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/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software Nutzungsbedingungen (english version: see below) |
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
// + des Mitverschuldens offen. |
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software LICENSING TERMS |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
// + 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 |
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
// + The Software may only be used with the Licensor's products. |
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
// + agreement shall be the property of the Licensor. |
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
// + features that can be used to identify the program may not be altered or defaced by the customer. |
// + The customer shall be responsible for taking reasonable precautions |
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
// + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
// + #### END OF LICENSING TERMS #### |
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#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" |
#include "spi_slave.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 |
|
// use I2C1 for communication |
void MK3MAG_SendCommand(u8 command) |
{ |
// try to catch the I2C buffer |
if(I2CBus_LockBuffer(I2C1, 0)) |
{ |
u8 TxData[100]; |
u16 TxBytes = 0; |
u16 RxBytes = 0; |
I2C_pRxHandler_t pRxHandlerFunc = NULL; |
|
// update current command id |
TxData[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(TxData+TxBytes, (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 |
TxData[TxBytes] = MK3MAG_CalcCRC(TxData, TxBytes); |
TxBytes++; |
// initiate I2C transmission |
I2CBus_Transmission(I2C1, MK3MAG_SLAVE_ADDRESS, TxData, TxBytes, pRxHandlerFunc, RxBytes); |
} // EOF I2C_State == I2C_IDLE |
} |
|
|
//---------------------------------------------------------------- |
u8 MK3MAG_Init(void) |
{ |
if(MK3MAG_Present) // do only short init ! , full init was called before |
{ |
// try reconnect by reseting the I2C bus |
I2CBus_Deinit(I2C1); |
I2CBus_Init(I2C1); |
} |
else // full init |
{ |
u8 msg[64]; |
u8 repeat; |
u32 timeout; |
|
Compass_I2CPort = I2C1; |
MK3MAG_Present = 0; |
|
MK3MAG_Version.Major = 0xFF; |
MK3MAG_Version.Minor = 0xFF; |
MK3MAG_Version.Patch = 0xFF; |
MK3MAG_Version.Compatible = 0xFF; |
|
// polling of version info |
repeat = 0; |
do |
{ |
MK3MAG_SendCommand(MK3MAG_CMD_VERSION); |
if(UART_VersionInfo.HWMajor > 11) timeout = SetDelay(100); |
else 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("\r\n 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; |
static u8 last_state,speak = 0; |
u8 msg[64]; |
u16 MinCaclibration = 500; |
|
if( (I2CBus(I2C1)->State == I2C_STATE_UNDEF) || !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: |
if(last_state != Compass_CalState) |
{ |
UART1_PutString("\r\nMK3Mag calibration\r\n"); |
if(EarthMagneticStrengthTheoretic) |
{ |
MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50; |
sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
UART1_PutString(msg); |
} |
else UART1_PutString("without GPS\r\n"); |
} |
x_max = -30000; y_max = -30000; z_max = -30000; |
x_min = 30000; y_min = 30000; z_min = 30000; |
speak = 1; |
break; |
case 2: |
if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
|
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 3: |
speak = 1; |
break; |
case 4: |
if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; } |
else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; } |
break; |
case 5: |
if(last_state == Compass_CalState) break; |
if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration)) |
{ |
BeepTime = 2500; |
UART1_PutString("\r\n-> Calibration okay <-\r\n"); |
SpeakHoTT = SPEAK_MIKROKOPTER; |
} |
else |
{ |
UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
if((x_max - x_min) < MinCaclibration) UART1_PutString("X! "); |
if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! "); |
if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! "); |
UART1_PutString("\r\n"); |
SpeakHoTT = SPEAK_ERR_CALIBARTION; |
} |
UART1_PutString(msg); |
sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min); |
UART1_PutString(msg); |
sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min); |
UART1_PutString(msg); |
sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min); |
UART1_PutString(msg); |
sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration); |
UART1_PutString(msg); |
break; |
default: |
break; |
} |
last_state = Compass_CalState; |
} |
TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
} |
} |