Subversion Repositories MK3Mag

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12 hbuss 1
/*#######################################################################################
2
MK3Mag 3D-Magnet sensor
19 killagreg 3
!!! THIS IS NOT FREE SOFTWARE !!!
12 hbuss 4
#######################################################################################*/
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6
// + Copyright (c) 05.2008 Holger Buss
7
// + Thanks to Ilja Fähnrich (P_Latzhalter)
1 ingob 8
// + Nur für den privaten Gebrauch
12 hbuss 9
// + www.MikroKopter.com
10
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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.
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
18
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
22
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
23
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
24
// + eindeutig als Ursprung verlinkt werden
25
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
26
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
27
// + Benutzung auf eigene Gefahr
28
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
29
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
35
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36
// +     from this software without specific prior written permission.
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
42
// +     In case of doubt please contact: info@MikroKopter.de
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
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
47
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
19 killagreg 55
// +  POSSIBILITY OF SUCH DAMAGE.
12 hbuss 56
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19 killagreg 57
#include <avr/io.h>
58
#include <avr/interrupt.h>
59
#include <avr/wdt.h>
1 ingob 60
#include "main.h"
61
#include "uart.h"
19 killagreg 62
#include "timer0.h"
63
#include "twislave.h"
1 ingob 64
 
65
 
19 killagreg 66
#define FALSE   0
67
#define TRUE    1
1 ingob 68
 
19 killagreg 69
#define TXD_BUFFER_LEN  100
70
#define RXD_BUFFER_LEN  100
1 ingob 71
 
19 killagreg 72
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
73
volatile uint8_t rxd_buffer_locked = FALSE;
74
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
75
volatile uint8_t txd_complete = TRUE;
76
volatile uint8_t ReceivedBytes = 0;
1 ingob 77
 
19 killagreg 78
uint8_t RequestVerInfo                  = FALSE;
79
uint8_t RequestDebugData                = FALSE;
80
uint8_t RequestDebugLabel               = FALSE;
81
uint8_t RequestCompassHeading   = FALSE;
3 ingob 82
 
19 killagreg 83
uint8_t MySlaveAddr = 0;
1 ingob 84
 
19 killagreg 85
//unsigned char,DebugGetAnforderung = 0,
86
 
87
DebugOut_t              DebugOut;
88
ExternData_t    ExternData;
89
ExternControl_t ExternControl;
90
VersionInfo_t   VersionInfo;
91
 
92
uint16_t  Debug_Timer;
93
 
94
const uint8_t ANALOG_LABEL[32][16] =
1 ingob 95
{
7 hbuss 96
   //1234567890123456
19 killagreg 97
    "Magnet X        ", //0
98
    "Magnet Y        ",
7 hbuss 99
    "Magnet Z        ",
19 killagreg 100
    "Raw X           ",
101
    "Raw Y           ",
102
    "Raw Z           ", //5
103
    "Attitude Nick   ",
104
    "Attitude Roll   ",
105
    "XOffset         ",
106
    "XRange          ",
107
    "YOffset         ", //10
108
    "YRange          ",
109
    "ZOffset         ",
110
    "ZRange          ",
7 hbuss 111
    "Calstate        ",
19 killagreg 112
    "Heading Request ", //15
5 hbuss 113
    "User0           ",
114
    "User1           ",
7 hbuss 115
    "Analog18        ",
116
    "Analog19        ",
117
    "Analog20        ", //20
19 killagreg 118
    "Analog21        ",
7 hbuss 119
    "Analog22        ",
120
    "Analog23        ",
121
    "Analog24        ",
122
    "Analog25        ", //25
1 ingob 123
    "Analog26        ",
7 hbuss 124
    "Analog27        ",
125
    "Analog28        ",
126
    "Analog29        ",
127
    "Analog30        ", //30
128
    "Analog31        "
1 ingob 129
};
130
 
131
 
19 killagreg 132
/****************************************************************/
133
/*              Initialization of the USART0                    */
134
/****************************************************************/
135
void USART0_Init (void)
136
{
137
        uint8_t sreg = SREG;
7 hbuss 138
 
19 killagreg 139
        uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * BAUD_RATE) - 1);
140
 
141
        // disable all interrupts before configuration
142
        cli();
143
 
144
        // disable RX-Interrupt
145
        UCSR0B &= ~(1 << RXCIE0);
146
        // disable TX-Interrupt
147
        UCSR0B &= ~(1 << TXCIE0);
148
 
149
        // set direction of RXD0 and TXD0 pins
150
 
151
        // set RXD0 (PD0) as an input pin
152
        PORTD |= (1 << PORTD0);
153
        DDRD  &= ~(1 << DDD0);
154
        // set TXD0 (PD1) as an output pin
155
        PORTD |= (1 << PORTD1);
156
        DDRD  |= (1 << DDD1);
157
 
158
        // USART0 Baud Rate Register
159
        // set clock divider
160
        UBRR0H = (uint8_t)(ubrr >> 8);
161
        UBRR0L = (uint8_t)ubrr;
162
 
163
        // USART0 Control and Status Register A, B, C
164
 
165
        // enable double speed operation in
166
        UCSR0A |= (1 << U2X0);
167
        // enable receiver and transmitter in
168
        UCSR0B |= (1 << TXEN0) | (1 << RXEN0);
169
        // set asynchronous mode
170
        UCSR0C &= ~(1 << UMSEL01);
171
        UCSR0C &= ~(1 << UMSEL00);
172
        // no parity
173
        UCSR0C &= ~(1 << UPM01);
174
        UCSR0C &= ~(1 << UPM00);
175
        // 1 stop bit
176
        UCSR0C &= ~(1 << USBS0);
177
        // 8-bit
178
        UCSR0B &= ~(1 << UCSZ02);
179
        UCSR0C |=  (1 << UCSZ01);
180
        UCSR0C |=  (1 << UCSZ00);
181
 
182
        // flush receive buffer
183
        while ( UCSR0A & (1<<RXC0) ) UDR0;
184
 
185
        // enable interrupts at the end
186
        // enable RX-Interrupt
187
        UCSR0B |= (1 << RXCIE0);
188
        // enable TX-Interrupt
189
        UCSR0B |= (1 << TXCIE0);
190
 
191
        rxd_buffer_locked = FALSE;
192
        txd_complete = TRUE;
193
 
194
        Debug_Timer = SetDelay(200);
195
 
196
 
197
        // restore global interrupt flags
198
    SREG = sreg;
199
 
200
        VersionInfo.Major = VERSION_MAJOR;
201
        VersionInfo.Minor = VERSION_MINOR;
202
    VersionInfo.PCCompatible = VERSION_COMPATIBLE;
203
 
204
    // Version beim Start ausgeben (nicht schön, aber geht... )
205
        uart_putchar ('\n');uart_putchar ('C');uart_putchar ('P');uart_putchar (':');
206
        uart_putchar ('V');uart_putchar (0x30 + VERSION_MAJOR);uart_putchar ('.');uart_putchar (0x30 + VERSION_MINOR/10); uart_putchar (0x30 + VERSION_MINOR%10);
207
    uart_putchar ('\n');
208
}
209
 
210
// ---------------------------------------------------------------------------------
211
void USART0_EnableTXD(void)
1 ingob 212
{
19 killagreg 213
        DDRD |= (1<<DDD1);              // set TXD pin as output
214
        UCSR0B |= (1 << TXEN0);         // enable TX in USART
1 ingob 215
}
216
 
19 killagreg 217
// ---------------------------------------------------------------------------------
218
void USART0_DisableTXD(void)
1 ingob 219
{
19 killagreg 220
        UCSR0B &= ~(1 << TXEN0);        // disable TXD in USART
221
        DDRD &= ~(1<<DDD1);             // set TXD pin as input
1 ingob 222
}
223
 
19 killagreg 224
/****************************************************************/
225
/*               USART0 transmitter ISR                         */
226
/****************************************************************/
227
ISR(USART_TX_vect)
1 ingob 228
{
19 killagreg 229
        static uint16_t ptr_txd_buffer = 0;
230
        uint8_t tmp_tx;
231
        if(!txd_complete) // transmission not completed
232
        {
233
                ptr_txd_buffer++;                    // die [0] wurde schon gesendet
234
                tmp_tx = txd_buffer[ptr_txd_buffer];
235
                // if terminating character or end of txd buffer was reached
236
                if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))
237
                {
238
                        ptr_txd_buffer = 0; // reset txd pointer
239
                        txd_complete = 1; // stop transmission
240
                }
241
                UDR0 = tmp_tx; // send current byte will trigger this ISR again
242
        }
243
        // transmission completed
244
        else ptr_txd_buffer = 0;
245
}
1 ingob 246
 
19 killagreg 247
/****************************************************************/
248
/*               USART0 receiver ISR                            */
249
/****************************************************************/
250
ISR(USART_RX_vect)
251
{
252
        static uint16_t crc;
253
        static uint8_t ptr_rxd_buffer = 0;
254
        uint8_t crc1, crc2;
255
        uint8_t c;
1 ingob 256
 
19 killagreg 257
        c = UDR0;  // catch the received byte
1 ingob 258
 
19 killagreg 259
        if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return
260
 
261
        // the rxd buffer is unlocked
262
        if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
263
        {
264
                rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
265
                crc = c; // init crc
266
        }
267
        #if 0
268
        else if (ptr_rxd_buffer == 1) // handle address
269
        {
270
                rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
271
                crc += c; // update crc
272
        }
273
        #endif
274
        else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
275
        {
276
                if(c != '\r') // no termination character
277
                {
278
                        rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
279
                        crc += c; // update crc
280
                }
281
                else // termination character was received
282
                {
283
                        // the last 2 bytes are no subject for checksum calculation
284
                        // they are the checksum itself
285
                        crc -= rxd_buffer[ptr_rxd_buffer-2];
286
                        crc -= rxd_buffer[ptr_rxd_buffer-1];
287
                        // calculate checksum from transmitted data
288
                        crc %= 4096;
289
                        crc1 = '=' + crc / 64;
290
                        crc2 = '=' + crc % 64;
291
                        // compare checksum to transmitted checksum bytes
292
                        if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
293
                        {   // checksum valid
294
                                rxd_buffer_locked = TRUE;          // lock the rxd buffer
295
                                ReceivedBytes = ptr_rxd_buffer;    // store number of received bytes
296
                                rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
297
                                // if 2nd byte is an 'R' enable watchdog that will result in an reset
298
                                if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
299
                        }
300
                        else
301
                        {       // checksum invalid
302
                                rxd_buffer_locked = FALSE; // unlock rxd buffer
303
                        }
304
                        ptr_rxd_buffer = 0; // reset rxd buffer pointer
305
                }
306
        }
307
        else // rxd buffer overrun
308
        {
309
                ptr_rxd_buffer = 0; // reset rxd buffer
310
                rxd_buffer_locked = FALSE; // unlock rxd buffer
311
        }
1 ingob 312
}
313
 
314
 
19 killagreg 315
// --------------------------------------------------------------------------
316
void AddCRC(uint16_t datalen)
1 ingob 317
{
19 killagreg 318
        uint16_t tmpCRC = 0, i;
319
        for(i = 0; i < datalen; i++)
320
        {
321
                tmpCRC += txd_buffer[i];
322
        }
323
        tmpCRC %= 4096;
324
        txd_buffer[i++] = '=' + tmpCRC / 64;
325
        txd_buffer[i++] = '=' + tmpCRC % 64;
326
        txd_buffer[i++] = '\r';
327
        txd_complete = FALSE;
328
        UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR)
329
}
1 ingob 330
 
331
 
332
 
333
// --------------------------------------------------------------------------
19 killagreg 334
void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len)
1 ingob 335
{
19 killagreg 336
        uint16_t pt = 0;
337
        uint8_t a,b,c;
338
        uint8_t ptr = 0;
339
 
340
        txd_buffer[pt++] = '#';         // Start character
341
        txd_buffer[pt++] = module;      // Address (a=0; b=1,...)
342
        txd_buffer[pt++] = cmd;         // Command
343
 
344
        while(len)
345
        {
346
                if(len) { a = snd[ptr++]; len--;} else a = 0;
347
                if(len) { b = snd[ptr++]; len--;} else b = 0;
348
                if(len) { c = snd[ptr++]; len--;} else c = 0;
349
                txd_buffer[pt++] = '=' + (a >> 2);
350
                txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
351
                txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
352
                txd_buffer[pt++] = '=' + ( c & 0x3f);
353
        }
354
        AddCRC(pt); // add checksum after data block and initates the transmission
1 ingob 355
}
356
 
357
 
358
// --------------------------------------------------------------------------
19 killagreg 359
void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)
1 ingob 360
{
19 killagreg 361
        uint8_t a,b,c,d;
362
        uint8_t ptr = 0;
363
        uint8_t x,y,z;
364
        while(len)
365
        {
366
                a = rxd_buffer[ptrIn++] - '=';
367
                b = rxd_buffer[ptrIn++] - '=';
368
                c = rxd_buffer[ptrIn++] - '=';
369
                d = rxd_buffer[ptrIn++] - '=';
370
                if(ptrIn > max - 2) break;
1 ingob 371
 
19 killagreg 372
                x = (a << 2) | (b >> 4);
373
                y = ((b & 0x0f) << 4) | (c >> 2);
374
                z = ((c & 0x03) << 6) | d;
375
 
376
                if(len--) ptrOut[ptr++] = x; else break;
377
                if(len--) ptrOut[ptr++] = y; else break;
378
                if(len--) ptrOut[ptr++] = z; else break;
379
        }
1 ingob 380
}
381
 
382
 
19 killagreg 383
// --------------------------------------------------------------------------
384
int16_t uart_putchar (int8_t c)
1 ingob 385
{
19 killagreg 386
        // if tx is not enabled return immediatly
387
        if(!(UCSR0B & (1 << TXEN0))) return (0);
388
        if (c == '\n') uart_putchar('\r');
389
        // wait until previous character was send
390
        loop_until_bit_is_set(UCSR0A, UDRE0);
391
        // send character
392
        UDR0 = c;
1 ingob 393
        return (0);
394
}
395
 
19 killagreg 396
 
1 ingob 397
// --------------------------------------------------------------------------
19 killagreg 398
void USART0_ProcessRxData(void)
1 ingob 399
{
19 killagreg 400
        // if data in the rxd buffer are not locked immediately return
401
        if(!rxd_buffer_locked) return;
1 ingob 402
 
19 killagreg 403
        uint8_t tmp_char_arr2[2]; // local char buffer
1 ingob 404
 
19 killagreg 405
        switch(rxd_buffer[2])
406
        {
407
           case 'w':// Attitude
408
                        Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes);
409
                        DebugOut.Analog[15]++;
410
                        RequestCompassHeading = TRUE;
411
                        break;
1 ingob 412
 
19 killagreg 413
                case 'b': // extern control
414
                case 'c': // extern control with debug request
415
                        Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes);
416
                        ExternData.Attitude[0] = ExternControl.Par1;
417
            ExternData.Attitude[1] = ExternControl.Par2;
418
                        break;
1 ingob 419
 
19 killagreg 420
                case 'h':// x-1 display columns
421
                        PC_Connected = 255;
422
                        break;
1 ingob 423
 
19 killagreg 424
                case 'v': // get version and board release
425
                        RequestVerInfo = TRUE;
426
                        PC_Connected = 255;
427
                        break;
428
 
429
                case 'a':// Labels of the Analog Debug outputs
430
                        Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes);
431
                        RequestDebugLabel = tmp_char_arr2[0];
432
                        PC_Connected = 255;
433
                        break;
434
 
435
                case 'g':// get debug data
436
                        RequestDebugData = TRUE;
437
                        PC_Connected = 255;
438
                        break;
439
        }
440
        // unlock the rxd buffer after processing
441
        rxd_buffer_locked = FALSE;
1 ingob 442
}
443
 
444
 
19 killagreg 445
 
446
//---------------------------------------------------------------------------------------------
447
void USART0_TransmitTxData(void)
1 ingob 448
{
19 killagreg 449
        if(!(UCSR0B & (1 << TXEN0))) return;
1 ingob 450
 
19 killagreg 451
        if(!txd_complete) return;
1 ingob 452
 
19 killagreg 453
    if(CheckDelay(Debug_Timer) && txd_complete)
454
    {
455
                SetDebugValues();
456
                SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));
457
                Debug_Timer = SetDelay(250);
458
    }
1 ingob 459
 
19 killagreg 460
    if(RequestDebugLabel != 255)
461
    {
462
                SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16);
463
                RequestDebugLabel = 255;
464
        }
1 ingob 465
 
19 killagreg 466
        if(RequestVerInfo && txd_complete)
467
    {
468
                SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo));
469
                RequestVerInfo = FALSE;
470
    }
471
 
472
        if(RequestDebugData && txd_complete)
473
        {
474
                SetDebugValues();
475
                SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl));
476
                RequestDebugData = FALSE;
477
        }
478
 
479
    if(RequestCompassHeading && txd_complete)
480
        {
481
                SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading));
482
                RequestCompassHeading = FALSE;
483
        }
1 ingob 484
}