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; |
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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; |
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I2C_Mag.MagX = MagX; |
I2C_Mag.MagY = MagY; |
I2C_Mag.MagZ = MagZ; |
break; |
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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; |
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case TW_BUS_ERROR: // Bus-Error |
TWCR_CLEARBUS; // free bus, reset to nonselected slave |
return; |
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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; |
} |
} |
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