Rev 464 | Rev 470 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
241 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
||
3 | /*#######################################################################################*/ |
||
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
5 | // + www.MikroKopter.com |
||
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
||
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
||
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
||
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
||
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
||
241 | killagreg | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
||
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
||
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
||
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
||
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
||
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
||
22 | // + des Mitverschuldens offen. |
||
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
||
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
||
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
||
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
||
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
||
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
||
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
||
241 | killagreg | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
241 | killagreg | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
||
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
||
37 | // + The Software may only be used with the Licensor's products. |
||
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
||
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
||
40 | // + agreement shall be the property of the Licensor. |
||
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
||
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
||
43 | // + The customer shall be responsible for taking reasonable precautions |
||
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
||
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
||
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
||
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
||
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
||
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
||
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
||
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
||
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
||
53 | // + #### END OF LICENSING TERMS #### |
||
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
||
241 | killagreg | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
292 | killagreg | 56 | #include <stdio.h> |
241 | killagreg | 57 | #include <string.h> |
58 | #include "91x_lib.h" |
||
59 | #include "mk3mag.h" |
||
60 | #include "i2c.h" |
||
464 | ingob | 61 | #include "i2c0.h" |
241 | killagreg | 62 | #include "timer1.h" |
242 | killagreg | 63 | #include "led.h" |
241 | killagreg | 64 | #include "main.h" |
65 | #include "uart1.h" |
||
242 | killagreg | 66 | #include "compass.h" |
454 | holgerb | 67 | #include "spi_slave.h" |
241 | killagreg | 68 | |
69 | #define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address |
||
70 | |||
242 | killagreg | 71 | u8 MK3MAG_Present = 0; |
241 | killagreg | 72 | |
242 | killagreg | 73 | typedef struct |
74 | { |
||
75 | s16 Nick; |
||
76 | s16 Roll; |
||
77 | } __attribute__((packed)) MK3MAG_WriteAttitude_t; |
||
78 | |||
292 | killagreg | 79 | typedef struct |
80 | { |
||
81 | u8 Major; |
||
82 | u8 Minor; |
||
83 | u8 Patch; |
||
84 | u8 Compatible; |
||
85 | } __attribute__((packed)) MK3MAG_Version_t; |
||
86 | |||
87 | typedef struct |
||
88 | { |
||
89 | u8 CalByte; |
||
90 | u8 Dummy1; |
||
91 | u8 Dummy2; |
||
92 | } __attribute__((packed)) MK3MAG_Cal_t; |
||
93 | |||
241 | killagreg | 94 | // Transfer buffers |
95 | volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude; |
||
96 | volatile MK3MAG_Version_t MK3MAG_Version; |
||
97 | volatile MK3MAG_Cal_t MK3MAG_WriteCal; |
||
98 | volatile MK3MAG_Cal_t MK3MAG_ReadCal; |
||
99 | |||
100 | // ------------------------------------------------------------------------------- |
||
101 | // the calculation of the MK3MAG packet checksum |
||
102 | |||
103 | // calculate the crc of bytecount bytes in buffer |
||
104 | u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount) |
||
105 | { |
||
106 | u8 i, crc = 0; |
||
107 | for(i=0; i < bytecount; i++) |
||
108 | { |
||
109 | crc += pBuffer[i]; |
||
110 | } |
||
111 | crc = ~crc; |
||
112 | return crc; |
||
113 | } |
||
114 | |||
115 | // assuming the last byte in buffer is the crc byte |
||
116 | u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen) |
||
117 | { |
||
118 | u8 crc = 0, retval = 0; |
||
119 | if(BuffLen == 0) return(retval); |
||
120 | crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1); |
||
121 | if(crc == pBuffer[BuffLen-1]) |
||
122 | { |
||
123 | retval = 1; |
||
124 | DebugOut.Analog[15]++; // count mk3mag ok |
||
125 | } |
||
126 | else |
||
127 | { |
||
128 | retval = 0; |
||
129 | DebugOut.Analog[14]++; // count mk3mag crc error |
||
130 | } |
||
131 | return(retval); |
||
132 | } |
||
133 | |||
134 | // ------------------------------------------------------------------------------- |
||
135 | // the I2C rx data handler functions |
||
136 | |||
137 | // rx data handler for version info request |
||
138 | void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize) |
||
139 | { // if crc is ok and number of byte are matching |
||
140 | if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) ) |
||
141 | { |
||
142 | memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version)); |
||
143 | } |
||
144 | } |
||
145 | |||
146 | // rx data handler for calibration request |
||
147 | void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize) |
||
148 | { // if crc is ok and number of byte are matching |
||
149 | if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) ) |
||
150 | { |
||
151 | memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal)); |
||
152 | } |
||
153 | } |
||
154 | |||
155 | // rx data handler for magnetic vector request |
||
156 | void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
||
157 | { // if crc is ok and number of byte are matching |
||
242 | killagreg | 158 | if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) ) |
241 | killagreg | 159 | { |
292 | killagreg | 160 | s16vec_t *pMagVector = (s16vec_t*)pRxBuffer; |
161 | MagVector.X = pMagVector->Y; |
||
162 | MagVector.Y = pMagVector->X; |
||
163 | MagVector.Z = -pMagVector->Z; |
||
164 | Compass_CalcHeading(); |
||
241 | killagreg | 165 | } |
166 | } |
||
167 | |||
292 | killagreg | 168 | //---------------------------------------------------------------- |
169 | #define MK3MAG_CMD_VERSION 0x01 |
||
170 | #define MK3MAG_CMD_READ_MAGVECT 0x02 |
||
171 | #define MK3MAG_CMD_WRITE_CAL 0x04 |
||
241 | killagreg | 172 | |
464 | ingob | 173 | // use I2C1 for communication |
465 | ingob | 174 | void MK3MAG_SendCommand(u8 command) |
241 | killagreg | 175 | { |
288 | killagreg | 176 | // try to catch the I2C buffer |
248 | killagreg | 177 | if(I2C_LockBuffer(0)) |
241 | killagreg | 178 | { |
248 | killagreg | 179 | u16 TxBytes = 0; |
180 | u16 RxBytes = 0; |
||
241 | killagreg | 181 | I2C_pRxHandler_t pRxHandlerFunc = NULL; |
248 | killagreg | 182 | |
241 | killagreg | 183 | // update current command id |
248 | killagreg | 184 | I2C_Buffer[TxBytes++] = command; |
241 | killagreg | 185 | |
186 | // set pointers to data area with respect to the command id |
||
187 | switch (command) |
||
188 | { |
||
189 | case MK3MAG_CMD_VERSION: |
||
190 | RxBytes = sizeof(MK3MAG_Version)+1; |
||
191 | pRxHandlerFunc = &MK3MAG_UpdateVersion; |
||
192 | break; |
||
193 | case MK3MAG_CMD_WRITE_CAL: |
||
194 | RxBytes = sizeof(MK3MAG_ReadCal)+1; |
||
195 | pRxHandlerFunc = &MK3MAG_UpdateCalibration; |
||
248 | killagreg | 196 | memcpy((u8*)I2C_Buffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal)); |
197 | TxBytes += sizeof(MK3MAG_WriteCal); |
||
241 | killagreg | 198 | break; |
199 | case MK3MAG_CMD_READ_MAGVECT: |
||
242 | killagreg | 200 | RxBytes = sizeof(MagVector)+1; |
241 | killagreg | 201 | pRxHandlerFunc = &MK3MAG_UpdateMagVector; |
202 | break; |
||
203 | default: // unknown command id |
||
204 | RxBytes = 0; |
||
205 | pRxHandlerFunc = NULL; |
||
206 | break; |
||
207 | } |
||
208 | // update packet checksum |
||
248 | killagreg | 209 | I2C_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C_Buffer, TxBytes); |
210 | TxBytes++; |
||
241 | killagreg | 211 | // initiate I2C transmission |
248 | killagreg | 212 | I2C_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes); |
242 | killagreg | 213 | } // EOF I2C_State == I2C_IDLE |
241 | killagreg | 214 | } |
215 | |||
216 | |||
217 | //---------------------------------------------------------------- |
||
242 | killagreg | 218 | u8 MK3MAG_Init(void) |
241 | killagreg | 219 | { |
220 | u8 msg[64]; |
||
221 | u8 repeat; |
||
222 | u32 timeout; |
||
223 | |||
242 | killagreg | 224 | MK3MAG_Present = 0; |
241 | killagreg | 225 | |
226 | MK3MAG_Version.Major = 0xFF; |
||
227 | MK3MAG_Version.Minor = 0xFF; |
||
228 | MK3MAG_Version.Patch = 0xFF; |
||
229 | MK3MAG_Version.Compatible = 0xFF; |
||
242 | killagreg | 230 | |
254 | killagreg | 231 | Compass_Heading = -1; |
242 | killagreg | 232 | |
241 | killagreg | 233 | // polling of version info |
234 | repeat = 0; |
||
235 | do |
||
236 | { |
||
237 | MK3MAG_SendCommand(MK3MAG_CMD_VERSION); |
||
342 | holgerb | 238 | if(Version_HW > 11) timeout = SetDelay(100); |
239 | else timeout = SetDelay(250); |
||
240 | |||
241 | killagreg | 241 | do |
242 | { |
||
243 | if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
||
244 | }while (!CheckDelay(timeout)); |
||
245 | UART1_PutString("."); |
||
246 | repeat++; |
||
247 | }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
||
248 | // if we got it |
||
249 | if (MK3MAG_Version.Major != 0xFF) |
||
250 | { |
||
242 | killagreg | 251 | sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
241 | killagreg | 252 | UART1_PutString(msg); |
242 | killagreg | 253 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
254 | { |
||
255 | UART1_PutString("\n\r MK3MAG not compatible!"); |
||
256 | killagreg | 256 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
242 | killagreg | 257 | LED_RED_ON; |
258 | } |
||
259 | else |
||
260 | { // version ok |
||
261 | MK3MAG_Present = 1; |
||
262 | } |
||
241 | killagreg | 263 | } |
242 | killagreg | 264 | return(MK3MAG_Present); |
241 | killagreg | 265 | } |
266 | |||
267 | //---------------------------------------------------------------- |
||
292 | killagreg | 268 | void MK3MAG_Update(void) |
241 | killagreg | 269 | { |
292 | killagreg | 270 | static u32 TimerUpdate = 0; |
271 | static s16 x_max,y_max,z_max,x_min,y_min,z_min; |
||
454 | holgerb | 272 | static u8 last_state,speak = 0; |
339 | holgerb | 273 | u8 msg[64]; |
274 | u16 MinCaclibration = 500; |
||
241 | killagreg | 275 | |
242 | killagreg | 276 | if( (I2C_State == I2C_STATE_OFF) || !MK3MAG_Present ) return; |
241 | killagreg | 277 | |
292 | killagreg | 278 | if(CheckDelay(TimerUpdate)) |
241 | killagreg | 279 | { |
280 | // check for incomming compass calibration request |
||
254 | killagreg | 281 | Compass_UpdateCalState(); |
282 | MK3MAG_WriteCal.CalByte = Compass_CalState; |
||
292 | killagreg | 283 | |
241 | killagreg | 284 | if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte) |
292 | killagreg | 285 | { // send new calibration state |
241 | killagreg | 286 | MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL); |
287 | } |
||
292 | killagreg | 288 | else |
289 | { // calibration state matches |
||
290 | MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer |
||
291 | |||
292 | switch(Compass_CalState) |
||
293 | { |
||
294 | case 1: |
||
339 | holgerb | 295 | if(last_state != Compass_CalState) |
296 | { |
||
297 | UART1_PutString("\r\nMK3Mag calibration\n\r"); |
||
342 | holgerb | 298 | if(EarthMagneticStrengthTheoretic) |
299 | { |
||
300 | MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50; |
||
301 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
||
302 | UART1_PutString(msg); |
||
303 | } |
||
304 | else UART1_PutString("without GPS\n\r"); |
||
339 | holgerb | 305 | } |
292 | killagreg | 306 | x_max = -30000; y_max = -30000; z_max = -30000; |
307 | x_min = 30000; y_min = 30000; z_min = 30000; |
||
454 | holgerb | 308 | speak = 1; |
292 | killagreg | 309 | break; |
310 | case 2: |
||
454 | holgerb | 311 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
312 | |||
292 | killagreg | 313 | if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; } |
314 | else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; } |
||
315 | if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; } |
||
316 | else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; } |
||
454 | holgerb | 317 | |
292 | killagreg | 318 | break; |
454 | holgerb | 319 | case 3: |
320 | speak = 1; |
||
321 | break; |
||
292 | killagreg | 322 | case 4: |
454 | holgerb | 323 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
292 | killagreg | 324 | if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; } |
325 | else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; } |
||
326 | break; |
||
339 | holgerb | 327 | case 5: |
328 | if(last_state == Compass_CalState) break; |
||
329 | if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration)) |
||
330 | { |
||
331 | BeepTime = 2500; |
||
342 | holgerb | 332 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
454 | holgerb | 333 | SpeakHoTT = SPEAK_MIKROKOPTER; |
339 | holgerb | 334 | } |
335 | else |
||
336 | { |
||
337 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
||
338 | if((x_max - x_min) < MinCaclibration) UART1_PutString("X! "); |
||
342 | holgerb | 339 | if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! "); |
339 | holgerb | 340 | if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! "); |
341 | UART1_PutString("\r\n"); |
||
454 | holgerb | 342 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
339 | holgerb | 343 | } |
344 | UART1_PutString(msg); |
||
345 | sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min); |
||
346 | UART1_PutString(msg); |
||
347 | sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min); |
||
348 | UART1_PutString(msg); |
||
349 | sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min); |
||
350 | UART1_PutString(msg); |
||
342 | holgerb | 351 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration); |
352 | UART1_PutString(msg); |
||
339 | holgerb | 353 | break; |
292 | killagreg | 354 | default: |
355 | break; |
||
339 | holgerb | 356 | } |
357 | last_state = Compass_CalState; |
||
287 | holgerb | 358 | } |
292 | killagreg | 359 | TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
241 | killagreg | 360 | } |
361 | } |