| 1,6 → 1,6 |
|---|
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| 8,15 → 8,15 |
|---|
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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. |
| // + 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. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + 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 |
| 29,19 → 29,19 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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, |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| // + * 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 permittet |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + 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 |
| 52,197 → 52,147 |
|---|
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + 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. |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <util/twi.h> |
| #include "twislave.h" |
| #include "uart.h" |
| #include "main.h" |
| #include "timer0.h" |
| |
| #define TWI_BUS_ERR_1 0x00 |
| #define TWI_BUS_ERR_2 0xF8 |
| unsigned char I2C_RxBufferSize, I2C_TxBufferSize; |
| unsigned char *I2C_TxBuffer, *I2C_RxBuffer; |
| unsigned char Tx_Idx=0, Rx_Idx=0, I2C_Direction; |
| unsigned char I2C_Command; |
| unsigned char Tx_Idx, Rx_Idx; |
| |
| // Status Slave RX Mode |
| #define SR_SLA_ACK 0x60 |
| #define SR_LOST_ACK 0x68 |
| #define SR_GEN_CALL_ACK 0x70 |
| #define GEN_LOST_ACK 0x78 |
| #define SR_PREV_ACK 0x80 |
| #define SR_PREV_NACK 0x88 |
| #define GEN_PREV_ACK 0x90 |
| #define GEN_PREV_NACK 0x98 |
| #define STOP_CONDITION 0xA0 |
| #define REPEATED_START 0xA0 |
| struct str_I2C_Heading I2C_Heading; |
| struct str_I2C_WriteNickRoll I2C_WriteNickRoll; |
| struct str_I2C_Mag I2C_Mag; |
| struct str_I2C_EEPROM I2C_ReadEEPROM, I2C_WriteEEPROM; |
| struct str_I2C_Version I2C_Version; |
| struct str_I2C_WriteCal I2C_WriteCal; |
| |
| // Status Slave TX mode |
| #define SW_SLA_ACK 0xA8 |
| #define SW_LOST_ACK 0xB0 |
| #define SW_DATA_ACK 0xB8 |
| #define SW_DATA_NACK 0xC0 |
| #define SW_LAST_ACK 0xC8 |
| |
| |
| uint8_t I2C_RxBufferSize, I2C_TxBufferSize; |
| uint8_t *I2C_TxBuffer, *I2C_RxBuffer; |
| uint8_t Tx_Idx = 0, Rx_Idx = 0, I2C_Direction; |
| uint8_t I2C_Command; |
| |
| |
| I2C_Heading_t I2C_Heading; |
| I2C_WriteAttitude_t I2C_WriteAttitude; |
| I2C_Mag_t I2C_Mag; |
| I2C_EEPROM_t I2C_ReadEEPROM, I2C_WriteEEPROM; |
| I2C_Version_t I2C_Version; |
| I2C_WriteCal_t I2C_WriteCal; |
| |
| |
| void I2C_Init(void) |
| { |
| uint8_t sreg = SREG; |
| cli(); |
| |
| //SPI SCK/SCL and MISO/SDA are at put together on the same connector pin in the schematic |
| |
| // set PB4 (SCK) and PB5 (MISO) as input pull up |
| DDRB &= ~((1<<DDB4)|(1<<DDB5)); |
| PORTB |= ((1<<PORTB4)|(1<<PORTB5)); |
| |
| // set PC4 (SDA) and PC5 (SCL) as input pull up |
| DDRC &= ~((1<<DDC4)|(1<<DDC5)); |
| PORTC |= ((1<<PORTC4)|(1<<PORTC5)); |
| |
| // set own address |
| TWAR = I2C_SLAVE_ADDRESS; // set own address |
| // TWI Control Register |
| // clear TWI interrupt flag (TWINT=1) |
| // enable TWI Acknowledge Bit (TWEA = 1) |
| // disable TWI START Condition Bit (TWSTA = 0), SLAVE |
| // disable TWI STOP Condition Bit (TWSTO = 0), SLAVE |
| // disable TWI Write Collision Flag (TWWC = 0) |
| // enable i2c (TWEN = 1) |
| // enable TWI Interrupt (TWIE = 1) |
| //############################################################################ |
| //I2C (TWI) Interface Init |
| void InitIC2_Slave(void) |
| //############################################################################ |
| { |
| TWAR = I2C_SLAVE_ADDRESS; // Eigene Adresse setzen |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| // update version info |
| I2C_Version.Major = VERSION_MAJOR; |
| I2C_Version.Minor = VERSION_MINOR; |
| I2C_Version.Compatible = I2C_PROTOCOL_COMP; |
| |
| SREG = sreg; |
| |
| |
| I2C_Version.Hauptversion = VersionInfo.Hauptversion; |
| I2C_Version.Nebenversion = VersionInfo.Nebenversion; |
| I2C_Version.Comp = 1; |
| |
| } |
| |
| |
| |
| #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
| |
| //############################################################################ |
| //ISR, die bei einem Ereignis auf dem Bus ausgelöst wird. Im Register TWSR befindet |
| //sich dann ein Statuscode, anhand dessen die Situation festgestellt werden kann. |
| ISR (TWI_vect) |
| { |
| // check event |
| switch (TWSR & 0xF8) |
| { |
| case SR_SLA_ACK: |
| //############################################################################ |
| { |
| switch (TWSR & 0xF8) |
| { |
| case SR_SLA_ACK: |
| //TWCR |= (1<<TWINT); |
| Rx_Idx = 0; |
| |
| TWCR_ACK; |
| return; |
| |
| case SR_PREV_ACK: // data byte received |
| |
| if (Rx_Idx == 0) |
| { |
| I2C_Command = TWDR; |
| |
| switch(I2C_Command) |
| { |
| case I2C_CMD_VERSION: |
| I2C_TxBuffer = (uint8_t *)&I2C_Version; |
| // Daten Empfangen |
| case SR_PREV_ACK: |
| |
| if (Rx_Idx == 0) |
| { I2C_Command = TWDR; |
| |
| switch(I2C_Command) |
| { |
| case I2C_CMD_VERSION: |
| I2C_TxBuffer = (unsigned char *)&I2C_Version; |
| I2C_TxBufferSize = sizeof(I2C_Version); |
| I2C_RxBufferSize = 0; |
| break; |
| |
| case I2C_CMD_WRITE_EEPROM: |
| break; |
| case I2C_CMD_WRITE_EEPROM: |
| I2C_TxBufferSize = 0; |
| I2C_RxBuffer = (uint8_t *)&I2C_WriteEEPROM; |
| I2C_RxBuffer = (unsigned char *)&I2C_WriteEEPROM; |
| I2C_RxBufferSize = sizeof(I2C_WriteEEPROM); |
| break; |
| break; |
| |
| case I2C_CMD_WRITE_CAL: |
| case I2C_CMD_WRITE_CAL: |
| I2C_TxBufferSize = 0; |
| I2C_RxBuffer = (uint8_t *)&I2C_WriteCal; |
| I2C_RxBuffer = (unsigned char *)&I2C_WriteCal; |
| I2C_RxBufferSize = sizeof(I2C_WriteCal); |
| break; |
| break; |
| |
| case I2C_CMD_READ_EEPROM: |
| I2C_TxBuffer = (uint8_t *)&I2C_ReadEEPROM.Content; |
| case I2C_CMD_READ_EEPROM: |
| I2C_TxBuffer = (unsigned char *)&I2C_ReadEEPROM.Inhalt; |
| I2C_TxBufferSize = 2; |
| I2C_RxBuffer = (uint8_t *)&I2C_ReadEEPROM; |
| I2C_RxBuffer = (unsigned char *)&I2C_ReadEEPROM; |
| I2C_RxBufferSize = 1; |
| break; |
| |
| case I2C_CMD_READ_MAG: |
| I2C_TxBuffer = (uint8_t *)&I2C_Mag; |
| break; |
| case I2C_CMD_READ_MAG: |
| I2C_TxBuffer = (unsigned char *)&I2C_Mag; |
| I2C_TxBufferSize = sizeof(I2C_Mag); |
| I2C_RxBufferSize = 0; |
| |
| I2C_Mag.MagX = MagnetX; |
| I2C_Mag.MagY = MagnetY; |
| |
| I2C_Mag.MagX = MagnetN; |
| I2C_Mag.MagY = MagnetR; |
| I2C_Mag.MagZ = MagnetZ; |
| break; |
| |
| case I2C_CMD_READ_HEADING: |
| I2C_TxBuffer = (uint8_t *)&I2C_Heading; |
| |
| break; |
| case I2C_CMD_READ_HEADING: |
| I2C_TxBuffer = (unsigned char *)&I2C_Heading; |
| I2C_TxBufferSize = sizeof(I2C_Heading); |
| I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude; |
| I2C_RxBufferSize = sizeof(I2C_WriteAttitude); |
| // update heading from global variable |
| I2C_RxBuffer = (unsigned char *)&I2C_WriteNickRoll; |
| I2C_RxBufferSize = sizeof(I2C_WriteNickRoll); |
| |
| I2C_Heading.Heading = Heading; |
| // copy current attitude from I2C rx buffer to uart rx buffer (this is used for the calulation of the heading) |
| ExternData.Attitude[NICK] = I2C_WriteAttitude.Nick; |
| ExternData.Attitude[ROLL] = I2C_WriteAttitude.Roll; |
| break; |
| } |
| ExternData.Winkel[NICK] = I2C_WriteNickRoll.Nick; |
| ExternData.Winkel[ROLL] = I2C_WriteNickRoll.Roll; |
| break; |
| } |
| } |
| else // Rx_Idx != 0 |
| else |
| { |
| // fill receiver buffer |
| if ((Rx_Idx - 1) < I2C_RxBufferSize) I2C_RxBuffer[Rx_Idx - 1] = TWDR; |
| if ((Rx_Idx-1) < I2C_RxBufferSize) I2C_RxBuffer[Rx_Idx-1] = TWDR; |
| } |
| // next byte |
| |
| Rx_Idx++; |
| |
| |
| |
| I2C_Timeout = 500; |
| TWCR_ACK; // send acknowledge |
| //TWCR |= (1<<TWINT); |
| TWCR_ACK; |
| return; |
| |
| case SW_SLA_ACK: // slave transmitter selected |
| // reset position in tx buffer |
| // Daten Senden |
| |
| case SW_SLA_ACK: |
| Tx_Idx = 0; |
| // write first bte o tx buffer to the twi data register |
| |
| if (I2C_TxBufferSize > 0) TWDR = I2C_TxBuffer[Tx_Idx++]; |
| // send acknowledge |
| TWCR_ACK; |
| return; |
| |
| case SW_DATA_ACK: // send data byte |
| // put next byte from tx buffer to twi data register |
| |
| // TWCR |= (1<<TWINT) | (1<< TWEA); |
| TWCR_ACK; |
| return; |
| // Daten Senden |
| case SW_DATA_ACK: |
| if (Tx_Idx < I2C_TxBufferSize) TWDR = I2C_TxBuffer[Tx_Idx++]; |
| else TWDR = 0x00; |
| TWCR_ACK; // send acknowledge |
| return; |
| |
| // clear Bus-Error |
| else TWDR = 0x00; |
| //TWCR |= (1<<TWINT) | (1<< TWEA); |
| TWCR_ACK; |
| return; |
| // Bus-Fehler zurücksetzen |
| case TWI_BUS_ERR_2: |
| TWCR |=(1<<TWSTO) | (1<<TWINT); |
| // clear Bus-Error |
| TWCR |=(1<<TWSTO) | (1<<TWINT); |
| // Bus-Fehler zurücksetzen |
| case TWI_BUS_ERR_1: |
| TWCR |=(1<<TWSTO) | (1<<TWINT); |
| } |
| // clear interrupt flag (TWINT = 1) |
| // enable TWI Acknowledge Bit (TWEA = 1) |
| // enable TWI (TWEN = 1) |
| // enable TWI interrpt (TWIE = 1) |
| TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset |
| TWCR |=(1<<TWSTO) | (1<<TWINT); |
| } |
| TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset |
| } |
| |
| |