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/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */

/*#######################################################################################*/

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 2008 Ingo Busker, Holger Buss

// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY

// + FOR NON COMMERCIAL USE ONLY

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed

//

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <stdio.h>

#include <string.h>

#include "91x_lib.h"

#include "mk3mag.h"

#include "i2c.h"

#include "timer1.h"

#include "led.h"

#include "main.h"

#include "uart1.h"

#include "compass.h"

#define MK3MAG_SLAVE_ADDRESS            0x50  // i2C slave address

u8 MK3MAG_Present = 0;

typedef struct

{

  s16 Nick;

  s16 Roll;

} __attribute__((packed)) MK3MAG_WriteAttitude_t;

typedef struct

{

  u8 Major;

  u8 Minor;

  u8 Patch;

  u8 Compatible;

} __attribute__((packed)) MK3MAG_Version_t;

typedef struct

{

  u8 CalByte;

  u8 Dummy1;

  u8 Dummy2;

} __attribute__((packed)) MK3MAG_Cal_t;

// Transfer buffers

volatile MK3MAG_WriteAttitude_t         MK3MAG_WriteAttitude;

volatile MK3MAG_Version_t                       MK3MAG_Version;

volatile MK3MAG_Cal_t                           MK3MAG_WriteCal;

volatile MK3MAG_Cal_t                           MK3MAG_ReadCal;

// -------------------------------------------------------------------------------

// the calculation of the MK3MAG packet checksum

// calculate the crc of  bytecount bytes in buffer

u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)

{

        u8 i, crc = 0;

        for(i=0; i < bytecount; i++)

        {

                crc += pBuffer[i];

        }

        crc = ~crc;

        return crc;

}

// assuming the last byte in buffer is the crc byte

u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)

{

        u8 crc = 0, retval = 0;

        if(BuffLen == 0) return(retval);

        crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);

        if(crc == pBuffer[BuffLen-1])

        {

                retval = 1;

                DebugOut.Analog[15]++; // count mk3mag ok

        }

        else

        {

                retval = 0;

                DebugOut.Analog[14]++; // count mk3mag crc error

        }

        return(retval);

}

// -------------------------------------------------------------------------------

// the I2C rx data handler functions

// rx data handler for version info request

void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)

{       // if crc is ok and number of byte are matching

        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )

        {

                memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));

        }                

}

// rx data handler for calibration request

void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)

{       // if crc is ok and number of byte are matching

        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )

        {

                memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));

        }                        

}

// rx data handler for magnetic vector request

void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)

{       // if crc is ok and number of byte are matching

        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) )

        {

                s16vec_t *pMagVector = (s16vec_t*)pRxBuffer;

                MagVector.X = pMagVector->Y;

                MagVector.Y = pMagVector->X;

                MagVector.Z = -pMagVector->Z;    

                Compass_CalcHeading();

        }                        

}

//----------------------------------------------------------------

#define MK3MAG_CMD_VERSION              0x01

#define MK3MAG_CMD_READ_MAGVECT         0x02

#define MK3MAG_CMD_WRITE_CAL            0x04

void MK3MAG_SendCommand(u8 command)

{

        // try to catch the I2C buffer

        if(I2C_LockBuffer(0))

        {

                u16 TxBytes = 0;

                u16 RxBytes = 0;

                I2C_pRxHandler_t pRxHandlerFunc = NULL;

                // update current command id

                I2C_Buffer[TxBytes++] = command;

                // set pointers to data area with respect to the command id

                switch (command)

                {

                        case MK3MAG_CMD_VERSION:

                                RxBytes = sizeof(MK3MAG_Version)+1;

                                pRxHandlerFunc = &MK3MAG_UpdateVersion;

                                break;

                        case MK3MAG_CMD_WRITE_CAL:

                                RxBytes = sizeof(MK3MAG_ReadCal)+1;

                                pRxHandlerFunc = &MK3MAG_UpdateCalibration;

                                memcpy((u8*)I2C_Buffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));

                                TxBytes += sizeof(MK3MAG_WriteCal);

                                break;

                        case MK3MAG_CMD_READ_MAGVECT:

                                RxBytes = sizeof(MagVector)+1;

                                pRxHandlerFunc = &MK3MAG_UpdateMagVector;

                                break;

                        default: // unknown command id

                                RxBytes = 0;

                                pRxHandlerFunc = NULL;

                                break;

                }

                // update packet checksum

                I2C_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C_Buffer, TxBytes);

                TxBytes++;

                // initiate I2C transmission

                I2C_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes);

        } // EOF I2C_State == I2C_IDLE  

}

//----------------------------------------------------------------

u8 MK3MAG_Init(void)

{

        u8 msg[64];

        u8 repeat;

        u32 timeout;

        MK3MAG_Present = 0;

        MK3MAG_Version.Major = 0xFF;

        MK3MAG_Version.Minor = 0xFF;

        MK3MAG_Version.Patch = 0xFF;

        MK3MAG_Version.Compatible = 0xFF;

        Compass_Heading = -1;

        // polling of version info

        repeat = 0;

        do

        {

                MK3MAG_SendCommand(MK3MAG_CMD_VERSION);

                timeout = SetDelay(250);

                do

                {

                        if (MK3MAG_Version.Major != 0xFF) break; // break loop on success

                }while (!CheckDelay(timeout));

                UART1_PutString(".");

                repeat++;

        }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s

        // if we got it

        if (MK3MAG_Version.Major != 0xFF)

        {

                sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);

                UART1_PutString(msg);

                if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)

                {

                        UART1_PutString("\n\r MK3MAG not compatible!");

                        UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE;

                        LED_RED_ON;

                }

                else

                {       // version ok

                        MK3MAG_Present = 1;

                }

        }

        return(MK3MAG_Present);

}

//----------------------------------------------------------------

void MK3MAG_Update(void)

{

        static u32 TimerUpdate = 0;

        static s16 x_max,y_max,z_max,x_min,y_min,z_min;

        if( (I2C_State == I2C_STATE_OFF) || !MK3MAG_Present ) return;

        if(CheckDelay(TimerUpdate))

        {

                // check for incomming compass calibration request

                Compass_UpdateCalState();

                MK3MAG_WriteCal.CalByte = Compass_CalState;

                if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)

                {       // send new calibration state

                        MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);

                }

                else

                {       // calibration state matches

                        MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer

                        switch(Compass_CalState)

                        {

                                case 1:

                                        x_max = -30000; y_max = -30000; z_max = -30000;

                                        x_min = 30000; y_min = 30000; z_min = 30000;

                                        break;

                                case 2:

                                                 if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; }

                                        else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; }

                                                 if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; }

                                        else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; }

                                        break;

                                case 4:

                                                 if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; }

                                        else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; }

                                        break;

                                default:

                                        break;

                        }      

                }

                TimerUpdate = SetDelay(20);    // every 20 ms are 50 Hz

        }

}