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| 1 | /*####################################################################################### |
1 | /*####################################################################################### |
| 2 | MK3Mag 3D-Magnet sensor |
2 | MK3Mag 3D-Magnet sensor |
| 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
3 | !!! THIS IS NOT FREE SOFTWARE !!! |
| 4 | #######################################################################################*/ |
4 | #######################################################################################*/ |
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 6 | // + Copyright (c) 05.2008 Holger Buss |
6 | // + Copyright (c) 05.2008 Holger Buss |
| 7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| 8 | // + Nur für den privaten Gebrauch |
8 | // + Nur für den privaten Gebrauch |
| 9 | // + www.MikroKopter.com |
9 | // + www.MikroKopter.com |
| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 12 | // + mit unserer Zustimmung zulässig |
12 | // + mit unserer Zustimmung zulässig |
| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| 17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 24 | // + eindeutig als Ursprung verlinkt werden |
24 | // + eindeutig als Ursprung verlinkt werden |
| Line 27... | Line 27... | ||
| 27 | // + Benutzung auf eigene Gefahr |
27 | // + Benutzung auf eigene Gefahr |
| 28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
| 34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 40 | // + with our written permission |
40 | // + with our written permission |
| 41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| 42 | // + In case of doubt please contact: info@MikroKopter.de |
42 | // + In case of doubt please contact: info@MikroKopter.de |
| 43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| 44 | // + clearly linked as origin |
44 | // + clearly linked as origin |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | - | ||
| 58 | #include <avr/io.h> |
57 | #include <avr/io.h> |
| - | 58 | #include <avr/interrupt.h> |
|
| 59 | #include <util/twi.h> |
59 | #include <util/twi.h> |
| - | 60 | #include "twislave.h" |
|
| - | 61 | #include "uart.h" |
|
| 60 | #include "main.h" |
62 | #include "main.h" |
| - | 63 | #include "timer0.h" |
|
| - | 64 | #include "led.h" |
|
| - | 65 | ||
| - | 66 | ||
| - | 67 | volatile uint8_t I2C_RxBufferSize = 0, I2C_TxBufferSize = 0; |
|
| - | 68 | volatile uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0; |
|
| - | 69 | volatile uint8_t Tx_Idx = 0, Rx_Idx = 0; |
|
| - | 70 | ||
| - | 71 | volatile uint8_t I2C_PrimRxBuffer[10]; |
|
| - | 72 | ||
| - | 73 | uint8_t NC_Connected = 0; |
|
| - | 74 | I2C_Heading_t I2C_Heading; |
|
| - | 75 | I2C_WriteAttitude_t I2C_WriteAttitude; |
|
| - | 76 | I2C_Mag_t I2C_Mag; |
|
| - | 77 | I2C_Version_t I2C_Version; |
|
| - | 78 | I2C_WriteCal_t I2C_WriteCal; |
|
| - | 79 | ||
| - | 80 | ||
| - | 81 | void I2C_Init(void) |
|
| - | 82 | { |
|
| - | 83 | ||
| - | 84 | uint8_t sreg; |
|
| - | 85 | ||
| - | 86 | // backup status register |
|
| - | 87 | sreg = SREG; |
|
| - | 88 | // disable global interrupts |
|
| - | 89 | cli(); |
|
| - | 90 | ||
| - | 91 | // SCK/SCL and MISO/SDA are at put together on the same connector pin in the schematic |
|
| - | 92 | ||
| - | 93 | // set PB4 (SCK) and PB5 (MISO) as input pull up |
|
| - | 94 | DDRB &= ~((1<<DDB4)|(1<<DDB5)); |
|
| - | 95 | PORTB |= ((1<<PORTB4)|(1<<PORTB5)); |
|
| - | 96 | ||
| - | 97 | // set PC4 (SDA) and PC5 (SCL) as input tristate |
|
| - | 98 | DDRC &= ~((1<<DDC4)|(1<<DDC5)); |
|
| - | 99 | PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
|
| - | 100 | ||
| - | 101 | I2C_TxBuffer = 0; |
|
| - | 102 | Tx_Idx = 0; |
|
| - | 103 | I2C_TxBufferSize = 0; |
|
| - | 104 | I2C_RxBuffer = 0; |
|
| - | 105 | Rx_Idx = 0; |
|
| - | 106 | I2C_RxBufferSize = 0; |
|
| Line 61... | Line -... | ||
| 61 | - | ||
| - | 107 | ||
| - | 108 | ||
| 62 | unsigned char I2C_RxBufferSize, I2C_TxBufferSize; |
109 | |
| 63 | unsigned char *I2C_TxBuffer, *I2C_RxBuffer; |
110 | TWCR &= ~(1<<TWSTA)|(1<<TWSTO); |
| 64 | unsigned char Tx_Idx=0, Rx_Idx=0, I2C_Direction; |
- | |
| 65 | unsigned char I2C_Command; |
- | |
| 66 | unsigned char Tx_Idx, Rx_Idx; |
111 | TWCR|= (1<<TWEA) | (1<<TWEN)|(1<<TWIE); |
| 67 | 112 | ||
| 68 | struct str_I2C_Heading I2C_Heading; |
- | |
| 69 | struct str_I2C_WriteNickRoll I2C_WriteNickRoll; |
113 | // set own address |
| 70 | struct str_I2C_Mag I2C_Mag; |
114 | // set own address in the upper 7 bits |
| 71 | struct str_I2C_EEPROM I2C_ReadEEPROM, I2C_WriteEEPROM; |
115 | TWAR = I2C_SLAVE_ADDRESS; // set own address only the upper 7 bits are relevant |
| 72 | struct str_I2C_Version I2C_Version; |
116 | // TWI Control Register |
| 73 | struct str_I2C_WriteCal I2C_WriteCal; |
117 | // enable TWI Acknowledge Bit (TWEA = 1) |
| 74 | struct str_I2C_Acc I2C_Acc; |
- | |
| 75 | - | ||
| 76 | 118 | // disable TWI START Condition Bit (TWSTA = 0), SLAVE |
|
| 77 | //############################################################################ |
119 | // disable TWI STOP Condition Bit (TWSTO = 0), SLAVE |
| 78 | //I2C (TWI) Interface Init |
120 | // enable TWI (TWEN = 1) |
| 79 | void InitIC2_Slave(void) |
121 | // enable TWI Interrupt (TWIE = 1) |
| 80 | //############################################################################ |
- | |
| 81 | { |
122 | TWCR |= (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC); |
| 82 | TWAR = I2C_SLAVE_ADDRESS; // Eigene Adresse setzen |
- | |
| 83 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
- | |
| 84 | - | ||
| 85 | 123 | // update version info |
|
| 86 | I2C_Version.Hauptversion = VersionInfo.Hauptversion; |
124 | I2C_Version.Major = VERSION_MAJOR; |
| 87 | I2C_Version.Nebenversion = VersionInfo.Nebenversion; |
125 | I2C_Version.Minor = VERSION_MINOR; |
| 88 | I2C_Version.Comp = 1; |
126 | I2C_Version.Compatible = I2C_PROTOCOL_COMP; |
| - | 127 | ||
| - | 128 | // resore status register |
|
| 89 | 129 | SREG = sreg; |
|
| - | 130 | } |
|
| - | 131 | ||
| 90 | } |
132 | // send ACK after recieving a byte / ACK is expected after transmitting a byte |
| 91 | #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
133 | #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| 92 | //############################################################################ |
134 | // send no ACK after recieving a byte / No ACK is expected after transmitting a byte |
| - | 135 | #define TWCR_NACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
|
| - | 136 | // switched to the non adressed slave mode |
|
| 93 | //ISR, die bei einem Ereignis auf dem Bus ausgelöst wird. Im Register TWSR befindet |
137 | #define TWCR_RESET TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| - | 138 | // The bit pattern for TWCR_ACK and TWCR_RESET are equal. This is no errro but used for better understanding. |
|
| - | 139 | #define TWCR_CLEARBUS TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC) |
|
| 94 | //sich dann ein Statuscode, anhand dessen die Situation festgestellt werden kann. |
140 | |
| 95 | ISR (TWI_vect) |
- | |
| 96 | //############################################################################ |
141 | ISR (TWI_vect) |
| - | 142 | { |
|
| 97 | { |
143 | uint8_t data; |
| 98 | switch (TWSR & 0xF8) |
144 | static uint8_t crc; |
| 99 | { |
145 | // check event |
| - | 146 | switch (TW_STATUS) |
|
| 100 | case SR_SLA_ACK: |
147 | { |
| 101 | //TWCR |= (1<<TWINT); |
148 | case TW_SR_SLA_ACK: // slave addressed in receiver mode and ack has been returned |
| 102 | Rx_Idx = 0; |
- | |
| 103 | 149 | Rx_Idx = 0xFF; // reset rx buffer pointer |
|
| 104 | TWCR_ACK; |
150 | TWCR_ACK; // trigger receiving of first data byte and send ack afterwards |
| 105 | return; |
- | |
| 106 | // Daten Empfangen |
- | |
| 107 | case SR_PREV_ACK: |
151 | return; |
| - | 152 | ||
| - | 153 | case TW_SR_DATA_ACK: // data has been received and ack has been returned |
|
| 108 | 154 | data = TWDR; |
|
| 109 | if (Rx_Idx == 0) |
155 | if (Rx_Idx == 0xFF) |
| 110 | { I2C_Command = TWDR; |
- | |
| 111 | 156 | { // if the fisrt byte after slave addressing was received |
|
| 112 | switch(I2C_Command) |
157 | switch(data) |
| 113 | { |
158 | { |
| 114 | case I2C_CMD_VERSION: |
159 | case I2C_CMD_VERSION: |
| 115 | I2C_TxBuffer = (unsigned char *)&I2C_Version; |
160 | I2C_TxBuffer = (uint8_t *)&I2C_Version; |
| - | 161 | I2C_TxBufferSize = sizeof(I2C_Version); |
|
| 116 | I2C_TxBufferSize = sizeof(I2C_Version); |
162 | I2C_RxBuffer = 0; |
| 117 | I2C_RxBufferSize = 0; |
163 | I2C_RxBufferSize = 0; |
| 118 | break; |
- | |
| 119 | case I2C_CMD_WRITE_EEPROM: |
- | |
| 120 | I2C_TxBufferSize = 0; |
- | |
| 121 | I2C_RxBuffer = (unsigned char *)&I2C_WriteEEPROM; |
- | |
| 122 | I2C_RxBufferSize = sizeof(I2C_WriteEEPROM); |
- | |
| Line 123... | Line 164... | ||
| 123 | break; |
164 | break; |
| - | 165 | ||
| 124 | 166 | case I2C_CMD_WRITE_CAL: |
|
| 125 | case I2C_CMD_WRITE_CAL: |
167 | I2C_TxBuffer = 0; |
| 126 | I2C_TxBufferSize = 0; |
168 | I2C_TxBufferSize = 0; |
| 127 | I2C_RxBuffer = (unsigned char *)&I2C_WriteCal; |
169 | I2C_RxBuffer = (uint8_t *)&I2C_WriteCal; |
| Line 128... | Line -... | ||
| 128 | I2C_RxBufferSize = sizeof(I2C_WriteCal); |
- | |
| 129 | break; |
- | |
| 130 | - | ||
| 131 | case I2C_CMD_READ_EEPROM: |
- | |
| 132 | I2C_TxBuffer = (unsigned char *)&I2C_ReadEEPROM.Inhalt; |
- | |
| 133 | I2C_TxBufferSize = 2; |
- | |
| 134 | I2C_RxBuffer = (unsigned char *)&I2C_ReadEEPROM; |
170 | I2C_RxBufferSize = sizeof(I2C_WriteCal); |
| 135 | I2C_RxBufferSize = 1; |
171 | break; |
| 136 | break; |
172 | |
| - | 173 | case I2C_CMD_READ_MAG: |
|
| 137 | case I2C_CMD_READ_MAG: |
174 | I2C_TxBuffer = (uint8_t *)&I2C_Mag; |
| 138 | I2C_TxBuffer = (unsigned char *)&I2C_Mag; |
175 | I2C_TxBufferSize = sizeof(I2C_Mag); |
| 139 | I2C_TxBufferSize = sizeof(I2C_Mag); |
176 | I2C_RxBuffer = 0; |
| 140 | I2C_RxBufferSize = 0; |
177 | I2C_RxBufferSize = 0; |
| 141 | 178 | ||
| 142 | I2C_Mag.MagX = MagnetN; |
- | |
| 143 | I2C_Mag.MagY = MagnetR; |
- | |
| 144 | I2C_Mag.MagZ = MagnetZ; |
- | |
| 145 | - | ||
| 146 | break; |
- | |
| 147 | case I2C_CMD_READ_ACC: |
- | |
| 148 | I2C_TxBuffer = (unsigned char *)&I2C_Acc; |
- | |
| 149 | I2C_TxBufferSize = sizeof(I2C_Acc); |
- | |
| 150 | I2C_RxBufferSize = 0; |
- | |
| 151 | I2C_Acc.AccN = RawAccN; |
179 | I2C_Mag.MagX = MagX; |
| 152 | I2C_Acc.AccR = RawAccR; |
- | |
| 153 | I2C_Acc.AccZ = RawAccZ; |
- | |
| 154 | break; |
- | |
| 155 | case I2C_CMD_READ_HEADING: |
- | |
| 156 | I2C_TxBuffer = (unsigned char *)&I2C_Heading; |
- | |
| 157 | I2C_TxBufferSize = sizeof(I2C_Heading); |
180 | I2C_Mag.MagY = MagY; |
| 158 | I2C_RxBuffer = (unsigned char *)&I2C_WriteNickRoll; |
- | |
| 159 | I2C_RxBufferSize = sizeof(I2C_WriteNickRoll); |
- | |
| 160 | - | ||
| 161 | I2C_Heading.Heading = Heading; |
- | |
| 162 | ExternData.Winkel[NICK] = I2C_WriteNickRoll.Nick; |
- | |
| 163 | ExternData.Winkel[ROLL] = I2C_WriteNickRoll.Roll; |
181 | I2C_Mag.MagZ = MagZ; |
| 164 | AngleSource = 1; |
182 | break; |
| 165 | break; |
183 | |
| - | 184 | case I2C_CMD_READ_HEADING: |
|
| 166 | case I2C_CMD_READ_HEADING_INTERNAL_ACC: |
185 | I2C_TxBuffer = (uint8_t *)&I2C_Heading; |
| 167 | I2C_TxBuffer = (unsigned char *)&I2C_Heading; |
- | |
| 168 | I2C_TxBufferSize = sizeof(I2C_Heading); |
186 | I2C_TxBufferSize = sizeof(I2C_Heading); |
| - | 187 | I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude; |
|
| 169 | I2C_RxBufferSize = 0; |
188 | I2C_RxBufferSize = sizeof(I2C_WriteAttitude); |
| - | 189 | I2C_Heading.Heading = Heading; |
|
| - | 190 | AttitudeSource = ATTITUDE_SOURCE_I2C; |
|
| - | 191 | Orientation = ORIENTATION_NC; |
|
| - | 192 | NC_Connected = 255; |
|
| 170 | 193 | break; |
|
| - | 194 | default: // unknown command id |
|
| 171 | I2C_Heading.Heading = Heading; |
195 | I2C_RxBuffer = 0; |
| 172 | ExternData.Winkel[NICK] = 0; |
196 | I2C_RxBufferSize = 0; |
| 173 | ExternData.Winkel[ROLL] = 0; |
- | |
| 174 | AngleSource = 0; |
197 | I2C_TxBuffer = 0; |
| - | 198 | I2C_TxBufferSize = 0; |
|
| - | 199 | break; |
|
| 175 | break; |
200 | } |
| 176 | 201 | Rx_Idx = 0; // set rx buffer index to start of the buffer |
|
| 177 | } |
202 | crc = data; |
| - | 203 | } |
|
| - | 204 | else // Rx_Idx != 0xFF |
|
| - | 205 | { |
|
| - | 206 | // fill receiver buffer with the byte that has been received |
|
| - | 207 | // if buffer exist and there is still some free space |
|
| - | 208 | if(Rx_Idx < I2C_RxBufferSize) |
|
| - | 209 | { |
|
| 178 | } |
210 | I2C_PrimRxBuffer[Rx_Idx] = data; |
| - | 211 | crc += data; |
|
| - | 212 | } |
|
| - | 213 | else if (Rx_Idx == I2C_RxBufferSize) // crc byte was transfered |
|
| - | 214 | { // if checksum matched |
|
| - | 215 | if(crc == data) |
|
| - | 216 | { // and RxBuffer exist |
|
| - | 217 | if(I2C_RxBuffer != 0) |
|
| - | 218 | { // copy data to rx buffer |
|
| - | 219 | for(data = 0; data < I2C_RxBufferSize; data++) |
|
| - | 220 | { |
|
| - | 221 | I2C_RxBuffer[data] = I2C_PrimRxBuffer[data]; |
|
| - | 222 | } |
|
| - | 223 | } |
|
| - | 224 | DebugOut.Analog[31]++; |
|
| - | 225 | } |
|
| - | 226 | else |
|
| - | 227 | { |
|
| - | 228 | DebugOut.Analog[30]++; |
|
| - | 229 | } |
|
| 179 | else |
230 | } |
| 180 | { |
- | |
| 181 | if ((Rx_Idx-1) < I2C_RxBufferSize) I2C_RxBuffer[Rx_Idx-1] = TWDR; |
- | |
| 182 | } |
- | |
| 183 | - | ||
| 184 | Rx_Idx++; |
- | |
| 185 | - | ||
| 186 | 231 | // else ignore data |
|
| 187 | I2C_Timeout = 500; |
232 | Rx_Idx++; |
| 188 | //TWCR |= (1<<TWINT); |
- | |
| 189 | TWCR_ACK; |
233 | } |
| 190 | return; |
234 | TWCR_ACK; |
| - | 235 | return; |
|
| 191 | // Daten Senden |
236 | |
| - | 237 | case TW_ST_SLA_ACK: // slave transmitter selected |
|
| - | 238 | // reset index to start of tx buffer |
|
| - | 239 | Tx_Idx = 0; |
|
| 192 | 240 | crc = 0; |
|
| 193 | case SW_SLA_ACK: |
241 | // if tx buffer exist and there is at least one byte to transfer |
| 194 | Tx_Idx = 0; |
242 | if((I2C_TxBuffer != 0) && (I2C_TxBufferSize > 1)) |
| - | 243 | { |
|
| - | 244 | data = I2C_TxBuffer[Tx_Idx]; |
|
| 195 | 245 | ||
| 196 | if (I2C_TxBufferSize > 0) TWDR = I2C_TxBuffer[Tx_Idx++]; |
246 | } |
| 197 | 247 | else |
|
| 198 | // TWCR |= (1<<TWINT) | (1<< TWEA); |
248 | { // send 0x00 if no tx buffer exist or all bytes of the tx buffer have been transmitted |
| 199 | TWCR_ACK; |
249 | data = 0x00; |
| 200 | return; |
- | |
| 201 | // Daten Senden |
250 | } |
| 202 | case SW_DATA_ACK: |
- | |
| 203 | if (Tx_Idx < I2C_TxBufferSize) TWDR = I2C_TxBuffer[Tx_Idx++]; |
251 | crc += data; |
| 204 | else TWDR = 0x00; |
252 | Tx_Idx++; |
| - | 253 | TWDR = data; |
|
| - | 254 | TWCR_ACK; |
|
| - | 255 | return; |
|
| - | 256 | ||
| - | 257 | case TW_ST_DATA_ACK: // data byte has been transmitted ack has been received |
|
| 205 | //TWCR |= (1<<TWINT) | (1<< TWEA); |
258 | // put next byte from tx buffer to the data register |
| 206 | TWCR_ACK; |
259 | if((I2C_TxBuffer != 0) && (Tx_Idx < I2C_TxBufferSize)) |
| - | 260 | { |
|
| 207 | return; |
261 | data = I2C_TxBuffer[Tx_Idx]; |
| 208 | // Bus-Fehler zurücksetzen |
262 | crc += data; |
| - | 263 | } |
|
| - | 264 | else if (Tx_Idx == I2C_TxBufferSize) |
|
| - | 265 | { // send crc byte at the end |
|
| - | 266 | data = crc; |
|
| - | 267 | } |
|
| - | 268 | else |
|
| - | 269 | { |
|
| - | 270 | data = 0x00; |
|
| - | 271 | } |
|
| - | 272 | Tx_Idx++; |
|
| - | 273 | TWDR = data; |
|
| 209 | case TWI_BUS_ERR_2: |
274 | TWCR_ACK; |
| 210 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
275 | return; |
| 211 | // Bus-Fehler zurücksetzen |
276 | |
| - | 277 | case TW_BUS_ERROR: // Bus-Error |
|
| - | 278 | TWCR_CLEARBUS; // free bus, reset to nonselected slave |
|
| 212 | case TWI_BUS_ERR_1: |
279 | return; |
| - | 280 | ||
| - | 281 | case TW_ST_DATA_NACK: // data transmitted, NACK received |
|
| - | 282 | case TW_ST_LAST_DATA: // last data byte transmitted, ACK received |
|
| - | 283 | case TW_SR_STOP: // stop or repeated start condition received while selected |
|
| - | 284 | default: |
|
| 213 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
285 | TWCR_RESET; // switch to the not addressed slave mode, own SLA will be recognized |