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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 / NON-COMMERCIAL USE ONLY |
| 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 oder Nutzung 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 |
| 25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 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 Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
|
| - | 31 | // + mit unserer Zustimmung zulässig |
|
| - | 32 | /// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
33 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
35 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 33 | // + this list of conditions and the following disclaimer. |
36 | // + 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 |
37 | // + * porting the sources to other systems or using the software on other systems (except 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 |
38 | // + * 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. |
39 | // + from this software without specific prior written permission. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
40 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 38 | // + for non-commercial use (directly or indirectly) |
41 | // + for non-commercial use (directly or indirectly) |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
42 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 40 | // + with our written permission |
43 | // + with our written permission |
| 41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
44 | // + 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 |
45 | // + 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 |
46 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| 44 | // + clearly linked as origin |
47 | // + clearly linked as origin |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
48 | // + 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 |
49 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
50 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
51 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
52 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
53 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
54 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
55 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
56 | // + 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 |
57 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
58 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
59 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | #include <avr/io.h> |
60 | #include <avr/io.h> |
| 58 | #include <avr/interrupt.h> |
61 | #include <avr/interrupt.h> |
| 59 | #include <util/twi.h> |
62 | #include <util/twi.h> |
| 60 | #include "twislave.h" |
63 | #include "twislave.h" |
| 61 | #include "uart.h" |
64 | #include "uart.h" |
| 62 | #include "main.h" |
65 | #include "main.h" |
| 63 | #include "timer0.h" |
66 | #include "timer0.h" |
| 64 | #include "led.h" |
67 | #include "led.h" |
| 65 | 68 | ||
| 66 | 69 | ||
| 67 | volatile uint8_t I2C_RxBufferSize = 0, I2C_TxBufferSize = 0; |
70 | volatile uint8_t I2C_RxBufferSize = 0, I2C_TxBufferSize = 0; |
| 68 | volatile uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0; |
71 | volatile uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0; |
| 69 | volatile uint8_t Tx_Idx = 0, Rx_Idx = 0; |
72 | volatile uint8_t Tx_Idx = 0, Rx_Idx = 0; |
| 70 | 73 | ||
| 71 | volatile uint8_t I2C_PrimRxBuffer[10]; |
74 | volatile uint8_t I2C_PrimRxBuffer[10]; |
| 72 | 75 | ||
| 73 | uint8_t NC_Connected = 0; |
76 | uint8_t NC_Connected = 0; |
| 74 | I2C_Heading_t I2C_Heading; |
77 | I2C_Heading_t I2C_Heading; |
| 75 | I2C_WriteAttitude_t I2C_WriteAttitude; |
78 | I2C_WriteAttitude_t I2C_WriteAttitude; |
| 76 | I2C_Mag_t I2C_Mag; |
79 | I2C_Mag_t I2C_Mag; |
| 77 | I2C_Version_t I2C_Version; |
80 | I2C_Version_t I2C_Version; |
| 78 | I2C_WriteCal_t I2C_WriteCal; |
81 | I2C_WriteCal_t I2C_WriteCal; |
| 79 | 82 | ||
| 80 | 83 | ||
| 81 | void I2C_Init(void) |
84 | void I2C_Init(void) |
| 82 | { |
85 | { |
| 83 | 86 | ||
| 84 | uint8_t sreg; |
87 | uint8_t sreg; |
| 85 | 88 | ||
| 86 | // backup status register |
89 | // backup status register |
| 87 | sreg = SREG; |
90 | sreg = SREG; |
| 88 | // disable global interrupts |
91 | // disable global interrupts |
| 89 | cli(); |
92 | cli(); |
| 90 | 93 | ||
| 91 | // SCK/SCL and MISO/SDA are at put together on the same connector pin in the schematic |
94 | // SCK/SCL and MISO/SDA are at put together on the same connector pin in the schematic |
| 92 | 95 | ||
| 93 | // set PB4 (SCK) and PB5 (MISO) as input pull up |
96 | // set PB4 (SCK) and PB5 (MISO) as input pull up |
| 94 | DDRB &= ~((1<<DDB4)|(1<<DDB5)); |
97 | DDRB &= ~((1<<DDB4)|(1<<DDB5)); |
| 95 | PORTB |= ((1<<PORTB4)|(1<<PORTB5)); |
98 | PORTB |= ((1<<PORTB4)|(1<<PORTB5)); |
| 96 | 99 | ||
| 97 | // set PC4 (SDA) and PC5 (SCL) as input tristate |
100 | // set PC4 (SDA) and PC5 (SCL) as input tristate |
| 98 | DDRC &= ~((1<<DDC4)|(1<<DDC5)); |
101 | DDRC &= ~((1<<DDC4)|(1<<DDC5)); |
| 99 | PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
102 | PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
| 100 | 103 | ||
| 101 | I2C_TxBuffer = 0; |
104 | I2C_TxBuffer = 0; |
| 102 | Tx_Idx = 0; |
105 | Tx_Idx = 0; |
| 103 | I2C_TxBufferSize = 0; |
106 | I2C_TxBufferSize = 0; |
| 104 | I2C_RxBuffer = 0; |
107 | I2C_RxBuffer = 0; |
| 105 | Rx_Idx = 0; |
108 | Rx_Idx = 0; |
| 106 | I2C_RxBufferSize = 0; |
109 | I2C_RxBufferSize = 0; |
| 107 | 110 | ||
| 108 | 111 | ||
| 109 | 112 | ||
| 110 | TWCR &= ~(1<<TWSTA)|(1<<TWSTO); |
113 | TWCR &= ~(1<<TWSTA)|(1<<TWSTO); |
| 111 | TWCR|= (1<<TWEA) | (1<<TWEN)|(1<<TWIE); |
114 | TWCR|= (1<<TWEA) | (1<<TWEN)|(1<<TWIE); |
| 112 | 115 | ||
| 113 | // set own address |
116 | // set own address |
| 114 | // set own address in the upper 7 bits |
117 | // set own address in the upper 7 bits |
| 115 | TWAR = I2C_SLAVE_ADDRESS; // set own address only the upper 7 bits are relevant |
118 | TWAR = I2C_SLAVE_ADDRESS; // set own address only the upper 7 bits are relevant |
| 116 | // TWI Control Register |
119 | // TWI Control Register |
| 117 | // enable TWI Acknowledge Bit (TWEA = 1) |
120 | // enable TWI Acknowledge Bit (TWEA = 1) |
| 118 | // disable TWI START Condition Bit (TWSTA = 0), SLAVE |
121 | // disable TWI START Condition Bit (TWSTA = 0), SLAVE |
| 119 | // disable TWI STOP Condition Bit (TWSTO = 0), SLAVE |
122 | // disable TWI STOP Condition Bit (TWSTO = 0), SLAVE |
| 120 | // enable TWI (TWEN = 1) |
123 | // enable TWI (TWEN = 1) |
| 121 | // enable TWI Interrupt (TWIE = 1) |
124 | // enable TWI Interrupt (TWIE = 1) |
| 122 | TWCR |= (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC); |
125 | TWCR |= (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC); |
| 123 | // update version info |
126 | // update version info |
| 124 | I2C_Version.Major = VERSION_MAJOR; |
127 | I2C_Version.Major = VERSION_MAJOR; |
| 125 | I2C_Version.Minor = VERSION_MINOR; |
128 | I2C_Version.Minor = VERSION_MINOR; |
| 126 | I2C_Version.Patch = VERSION_PATCH; |
129 | I2C_Version.Patch = VERSION_PATCH; |
| 127 | I2C_Version.Compatible = NC_I2C_COMPATIBLE; |
130 | I2C_Version.Compatible = NC_I2C_COMPATIBLE; |
| 128 | 131 | ||
| 129 | // resore status register |
132 | // resore status register |
| 130 | SREG = sreg; |
133 | SREG = sreg; |
| 131 | } |
134 | } |
| 132 | 135 | ||
| 133 | // send ACK after recieving a byte / ACK is expected after transmitting a byte |
136 | // send ACK after recieving a byte / ACK is expected after transmitting a byte |
| 134 | #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
137 | #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| 135 | // send no ACK after recieving a byte / No ACK is expected after transmitting a byte |
138 | // send no ACK after recieving a byte / No ACK is expected after transmitting a byte |
| 136 | #define TWCR_NACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
139 | #define TWCR_NACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| 137 | // switched to the non adressed slave mode |
140 | // switched to the non adressed slave mode |
| 138 | #define TWCR_RESET TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
141 | #define TWCR_RESET TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| 139 | // The bit pattern for TWCR_ACK and TWCR_RESET are equal. This is no errro but used for better understanding. |
142 | // The bit pattern for TWCR_ACK and TWCR_RESET are equal. This is no errro but used for better understanding. |
| 140 | #define TWCR_CLEARBUS TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC) |
143 | #define TWCR_CLEARBUS TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC) |
| 141 | 144 | ||
| 142 | ISR (TWI_vect) |
145 | ISR (TWI_vect) |
| 143 | { |
146 | { |
| 144 | uint8_t data; |
147 | uint8_t data; |
| 145 | static uint8_t crc; |
148 | static uint8_t crc; |
| 146 | // check event |
149 | // check event |
| 147 | switch (TW_STATUS) |
150 | switch (TW_STATUS) |
| 148 | { |
151 | { |
| 149 | case TW_SR_SLA_ACK: // slave addressed in receiver mode and ack has been returned |
152 | case TW_SR_SLA_ACK: // slave addressed in receiver mode and ack has been returned |
| 150 | Rx_Idx = 0xFF; // reset rx buffer pointer |
153 | Rx_Idx = 0xFF; // reset rx buffer pointer |
| 151 | TWCR_ACK; // trigger receiving of first data byte and send ack afterwards |
154 | TWCR_ACK; // trigger receiving of first data byte and send ack afterwards |
| 152 | return; |
155 | return; |
| 153 | 156 | ||
| 154 | case TW_SR_DATA_ACK: // data has been received and ack has been returned |
157 | case TW_SR_DATA_ACK: // data has been received and ack has been returned |
| 155 | data = TWDR; |
158 | data = TWDR; |
| 156 | if (Rx_Idx == 0xFF) |
159 | if (Rx_Idx == 0xFF) |
| 157 | { // if the first byte after slave addressing was received |
160 | { // if the first byte after slave addressing was received |
| 158 | switch(data) |
161 | switch(data) |
| 159 | { |
162 | { |
| 160 | case I2C_CMD_VERSION: |
163 | case I2C_CMD_VERSION: |
| 161 | I2C_TxBuffer = (uint8_t *)&I2C_Version; |
164 | I2C_TxBuffer = (uint8_t *)&I2C_Version; |
| 162 | I2C_TxBufferSize = sizeof(I2C_Version); |
165 | I2C_TxBufferSize = sizeof(I2C_Version); |
| 163 | I2C_RxBuffer = 0; |
166 | I2C_RxBuffer = 0; |
| 164 | I2C_RxBufferSize = 0; |
167 | I2C_RxBufferSize = 0; |
| 165 | break; |
168 | break; |
| 166 | 169 | ||
| 167 | case I2C_CMD_WRITE_CAL: |
170 | case I2C_CMD_WRITE_CAL: |
| 168 | I2C_TxBuffer = (uint8_t *)&I2C_WriteCal; |
171 | I2C_TxBuffer = (uint8_t *)&I2C_WriteCal; |
| 169 | I2C_TxBufferSize = sizeof(I2C_WriteCal); |
172 | I2C_TxBufferSize = sizeof(I2C_WriteCal); |
| 170 | I2C_RxBuffer = (uint8_t *)&I2C_WriteCal; |
173 | I2C_RxBuffer = (uint8_t *)&I2C_WriteCal; |
| 171 | I2C_RxBufferSize = sizeof(I2C_WriteCal); |
174 | I2C_RxBufferSize = sizeof(I2C_WriteCal); |
| 172 | break; |
175 | break; |
| 173 | 176 | ||
| 174 | case I2C_CMD_READ_MAG: |
177 | case I2C_CMD_READ_MAG: |
| 175 | I2C_TxBuffer = (uint8_t *)&I2C_Mag; |
178 | I2C_TxBuffer = (uint8_t *)&I2C_Mag; |
| 176 | I2C_TxBufferSize = sizeof(I2C_Mag); |
179 | I2C_TxBufferSize = sizeof(I2C_Mag); |
| 177 | I2C_RxBuffer = 0; |
180 | I2C_RxBuffer = 0; |
| 178 | I2C_RxBufferSize = 0; |
181 | I2C_RxBufferSize = 0; |
| 179 | 182 | ||
| 180 | I2C_Mag.MagX = MagX; |
183 | I2C_Mag.MagX = MagX; |
| 181 | I2C_Mag.MagY = MagY; |
184 | I2C_Mag.MagY = MagY; |
| 182 | I2C_Mag.MagZ = MagZ; |
185 | I2C_Mag.MagZ = MagZ; |
| 183 | break; |
186 | break; |
| 184 | 187 | ||
| 185 | case I2C_CMD_READ_HEADING: |
188 | case I2C_CMD_READ_HEADING: |
| 186 | I2C_TxBuffer = (uint8_t *)&I2C_Heading; |
189 | I2C_TxBuffer = (uint8_t *)&I2C_Heading; |
| 187 | I2C_TxBufferSize = sizeof(I2C_Heading); |
190 | I2C_TxBufferSize = sizeof(I2C_Heading); |
| 188 | I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude; |
191 | I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude; |
| 189 | I2C_RxBufferSize = sizeof(I2C_WriteAttitude); |
192 | I2C_RxBufferSize = sizeof(I2C_WriteAttitude); |
| 190 | I2C_Heading.Heading = Heading; |
193 | I2C_Heading.Heading = Heading; |
| 191 | AttitudeSource = ATTITUDE_SOURCE_I2C; |
194 | AttitudeSource = ATTITUDE_SOURCE_I2C; |
| 192 | Orientation = ORIENTATION_NC; |
195 | Orientation = ORIENTATION_NC; |
| 193 | NC_Connected = 255; |
196 | NC_Connected = 255; |
| 194 | break; |
197 | break; |
| 195 | default: // unknown command id |
198 | default: // unknown command id |
| 196 | I2C_RxBuffer = 0; |
199 | I2C_RxBuffer = 0; |
| 197 | I2C_RxBufferSize = 0; |
200 | I2C_RxBufferSize = 0; |
| 198 | I2C_TxBuffer = 0; |
201 | I2C_TxBuffer = 0; |
| 199 | I2C_TxBufferSize = 0; |
202 | I2C_TxBufferSize = 0; |
| 200 | break; |
203 | break; |
| 201 | } |
204 | } |
| 202 | Rx_Idx = 0; // set rx buffer index to start of the buffer |
205 | Rx_Idx = 0; // set rx buffer index to start of the buffer |
| 203 | crc = data; |
206 | crc = data; |
| 204 | } |
207 | } |
| 205 | else // Rx_Idx != 0xFF |
208 | else // Rx_Idx != 0xFF |
| 206 | { |
209 | { |
| 207 | // fill receiver buffer with the byte that has been received |
210 | // fill receiver buffer with the byte that has been received |
| 208 | // if buffer exist and there is still some free space |
211 | // if buffer exist and there is still some free space |
| 209 | if(Rx_Idx < I2C_RxBufferSize) |
212 | if(Rx_Idx < I2C_RxBufferSize) |
| 210 | { |
213 | { |
| 211 | I2C_PrimRxBuffer[Rx_Idx] = data; |
214 | I2C_PrimRxBuffer[Rx_Idx] = data; |
| 212 | crc += data; |
215 | crc += data; |
| 213 | } |
216 | } |
| 214 | else if (Rx_Idx == I2C_RxBufferSize) // crc byte was transfered |
217 | else if (Rx_Idx == I2C_RxBufferSize) // crc byte was transfered |
| 215 | { // if checksum matched |
218 | { // if checksum matched |
| 216 | if(crc == data) |
219 | if(crc == data) |
| 217 | { // and RxBuffer exist |
220 | { // and RxBuffer exist |
| 218 | if(I2C_RxBuffer != 0) |
221 | if(I2C_RxBuffer != 0) |
| 219 | { // copy data to rx buffer |
222 | { // copy data to rx buffer |
| 220 | for(data = 0; data < I2C_RxBufferSize; data++) |
223 | for(data = 0; data < I2C_RxBufferSize; data++) |
| 221 | { |
224 | { |
| 222 | I2C_RxBuffer[data] = I2C_PrimRxBuffer[data]; |
225 | I2C_RxBuffer[data] = I2C_PrimRxBuffer[data]; |
| 223 | } |
226 | } |
| 224 | } |
227 | } |
| 225 | DebugOut.Analog[31]++; |
228 | DebugOut.Analog[31]++; |
| 226 | } |
229 | } |
| 227 | else |
230 | else |
| 228 | { |
231 | { |
| 229 | DebugOut.Analog[30]++; |
232 | DebugOut.Analog[30]++; |
| 230 | } |
233 | } |
| 231 | } |
234 | } |
| 232 | // else ignore data |
235 | // else ignore data |
| 233 | Rx_Idx++; |
236 | Rx_Idx++; |
| 234 | } |
237 | } |
| 235 | TWCR_ACK; |
238 | TWCR_ACK; |
| 236 | return; |
239 | return; |
| 237 | 240 | ||
| 238 | case TW_ST_SLA_ACK: // slave transmitter selected |
241 | case TW_ST_SLA_ACK: // slave transmitter selected |
| 239 | // reset index to start of tx buffer |
242 | // reset index to start of tx buffer |
| 240 | Tx_Idx = 0; |
243 | Tx_Idx = 0; |
| 241 | crc = 0; |
244 | crc = 0; |
| 242 | // if tx buffer exist and there is at least one byte to transfer |
245 | // if tx buffer exist and there is at least one byte to transfer |
| 243 | if((I2C_TxBuffer != 0) && (I2C_TxBufferSize > 1)) |
246 | if((I2C_TxBuffer != 0) && (I2C_TxBufferSize > 1)) |
| 244 | { |
247 | { |
| 245 | data = I2C_TxBuffer[Tx_Idx]; |
248 | data = I2C_TxBuffer[Tx_Idx]; |
| 246 | 249 | ||
| 247 | } |
250 | } |
| 248 | else |
251 | else |
| 249 | { // send 0x00 if no tx buffer exist or all bytes of the tx buffer have been transmitted |
252 | { // send 0x00 if no tx buffer exist or all bytes of the tx buffer have been transmitted |
| 250 | data = 0x00; |
253 | data = 0x00; |
| 251 | } |
254 | } |
| 252 | crc += data; |
255 | crc += data; |
| 253 | Tx_Idx++; |
256 | Tx_Idx++; |
| 254 | TWDR = data; |
257 | TWDR = data; |
| 255 | TWCR_ACK; |
258 | TWCR_ACK; |
| 256 | return; |
259 | return; |
| 257 | 260 | ||
| 258 | case TW_ST_DATA_ACK: // data byte has been transmitted ack has been received |
261 | case TW_ST_DATA_ACK: // data byte has been transmitted ack has been received |
| 259 | // put next byte from tx buffer to the data register |
262 | // put next byte from tx buffer to the data register |
| 260 | if((I2C_TxBuffer != 0) && (Tx_Idx < I2C_TxBufferSize)) |
263 | if((I2C_TxBuffer != 0) && (Tx_Idx < I2C_TxBufferSize)) |
| 261 | { |
264 | { |
| 262 | data = I2C_TxBuffer[Tx_Idx]; |
265 | data = I2C_TxBuffer[Tx_Idx]; |
| 263 | crc += data; |
266 | crc += data; |
| 264 | } |
267 | } |
| 265 | else if (Tx_Idx == I2C_TxBufferSize) |
268 | else if (Tx_Idx == I2C_TxBufferSize) |
| 266 | { // send crc byte at the end |
269 | { // send crc byte at the end |
| 267 | data = crc; |
270 | data = crc; |
| 268 | } |
271 | } |
| 269 | else |
272 | else |
| 270 | { |
273 | { |
| 271 | data = 0x00; |
274 | data = 0x00; |
| 272 | } |
275 | } |
| 273 | Tx_Idx++; |
276 | Tx_Idx++; |
| 274 | TWDR = data; |
277 | TWDR = data; |
| 275 | TWCR_ACK; |
278 | TWCR_ACK; |
| 276 | return; |
279 | return; |
| 277 | 280 | ||
| 278 | case TW_BUS_ERROR: // Bus-Error |
281 | case TW_BUS_ERROR: // Bus-Error |
| 279 | TWCR_CLEARBUS; // free bus, reset to nonselected slave |
282 | TWCR_CLEARBUS; // free bus, reset to nonselected slave |
| 280 | return; |
283 | return; |
| 281 | 284 | ||
| 282 | case TW_ST_DATA_NACK: // data transmitted, NACK received |
285 | case TW_ST_DATA_NACK: // data transmitted, NACK received |
| 283 | case TW_ST_LAST_DATA: // last data byte transmitted, ACK received |
286 | case TW_ST_LAST_DATA: // last data byte transmitted, ACK received |
| 284 | case TW_SR_STOP: // stop or repeated start condition received while selected |
287 | case TW_SR_STOP: // stop or repeated start condition received while selected |
| 285 | default: |
288 | default: |
| 286 | TWCR_RESET; // switch to the not addressed slave mode, own SLA will be recognized |
289 | TWCR_RESET; // switch to the not addressed slave mode, own SLA will be recognized |
| 287 | return; |
290 | return; |
| 288 | } |
291 | } |
| 289 | } |
292 | } |
| 290 | 293 | ||
| 291 | 294 | ||
| 292 | 295 | ||