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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + FOR NON COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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. |
| // + * 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 permitted |
| // + 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 |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // |
| // + 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 <stdio.h> |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "mk3mag.h" |
| #include "i2c.h" |
| #include "timer1.h" |
| #include "led.h" |
| #include "main.h" |
| #include "uart1.h" |
| #include "compass.h" |
| |
| #define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address |
| |
| u8 MK3MAG_Present = 0; |
| |
| typedef struct |
| { |
| s16 Nick; |
| s16 Roll; |
| } __attribute__((packed)) MK3MAG_WriteAttitude_t; |
| |
| typedef struct |
| { |
| u8 Major; |
| u8 Minor; |
| u8 Patch; |
| u8 Compatible; |
| } __attribute__((packed)) MK3MAG_Version_t; |
| |
| typedef struct |
| { |
| u8 CalByte; |
| u8 Dummy1; |
| u8 Dummy2; |
| } __attribute__((packed)) MK3MAG_Cal_t; |
| |
| // Transfer buffers |
| volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude; |
| volatile MK3MAG_Version_t MK3MAG_Version; |
| volatile MK3MAG_Cal_t MK3MAG_WriteCal; |
| volatile MK3MAG_Cal_t MK3MAG_ReadCal; |
| |
| // ------------------------------------------------------------------------------- |
| // the calculation of the MK3MAG packet checksum |
| |
| // calculate the crc of bytecount bytes in buffer |
| u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount) |
| { |
| u8 i, crc = 0; |
| for(i=0; i < bytecount; i++) |
| { |
| crc += pBuffer[i]; |
| } |
| crc = ~crc; |
| return crc; |
| } |
| |
| // assuming the last byte in buffer is the crc byte |
| u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen) |
| { |
| u8 crc = 0, retval = 0; |
| if(BuffLen == 0) return(retval); |
| crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1); |
| if(crc == pBuffer[BuffLen-1]) |
| { |
| retval = 1; |
| DebugOut.Analog[15]++; // count mk3mag ok |
| } |
| else |
| { |
| retval = 0; |
| DebugOut.Analog[14]++; // count mk3mag crc error |
| } |
| return(retval); |
| } |
| |
| // ------------------------------------------------------------------------------- |
| // the I2C rx data handler functions |
| |
| // rx data handler for version info request |
| void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize) |
| { // if crc is ok and number of byte are matching |
| if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) ) |
| { |
| memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version)); |
| } |
| } |
| |
| // rx data handler for calibration request |
| void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize) |
| { // if crc is ok and number of byte are matching |
| if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) ) |
| { |
| memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal)); |
| } |
| } |
| |
| // rx data handler for magnetic vector request |
| void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
| { // if crc is ok and number of byte are matching |
| if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) ) |
| { |
| s16vec_t *pMagVector = (s16vec_t*)pRxBuffer; |
| MagVector.X = pMagVector->Y; |
| MagVector.Y = pMagVector->X; |
| MagVector.Z = -pMagVector->Z; |
| Compass_CalcHeading(); |
| } |
| } |
| |
| //---------------------------------------------------------------- |
| #define MK3MAG_CMD_VERSION 0x01 |
| #define MK3MAG_CMD_READ_MAGVECT 0x02 |
| #define MK3MAG_CMD_WRITE_CAL 0x04 |
| |
| void MK3MAG_SendCommand(u8 command) |
| { |
| // try to catch the I2C buffer |
| if(I2C_LockBuffer(0)) |
| { |
| u16 TxBytes = 0; |
| u16 RxBytes = 0; |
| I2C_pRxHandler_t pRxHandlerFunc = NULL; |
| |
| // update current command id |
| I2C_Buffer[TxBytes++] = command; |
| |
| // set pointers to data area with respect to the command id |
| switch (command) |
| { |
| case MK3MAG_CMD_VERSION: |
| RxBytes = sizeof(MK3MAG_Version)+1; |
| pRxHandlerFunc = &MK3MAG_UpdateVersion; |
| break; |
| case MK3MAG_CMD_WRITE_CAL: |
| RxBytes = sizeof(MK3MAG_ReadCal)+1; |
| pRxHandlerFunc = &MK3MAG_UpdateCalibration; |
| memcpy((u8*)I2C_Buffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal)); |
| TxBytes += sizeof(MK3MAG_WriteCal); |
| break; |
| case MK3MAG_CMD_READ_MAGVECT: |
| RxBytes = sizeof(MagVector)+1; |
| pRxHandlerFunc = &MK3MAG_UpdateMagVector; |
| break; |
| default: // unknown command id |
| RxBytes = 0; |
| pRxHandlerFunc = NULL; |
| break; |
| } |
| // update packet checksum |
| I2C_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C_Buffer, TxBytes); |
| TxBytes++; |
| // initiate I2C transmission |
| I2C_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes); |
| } // EOF I2C_State == I2C_IDLE |
| } |
| |
| |
| //---------------------------------------------------------------- |
| u8 MK3MAG_Init(void) |
| { |
| u8 msg[64]; |
| u8 repeat; |
| u32 timeout; |
| |
| MK3MAG_Present = 0; |
| |
| MK3MAG_Version.Major = 0xFF; |
| MK3MAG_Version.Minor = 0xFF; |
| MK3MAG_Version.Patch = 0xFF; |
| MK3MAG_Version.Compatible = 0xFF; |
| |
| Compass_Heading = -1; |
| |
| // polling of version info |
| repeat = 0; |
| do |
| { |
| MK3MAG_SendCommand(MK3MAG_CMD_VERSION); |
| if(Version_HW > 11) timeout = SetDelay(100); |
| else timeout = SetDelay(250); |
| |
| do |
| { |
| if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
| }while (!CheckDelay(timeout)); |
| UART1_PutString("."); |
| repeat++; |
| }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
| // if we got it |
| if (MK3MAG_Version.Major != 0xFF) |
| { |
| sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
| UART1_PutString(msg); |
| if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
| { |
| UART1_PutString("\n\r MK3MAG not compatible!"); |
| UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
| LED_RED_ON; |
| } |
| else |
| { // version ok |
| MK3MAG_Present = 1; |
| } |
| } |
| return(MK3MAG_Present); |
| } |
| |
| //---------------------------------------------------------------- |
| void MK3MAG_Update(void) |
| { |
| static u32 TimerUpdate = 0; |
| static s16 x_max,y_max,z_max,x_min,y_min,z_min; |
| static u8 last_state; |
| u8 msg[64]; |
| u16 MinCaclibration = 500; |
| |
| if( (I2C_State == I2C_STATE_OFF) || !MK3MAG_Present ) return; |
| |
| if(CheckDelay(TimerUpdate)) |
| { |
| // check for incomming compass calibration request |
| Compass_UpdateCalState(); |
| MK3MAG_WriteCal.CalByte = Compass_CalState; |
| |
| if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte) |
| { // send new calibration state |
| MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL); |
| } |
| else |
| { // calibration state matches |
| MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer |
| |
| switch(Compass_CalState) |
| { |
| case 1: |
| if(last_state != Compass_CalState) |
| { |
| UART1_PutString("\r\nMK3Mag calibration\n\r"); |
| if(EarthMagneticStrengthTheoretic) |
| { |
| MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50; |
| sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
| UART1_PutString(msg); |
| } |
| else UART1_PutString("without GPS\n\r"); |
| } |
| x_max = -30000; y_max = -30000; z_max = -30000; |
| x_min = 30000; y_min = 30000; z_min = 30000; |
| break; |
| |
| case 2: |
| if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; } |
| else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; } |
| if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; } |
| else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; } |
| break; |
| |
| case 4: |
| if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; } |
| else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; } |
| break; |
| case 5: |
| if(last_state == Compass_CalState) break; |
| if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration)) |
| { |
| BeepTime = 2500; |
| UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
| } |
| else |
| { |
| UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
| if((x_max - x_min) < MinCaclibration) UART1_PutString("X! "); |
| if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! "); |
| if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! "); |
| UART1_PutString("\r\n"); |
| } |
| UART1_PutString(msg); |
| sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min); |
| UART1_PutString(msg); |
| sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min); |
| UART1_PutString(msg); |
| sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min); |
| UART1_PutString(msg); |
| sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration); |
| UART1_PutString(msg); |
| break; |
| default: |
| break; |
| } |
| last_state = Compass_CalState; |
| } |
| TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
| } |
| } |