Rev 13 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 12 | hbuss | 1 | /*####################################################################################### |
| 2 | MK3Mag 3D-Magnet sensor |
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| 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
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| 4 | #######################################################################################*/ |
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| 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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| 62 | ingob | 8 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 12 | hbuss | 9 | // + www.MikroKopter.com |
| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 62 | ingob | 11 | // + Die Portierung oder Nutzung 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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| 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
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| 17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
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| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 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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| 62 | ingob | 30 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 31 | // + mit unserer Zustimmung zulässig |
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| 32 | /// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 12 | hbuss | 33 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 34 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 35 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 36 | // + this list of conditions and the following disclaimer. |
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| 62 | ingob | 37 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 12 | hbuss | 38 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 39 | // + from this software without specific prior written permission. |
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| 40 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 41 | // + for non-commercial use (directly or indirectly) |
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| 42 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 43 | // + with our written permission |
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| 44 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
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| 45 | // + In case of doubt please contact: info@MikroKopter.de |
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| 46 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
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| 47 | // + clearly linked as origin |
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| 48 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 49 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 50 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 51 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 52 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 53 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 54 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 55 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 56 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 57 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 58 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 59 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1 | ingob | 60 | |
| 61 | #include <avr/io.h> |
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| 62 | #include <util/twi.h> |
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| 63 | #include "main.h" |
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| 64 | |||
| 3 | ingob | 65 | unsigned char I2C_RxBufferSize, I2C_TxBufferSize; |
| 66 | unsigned char *I2C_TxBuffer, *I2C_RxBuffer; |
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| 67 | unsigned char Tx_Idx=0, Rx_Idx=0, I2C_Direction; |
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| 68 | unsigned char I2C_Command; |
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| 69 | unsigned char Tx_Idx, Rx_Idx; |
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| 1 | ingob | 70 | |
| 3 | ingob | 71 | struct str_I2C_Heading I2C_Heading; |
| 72 | struct str_I2C_WriteNickRoll I2C_WriteNickRoll; |
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| 73 | struct str_I2C_Mag I2C_Mag; |
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| 74 | struct str_I2C_EEPROM I2C_ReadEEPROM, I2C_WriteEEPROM; |
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| 75 | struct str_I2C_Version I2C_Version; |
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| 7 | hbuss | 76 | struct str_I2C_WriteCal I2C_WriteCal; |
| 3 | ingob | 77 | |
| 78 | |||
| 79 | |||
| 1 | ingob | 80 | //############################################################################ |
| 81 | //I2C (TWI) Interface Init |
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| 3 | ingob | 82 | void InitIC2_Slave(void) |
| 1 | ingob | 83 | //############################################################################ |
| 84 | { |
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| 3 | ingob | 85 | TWAR = I2C_SLAVE_ADDRESS; // Eigene Adresse setzen |
| 1 | ingob | 86 | TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| 3 | ingob | 87 | |
| 88 | |||
| 89 | I2C_Version.Hauptversion = VersionInfo.Hauptversion; |
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| 90 | I2C_Version.Nebenversion = VersionInfo.Nebenversion; |
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| 91 | I2C_Version.Comp = 1; |
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| 92 | |||
| 1 | ingob | 93 | } |
| 3 | ingob | 94 | #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| 1 | ingob | 95 | //############################################################################ |
| 96 | //ISR, die bei einem Ereignis auf dem Bus ausgelöst wird. Im Register TWSR befindet |
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| 97 | //sich dann ein Statuscode, anhand dessen die Situation festgestellt werden kann. |
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| 98 | ISR (TWI_vect) |
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| 99 | //############################################################################ |
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| 100 | { |
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| 101 | switch (TWSR & 0xF8) |
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| 102 | { |
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| 103 | case SR_SLA_ACK: |
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| 3 | ingob | 104 | //TWCR |= (1<<TWINT); |
| 105 | Rx_Idx = 0; |
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| 106 | |||
| 107 | TWCR_ACK; |
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| 1 | ingob | 108 | return; |
| 109 | // Daten Empfangen |
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| 110 | case SR_PREV_ACK: |
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| 3 | ingob | 111 | |
| 112 | if (Rx_Idx == 0) |
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| 113 | { I2C_Command = TWDR; |
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| 114 | |||
| 115 | switch(I2C_Command) |
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| 116 | { |
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| 117 | case I2C_CMD_VERSION: |
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| 118 | I2C_TxBuffer = (unsigned char *)&I2C_Version; |
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| 119 | I2C_TxBufferSize = sizeof(I2C_Version); |
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| 120 | I2C_RxBufferSize = 0; |
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| 121 | break; |
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| 122 | case I2C_CMD_WRITE_EEPROM: |
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| 123 | I2C_TxBufferSize = 0; |
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| 124 | I2C_RxBuffer = (unsigned char *)&I2C_WriteEEPROM; |
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| 125 | I2C_RxBufferSize = sizeof(I2C_WriteEEPROM); |
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| 126 | break; |
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| 7 | hbuss | 127 | |
| 128 | case I2C_CMD_WRITE_CAL: |
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| 129 | I2C_TxBufferSize = 0; |
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| 130 | I2C_RxBuffer = (unsigned char *)&I2C_WriteCal; |
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| 131 | I2C_RxBufferSize = sizeof(I2C_WriteCal); |
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| 132 | break; |
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| 133 | |||
| 3 | ingob | 134 | case I2C_CMD_READ_EEPROM: |
| 135 | I2C_TxBuffer = (unsigned char *)&I2C_ReadEEPROM.Inhalt; |
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| 136 | I2C_TxBufferSize = 2; |
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| 137 | I2C_RxBuffer = (unsigned char *)&I2C_ReadEEPROM; |
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| 138 | I2C_RxBufferSize = 1; |
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| 139 | break; |
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| 140 | case I2C_CMD_READ_MAG: |
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| 141 | I2C_TxBuffer = (unsigned char *)&I2C_Mag; |
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| 142 | I2C_TxBufferSize = sizeof(I2C_Mag); |
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| 143 | I2C_RxBufferSize = 0; |
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| 144 | |||
| 145 | I2C_Mag.MagX = MagnetN; |
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| 146 | I2C_Mag.MagY = MagnetR; |
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| 147 | I2C_Mag.MagZ = MagnetZ; |
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| 148 | |||
| 149 | break; |
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| 150 | case I2C_CMD_READ_HEADING: |
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| 151 | I2C_TxBuffer = (unsigned char *)&I2C_Heading; |
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| 152 | I2C_TxBufferSize = sizeof(I2C_Heading); |
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| 153 | I2C_RxBuffer = (unsigned char *)&I2C_WriteNickRoll; |
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| 154 | I2C_RxBufferSize = sizeof(I2C_WriteNickRoll); |
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| 155 | |||
| 156 | I2C_Heading.Heading = Heading; |
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| 7 | hbuss | 157 | ExternData.Winkel[NICK] = I2C_WriteNickRoll.Nick; |
| 158 | ExternData.Winkel[ROLL] = I2C_WriteNickRoll.Roll; |
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| 3 | ingob | 159 | break; |
| 160 | } |
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| 161 | } |
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| 162 | else |
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| 163 | { |
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| 4 | ingob | 164 | if ((Rx_Idx-1) < I2C_RxBufferSize) I2C_RxBuffer[Rx_Idx-1] = TWDR; |
| 3 | ingob | 165 | } |
| 166 | |||
| 167 | Rx_Idx++; |
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| 168 | |||
| 169 | |||
| 1 | ingob | 170 | I2C_Timeout = 500; |
| 3 | ingob | 171 | //TWCR |= (1<<TWINT); |
| 172 | TWCR_ACK; |
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| 1 | ingob | 173 | return; |
| 174 | // Daten Senden |
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| 3 | ingob | 175 | |
| 1 | ingob | 176 | case SW_SLA_ACK: |
| 3 | ingob | 177 | Tx_Idx = 0; |
| 178 | |||
| 179 | if (I2C_TxBufferSize > 0) TWDR = I2C_TxBuffer[Tx_Idx++]; |
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| 180 | |||
| 181 | // TWCR |= (1<<TWINT) | (1<< TWEA); |
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| 182 | TWCR_ACK; |
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| 1 | ingob | 183 | return; |
| 184 | // Daten Senden |
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| 3 | ingob | 185 | case SW_DATA_ACK: |
| 186 | if (Tx_Idx < I2C_TxBufferSize) TWDR = I2C_TxBuffer[Tx_Idx++]; |
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| 187 | else TWDR = 0x00; |
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| 188 | //TWCR |= (1<<TWINT) | (1<< TWEA); |
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| 189 | TWCR_ACK; |
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| 1 | ingob | 190 | return; |
| 191 | // Bus-Fehler zurücksetzen |
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| 192 | case TWI_BUS_ERR_2: |
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| 193 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
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| 194 | // Bus-Fehler zurücksetzen |
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| 195 | case TWI_BUS_ERR_1: |
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| 196 | TWCR |=(1<<TWSTO) | (1<<TWINT); |
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| 197 | } |
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| 198 | TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset |
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| 199 | } |
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| 200 | |||
| 201 |