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| Rev | Author | Line No. | Line |
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| 12 | hbuss | 1 | /*####################################################################################### |
| 2 | MK3Mag 3D-Magnet sensor |
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| 19 | killagreg | 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
| 12 | hbuss | 4 | #######################################################################################*/ |
| 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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| 19 | killagreg | 11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 12 | hbuss | 12 | // + mit unserer Zustimmung zulässig |
| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 19 | killagreg | 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. |
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| 12 | hbuss | 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 |
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| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 19 | killagreg | 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 12 | hbuss | 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 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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| 19 | killagreg | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 12 | hbuss | 33 | // + 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 |
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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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| 19 | killagreg | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 12 | hbuss | 38 | // + for non-commercial use (directly or indirectly) |
| 19 | killagreg | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 12 | hbuss | 40 | // + with our written permission |
| 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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| 19 | killagreg | 43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| 44 | // + clearly linked as origin |
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| 12 | hbuss | 45 | // + 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 |
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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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| 19 | killagreg | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 12 | hbuss | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 57 | #include <avr/io.h> |
| 19 | killagreg | 58 | #include <avr/interrupt.h> |
| 1 | ingob | 59 | #include <util/twi.h> |
| 19 | killagreg | 60 | #include "twislave.h" |
| 61 | #include "uart.h" |
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| 1 | ingob | 62 | #include "main.h" |
| 19 | killagreg | 63 | #include "timer0.h" |
| 22 | killagreg | 64 | #include "led.h" |
| 1 | ingob | 65 | |
| 66 | |||
| 22 | killagreg | 67 | uint8_t I2C_RxBufferSize = 0, I2C_TxBufferSize = 0; |
| 68 | uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0; |
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| 69 | uint8_t Tx_Idx = 0, Rx_Idx = 0; |
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| 3 | ingob | 70 | |
| 71 | |||
| 72 | |||
| 19 | killagreg | 73 | I2C_Heading_t I2C_Heading; |
| 74 | I2C_WriteAttitude_t I2C_WriteAttitude; |
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| 75 | I2C_Mag_t I2C_Mag; |
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| 76 | I2C_EEPROM_t I2C_ReadEEPROM, I2C_WriteEEPROM; |
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| 77 | I2C_Version_t I2C_Version; |
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| 78 | I2C_WriteCal_t I2C_WriteCal; |
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| 79 | |||
| 80 | |||
| 81 | void I2C_Init(void) |
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| 82 | { |
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| 22 | killagreg | 83 | |
| 84 | uint8_t sreg; |
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| 85 | |||
| 86 | // backup status register |
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| 87 | sreg = SREG; |
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| 88 | // disable global interrupts |
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| 19 | killagreg | 89 | cli(); |
| 90 | |||
| 22 | killagreg | 91 | // SCK/SCL and MISO/SDA are at put together on the same connector pin in the schematic |
| 19 | killagreg | 92 | |
| 22 | killagreg | 93 | // set PB4 (SCK) and PB5 (MISO) as input tristate |
| 19 | killagreg | 94 | DDRB &= ~((1<<DDB4)|(1<<DDB5)); |
| 22 | killagreg | 95 | PORTB &= ~((1<<PORTB4)|(1<<PORTB5)); |
| 19 | killagreg | 96 | |
| 22 | killagreg | 97 | // set PC4 (SDA) and PC5 (SCL) as input tristate |
| 19 | killagreg | 98 | DDRC &= ~((1<<DDC4)|(1<<DDC5)); |
| 22 | killagreg | 99 | PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
| 19 | killagreg | 100 | |
| 22 | killagreg | 101 | I2C_TxBuffer = 0; |
| 102 | Tx_Idx = 0; |
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| 103 | I2C_TxBufferSize = 0; |
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| 104 | I2C_RxBuffer = 0; |
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| 105 | Rx_Idx = 0; |
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| 106 | I2C_RxBufferSize = 0; |
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| 107 | |||
| 108 | |||
| 109 | |||
| 110 | TWCR &= ~(1<<TWSTA)|(1<<TWSTO); |
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| 111 | TWCR|= (1<<TWEA) | (1<<TWEN)|(1<<TWIE); |
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| 112 | |||
| 113 | // set own address |
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| 114 | // set own address in the upper 7 bits |
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| 115 | TWAR = I2C_SLAVE_ADDRESS; // set own address only the upper 7 bits are relevant |
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| 19 | killagreg | 116 | // TWI Control Register |
| 117 | // enable TWI Acknowledge Bit (TWEA = 1) |
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| 118 | // disable TWI START Condition Bit (TWSTA = 0), SLAVE |
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| 22 | killagreg | 119 | // disable TWI STOP Condition Bit (TWSTO = 0), SLAVE |
| 120 | // enable TWI (TWEN = 1) |
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| 19 | killagreg | 121 | // enable TWI Interrupt (TWIE = 1) |
| 22 | killagreg | 122 | TWCR &= ~((1<<TWSTA)|(1<<TWSTO)); |
| 123 | TWCR |= (1<<TWEA)|(1<<TWEN)|(1<<TWIE); |
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| 124 | |||
| 19 | killagreg | 125 | // update version info |
| 126 | I2C_Version.Major = VERSION_MAJOR; |
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| 127 | I2C_Version.Minor = VERSION_MINOR; |
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| 128 | I2C_Version.Compatible = I2C_PROTOCOL_COMP; |
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| 129 | |||
| 22 | killagreg | 130 | // resore status register |
| 19 | killagreg | 131 | SREG = sreg; |
| 1 | ingob | 132 | } |
| 19 | killagreg | 133 | |
| 22 | killagreg | 134 | // send ACK after recieving a byte / ACK is expected after transmitting a byte |
| 3 | ingob | 135 | #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| 22 | killagreg | 136 | // send no ACK after recieving a byte / No ACK is expected after transmitting a byte |
| 137 | #define TWCR_NACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
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| 138 | // switched to the non adressed slave mode |
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| 139 | #define TWCR_RESET TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
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| 140 | // The bit pattern for TWCR_ACK and TWCR_RESET are equal. This is no errro but used for better understanding. |
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| 141 | #define TWCR_CLEARBUS TWCR =(1<<TWEA) | (1<<TWSTO) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE) |
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| 19 | killagreg | 142 | |
| 1 | ingob | 143 | ISR (TWI_vect) |
| 19 | killagreg | 144 | { |
| 22 | killagreg | 145 | uint8_t data; |
| 19 | killagreg | 146 | // check event |
| 22 | killagreg | 147 | switch (TW_STATUS) |
| 19 | killagreg | 148 | { |
| 22 | killagreg | 149 | case TW_SR_SLA_ACK: // slave addressed in receiver mode and ack has been returned |
| 150 | Rx_Idx = 0xFF; // reset rx buffer pointer |
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| 151 | TWCR_ACK; // trigger receiving of first data byte and send ack afterwards |
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| 1 | ingob | 152 | return; |
| 19 | killagreg | 153 | |
| 22 | killagreg | 154 | case TW_SR_DATA_ACK: // data has been received and ack has been returned |
| 155 | data = TWDR; |
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| 156 | if (Rx_Idx == 0xFF) |
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| 157 | { // if the fisrt byte after slave addressing was received |
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| 158 | switch(data) |
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| 19 | killagreg | 159 | { |
| 160 | case I2C_CMD_VERSION: |
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| 161 | I2C_TxBuffer = (uint8_t *)&I2C_Version; |
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| 3 | ingob | 162 | I2C_TxBufferSize = sizeof(I2C_Version); |
| 163 | I2C_RxBufferSize = 0; |
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| 19 | killagreg | 164 | break; |
| 165 | |||
| 166 | case I2C_CMD_WRITE_EEPROM: |
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| 3 | ingob | 167 | I2C_TxBufferSize = 0; |
| 19 | killagreg | 168 | I2C_RxBuffer = (uint8_t *)&I2C_WriteEEPROM; |
| 3 | ingob | 169 | I2C_RxBufferSize = sizeof(I2C_WriteEEPROM); |
| 19 | killagreg | 170 | break; |
| 7 | hbuss | 171 | |
| 19 | killagreg | 172 | case I2C_CMD_WRITE_CAL: |
| 7 | hbuss | 173 | I2C_TxBufferSize = 0; |
| 19 | killagreg | 174 | I2C_RxBuffer = (uint8_t *)&I2C_WriteCal; |
| 7 | hbuss | 175 | I2C_RxBufferSize = sizeof(I2C_WriteCal); |
| 19 | killagreg | 176 | break; |
| 7 | hbuss | 177 | |
| 19 | killagreg | 178 | case I2C_CMD_READ_EEPROM: |
| 179 | I2C_TxBuffer = (uint8_t *)&I2C_ReadEEPROM.Content; |
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| 3 | ingob | 180 | I2C_TxBufferSize = 2; |
| 19 | killagreg | 181 | I2C_RxBuffer = (uint8_t *)&I2C_ReadEEPROM; |
| 3 | ingob | 182 | I2C_RxBufferSize = 1; |
| 19 | killagreg | 183 | break; |
| 184 | |||
| 185 | case I2C_CMD_READ_MAG: |
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| 186 | I2C_TxBuffer = (uint8_t *)&I2C_Mag; |
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| 3 | ingob | 187 | I2C_TxBufferSize = sizeof(I2C_Mag); |
| 188 | I2C_RxBufferSize = 0; |
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| 19 | killagreg | 189 | |
| 190 | I2C_Mag.MagX = MagnetX; |
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| 191 | I2C_Mag.MagY = MagnetY; |
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| 3 | ingob | 192 | I2C_Mag.MagZ = MagnetZ; |
| 19 | killagreg | 193 | break; |
| 194 | |||
| 195 | case I2C_CMD_READ_HEADING: |
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| 196 | I2C_TxBuffer = (uint8_t *)&I2C_Heading; |
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| 3 | ingob | 197 | I2C_TxBufferSize = sizeof(I2C_Heading); |
| 19 | killagreg | 198 | I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude; |
| 199 | I2C_RxBufferSize = sizeof(I2C_WriteAttitude); |
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| 200 | // update heading from global variable |
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| 3 | ingob | 201 | I2C_Heading.Heading = Heading; |
| 19 | killagreg | 202 | // copy current attitude from I2C rx buffer to uart rx buffer (this is used for the calulation of the heading) |
| 203 | ExternData.Attitude[NICK] = I2C_WriteAttitude.Nick; |
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| 204 | ExternData.Attitude[ROLL] = I2C_WriteAttitude.Roll; |
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| 205 | break; |
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| 22 | killagreg | 206 | default: |
| 207 | I2C_RxBuffer = 0; |
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| 208 | I2C_RxBufferSize = 0; |
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| 209 | I2C_TxBuffer = 0; |
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| 210 | I2C_TxBufferSize = 0; |
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| 211 | break; |
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| 19 | killagreg | 212 | } |
| 22 | killagreg | 213 | Rx_Idx = 0; // set rx buffer index to start of the buffer |
| 214 | if(I2C_RxBufferSize > 1) TWCR_ACK; // prepare receiving of next byte and send ACK afterwards |
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| 215 | else TWCR_NACK; // prepare receiving of next byte and send NACK afterwards |
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| 3 | ingob | 216 | } |
| 22 | killagreg | 217 | else // Rx_Idx != 0xFF |
| 3 | ingob | 218 | { |
| 22 | killagreg | 219 | // fill receiver buffer with byte that has been received |
| 220 | // if buffer exist |
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| 221 | if(I2C_RxBuffer != 0) |
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| 222 | { // and there is still some free space |
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| 223 | if (Rx_Idx < I2C_RxBufferSize) I2C_RxBuffer[Rx_Idx++] = data; |
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| 224 | // if there is space for more than one byte |
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| 225 | if(Rx_Idx < (I2C_RxBufferSize - 1)) TWCR_ACK; |
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| 226 | // with the next incomming byte the rx buffer is full |
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| 227 | else TWCR_NACK; |
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| 228 | } |
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| 229 | // rx buffer does not exist |
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| 230 | else TWCR_NACK; // prepare receiving of next byte and send NACK afterwards |
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| 3 | ingob | 231 | } |
| 1 | ingob | 232 | return; |
| 19 | killagreg | 233 | |
| 22 | killagreg | 234 | case TW_SR_DATA_NACK: // data has been received and NACK has been returned |
| 235 | // read the last byte that is expected |
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| 236 | data = TWDR; |
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| 237 | if((I2C_RxBuffer != 0) && (Rx_Idx != 0xFF)) |
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| 238 | { // and there is still some free space |
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| 239 | if (Rx_Idx < I2C_RxBufferSize) I2C_RxBuffer[Rx_Idx++] = data; |
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| 240 | } |
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| 241 | TWCR_RESET; // switched to the non adressed slave mode |
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| 242 | return; |
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| 243 | |||
| 244 | case TW_ST_SLA_ACK: // slave transmitter selected |
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| 19 | killagreg | 245 | // reset position in tx buffer |
| 3 | ingob | 246 | Tx_Idx = 0; |
| 22 | killagreg | 247 | case TW_ST_DATA_ACK: // data byte has been transmitted ack has been received |
| 248 | // put next byte from tx buffer to twi data register |
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| 249 | if(I2C_TxBuffer != 0) |
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| 250 | { |
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| 251 | if (Tx_Idx < I2C_TxBufferSize) |
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| 252 | { |
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| 253 | TWDR = I2C_TxBuffer[Tx_Idx++]; |
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| 254 | if(Tx_Idx + 1 < I2C_TxBufferSize) TWCR_ACK; // more than one byte to send |
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| 255 | else TWCR_NACK; // last byte was send NACK should be received |
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| 256 | } |
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| 257 | else |
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| 258 | { // |
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| 259 | TWDR = 0x00; |
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| 260 | TWCR_NACK;// NACK should be received |
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| 261 | } |
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| 262 | } |
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| 263 | else // buffer not existent |
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| 264 | { |
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| 265 | TWDR = 0x00; |
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| 266 | TWCR_NACK;// NACK should be received |
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| 267 | } |
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| 19 | killagreg | 268 | return; |
| 269 | |||
| 22 | killagreg | 270 | case TW_BUS_ERROR: // Bus-Error |
| 271 | TWCR_CLEARBUS; // free bus reset to nonselected slave |
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| 19 | killagreg | 272 | return; |
| 273 | |||
| 22 | killagreg | 274 | case TW_ST_DATA_NACK: // data transmitted, NACK received |
| 275 | case TW_ST_LAST_DATA: // last data byte transmitted, ACK received |
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| 276 | case TW_SR_STOP: // stop or repeated start condition received while selected |
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| 277 | default: |
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| 278 | TWCR_RESET; // switch to the not addressed slave mode, own SLA will be recognized |
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| 279 | return; |
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| 19 | killagreg | 280 | } |
| 1 | ingob | 281 | } |
| 282 | |||
| 283 |