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| 12 | hbuss | 1 | /*####################################################################################### |
| 2 | MK3Mag 3D-Magnet sensor |
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| 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
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| 4 | #######################################################################################*/ |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Copyright (c) 05.2008 Holger Buss |
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| 7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
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| 8 | // + Nur für den privaten Gebrauch |
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| 9 | // + www.MikroKopter.com |
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| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 12 | // + mit unserer Zustimmung zulässig |
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| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
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| 17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
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| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 24 | // + eindeutig als Ursprung verlinkt werden |
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| 25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 27 | // + Benutzung auf eigene Gefahr |
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| 28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 33 | // + this list of conditions and the following disclaimer. |
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| 34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
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| 42 | // + In case of doubt please contact: info@MikroKopter.de |
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| 43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
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| 44 | // + clearly linked as origin |
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| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1 | ingob | 57 | |
| 58 | #include <avr/io.h> |
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| 59 | #include <util/twi.h> |
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| 60 | #include "main.h" |
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| 61 | |||
| 3 | ingob | 62 | unsigned char I2C_RxBufferSize, I2C_TxBufferSize; |
| 63 | unsigned char *I2C_TxBuffer, *I2C_RxBuffer; |
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| 64 | unsigned char Tx_Idx=0, Rx_Idx=0, I2C_Direction; |
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| 65 | unsigned char I2C_Command; |
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| 66 | unsigned char Tx_Idx, Rx_Idx; |
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| 1 | ingob | 67 | |
| 3 | ingob | 68 | struct str_I2C_Heading I2C_Heading; |
| 69 | struct str_I2C_WriteNickRoll I2C_WriteNickRoll; |
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| 70 | struct str_I2C_Mag I2C_Mag; |
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| 71 | struct str_I2C_EEPROM I2C_ReadEEPROM, I2C_WriteEEPROM; |
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| 72 | struct str_I2C_Version I2C_Version; |
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| 7 | hbuss | 73 | struct str_I2C_WriteCal I2C_WriteCal; |
| 3 | ingob | 74 | |
| 75 | |||
| 76 | |||
| 1 | ingob | 77 | //############################################################################ |
| 78 | //I2C (TWI) Interface Init |
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| 3 | ingob | 79 | void InitIC2_Slave(void) |
| 1 | ingob | 80 | //############################################################################ |
| 81 | { |
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| 3 | ingob | 82 | TWAR = I2C_SLAVE_ADDRESS; // Eigene Adresse setzen |
| 1 | ingob | 83 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| 3 | ingob | 84 | |
| 85 | |||
| 86 | I2C_Version.Hauptversion = VersionInfo.Hauptversion; |
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| 87 | I2C_Version.Nebenversion = VersionInfo.Nebenversion; |
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| 88 | I2C_Version.Comp = 1; |
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| 89 | |||
| 1 | ingob | 90 | } |
| 3 | ingob | 91 | #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| 1 | ingob | 92 | //############################################################################ |
| 93 | //ISR, die bei einem Ereignis auf dem Bus ausgelöst wird. Im Register TWSR befindet |
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| 94 | //sich dann ein Statuscode, anhand dessen die Situation festgestellt werden kann. |
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| 95 | ISR (TWI_vect) |
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| 96 | //############################################################################ |
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| 97 | { |
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| 98 | switch (TWSR & 0xF8) |
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| 99 | { |
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| 100 | case SR_SLA_ACK: |
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| 3 | ingob | 101 | //TWCR |= (1<<TWINT); |
| 102 | Rx_Idx = 0; |
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| 103 | |||
| 104 | TWCR_ACK; |
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| 1 | ingob | 105 | return; |
| 106 | // Daten Empfangen |
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| 107 | case SR_PREV_ACK: |
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| 3 | ingob | 108 | |
| 109 | if (Rx_Idx == 0) |
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| 110 | { I2C_Command = TWDR; |
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| 111 | |||
| 112 | switch(I2C_Command) |
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| 113 | { |
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| 114 | case I2C_CMD_VERSION: |
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| 115 | I2C_TxBuffer = (unsigned char *)&I2C_Version; |
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| 116 | I2C_TxBufferSize = sizeof(I2C_Version); |
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| 117 | I2C_RxBufferSize = 0; |
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| 118 | break; |
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| 119 | case I2C_CMD_WRITE_EEPROM: |
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| 120 | I2C_TxBufferSize = 0; |
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| 121 | I2C_RxBuffer = (unsigned char *)&I2C_WriteEEPROM; |
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| 122 | I2C_RxBufferSize = sizeof(I2C_WriteEEPROM); |
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| 123 | break; |
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| 7 | hbuss | 124 | |
| 125 | case I2C_CMD_WRITE_CAL: |
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| 126 | I2C_TxBufferSize = 0; |
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| 127 | I2C_RxBuffer = (unsigned char *)&I2C_WriteCal; |
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| 128 | I2C_RxBufferSize = sizeof(I2C_WriteCal); |
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| 129 | break; |
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| 130 | |||
| 3 | ingob | 131 | case I2C_CMD_READ_EEPROM: |
| 132 | I2C_TxBuffer = (unsigned char *)&I2C_ReadEEPROM.Inhalt; |
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| 133 | I2C_TxBufferSize = 2; |
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| 134 | I2C_RxBuffer = (unsigned char *)&I2C_ReadEEPROM; |
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| 135 | I2C_RxBufferSize = 1; |
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| 136 | break; |
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| 137 | case I2C_CMD_READ_MAG: |
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| 138 | I2C_TxBuffer = (unsigned char *)&I2C_Mag; |
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| 139 | I2C_TxBufferSize = sizeof(I2C_Mag); |
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| 140 | I2C_RxBufferSize = 0; |
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| 141 | |||
| 142 | I2C_Mag.MagX = MagnetN; |
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| 143 | I2C_Mag.MagY = MagnetR; |
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| 144 | I2C_Mag.MagZ = MagnetZ; |
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| 145 | |||
| 146 | break; |
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| 147 | case I2C_CMD_READ_HEADING: |
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| 148 | I2C_TxBuffer = (unsigned char *)&I2C_Heading; |
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| 149 | I2C_TxBufferSize = sizeof(I2C_Heading); |
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| 150 | I2C_RxBuffer = (unsigned char *)&I2C_WriteNickRoll; |
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| 151 | I2C_RxBufferSize = sizeof(I2C_WriteNickRoll); |
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| 152 | |||
| 153 | I2C_Heading.Heading = Heading; |
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| 7 | hbuss | 154 | ExternData.Winkel[NICK] = I2C_WriteNickRoll.Nick; |
| 155 | ExternData.Winkel[ROLL] = I2C_WriteNickRoll.Roll; |
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| 3 | ingob | 156 | break; |
| 157 | } |
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| 158 | } |
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| 159 | else |
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| 160 | { |
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| 4 | ingob | 161 | if ((Rx_Idx-1) < I2C_RxBufferSize) I2C_RxBuffer[Rx_Idx-1] = TWDR; |
| 3 | ingob | 162 | } |
| 163 | |||
| 164 | Rx_Idx++; |
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| 165 | |||
| 166 | |||
| 1 | ingob | 167 | I2C_Timeout = 500; |
| 3 | ingob | 168 | //TWCR |= (1<<TWINT); |
| 169 | TWCR_ACK; |
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| 1 | ingob | 170 | return; |
| 171 | // Daten Senden |
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| 3 | ingob | 172 | |
| 1 | ingob | 173 | case SW_SLA_ACK: |
| 3 | ingob | 174 | Tx_Idx = 0; |
| 175 | |||
| 176 | if (I2C_TxBufferSize > 0) TWDR = I2C_TxBuffer[Tx_Idx++]; |
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| 177 | |||
| 178 | // TWCR |= (1<<TWINT) | (1<< TWEA); |
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| 179 | TWCR_ACK; |
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| 1 | ingob | 180 | return; |
| 181 | // Daten Senden |
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| 3 | ingob | 182 | case SW_DATA_ACK: |
| 183 | if (Tx_Idx < I2C_TxBufferSize) TWDR = I2C_TxBuffer[Tx_Idx++]; |
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| 184 | else TWDR = 0x00; |
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| 185 | //TWCR |= (1<<TWINT) | (1<< TWEA); |
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| 186 | TWCR_ACK; |
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| 1 | ingob | 187 | return; |
| 188 | // Bus-Fehler zurücksetzen |
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| 189 | case TWI_BUS_ERR_2: |
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| 190 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
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| 191 | // Bus-Fehler zurücksetzen |
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| 192 | case TWI_BUS_ERR_1: |
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| 193 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
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| 194 | } |
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| 195 | TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset |
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| 196 | } |
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| 197 | |||
| 198 |