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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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62 | #include "spi_slave.h" |
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63 | #include "main.h" |
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64 | #include "uart1.h" |
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65 | |||
66 | #define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address |
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67 | |||
68 | u8 MK3MAG_StopPolling = 1; |
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69 | |||
70 | // Transfer buffers |
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71 | volatile MK3MAG_Heading_t MK3MAG_Heading; |
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72 | volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude; |
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73 | volatile MK3MAG_MagVector_t MK3MAG_MagVector; |
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74 | volatile MK3MAG_Version_t MK3MAG_Version; |
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75 | volatile MK3MAG_Cal_t MK3MAG_WriteCal; |
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76 | volatile MK3MAG_Cal_t MK3MAG_ReadCal; |
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77 | |||
78 | |||
79 | |||
80 | void MK3MAG_Init(void) |
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81 | { |
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82 | MK3MAG_Version.Major = 0xFF; |
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83 | MK3MAG_Version.Minor = 0xFF; |
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84 | MK3MAG_Version.Patch = 0xFF; |
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85 | MK3MAG_Version.Compatible = 0xFF; |
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86 | |||
87 | MK3MAG_Heading.Heading = -1; |
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88 | } |
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89 | // ------------------------------------------------------------------------------- |
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90 | // the calculation of the MK3MAG packet checksum |
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91 | |||
92 | // calculate the crc of bytecount bytes in buffer |
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93 | u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount) |
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94 | { |
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95 | u8 i, crc = 0; |
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96 | for(i=0; i < bytecount; i++) |
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97 | { |
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98 | crc += pBuffer[i]; |
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99 | } |
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100 | crc = ~crc; |
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101 | return crc; |
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102 | } |
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103 | |||
104 | // assuming the last byte in buffer is the crc byte |
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105 | u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen) |
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106 | { |
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107 | u8 crc = 0, retval = 0; |
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108 | if(BuffLen == 0) return(retval); |
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109 | crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1); |
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110 | if(crc == pBuffer[BuffLen-1]) |
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111 | { |
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112 | retval = 1; |
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113 | DebugOut.Analog[15]++; // count mk3mag ok |
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114 | } |
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115 | else |
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116 | { |
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117 | retval = 0; |
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118 | DebugOut.Analog[14]++; // count mk3mag crc error |
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119 | } |
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120 | return(retval); |
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121 | } |
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122 | |||
123 | // ------------------------------------------------------------------------------- |
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124 | // the I2C rx data handler functions |
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125 | |||
126 | // rx data handler for version info request |
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127 | void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize) |
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128 | { // if crc is ok and number of byte are matching |
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129 | if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) ) |
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130 | { |
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131 | memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version)); |
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132 | } |
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133 | } |
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134 | |||
135 | // rx data handler for calibration request |
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136 | void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize) |
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137 | { // if crc is ok and number of byte are matching |
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138 | if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) ) |
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139 | { |
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140 | memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal)); |
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141 | } |
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142 | } |
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143 | |||
144 | // rx data handler for magnetic vector request |
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145 | void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
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146 | { // if crc is ok and number of byte are matching |
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147 | if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_MagVector)+1)) ) |
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148 | { |
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149 | memcpy((u8 *)&MK3MAG_MagVector, pRxBuffer, sizeof(MK3MAG_MagVector)); |
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150 | } |
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151 | } |
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152 | |||
153 | // rx data handler for heading request |
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154 | void MK3MAG_UpdateHeading(u8* pRxBuffer, u8 RxBufferSize) |
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155 | { // if crc is ok and number of byte are matching |
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156 | if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Heading)+1)) ) |
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157 | { |
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158 | memcpy((u8 *)&MK3MAG_Heading, pRxBuffer, sizeof(MK3MAG_Heading)); |
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159 | } |
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160 | } |
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161 | |||
162 | //---------------------------------------------------------------- |
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163 | void MK3MAG_SendCommand(u8 command) |
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164 | { |
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165 | // disable I2C IRQ to check state |
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166 | //VIC_ITCmd(I2C1_ITLine, DISABLE); |
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167 | // If I2C no transmission is in progress |
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168 | if(I2C_State == I2C_STATE_IDLE) |
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169 | { |
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170 | I2C_TxBufferSize = 0; |
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171 | I2C_pRxHandler_t pRxHandlerFunc = NULL; |
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172 | u8 RxBytes = 0; |
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173 | |||
174 | // update current command id |
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175 | I2C_TxBuffer[I2C_TxBufferSize++] = command; |
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176 | |||
177 | // set pointers to data area with respect to the command id |
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178 | switch (command) |
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179 | { |
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180 | case MK3MAG_CMD_VERSION: |
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181 | RxBytes = sizeof(MK3MAG_Version)+1; |
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182 | pRxHandlerFunc = &MK3MAG_UpdateVersion; |
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183 | break; |
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184 | case MK3MAG_CMD_WRITE_CAL: |
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185 | RxBytes = sizeof(MK3MAG_ReadCal)+1; |
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186 | pRxHandlerFunc = &MK3MAG_UpdateCalibration; |
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187 | memcpy((u8*)I2C_TxBuffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal)); |
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188 | I2C_TxBufferSize += sizeof(MK3MAG_WriteCal); |
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189 | break; |
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190 | case MK3MAG_CMD_READ_MAGVECT: |
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191 | RxBytes = sizeof(MK3MAG_MagVector)+1; |
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192 | pRxHandlerFunc = &MK3MAG_UpdateMagVector; |
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193 | break; |
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194 | case MK3MAG_CMD_READ_HEADING: |
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195 | RxBytes = sizeof(MK3MAG_Heading)+1; |
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196 | pRxHandlerFunc = &MK3MAG_UpdateHeading; |
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197 | // update attitude from spi rx buffer |
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198 | VIC_ITCmd(SSP0_ITLine, DISABLE); // avoid spi buffer update during copy |
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199 | MK3MAG_WriteAttitude.Roll = FromFlightCtrl.AngleRoll; |
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200 | MK3MAG_WriteAttitude.Nick = FromFlightCtrl.AngleNick; |
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201 | VIC_ITCmd(SSP0_ITLine, ENABLE); |
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202 | memcpy((u8*)I2C_TxBuffer+1, (u8*)&MK3MAG_WriteAttitude, sizeof(MK3MAG_WriteAttitude)); |
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203 | I2C_TxBufferSize += sizeof(MK3MAG_WriteAttitude); |
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204 | break; |
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205 | default: // unknown command id |
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206 | RxBytes = 0; |
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207 | pRxHandlerFunc = NULL; |
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208 | break; |
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209 | } |
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210 | // update packet checksum |
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211 | I2C_TxBuffer[I2C_TxBufferSize] = MK3MAG_CalcCRC((u8*)I2C_TxBuffer, I2C_TxBufferSize); |
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212 | I2C_TxBufferSize++; |
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213 | // enable I2C IRQ again |
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214 | VIC_ITCmd(I2C1_ITLine, ENABLE); |
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215 | // initiate I2C transmission |
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216 | I2C_Transmission(MK3MAG_SLAVE_ADDRESS, pRxHandlerFunc, RxBytes); |
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217 | } // EOF I2C_State == I2C_IDLE |
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218 | else // I2C_State != I2C_IDLE |
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219 | { |
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220 | // re-enable I2C IRQ again |
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221 | //VIC_ITCmd(I2C1_ITLine, ENABLE); |
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222 | } |
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223 | } |
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224 | |||
225 | |||
226 | //---------------------------------------------------------------- |
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227 | void MK3MAG_GetVersion(void) |
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228 | { |
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229 | u8 msg[64]; |
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230 | u8 repeat; |
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231 | u32 timeout; |
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232 | |||
233 | UART1_PutString("\r\n Getting Version from MK3MAG"); |
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234 | // stop polling of other commands |
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235 | MK3MAG_StopPolling = 1; |
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236 | |||
237 | MK3MAG_Version.Major = 0xFF; |
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238 | MK3MAG_Version.Minor = 0xFF; |
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239 | MK3MAG_Version.Patch = 0xFF; |
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240 | MK3MAG_Version.Compatible = 0xFF; |
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241 | // polling of version info |
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242 | repeat = 0; |
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243 | do |
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244 | { |
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245 | MK3MAG_SendCommand(MK3MAG_CMD_VERSION); |
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246 | timeout = SetDelay(250); |
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247 | do |
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248 | { |
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249 | if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
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250 | }while (!CheckDelay(timeout)); |
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251 | UART1_PutString("."); |
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252 | repeat++; |
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253 | }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
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254 | // if we got it |
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255 | if (MK3MAG_Version.Major != 0xFF) |
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256 | { |
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257 | sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
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258 | UART1_PutString(msg); |
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259 | sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible); |
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260 | UART1_PutString(msg); |
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261 | } |
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262 | else UART1_PutString("\n\r No version information from MK3Mag."); |
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263 | |||
264 | MK3MAG_StopPolling = 0; // enable polling of heading command |
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265 | } |
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266 | |||
267 | //---------------------------------------------------------------- |
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268 | void MK3MAG_UpdateCompass(void) |
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269 | { |
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270 | static u32 TimerCompassUpdate = 0; |
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271 | |||
272 | if( (I2C_State == I2C_STATE_OFF) || MK3MAG_StopPolling ) return; |
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273 | |||
274 | if(CheckDelay(TimerCompassUpdate)) |
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275 | { |
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276 | // check for incomming compass calibration request |
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277 | // update CalByte from spi input queue |
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278 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(MK3MAG_WriteCal.CalByte)); |
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279 | // send new calstate |
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280 | if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte) |
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281 | { |
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282 | MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL); |
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283 | } |
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284 | else // request current heading |
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285 | { |
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286 | MK3MAG_SendCommand(MK3MAG_CMD_READ_HEADING); |
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287 | } |
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288 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
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289 | } |
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290 | } |