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241 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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29 | // + mit unserer Zustimmung zulässig |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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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 permitted |
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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 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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44 | // |
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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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57 | #include <string.h> |
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58 | #include "91x_lib.h" |
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59 | #include "mk3mag.h" |
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60 | #include "i2c.h" |
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61 | #include "timer1.h" |
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242 | killagreg | 62 | #include "led.h" |
241 | killagreg | 63 | #include "spi_slave.h" |
64 | #include "main.h" |
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65 | #include "uart1.h" |
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242 | killagreg | 66 | #include "compass.h" |
241 | killagreg | 67 | |
68 | #define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address |
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69 | |||
242 | killagreg | 70 | u8 MK3MAG_Present = 0; |
241 | killagreg | 71 | |
242 | killagreg | 72 | typedef struct |
73 | { |
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74 | s16 Nick; |
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75 | s16 Roll; |
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76 | } __attribute__((packed)) MK3MAG_WriteAttitude_t; |
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77 | |||
241 | killagreg | 78 | // Transfer buffers |
79 | volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude; |
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80 | volatile MK3MAG_Version_t MK3MAG_Version; |
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81 | volatile MK3MAG_Cal_t MK3MAG_WriteCal; |
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82 | volatile MK3MAG_Cal_t MK3MAG_ReadCal; |
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83 | |||
84 | // ------------------------------------------------------------------------------- |
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85 | // the calculation of the MK3MAG packet checksum |
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86 | |||
87 | // calculate the crc of bytecount bytes in buffer |
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88 | u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount) |
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89 | { |
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90 | u8 i, crc = 0; |
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91 | for(i=0; i < bytecount; i++) |
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92 | { |
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93 | crc += pBuffer[i]; |
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94 | } |
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95 | crc = ~crc; |
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96 | return crc; |
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97 | } |
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98 | |||
99 | // assuming the last byte in buffer is the crc byte |
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100 | u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen) |
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101 | { |
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102 | u8 crc = 0, retval = 0; |
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103 | if(BuffLen == 0) return(retval); |
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104 | crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1); |
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105 | if(crc == pBuffer[BuffLen-1]) |
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106 | { |
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107 | retval = 1; |
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108 | DebugOut.Analog[15]++; // count mk3mag ok |
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109 | } |
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110 | else |
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111 | { |
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112 | retval = 0; |
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113 | DebugOut.Analog[14]++; // count mk3mag crc error |
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114 | } |
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115 | return(retval); |
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116 | } |
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117 | |||
118 | // ------------------------------------------------------------------------------- |
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119 | // the I2C rx data handler functions |
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120 | |||
121 | // rx data handler for version info request |
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122 | void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize) |
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123 | { // if crc is ok and number of byte are matching |
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124 | if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) ) |
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125 | { |
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126 | memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version)); |
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127 | } |
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128 | } |
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129 | |||
130 | // rx data handler for calibration request |
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131 | void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize) |
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132 | { // if crc is ok and number of byte are matching |
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133 | if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) ) |
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134 | { |
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135 | memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal)); |
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136 | } |
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137 | } |
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138 | |||
139 | // rx data handler for magnetic vector request |
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140 | void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
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141 | { // if crc is ok and number of byte are matching |
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242 | killagreg | 142 | if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) ) |
241 | killagreg | 143 | { |
242 | killagreg | 144 | memcpy((u8 *)&MagVector, pRxBuffer, sizeof(MagVector)); |
241 | killagreg | 145 | } |
146 | } |
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147 | |||
148 | // rx data handler for heading request |
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149 | void MK3MAG_UpdateHeading(u8* pRxBuffer, u8 RxBufferSize) |
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150 | { // if crc is ok and number of byte are matching |
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242 | killagreg | 151 | if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(CompassHeading)+1)) ) |
241 | killagreg | 152 | { |
242 | killagreg | 153 | memcpy((u8 *)&CompassHeading, pRxBuffer, sizeof(CompassHeading)); |
241 | killagreg | 154 | } |
155 | } |
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156 | |||
157 | //---------------------------------------------------------------- |
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158 | void MK3MAG_SendCommand(u8 command) |
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159 | { |
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160 | // If I2C no transmission is in progress |
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248 | killagreg | 161 | if(I2C_LockBuffer(0)) |
241 | killagreg | 162 | { |
248 | killagreg | 163 | u16 TxBytes = 0; |
164 | u16 RxBytes = 0; |
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241 | killagreg | 165 | I2C_pRxHandler_t pRxHandlerFunc = NULL; |
248 | killagreg | 166 | |
241 | killagreg | 167 | // update current command id |
248 | killagreg | 168 | I2C_Buffer[TxBytes++] = command; |
241 | killagreg | 169 | |
170 | // set pointers to data area with respect to the command id |
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171 | switch (command) |
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172 | { |
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173 | case MK3MAG_CMD_VERSION: |
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174 | RxBytes = sizeof(MK3MAG_Version)+1; |
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175 | pRxHandlerFunc = &MK3MAG_UpdateVersion; |
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176 | break; |
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177 | case MK3MAG_CMD_WRITE_CAL: |
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178 | RxBytes = sizeof(MK3MAG_ReadCal)+1; |
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179 | pRxHandlerFunc = &MK3MAG_UpdateCalibration; |
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248 | killagreg | 180 | memcpy((u8*)I2C_Buffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal)); |
181 | TxBytes += sizeof(MK3MAG_WriteCal); |
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241 | killagreg | 182 | break; |
183 | case MK3MAG_CMD_READ_MAGVECT: |
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242 | killagreg | 184 | RxBytes = sizeof(MagVector)+1; |
241 | killagreg | 185 | pRxHandlerFunc = &MK3MAG_UpdateMagVector; |
186 | break; |
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187 | case MK3MAG_CMD_READ_HEADING: |
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242 | killagreg | 188 | RxBytes = sizeof(CompassHeading)+1; |
241 | killagreg | 189 | pRxHandlerFunc = &MK3MAG_UpdateHeading; |
190 | // update attitude from spi rx buffer |
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191 | VIC_ITCmd(SSP0_ITLine, DISABLE); // avoid spi buffer update during copy |
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192 | MK3MAG_WriteAttitude.Roll = FromFlightCtrl.AngleRoll; |
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193 | MK3MAG_WriteAttitude.Nick = FromFlightCtrl.AngleNick; |
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194 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
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248 | killagreg | 195 | memcpy((u8*)I2C_Buffer+1, (u8*)&MK3MAG_WriteAttitude, sizeof(MK3MAG_WriteAttitude)); |
196 | TxBytes += sizeof(MK3MAG_WriteAttitude); |
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241 | killagreg | 197 | break; |
198 | default: // unknown command id |
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199 | RxBytes = 0; |
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200 | pRxHandlerFunc = NULL; |
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201 | break; |
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202 | } |
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203 | // update packet checksum |
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248 | killagreg | 204 | I2C_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C_Buffer, TxBytes); |
205 | TxBytes++; |
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241 | killagreg | 206 | // initiate I2C transmission |
248 | killagreg | 207 | I2C_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes); |
242 | killagreg | 208 | } // EOF I2C_State == I2C_IDLE |
241 | killagreg | 209 | } |
210 | |||
211 | |||
212 | //---------------------------------------------------------------- |
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242 | killagreg | 213 | u8 MK3MAG_Init(void) |
241 | killagreg | 214 | { |
215 | u8 msg[64]; |
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216 | u8 repeat; |
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217 | u32 timeout; |
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218 | |||
242 | killagreg | 219 | MK3MAG_Present = 0; |
241 | killagreg | 220 | |
221 | MK3MAG_Version.Major = 0xFF; |
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222 | MK3MAG_Version.Minor = 0xFF; |
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223 | MK3MAG_Version.Patch = 0xFF; |
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224 | MK3MAG_Version.Compatible = 0xFF; |
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242 | killagreg | 225 | |
226 | CompassHeading = -1; |
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227 | |||
241 | killagreg | 228 | // polling of version info |
229 | repeat = 0; |
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230 | do |
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231 | { |
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232 | MK3MAG_SendCommand(MK3MAG_CMD_VERSION); |
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233 | timeout = SetDelay(250); |
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234 | do |
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235 | { |
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236 | if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
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237 | }while (!CheckDelay(timeout)); |
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238 | UART1_PutString("."); |
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239 | repeat++; |
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240 | }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
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241 | // if we got it |
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242 | if (MK3MAG_Version.Major != 0xFF) |
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243 | { |
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242 | killagreg | 244 | sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
241 | killagreg | 245 | UART1_PutString(msg); |
242 | killagreg | 246 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
247 | { |
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248 | UART1_PutString("\n\r MK3MAG not compatible!"); |
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249 | LED_RED_ON; |
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250 | } |
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251 | else |
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252 | { // version ok |
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253 | MK3MAG_Present = 1; |
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254 | } |
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241 | killagreg | 255 | } |
242 | killagreg | 256 | return(MK3MAG_Present); |
241 | killagreg | 257 | } |
258 | |||
259 | //---------------------------------------------------------------- |
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260 | void MK3MAG_UpdateCompass(void) |
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261 | { |
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262 | static u32 TimerCompassUpdate = 0; |
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263 | |||
242 | killagreg | 264 | if( (I2C_State == I2C_STATE_OFF) || !MK3MAG_Present ) return; |
241 | killagreg | 265 | |
266 | if(CheckDelay(TimerCompassUpdate)) |
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267 | { |
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268 | // check for incomming compass calibration request |
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269 | // update CalByte from spi input queue |
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270 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(MK3MAG_WriteCal.CalByte)); |
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271 | // send new calstate |
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272 | if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte) |
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273 | { |
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274 | MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL); |
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275 | } |
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276 | else // request current heading |
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277 | { |
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278 | MK3MAG_SendCommand(MK3MAG_CMD_READ_HEADING); |
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279 | } |
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280 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
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281 | } |
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282 | } |